version: 66.06
glider: 139
mission: 9
dive: 209
start: 4 28 111 21 54 11
data:
$ID,139
$MISSION,9
$DIVE,209
$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,-2179906.8
$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,19
$R_STBD_OVSHOOT,77
$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
$GPS1,214720,2103.138,-15758.428,11,1.8,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-72.4
$GPS2,215319,2103.214,-15758.479,18,1.8,35,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.134,0.176
$KALMAN_X,-106144.7,-348.1,97.2,92865.4,242.1
$KALMAN_Y,-22403.9,-84.8,117.8,8401.8,-46.7
$MHEAD_RNG_PITCHd_Wd,312.9,11325,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-69.85,0.000,2,0.000,0.000,430,2138,3109,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.2,-3.6,13,110,13.05,2.35,0.00,0.000,4,0.133,0.031,2869,3464,3111,0,0,0,0,0,0
$GC,359,-1.19,-116.8,61.3,-18.2,56,363,0.00,2.42,0.00,0.000,6,0.000,0.034,2869,2086,3114,0,0,0,0,0,0
$GC,623,-1.19,-116.8,100.3,-14.7,80,627,0.00,2.42,0.00,0.000,4,0.000,0.035,2869,3464,3114,0,0,0,0,0,0
$GC,766,-1.19,-116.8,123.0,-14.6,95,771,0.00,2.40,0.00,0.000,6,0.000,0.032,2869,2098,3114,0,0,0,0,0,0
$GC,1031,-1.19,-116.8,155.7,-9.8,119,1035,0.00,2.40,0.00,0.000,4,0.000,0.035,2868,3464,3115,0,0,0,0,0,0
$GC,1046,-1.19,-116.8,157.6,-10.1,120,1050,0.00,2.40,0.00,0.000,6,0.000,0.033,2869,2100,3115,0,0,0,0,0,0
$GC,1307,-1.19,-116.8,181.6,-10.0,144,1312,0.00,2.50,0.00,0.000,4,0.000,0.043,2869,692,3116,0,0,0,0,0,0
$GC,1386,-1.19,-116.8,191.2,-11.7,152,1390,0.00,2.35,0.00,0.000,6,0.000,0.022,2869,2065,3116,0,0,0,0,0,0
$GC,1642,-1.19,-116.8,216.4,-8.9,168,1646,0.00,2.45,0.00,0.000,4,0.000,0.043,2869,692,3116,0,0,0,0,0,0
$GC,1652,-1.19,-116.8,217.3,-8.7,168,1656,0.00,2.42,0.00,0.000,6,0.000,0.023,2869,2109,3116,0,0,0,0,0,0
$GC,1969,-1.19,-116.8,246.5,-8.9,183,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2109,3116,0,0,0,0,0,0
$GC,2277,-1.19,-116.8,273.4,-8.8,198,2281,0.00,2.50,0.00,0.000,4,0.000,0.048,2869,3494,3116,0,0,0,0,0,0
$GC,2344,-1.19,-116.8,279.9,-10.7,201,2351,0.00,2.47,0.00,0.000,6,0.000,0.040,2869,2105,3116,0,0,0,0,0,0
$GC,2680,-1.19,-116.8,308.2,-8.6,215,2684,0.00,2.55,0.00,0.000,4,0.000,0.047,2869,3503,3114,0,0,0,0,0,0
$GC,2712,-1.19,-116.8,311.2,-8.9,215,2717,0.00,2.53,0.00,0.000,6,0.000,0.041,2869,2099,3114,0,0,0,0,0,0
$GC,3044,-1.19,-116.8,332.2,-5.7,223,3048,0.00,2.58,0.00,0.000,4,0.000,0.051,2869,691,3113,0,0,0,0,0,0
$GC,3091,-1.19,-116.8,335.3,-7.1,224,3096,0.00,2.42,0.00,0.000,6,0.000,0.028,2869,2094,3112,0,0,0,0,0,0
