version: 66.06
glider: 139
mission: 9
dive: 396
start: 5 19 111 23 39 6
data:
$ID,139
$MISSION,9
$DIVE,396
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,500
$D_NO_BLEED,90
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,187
$T_MISSION,200
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,51959
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,330
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2184179.2
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,3137
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,66
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.30000001
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2635
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.705256
$PRESSURE_SLOPE,0.000116328
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043016663
$SEABIRD_T_H,0.00062182697
$SEABIRD_T_I,2.2485125e-05
$SEABIRD_T_J,2.3191574e-06
$SEABIRD_C_G,-10.411542
$SEABIRD_C_H,1.1792051
$SEABIRD_C_I,-0.0019162094
$SEABIRD_C_J,0.00023985174
$GPS1,233144,2040.557,-15755.058,14,1.6,14,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-74.9
$GPS2,233813,2040.582,-15755.031,17,1.6,17,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.207,0.081
$KALMAN_X,30075.7,-20.2,-193.8,-30443.4,2556.9
$KALMAN_Y,-19697.9,-131.1,395.7,26758.2,-1914.6
$MHEAD_RNG_PITCHd_Wd,281.6,52812,-16.8,-8.021
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.19,-116.8,0.0,0.0,0,87,0.00,0.00,-69.28,0.000,6,0.000,0.000,425,2126,3113,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.8,-4.9,13,109,13.18,2.40,0.00,0.000,4,0.137,0.031,2868,3478,3115,0,0,0,0,0,0
$GC,326,-1.19,-116.8,57.3,-15.5,50,330,0.00,2.47,0.00,0.000,6,0.000,0.035,2868,2088,3118,0,0,0,0,0,0
$GC,587,-1.19,-116.8,97.7,-11.8,74,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2088,3118,0,0,0,0,0,0
$GC,842,-1.19,-116.8,128.1,-10.7,98,846,0.00,2.53,0.00,0.000,4,0.000,0.043,2868,683,3120,0,0,0,0,0,0
$GC,940,-1.19,-116.8,139.4,-9.9,108,945,0.00,2.35,0.00,0.000,6,0.000,0.020,2867,2075,3119,0,0,0,0,0,0
$GC,1207,-1.19,-116.8,165.4,-11.4,133,1212,0.00,2.47,0.00,0.000,4,0.000,0.043,2868,691,3120,0,0,0,0,0,0
$GC,1299,-1.19,-116.8,177.3,-12.4,142,1306,0.00,2.42,0.00,0.000,6,0.000,0.021,2868,2098,3120,0,0,0,0,0,0
$GC,1573,-1.19,-116.8,207.0,-9.9,165,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2099,3120,0,0,0,0,0,0
$GC,1879,-1.19,-116.8,229.0,-7.1,180,1883,0.00,2.53,0.00,0.000,4,0.000,0.044,2868,692,3120,0,0,0,0,0,0
$GC,1894,-1.19,-116.8,230.0,-6.2,180,1900,0.00,2.42,0.00,0.000,6,0.000,0.021,2868,2097,3120,0,0,0,0,0,0
$GC,2209,-1.19,-116.8,253.3,-7.6,196,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2098,3119,0,0,0,0,0,0
