version: 66.06
glider: 139
mission: 9
dive: 402
start: 5 20 111 17 10 19
data:
$ID,139
$MISSION,9
$DIVE,402
$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,-2184302.2
$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,18
$R_STBD_OVSHOOT,78
$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
$GPS1,170106,2041.646,-15757.165,37,1.1,43,9.7
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,5
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-75.3
$GPS2,170925,2041.653,-15757.152,13,1.4,18,9.7
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.125,0.183
$KALMAN_X,38479.2,-126.6,172.0,-42787.4,1224.6
$KALMAN_Y,-24891.9,48.4,-333.3,34483.7,-993.5
$MHEAD_RNG_PITCHd_Wd,315.8,50135,-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,16,-1.19,-116.8,0.0,0.0,0,83,0.00,0.00,-64.20,0.000,2,0.000,0.000,428,2148,2977,0,0,0,0,0,0
$GC,86,-1.19,-116.8,3.5,-5.1,12,111,13.10,2.38,-2.72,0.000,4,0.134,0.046,2871,3460,3114,0,0,0,0,0,0
$GC,360,-1.19,-116.8,58.0,-15.6,55,367,0.00,2.45,0.00,0.000,6,0.000,0.034,2871,2095,3116,0,0,0,0,0,0
$GC,621,-1.19,-116.8,95.8,-13.2,80,625,0.00,2.55,0.00,0.000,4,0.000,0.042,2871,679,3117,0,0,0,0,0,0
$GC,677,-1.19,-116.8,103.6,-15.1,85,682,0.00,2.38,0.00,0.000,6,0.000,0.021,2871,2065,3117,0,0,0,0,0,0
$GC,941,-1.19,-116.8,131.6,-10.0,109,946,0.00,2.55,0.00,0.000,4,0.000,0.036,2871,3499,3117,0,0,0,0,0,0
$GC,961,-1.19,-116.8,133.9,-9.5,110,968,0.00,2.50,0.00,0.000,6,0.000,0.034,2871,2096,3118,0,0,0,0,0,0
$GC,1225,-1.19,-116.8,163.5,-11.8,135,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2095,3118,0,0,0,0,0,0
$GC,1487,-1.19,-116.8,190.1,-9.8,160,1491,0.00,2.50,0.00,0.000,4,0.000,0.043,2871,692,3119,0,0,0,0,0,0
$GC,1566,-1.19,-116.8,198.5,-10.3,168,1570,0.00,2.40,0.00,0.000,6,0.000,0.021,2871,2101,3119,0,0,0,0,0,0
$GC,1831,-1.19,-116.8,222.4,-8.6,181,1836,0.00,2.53,0.00,0.000,4,0.000,0.044,2871,691,3119,0,0,0,0,0,0
$GC,1855,-1.19,-116.8,224.9,-10.1,182,1859,0.00,2.42,0.00,0.000,6,0.000,0.021,2871,2109,3119,0,0,0,0,0,0
$GC,2180,-1.19,-116.8,252.7,-8.3,198,2184,0.00,2.47,0.00,0.000,4,0.000,0.041,2871,3497,3118,0,0,0,0,0,0
$GC,2301,-1.19,-116.8,262.1,-6.9,203,2306,0.00,2.47,0.00,0.000,6,0.000,0.036,2871,2100,3118,0,0,0,0,0,0
$GC,2628,-1.19,-116.8,283.7,-6.7,219,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2100,3117,0,0,0,0,0,0
$GC,2935,-1.19,-116.8,307.8,-7.6,232,2939,0.00,2.58,0.00,0.000,4,0.000,0.048,2871,693,3116,0,0,0,0,0,0
$GC,3028,-1.19,-116.8,315.8,-7.7,234,3032,0.00,2.42,0.00,0.000,6,0.000,0.025,2871,2098,3116,0,0,0,0,0,0
