version: 66.06
glider: 139
mission: 9
dive: 399
start: 5 20 111 8 24 18
data:
$ID,139
$MISSION,9
$DIVE,399
$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,-2184227.8
$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,18
$R_STBD_OVSHOOT,71
$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
$GPS1,081301,2041.472,-15756.165,55,1.5,55,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-74.6
$GPS2,082325,2041.496,-15756.140,11,1.3,16,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.195,0.105
$KALMAN_X,34740.2,-353.6,-488.8,-36401.4,2155.7
$KALMAN_Y,-22399.4,280.0,156.6,30975.4,-1014.1
$MHEAD_RNG_PITCHd_Wd,288.6,50747,-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,17,-1.19,-116.8,0.0,0.0,0,83,0.00,0.00,-64.28,0.000,2,0.000,0.000,430,2147,2979,0,0,0,0,0,0
$GC,87,-1.19,-116.8,3.2,-4.3,12,111,13.07,2.38,-2.72,0.000,4,0.134,0.045,2868,3463,3114,0,0,0,0,0,0
$GC,341,-1.19,-116.8,56.9,-16.6,52,345,0.00,2.42,0.00,0.000,6,0.000,0.032,2868,2086,3116,0,0,0,0,0,0
$GC,602,-1.19,-116.8,96.0,-13.1,76,607,0.00,2.53,0.00,0.000,4,0.000,0.043,2868,686,3117,0,0,0,0,0,0
$GC,721,-1.19,-116.8,113.0,-14.6,88,725,0.00,2.38,0.00,0.000,6,0.000,0.019,2868,2078,3117,0,0,0,0,0,0
$GC,982,-1.19,-116.8,143.2,-10.1,112,986,0.00,2.47,0.00,0.000,4,0.000,0.042,2867,686,3118,0,0,0,0,0,0
$GC,1034,-1.19,-116.8,148.4,-9.7,117,1039,0.00,2.42,0.00,0.000,6,0.000,0.020,2868,2110,3118,0,0,0,0,0,0
$GC,1299,-1.19,-116.8,173.8,-8.3,141,1304,0.00,2.45,0.00,0.000,4,0.000,0.037,2868,3501,3118,0,0,0,0,0,0
$GC,1441,-1.19,-116.8,188.5,-10.9,156,1445,0.00,2.45,0.00,0.000,6,0.000,0.034,2868,2101,3119,0,0,0,0,0,0
$GC,1708,-1.19,-116.8,214.9,-10.0,174,1713,0.00,2.55,0.00,0.000,4,0.000,0.044,2867,684,3118,0,0,0,0,0,0
$GC,1755,-1.19,-116.8,219.7,-10.5,176,1762,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2099,3118,0,0,0,0,0,0
$GC,2088,-1.19,-116.8,246.8,-7.1,192,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2100,3118,0,0,0,0,0,0
$GC,2399,-1.19,-116.8,266.4,-7.0,207,2403,0.00,2.58,0.00,0.000,4,0.000,0.045,2868,685,3117,0,0,0,0,0,0
$GC,2521,-1.19,-116.8,277.8,-8.9,212,2525,0.00,2.42,0.00,0.000,6,0.000,0.023,2867,2099,3117,0,0,0,0,0,0
$GC,2861,-1.19,-116.8,308.7,-9.1,227,2865,0.00,2.55,0.00,0.000,4,0.000,0.044,2868,3505,3116,0,0,0,0,0,0
$GC,2898,-1.19,-116.8,312.0,-8.3,227,2904,0.00,2.53,0.00,0.000,6,0.000,0.038,2868,2092,3115,0,0,0,0,0,0
$GC,3230,-1.19,-116.8,331.5,-4.4,236,3234,0.00,2.55,0.00,0.000,4,0.000,0.044,2867,3501,3114,0,0,0,0,0,0
$GC,3295,-1.19,-116.8,334.5,-4.0,237,3300,0.00,2.50,0.00,0.000,6,0.000,0.040,2868,2093,3114,0,0,0,0,0,0
$GC,3643,-1.19,-116.8,355.3,-7.5,246,3647,0.00,2.58,0.00,0.000,4,0.000,0.051,2868,683,3111,0,0,0,0,0,0
$GC,3686,-1.19,-116.8,359.1,-8.5,247,3690,0.00,2.45,0.00,0.000,6,0.000,0.026,2867,2097,3111,0,0,0,0,0,0
$GC,4014,-1.19,-116.8,383.1,-7.1,255,4018,0.00,2.55,0.00,0.000,4,0.000,0.051,2868,690,3109,0,0,0,0,0,0
$GC,4052,-1.19,-116.8,386.0,-7.6,255,4058,0.00,2.45,0.00,0.000,6,0.000,0.027,2868,2099,3108,0,0,0,0,0,0
$GC,4384,-1.19,-116.8,409.5,-7.3,264,4388,0.00,2.58,0.00,0.000,4,0.000,0.052,2867,695,3106,0,0,0,0,0,0
$GC,4408,-1.19,-116.8,411.3,-7.9,264,4412,0.00,2.42,0.00,0.000,6,0.000,0.028,2867,2100,3105,0,0,0,0,0,0
$GC,4749,-1.19,-116.8,436.7,-7.3,273,4753,0.00,2.58,0.00,0.000,4,0.000,0.052,2867,695,3104,0,0,0,0,0,0
$STATE,4935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4935,begin apogee
$GC,4944,-0.31,0.0,450.0,7.3,277,5042,0.93,0.00,94.00,0.819,6,0.084,0.000,3062,1805,2635,0,0,0,0,0,0
$STATE,5043,end apogee,CONTROL_FINISHED_OK
$STATE,5043,begin climb
