version: 66.06
glider: 139
mission: 9
dive: 401
start: 5 20 111 14 16 31
data:
$ID,139
$MISSION,9
$DIVE,401
$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,-2184280.8
$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,20
$R_STBD_OVSHOOT,82
$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
$GPS1,140902,2041.601,-15756.813,43,1.7,43,9.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-74.8
$GPS2,141538,2041.576,-15756.812,16,2.0,16,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.164,0.149
$KALMAN_X,37290.7,-263.0,263.4,-40961.1,1822.8
$KALMAN_Y,-23912.0,208.0,53.4,32810.7,-1586.5
$MHEAD_RNG_PITCHd_Wd,302.6,50380,-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,-116.8,0.0,0.0,0,84,0.00,0.00,-64.88,0.000,2,0.000,0.000,425,2164,2972,0,0,0,0,0,0
$GC,88,-1.19,-116.8,3.0,-3.1,12,112,13.12,2.70,-2.88,0.000,4,0.134,0.051,2870,689,3116,0,0,0,0,0,0
$GC,318,-1.19,-116.8,57.9,-19.0,48,322,0.00,2.35,0.00,0.000,6,0.000,0.019,2869,2064,3117,0,0,0,0,0,0
$GC,579,-1.19,-116.8,97.9,-13.2,72,584,0.00,2.50,0.00,0.000,4,0.000,0.043,2870,678,3118,0,0,0,0,0,0
$GC,677,-1.19,-116.8,110.9,-11.7,82,682,0.00,2.40,0.00,0.000,6,0.000,0.020,2870,2106,3118,0,0,0,0,0,0
$GC,941,-1.19,-116.8,139.4,-10.3,106,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2106,3118,0,0,0,0,0,0
$GC,1193,-1.19,-116.8,169.7,-12.1,130,1197,0.00,2.53,0.00,0.000,4,0.000,0.042,2870,684,3120,0,0,0,0,0,0
$GC,1217,-1.19,-116.8,172.7,-12.5,132,1222,0.00,2.42,0.00,0.000,6,0.000,0.021,2870,2106,3120,0,0,0,0,0,0
$GC,1480,-1.19,-116.8,195.3,-8.4,156,1485,0.00,2.55,0.00,0.000,4,0.000,0.043,2870,684,3120,0,0,0,0,0,0
$GC,1547,-1.19,-116.8,201.1,-9.5,163,1552,0.00,2.42,0.00,0.000,6,0.000,0.021,2870,2107,3120,0,0,0,0,0,0
$GC,1878,-1.19,-116.8,230.3,-9.4,179,1882,0.00,2.55,0.00,0.000,4,0.000,0.044,2870,686,3120,0,0,0,0,0,0
$GC,1957,-1.19,-116.8,239.5,-11.8,182,1964,0.00,2.42,0.00,0.000,6,0.000,0.022,2870,2102,3119,0,0,0,0,0,0
$GC,2280,-1.19,-116.8,273.0,-9.5,198,2285,0.00,2.50,0.00,0.000,4,0.000,0.042,2870,3504,3119,0,0,0,0,0,0
$GC,2369,-1.19,-116.8,281.0,-8.4,202,2373,0.00,2.50,0.00,0.000,6,0.000,0.037,2870,2094,3119,0,0,0,0,0,0
$GC,2721,-1.19,-116.8,304.0,-6.8,218,2723,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2094,3118,0,0,0,0,0,0
$GC,3043,-1.19,-116.8,330.3,-8.2,226,3047,0.00,2.55,0.00,0.000,4,0.000,0.048,2870,688,3117,0,0,0,0,0,0
$GC,3087,-1.19,-116.8,334.0,-8.9,227,3091,0.00,2.42,0.00,0.000,6,0.000,0.024,2870,2099,3116,0,0,0,0,0,0
