version: 66.06
glider: 139
mission: 9
dive: 398
start: 5 20 111 5 23 49
data:
$ID,139
$MISSION,9
$DIVE,398
$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,-2184210
$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,17
$R_STBD_OVSHOOT,84
$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
$GPS1,051636,2040.821,-15755.535,14,0.8,31,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-74.7
$GPS2,052256,2040.813,-15755.511,17,1.1,17,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.163,0.150
$KALMAN_X,33376.7,-258.2,50.6,-34586.6,1618.6
$KALMAN_Y,-21396.8,147.7,-301.8,29301.0,-719.0
$MHEAD_RNG_PITCHd_Wd,302.8,52211,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,83,0.00,0.00,-64.80,0.000,2,0.000,0.000,429,2155,2982,0,0,0,0,0,0
$GC,87,-1.19,-116.8,3.3,-4.3,12,111,13.10,2.38,-2.62,0.000,4,0.135,0.048,2868,3457,3115,0,0,0,0,0,0
$GC,315,-1.19,-116.8,51.4,-14.9,49,319,0.00,2.42,0.00,0.000,6,0.000,0.035,2868,2092,3117,0,0,0,0,0,0
$GC,578,-1.19,-116.8,89.1,-11.8,73,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2092,3117,0,0,0,0,0,0
$GC,832,-1.19,-116.8,118.2,-11.9,97,836,0.00,2.53,0.00,0.000,4,0.000,0.043,2868,691,3118,0,0,0,0,0,0
$GC,1030,-1.19,-116.8,141.3,-11.2,118,1037,0.00,2.35,0.00,0.000,6,0.000,0.020,2868,2053,3119,0,0,0,0,0,0
$GC,1295,-1.19,-116.8,166.2,-10.4,143,1299,0.00,2.58,0.00,0.000,4,0.000,0.036,2868,3498,3119,0,0,0,0,0,0
$GC,1357,-1.19,-116.8,173.3,-11.0,149,1361,0.00,2.47,0.00,0.000,6,0.000,0.034,2868,2099,3119,0,0,0,0,0,0
$GC,1622,-1.19,-116.8,197.6,-10.2,173,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2099,3119,0,0,0,0,0,0
$GC,1877,-1.19,-116.8,222.0,-9.0,187,1882,0.00,2.53,0.00,0.000,4,0.000,0.044,2868,687,3120,0,0,0,0,0,0
$GC,1892,-1.19,-116.8,223.5,-9.2,187,1897,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2107,3120,0,0,0,0,0,0
$GC,2211,-1.19,-116.8,248.4,-7.7,203,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2107,3119,0,0,0,0,0,0
$GC,2517,-1.19,-116.8,273.1,-9.4,218,2521,0.00,2.53,0.00,0.000,4,0.000,0.045,2868,691,3119,0,0,0,0,0,0
$GC,2568,-1.19,-116.8,277.9,-9.3,220,2572,0.00,2.42,0.00,0.000,6,0.000,0.023,2868,2106,3118,0,0,0,0,0,0
$GC,2888,-1.19,-116.8,304.3,-8.3,235,2892,0.00,2.55,0.00,0.000,4,0.000,0.047,2868,694,3117,0,0,0,0,0,0
$GC,2995,-1.19,-116.8,313.6,-8.2,237,2999,0.00,2.42,0.00,0.000,6,0.000,0.025,2868,2102,3117,0,0,0,0,0,0
$GC,3345,-1.19,-116.8,338.6,-6.9,246,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2102,3116,0,0,0,0,0,0
$GC,3672,-1.19,-116.8,360.4,-6.2,254,3676,0.00,2.58,0.00,0.000,4,0.000,0.049,2868,687,3113,0,0,0,0,0,0
$GC,3716,-1.19,-116.8,363.5,-6.8,255,3720,0.00,2.45,0.00,0.000,6,0.000,0.026,2868,2100,3113,0,0,0,0,0,0
$GC,4044,-1.19,-116.8,387.2,-7.2,263,4048,0.00,2.60,0.00,0.000,4,0.000,0.049,2868,3506,3111,0,0,0,0,0,0
$GC,4063,-1.19,-116.8,388.7,-7.1,263,4067,0.00,2.53,0.00,0.000,6,0.000,0.041,2868,2102,3111,0,0,0,0,0,0
$GC,4409,-1.19,-116.8,411.8,-6.6,272,4413,0.00,2.58,0.00,0.000,4,0.000,0.051,2868,685,3108,0,0,0,0,0,0
$GC,4452,-1.19,-116.8,414.9,-7.4,273,4457,0.00,2.45,0.00,0.000,6,0.000,0.027,2868,2106,3108,0,0,0,0,0,0
$GC,4780,-1.19,-116.8,434.6,-5.8,281,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2109,3106,0,0,0,0,0,0
$STATE,5062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5062,begin apogee
$GC,5069,-0.31,0.0,452.7,6.6,288,5167,0.95,0.00,94.88,0.822,6,0.081,0.000,3066,1794,2635,0,0,0,0,0,0
$STATE,5168,end apogee,CONTROL_FINISHED_OK
$STATE,5168,begin climb
$GC,5171,1.19,116.8,455.1,0.0,290,5276,1.50,0.00,100.82,0.805,6,0.053,0.000,3396,1794,2158,0,0,0,0,0,0