$GC,5046,1.19,116.8,451.0,0.0,279,5151,1.52,0.00,101.20,0.798,6,0.053,0.000,3396,1805,2158,0,0,0,0,0,0
$GC,5464,1.19,116.8,399.2,13.2,290,5468,0.00,2.70,0.00,0.000,4,0.000,0.061,3396,398,2147,0,0,0,0,0,0
$GC,5492,1.19,116.8,394.9,14.5,290,5497,0.00,2.47,0.00,0.000,6,0.000,0.027,3396,1800,2144,0,0,0,0,0,0
$GC,5828,1.19,116.8,351.0,12.7,299,5833,0.00,2.67,0.00,0.000,4,0.000,0.060,3396,399,2142,0,0,0,0,0,0
$GC,5852,1.19,116.8,347.8,13.4,299,5857,0.00,2.47,0.00,0.000,6,0.000,0.027,3395,1808,2140,0,0,0,0,0,0
$GC,6193,1.19,116.8,310.8,9.8,308,6194,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1813,2139,0,0,0,0,0,0
$GC,6500,1.19,116.8,283.3,9.1,320,6504,0.00,2.53,0.00,0.000,4,0.000,0.042,3396,3204,2139,0,0,0,0,0,0
$GC,6543,1.19,116.8,279.5,8.5,322,6548,0.00,2.60,0.00,0.000,6,0.000,0.048,3396,1805,2139,0,0,0,0,0,0
$GC,6873,1.19,116.8,246.7,11.0,338,6878,0.00,2.65,0.00,0.000,4,0.000,0.060,3396,393,2136,0,0,0,0,0,0
$GC,6896,1.19,116.8,243.9,11.5,339,6901,0.00,2.47,0.00,0.000,6,0.000,0.027,3396,1801,2135,0,0,0,0,0,0
$GC,7223,1.19,116.8,211.7,9.9,355,7227,0.00,2.53,0.00,0.000,4,0.000,0.039,3396,3207,2135,0,0,0,0,0,0
$GC,7257,1.19,116.8,208.2,10.0,356,7262,0.00,2.60,0.00,0.000,6,0.000,0.046,3396,1795,2135,0,0,0,0,0,0
$GC,7582,1.24,155.4,181.5,6.3,382,7619,0.00,2.67,30.25,0.627,4,0.000,0.058,3396,389,2001,0,0,0,0,0,0
$GC,7670,1.24,155.4,174.3,10.0,391,7674,0.00,2.47,0.00,0.000,6,0.000,0.025,3396,1800,1997,0,0,0,0,0,0
$GC,7935,1.24,155.4,153.9,8.1,415,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1803,1995,0,0,0,0,0,0
$GC,8196,1.24,155.4,129.2,9.8,440,8201,0.00,2.62,0.00,0.000,4,0.000,0.054,3396,391,1995,0,0,0,0,0,0
$GC,8249,1.24,155.4,123.4,11.1,445,8254,0.00,2.45,0.00,0.000,6,0.000,0.023,3396,1810,1992,0,0,0,0,0,0
$GC,8514,1.27,176.7,100.9,7.0,469,8540,0.00,2.67,18.92,0.532,4,0.000,0.052,3396,392,1913,0,0,0,0,0,0
$GC,8555,1.27,180.4,97.5,7.9,473,8564,0.00,2.47,4.35,0.377,6,0.000,0.022,3396,1809,1899,0,0,0,0,0,0
$GC,8820,1.32,219.6,81.0,6.2,498,8862,0.12,2.72,35.22,0.527,4,0.061,0.051,3439,387,1738,0,0,0,0,0,0
$GC,8933,1.32,219.6,69.8,12.1,510,8940,0.00,2.47,0.00,0.000,6,0.000,0.021,3439,1801,1733,0,0,0,0,0,0
$GC,9196,1.32,219.6,44.6,9.4,535,9197,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,1804,1733,0,0,0,0,0,0
$GC,9454,1.33,227.7,24.3,7.7,565,9467,0.00,2.47,7.32,0.400,4,0.000,0.026,3439,3207,1706,0,0,0,0,0,0
$GC,9488,1.33,227.7,21.1,8.9,571,9494,0.00,2.58,0.00,0.000,6,0.000,0.036,3439,1804,1706,0,0,0,0,0,0
$GC,9692,1.34,236.6,4.0,7.6,608,9710,0.00,2.65,9.23,0.407,4,0.000,0.049,3439,390,1669,0,0,0,0,0,0
$STATE,9715,end climb,SURFACE_DEPTH_REACHED
$STATE,9715,begin surface coast
$FINISH,1.1,1.019829
$STATE,9755,end surface coast,CONTROL_FINISHED_OK
$STATE,9755,begin surface
$SM_CCo,9782,47.33,0.453,0,0,1288,330.17
$SM_GC,1.72,0.00,0.00,47.33,0.000,0.000,0.453,429,2098,1288,-12.46,-0.06,330.17
$IRIDIUM_FIX,2034.08,-15755.23,130800,080847
$TT8_MAMPS,0.029146
$HUMID,58.58
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,20.80
$XPDR_PINGS,5
$24V_AH,23.5,32.203
$10V_AH,10.4,30.465
$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,28.550,116.100,300.500,47.325,0.000,56.093,81.156,290.803,5.750,0.000,16.968,1147.879,6440.732,434.035,1748.886,683.493,33.362,1174.283,0.000,1723.831,0.000,29.257,0.000
$DEVICE_MAMPS,134.225,60.593,819.156,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.792,411.679,902.770,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355800
$DATA_FILE_SIZE,34856,621
$CAP_FILE_SIZE,105668,0
$CFSIZE,260165632,237363200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200511,110902,2041.884,-15756.530,15,1.9,15,9.7