$GC,3357,-1.19,-116.8,339.3,-6.8,242,3361,0.00,2.53,0.00,0.000,4,0.000,0.048,2871,692,3114,0,0,0,0,0,0
$GC,3408,-1.19,-116.8,343.3,-7.9,243,3412,0.00,2.42,0.00,0.000,6,0.000,0.025,2871,2104,3114,0,0,0,0,0,0
$GC,3731,-1.19,-116.8,366.6,-7.3,251,3735,0.00,2.55,0.00,0.000,4,0.000,0.048,2871,3502,3112,0,0,0,0,0,0
$GC,3742,-1.19,-116.8,367.6,-7.4,251,3746,0.00,2.50,0.00,0.000,6,0.000,0.041,2871,2103,3112,0,0,0,0,0,0
$GC,4056,-1.19,-116.8,388.6,-6.5,259,4060,0.00,2.58,0.00,0.000,4,0.000,0.051,2871,691,3110,0,0,0,0,0,0
$GC,4084,-1.19,-116.8,390.7,-7.7,259,4089,0.00,2.45,0.00,0.000,6,0.000,0.027,2871,2099,3109,0,0,0,0,0,0
$GC,4421,-1.19,-116.8,413.8,-7.2,268,4425,0.00,2.60,0.00,0.000,4,0.000,0.051,2871,690,3107,0,0,0,0,0,0
$GC,4440,-1.19,-116.8,415.4,-7.5,268,4445,0.00,2.45,0.00,0.000,6,0.000,0.028,2871,2099,3107,0,0,0,0,0,0
$GC,4786,-1.19,-116.8,443.6,-8.1,277,4790,0.00,2.58,0.00,0.000,4,0.000,0.053,2871,692,3105,0,0,0,0,0,0
$GC,4856,-1.19,-116.8,449.4,-8.5,278,4860,0.00,2.45,0.00,0.000,6,0.000,0.028,2870,2110,3104,0,0,0,0,0,0
$STATE,4863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4863,begin apogee
$GC,4870,-0.31,0.0,450.2,7.6,278,4969,0.93,0.00,94.97,0.818,6,0.081,0.000,3066,1791,2635,0,0,0,0,0,0
$STATE,4969,end apogee,CONTROL_FINISHED_OK
$STATE,4969,begin climb
$GC,4972,1.19,116.8,452.2,0.0,281,5085,1.48,2.62,100.45,0.798,4,0.054,0.060,3393,413,2157,0,0,0,0,0,0
$GC,5113,1.19,116.8,439.1,15.1,284,5117,0.00,2.47,0.00,0.000,6,0.000,0.025,3393,1803,2152,0,0,0,0,0,0
$GC,5427,1.19,116.8,398.0,13.3,292,5431,0.00,2.55,0.00,0.000,4,0.000,0.044,3394,3203,2146,0,0,0,0,0,0
$GC,5442,1.19,116.8,395.9,13.1,292,5446,0.00,2.60,0.00,0.000,6,0.000,0.048,3393,1809,2146,0,0,0,0,0,0
$GC,5792,1.19,116.8,353.0,11.5,301,5796,0.00,2.65,0.00,0.000,4,0.000,0.060,3393,393,2142,0,0,0,0,0,0
$GC,5825,1.19,116.8,348.8,13.6,301,5829,0.00,2.50,0.00,0.000,6,0.000,0.027,3393,1803,2140,0,0,0,0,0,0
$GC,6156,1.19,116.8,316.6,9.3,309,6161,0.00,2.67,0.00,0.000,4,0.000,0.060,3393,394,2139,0,0,0,0,0,0
$GC,6171,1.19,116.8,315.0,9.2,309,6175,0.00,2.50,0.00,0.000,6,0.000,0.026,3393,1810,2138,0,0,0,0,0,0
$GC,6504,1.19,116.8,282.8,9.8,321,6509,0.00,2.67,0.00,0.000,4,0.000,0.059,3393,394,2138,0,0,0,0,0,0
$GC,6524,1.19,116.8,280.4,10.8,322,6529,0.00,2.45,0.00,0.000,6,0.000,0.027,3393,1799,2136,0,0,0,0,0,0
$GC,6854,1.19,116.8,246.4,10.5,338,6855,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1800,2136,0,0,0,0,0,0
$GC,7165,1.19,116.8,217.8,8.6,353,7169,0.00,2.53,0.00,0.000,4,0.000,0.041,3393,3201,2135,0,0,0,0,0,0