$GC,2521,-1.19,-116.8,281.0,-8.5,211,2525,0.00,2.53,0.00,0.000,4,0.000,0.046,2868,686,3119,0,0,0,0,0,0
$GC,2554,-1.19,-116.8,284.3,-9.5,212,2558,0.00,2.42,0.00,0.000,6,0.000,0.024,2868,2109,3119,0,0,0,0,0,0
$GC,2868,-1.19,-116.8,310.6,-8.3,224,2872,0.00,2.50,0.00,0.000,4,0.000,0.045,2868,3498,3117,0,0,0,0,0,0
$GC,2935,-1.19,-116.8,315.8,-7.7,225,2939,0.00,2.47,0.00,0.000,6,0.000,0.038,2868,2100,3117,0,0,0,0,0,0
$GC,3280,-1.19,-116.8,338.6,-6.5,234,3284,0.00,2.58,0.00,0.000,4,0.000,0.049,2868,687,3115,0,0,0,0,0,0
$GC,3432,-1.19,-116.8,351.0,-8.0,237,3437,0.00,2.45,0.00,0.000,6,0.000,0.025,2868,2100,3114,0,0,0,0,0,0
$GC,3782,-1.19,-116.8,377.0,-7.1,246,3787,0.00,2.55,0.00,0.000,4,0.000,0.050,2868,691,3113,0,0,0,0,0,0
$GC,3829,-1.19,-116.8,380.9,-8.4,247,3833,0.00,2.45,0.00,0.000,6,0.000,0.026,2868,2099,3112,0,0,0,0,0,0
$GC,4152,-1.19,-116.8,404.2,-7.2,255,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2100,3110,0,0,0,0,0,0
$GC,4477,-1.19,-116.8,426.3,-6.9,263,4482,0.00,2.60,0.00,0.000,4,0.000,0.051,2868,689,3107,0,0,0,0,0,0
$GC,4502,-1.19,-116.8,428.0,-7.1,263,4506,0.00,2.45,0.00,0.000,6,0.000,0.028,2868,2098,3108,0,0,0,0,0,0
$GC,4842,-1.19,-116.8,449.8,-6.1,272,4846,0.00,2.12,0.00,0.000,3,0.000,0.050,2868,3248,3105,0,0,0,0,0,0
$STATE,4847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4847,begin apogee
$GC,4857,-0.31,0.0,450.1,6.0,272,4955,0.93,0.00,94.55,0.818,6,0.084,0.000,3061,1796,2635,0,0,0,0,0,0
$STATE,4956,end apogee,CONTROL_FINISHED_OK
$STATE,4956,begin climb
$GC,4959,1.19,116.8,452.0,0.0,274,5071,1.50,2.67,100.10,0.799,4,0.054,0.060,3393,402,2157,0,0,0,0,0,0
$GC,5090,1.19,116.8,439.5,14.1,277,5095,0.00,2.50,0.00,0.000,6,0.000,0.025,3394,1802,2152,0,0,0,0,0,0
$GC,5413,1.19,116.8,396.5,13.1,285,5418,0.00,2.58,0.00,0.000,4,0.000,0.043,3394,3210,2146,0,0,0,0,0,0
$GC,5447,1.19,116.8,392.1,13.4,285,5451,0.00,2.65,0.00,0.000,6,0.000,0.051,3394,1804,2146,0,0,0,0,0,0
$GC,5778,1.19,116.8,351.8,12.0,293,5779,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1804,2143,0,0,0,0,0,0
$GC,6103,1.19,116.8,316.5,10.7,301,6107,0.00,2.65,0.00,0.000,4,0.000,0.060,3394,393,2141,0,0,0,0,0,0
$GC,6117,1.19,116.8,314.8,10.9,301,6121,0.00,2.50,0.00,0.000,6,0.000,0.026,3394,1811,2139,0,0,0,0,0,0
$GC,6451,1.19,116.8,282.6,9.3,313,6452,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1815,2138,0,0,0,0,0,0
$GC,6758,1.20,118.0,255.8,8.0,328,6762,0.00,2.50,0.00,0.000,4,0.000,0.041,3394,3202,2137,0,0,0,0,0,0
$GC,6833,1.20,124.0,249.5,7.7,331,6838,0.00,2.58,0.00,0.000,6,0.000,0.046,3394,1799,2136,0,0,0,0,0,0
$GC,7155,1.20,124.0,222.5,9.3,347,7159,0.00,2.55,0.00,0.000,4,0.000,0.038,3394,3205,2135,0,0,0,0,0,0