$GC,5590,1.19,116.8,414.5,11.2,301,5594,0.00,2.62,0.00,0.000,4,0.000,0.043,3396,3211,2146,0,0,0,0,0,0
$GC,5627,1.19,116.8,410.0,11.3,301,5633,0.00,2.65,0.00,0.000,6,0.000,0.051,3395,1806,2146,0,0,0,0,0,0
$GC,5958,1.19,116.8,370.7,11.9,310,5963,0.00,2.65,0.00,0.000,4,0.000,0.061,3395,394,2143,0,0,0,0,0,0
$GC,5978,1.19,116.8,368.2,12.6,310,5982,0.00,2.50,0.00,0.000,6,0.000,0.026,3395,1804,2140,0,0,0,0,0,0
$GC,6323,1.19,116.8,327.5,11.8,319,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1808,2139,0,0,0,0,0,0
$GC,6629,1.19,116.8,294.8,10.3,327,6634,0.00,2.53,0.00,0.000,4,0.000,0.042,3396,3203,2139,0,0,0,0,0,0
$GC,6644,1.19,116.8,293.1,10.1,327,6649,0.00,2.60,0.00,0.000,6,0.000,0.047,3396,1800,2139,0,0,0,0,0,0
$GC,6961,1.19,116.8,260.4,10.3,343,6965,0.00,2.62,0.00,0.000,4,0.000,0.061,3395,393,2137,0,0,0,0,0,0
$GC,7005,1.19,116.8,255.3,11.4,345,7010,0.00,2.47,0.00,0.000,6,0.000,0.027,3395,1799,2134,0,0,0,0,0,0
$GC,7336,1.19,116.8,223.8,8.7,361,7341,0.00,2.53,0.00,0.000,4,0.000,0.041,3396,3204,2135,0,0,0,0,0,0
$GC,7426,1.19,116.8,216.2,8.8,365,7431,0.00,2.60,0.00,0.000,6,0.000,0.045,3396,1795,2134,0,0,0,0,0,0
$GC,7750,1.19,116.8,190.8,8.5,385,7751,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1795,2134,0,0,0,0,0,0
$GC,8005,1.19,116.8,166.6,10.2,409,8006,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1795,2134,0,0,0,0,0,0
$GC,8260,1.24,151.3,145.2,6.4,433,8292,0.00,2.62,26.30,0.590,4,0.000,0.035,3396,3213,2018,0,0,0,0,0,0
$GC,8354,1.24,151.3,137.7,8.4,442,8361,0.00,2.65,0.00,0.000,6,0.000,0.043,3396,1797,2018,0,0,0,0,0,0
$GC,8619,1.27,179.1,119.3,6.7,467,8650,0.00,2.67,25.20,0.558,4,0.000,0.056,3395,390,1903,0,0,0,0,0,0
$GC,8694,1.27,179.1,112.6,10.6,475,8699,0.00,2.45,0.00,0.000,6,0.000,0.022,3396,1807,1898,0,0,0,0,0,0
$GC,8959,1.30,203.6,90.1,6.9,499,8987,0.10,0.00,21.65,0.526,6,0.073,0.000,3432,1812,1803,0,0,0,0,0,0
$GC,9244,1.31,207.5,66.3,7.8,526,9255,0.00,2.67,4.50,0.366,4,0.000,0.051,3432,382,1788,0,0,0,0,0,0
$GC,9305,1.31,207.5,60.1,10.7,532,9312,0.00,2.47,0.00,0.000,6,0.000,0.021,3432,1802,1785,0,0,0,0,0,0
$GC,9569,1.33,223.4,37.6,7.3,557,9589,0.00,2.47,14.90,0.463,4,0.000,0.029,3432,3198,1723,0,0,0,0,0,0
$GC,9599,1.37,257.5,35.2,6.5,560,9635,0.00,2.58,29.90,0.480,6,0.000,0.034,3432,1795,1585,0,0,0,0,0,0
$GC,9893,1.37,257.5,9.2,9.1,608,9899,0.00,2.58,0.00,0.000,4,0.000,0.045,3432,392,1580,0,0,0,0,0,0
$GC,9937,1.37,257.5,5.4,8.5,617,9943,0.00,2.45,0.00,0.000,6,0.000,0.020,3432,1798,1577,0,0,0,0,0,0
$STATE,9960,end climb,SURFACE_DEPTH_REACHED
$STATE,9960,begin surface coast
$FINISH,1.0,1.009048
$STATE,9994,end surface coast,CONTROL_FINISHED_OK
$STATE,9994,begin surface
$SM_CCo,10018,38.58,0.451,0,0,1288,330.17
$SM_GC,1.81,0.00,0.00,38.58,0.000,0.000,0.451,430,2147,1288,-12.45,1.33,330.17
$IRIDIUM_FIX,2034.08,-15753.10,130800,020213
$TT8_MAMPS,0.029146
$HUMID,59.52
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,20.60
$XPDR_PINGS,9
$24V_AH,23.5,32.112
$10V_AH,10.5,30.383
$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,28.475,97.200,318.150,38.575,0.000,27.865,34.868,191.882,6.750,0.000,17.156,1125.164,6713.975,423.414,1688.460,488.440,33.353,1142.450,0.000,1666.068,0.000,29.248,0.000
$DEVICE_MAMPS,134.992,61.360,822.224,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,423.776,412.389,897.786,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,34973,627
$CAP_FILE_SIZE,98323,0
$CFSIZE,260165632,237416448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200511,081301,2041.472,-15756.165,55,1.5,55,9.7