$GC,7216,1.19,116.8,213.4,8.1,355,7220,0.00,2.58,0.00,0.000,6,0.000,0.046,3393,1796,2135,0,0,0,0,0,0
$GC,7545,1.22,135.5,185.8,7.2,379,7565,0.00,2.65,13.30,0.598,4,0.000,0.057,3393,392,2081,0,0,0,0,0,0
$GC,7579,1.22,135.5,182.7,8.4,382,7585,0.00,2.50,0.00,0.000,6,0.000,0.025,3393,1795,2079,0,0,0,0,0,0
$GC,7842,1.22,135.5,161.2,8.1,407,7846,0.00,2.62,0.00,0.000,4,0.000,0.055,3393,388,2078,0,0,0,0,0,0
$GC,7895,1.22,135.5,156.2,9.8,412,7899,0.00,2.47,0.00,0.000,6,0.000,0.025,3393,1799,2076,0,0,0,0,0,0
$GC,8158,1.24,151.4,136.7,7.3,436,8178,0.00,2.67,14.77,0.558,4,0.000,0.054,3393,388,2016,0,0,0,0,0,0
$GC,8199,1.24,151.4,133.4,8.1,440,8203,0.00,2.50,0.00,0.000,6,0.000,0.023,3393,1809,2014,0,0,0,0,0,0
$GC,8462,1.29,193.5,113.2,6.1,464,8509,0.10,2.55,37.60,0.565,4,0.074,0.034,3429,3193,1845,0,0,0,0,0,0
$GC,8561,1.30,202.5,105.7,7.6,474,8577,0.00,2.60,9.23,0.489,6,0.000,0.040,3429,1798,1809,0,0,0,0,0,0
$GC,8832,1.30,202.5,83.3,8.8,500,8836,0.00,2.60,0.00,0.000,4,0.000,0.054,3429,389,1804,0,0,0,0,0,0
$GC,8968,1.30,202.5,68.3,11.5,514,8974,0.00,2.45,0.00,0.000,6,0.000,0.021,3429,1793,1800,0,0,0,0,0,0
$GC,9230,1.30,202.5,43.5,9.4,539,9231,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,1796,1800,0,0,0,0,0,0
$GC,9487,1.34,236.4,25.7,6.5,569,9522,0.00,2.65,28.77,0.476,4,0.000,0.048,3429,383,1669,0,0,0,0,0,0
$GC,9563,1.34,236.4,19.7,8.4,584,9570,0.00,2.47,0.00,0.000,6,0.000,0.020,3429,1798,1665,0,0,0,0,0,0
$GC,9767,1.34,236.4,3.0,8.4,621,9774,0.00,2.65,0.00,0.000,4,0.000,0.048,3429,386,1665,0,0,0,0,0,0
$STATE,9779,end climb,SURFACE_DEPTH_REACHED
$STATE,9779,begin surface coast
$FINISH,1.1,1.011739
$STATE,9806,end surface coast,CONTROL_FINISHED_OK
$STATE,9806,begin surface
$SM_CCo,9833,49.08,0.456,0,0,1288,330.17
$SM_GC,1.78,0.00,0.00,49.08,0.000,0.000,0.456,430,2105,1288,-12.45,0.14,330.17
$IRIDIUM_FIX,2036.38,-15757.37,130800,141452
$TT8_MAMPS,0.029146
$HUMID,59.09
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,20.50
$XPDR_PINGS,7
$24V_AH,23.5,32.465
$10V_AH,10.4,30.708
$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,28.425,127.450,299.100,49.075,0.000,26.341,32.267,299.682,6.250,0.000,20.677,1156.809,6402.997,410.731,1781.663,631.020,33.357,1195.287,0.000,1759.062,0.000,29.251,0.000
$DEVICE_MAMPS,134.225,59.826,817.622,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,425.250,418.045,926.786,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,34955,629
$CAP_FILE_SIZE,108520,0
$CFSIZE,260165632,237211648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200511,195555,2042.325,-15757.490,10,2.0,15,9.7