$GC,3415,-1.19,-116.8,356.9,-6.2,235,3419,0.00,2.53,0.00,0.000,4,0.000,0.046,2870,3502,3115,0,0,0,0,0,0
$GC,3452,-1.19,-116.8,359.7,-7.5,235,3458,0.00,2.53,0.00,0.000,6,0.000,0.041,2870,2094,3115,0,0,0,0,0,0
$GC,3787,-1.19,-116.8,381.1,-6.6,244,3791,0.00,2.53,0.00,0.000,4,0.000,0.045,2870,3495,3113,0,0,0,0,0,0
$GC,3802,-1.19,-116.8,382.4,-6.5,244,3806,0.00,2.53,0.00,0.000,6,0.000,0.041,2870,2094,3113,0,0,0,0,0,0
$GC,4153,-1.19,-116.8,405.6,-6.5,253,4158,0.00,2.55,0.00,0.000,4,0.000,0.051,2870,691,3110,0,0,0,0,0,0
$GC,4192,-1.19,-116.8,408.4,-7.0,253,4198,0.00,2.45,0.00,0.000,6,0.000,0.027,2870,2101,3110,0,0,0,0,0,0
$GC,4523,-1.19,-116.8,427.0,-5.4,262,4528,0.00,2.58,0.00,0.000,4,0.000,0.051,2870,692,3108,0,0,0,0,0,0
$GC,4543,-1.19,-116.8,428.1,-5.4,262,4547,0.00,2.45,0.00,0.000,6,0.000,0.028,2870,2098,3108,0,0,0,0,0,0
$GC,4889,-1.19,-116.8,447.5,-5.9,271,4893,0.00,2.58,0.00,0.000,4,0.000,0.053,2869,684,3106,0,0,0,0,0,0
$STATE,4924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4924,begin apogee
$GC,4933,-0.31,0.0,450.2,7.1,271,5031,0.93,0.00,95.40,0.815,6,0.083,0.000,3063,1810,2635,0,0,0,0,0,0
$STATE,5032,end apogee,CONTROL_FINISHED_OK
$STATE,5032,begin climb
$GC,5035,1.19,116.8,451.9,0.0,274,5147,1.50,2.58,100.47,0.797,4,0.053,0.045,3397,3199,2157,0,0,0,0,0,0
$GC,5199,1.19,116.8,435.6,12.6,277,5204,0.00,2.65,0.00,0.000,6,0.000,0.053,3396,1804,2155,0,0,0,0,0,0
$GC,5531,1.19,116.8,393.3,12.3,285,5535,0.00,2.67,0.00,0.000,4,0.000,0.061,3396,393,2146,0,0,0,0,0,0
$GC,5559,1.19,116.8,389.3,14.1,285,5563,0.00,2.50,0.00,0.000,6,0.000,0.026,3396,1801,2144,0,0,0,0,0,0
$GC,5895,1.19,116.8,350.2,11.6,294,5900,0.00,2.67,0.00,0.000,4,0.000,0.060,3396,387,2142,0,0,0,0,0,0
$GC,5919,1.19,116.8,347.0,13.2,294,5924,0.00,2.50,0.00,0.000,6,0.000,0.026,3396,1802,2140,0,0,0,0,0,0
$GC,6260,1.19,116.8,310.0,10.7,303,6264,0.00,2.65,0.00,0.000,4,0.000,0.059,3396,392,2139,0,0,0,0,0,0
$GC,6279,1.19,116.8,307.7,11.6,303,6283,0.00,2.45,0.00,0.000,6,0.000,0.026,3396,1802,2138,0,0,0,0,0,0
$GC,6609,1.19,116.8,270.6,11.2,317,6613,0.00,2.53,0.00,0.000,4,0.000,0.041,3396,3204,2138,0,0,0,0,0,0
$GC,6699,1.19,116.8,260.7,10.3,321,6703,0.00,2.60,0.00,0.000,6,0.000,0.047,3396,1799,2138,0,0,0,0,0,0
$GC,7030,1.19,116.8,227.8,9.7,337,7035,0.00,2.55,0.00,0.000,4,0.000,0.039,3397,3207,2137,0,0,0,0,0,0
$GC,7081,1.19,116.8,222.9,8.8,339,7086,0.00,2.58,0.00,0.000,6,0.000,0.045,3396,1798,2136,0,0,0,0,0,0
$GC,7404,1.20,122.2,194.5,7.8,358,7408,0.00,2.60,0.00,0.000,4,0.000,0.058,3396,392,2135,0,0,0,0,0,0