$GC,7201,1.20,124.0,217.9,8.9,349,7206,0.00,2.60,0.00,0.000,6,0.000,0.044,3394,1793,2135,0,0,0,0,0,0
$GC,7530,1.20,124.0,188.1,9.1,370,7531,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1793,2135,0,0,0,0,0,0
$GC,7784,1.20,124.0,167.3,8.1,394,7788,0.00,2.55,0.00,0.000,4,0.000,0.035,3394,3206,2135,0,0,0,0,0,0
$GC,7820,1.21,130.2,164.6,7.7,397,7838,0.00,2.55,8.57,0.533,6,0.000,0.042,3394,1801,2104,0,0,0,0,0,0
$GC,8094,1.23,145.6,142.9,7.3,423,8114,0.00,2.65,15.00,0.561,4,0.000,0.054,3393,392,2040,0,0,0,0,0,0
$GC,8212,1.23,145.6,132.2,8.4,435,8217,0.00,2.45,0.00,0.000,6,0.000,0.022,3394,1802,2036,0,0,0,0,0,0
$GC,8473,1.23,145.6,110.7,8.9,460,8478,0.00,2.62,0.00,0.000,4,0.000,0.051,3394,388,2036,0,0,0,0,0,0
$GC,8527,1.23,145.6,105.9,9.2,465,8532,0.00,2.42,0.00,0.000,6,0.000,0.021,3394,1804,2034,0,0,0,0,0,0
$GC,8792,1.28,186.2,87.7,6.2,489,8833,0.00,2.67,35.42,0.533,4,0.000,0.051,3394,392,1876,0,0,0,0,0,0
$GC,8870,1.28,186.2,82.3,8.1,496,8876,0.00,2.47,0.00,0.000,6,0.000,0.021,3395,1798,1871,0,0,0,0,0,0
$GC,9134,1.31,214.1,64.4,6.7,521,9166,0.12,2.53,24.95,0.499,4,0.061,0.028,3438,3206,1760,0,0,0,0,0,0
$GC,9179,1.31,214.1,60.7,8.8,525,9183,0.00,2.58,0.00,0.000,6,0.000,0.035,3438,1799,1760,0,0,0,0,0,0
$GC,9443,1.32,217.3,35.8,7.9,549,9455,0.00,2.62,3.70,0.307,4,0.000,0.051,3438,399,1749,0,0,0,0,0,0
$GC,9532,1.32,217.3,27.7,9.4,561,9539,0.00,2.42,0.00,0.000,6,0.000,0.019,3438,1800,1745,0,0,0,0,0,0
$GC,9735,1.32,217.3,10.6,8.5,598,9742,0.00,2.62,0.00,0.000,4,0.000,0.049,3438,396,1745,0,0,0,0,0,0
$GC,9754,1.32,217.3,9.0,8.7,601,9761,0.00,2.42,0.00,0.000,6,0.000,0.019,3438,1801,1745,0,0,0,0,0,0
$STATE,9831,end climb,SURFACE_DEPTH_REACHED
$STATE,9832,begin surface coast
$FINISH,1.0,1.022796
$STATE,9878,end surface coast,CONTROL_FINISHED_OK
$STATE,9878,begin surface
$SM_CCo,9902,58.92,0.456,0,0,1288,330.17
$SM_GC,1.84,0.00,0.00,58.92,0.000,0.000,0.456,426,2135,1288,-12.47,0.99,330.17
$IRIDIUM_FIX,2031.77,-15755.23,120800,202010
$TT8_MAMPS,0.029146
$HUMID,59.17
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.50
$XPDR_PINGS,2
$24V_AH,23.5,31.947
$10V_AH,10.4,30.227
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,28.650,111.250,282.300,58.925,0.000,24.071,46.681,190.541,5.000,0.000,17.162,1147.347,6547.739,394.030,1742.890,518.698,33.349,1157.795,0.000,1728.916,0.000,29.252,0.000
$DEVICE_MAMPS,136.526,59.826,817.622,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,421.716,414.914,904.827,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,34935,623
$CAP_FILE_SIZE,102431,0
$CFSIZE,260165632,237510656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200511,022630,2040.522,-15755.153,38,1.1,43,9.7