$GC,7468,1.20,122.2,188.7,8.6,364,7475,0.00,2.47,0.00,0.000,6,0.000,0.025,3397,1797,2133,0,0,0,0,0,0
$GC,7733,1.20,125.0,167.2,7.9,389,7739,0.00,0.00,3.80,0.386,6,0.000,0.000,3397,1799,2125,0,0,0,0,0,0
$GC,7996,1.20,125.0,145.5,8.4,414,8001,0.00,2.50,0.00,0.000,4,0.000,0.035,3397,3204,2125,0,0,0,0,0,0
$GC,8006,1.20,125.0,144.4,8.2,414,8013,0.00,2.58,0.00,0.000,6,0.000,0.038,3397,1799,2125,0,0,0,0,0,0
$GC,8269,1.20,125.0,122.7,8.7,439,8274,0.00,2.60,0.00,0.000,4,0.000,0.054,3396,389,2125,0,0,0,0,0,0
$GC,8295,1.20,125.0,120.2,9.6,441,8299,0.00,2.45,0.00,0.000,6,0.000,0.023,3397,1801,2124,0,0,0,0,0,0
$GC,8560,1.27,176.7,102.7,5.6,465,8615,0.00,2.58,46.12,0.553,4,0.000,0.032,3396,3201,1913,0,0,0,0,0,0
$GC,8691,1.30,199.3,94.0,7.0,479,8719,0.10,2.55,20.50,0.522,6,0.072,0.039,3433,1801,1821,0,0,0,0,0,0
$GC,8975,1.30,199.3,66.7,11.3,506,8979,0.00,2.60,0.00,0.000,4,0.000,0.054,3433,392,1817,0,0,0,0,0,0
$GC,9091,1.30,199.3,52.7,10.8,518,9098,0.00,2.47,0.00,0.000,6,0.000,0.021,3434,1807,1812,0,0,0,0,0,0
$GC,9357,1.32,219.0,29.3,7.1,543,9380,0.00,2.50,16.83,0.461,4,0.000,0.029,3433,3207,1741,0,0,0,0,0,0
$GC,9397,1.34,231.4,26.2,7.5,550,9415,0.00,2.60,12.25,0.443,6,0.000,0.037,3434,1800,1690,0,0,0,0,0,0
$GC,9612,1.34,231.4,10.1,8.7,589,9618,0.00,2.65,0.00,0.000,4,0.000,0.051,3433,392,1687,0,0,0,0,0,0
$GC,9647,1.34,231.4,6.5,10.9,596,9653,0.00,2.45,0.00,0.000,6,0.000,0.019,3433,1803,1684,0,0,0,0,0,0
$STATE,9685,end climb,SURFACE_DEPTH_REACHED
$STATE,9685,begin surface coast
$FINISH,1.0,1.009762
$STATE,9718,end surface coast,CONTROL_FINISHED_OK
$STATE,9718,begin surface
$SM_CCo,9743,49.75,0.455,0,0,1288,330.17
$SM_GC,1.81,0.00,0.00,49.75,0.000,0.000,0.455,428,2145,1288,-12.46,1.27,330.17
$IRIDIUM_FIX,2034.08,-15802.50,130800,111136
$TT8_MAMPS,0.029146
$HUMID,59.60
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,20.30
$XPDR_PINGS,6
$24V_AH,23.5,32.376
$10V_AH,10.4,30.626
$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,28.575,126.500,295.375,49.750,0.000,27.965,39.901,202.980,6.000,0.000,16.200,1125.837,6408.896,413.129,1715.843,525.810,33.356,1177.467,0.000,1695.722,0.000,29.255,0.000
$DEVICE_MAMPS,134.225,61.360,814.554,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,411.292,398.928,870.259,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,34924,609
$CAP_FILE_SIZE,105214,0
$CFSIZE,260165632,237264896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200511,170106,2041.646,-15757.165,37,1.1,43,9.7