$GC,3414,-1.19,-116.8,358.4,-7.6,232,3419,0.00,2.58,0.00,0.000,4,0.000,0.051,2869,683,3110,0,0,0,0,0,0
$GC,3466,-1.19,-116.8,362.5,-7.6,233,3470,0.00,2.47,0.00,0.000,6,0.000,0.029,2869,2099,3110,0,0,0,0,0,0
$GC,3785,-1.19,-116.8,384.5,-6.9,241,3789,0.00,2.62,0.00,0.000,4,0.000,0.056,2869,3500,3107,0,0,0,0,0,0
$GC,3829,-1.19,-116.8,388.0,-7.9,242,3833,0.00,2.55,0.00,0.000,6,0.000,0.047,2869,2101,3107,0,0,0,0,0,0
$GC,4157,-1.19,-116.8,410.5,-6.6,250,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2101,3105,0,0,0,0,0,0
$GC,4481,-1.19,-116.8,433.1,-7.3,258,4486,0.00,2.60,0.00,0.000,4,0.000,0.057,2869,692,3103,0,0,0,0,0,0
$GC,4519,-1.19,-116.8,435.9,-7.2,258,4525,0.00,2.50,0.00,0.000,6,0.000,0.031,2869,2106,3103,0,0,0,0,0,0
$STATE,4766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4766,begin apogee
$GC,4774,-0.31,0.0,452.0,6.3,265,4872,0.95,0.00,94.75,0.828,6,0.083,0.000,3066,1789,2634,0,0,0,0,0,0
$STATE,4873,end apogee,CONTROL_FINISHED_OK
$STATE,4873,begin climb
$GC,4875,1.19,116.8,454.1,0.0,267,4984,1.50,0.00,101.03,0.808,6,0.056,0.000,3396,1789,2157,0,0,0,0,0,0
$GC,5325,1.19,116.8,403.6,13.4,278,5326,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1789,2145,0,0,0,0,0,0
$GC,5650,1.19,116.8,362.0,12.9,286,5654,0.00,2.65,0.00,0.000,4,0.000,0.049,3396,3204,2142,0,0,0,0,0,0
$GC,5697,1.19,116.8,356.2,12.2,287,5701,0.00,2.62,0.00,0.000,6,0.000,0.053,3395,1807,2143,0,0,0,0,0,0
$GC,6020,1.19,116.8,318.8,11.7,295,6024,0.00,2.65,0.00,0.000,4,0.000,0.061,3395,393,2139,0,0,0,0,0,0
$GC,6085,1.19,116.8,309.9,13.7,296,6090,0.00,2.50,0.00,0.000,6,0.000,0.028,3396,1809,2137,0,0,0,0,0,0
$GC,6414,1.19,116.8,277.0,8.3,310,6418,0.00,2.70,0.00,0.000,4,0.000,0.059,3395,387,2137,0,0,0,0,0,0
$GC,6474,1.19,116.8,270.8,9.9,312,6481,0.00,2.53,0.00,0.000,6,0.000,0.028,3396,1801,2134,0,0,0,0,0,0
$GC,6789,1.19,116.8,242.7,10.0,328,6791,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1804,2134,0,0,0,0,0,0
$GC,7100,1.19,116.8,214.2,8.9,343,7105,0.00,2.53,0.00,0.000,4,0.000,0.040,3396,3206,2133,0,0,0,0,0,0
$GC,7124,1.19,116.8,211.9,9.0,344,7128,0.00,2.60,0.00,0.000,6,0.000,0.044,3395,1791,2133,0,0,0,0,0,0
$GC,7458,1.19,116.8,180.0,10.0,369,7462,0.00,2.58,0.00,0.000,4,0.000,0.054,3395,384,2133,0,0,0,0,0,0
$GC,7477,1.19,116.8,177.2,11.9,370,7484,0.00,2.47,0.00,0.000,6,0.000,0.023,3396,1805,2132,0,0,0,0,0,0
$GC,7741,1.19,116.8,149.4,11.3,395,7745,0.00,2.62,0.00,0.000,4,0.000,0.052,3395,386,2132,0,0,0,0,0,0
$GC,7793,1.19,116.8,142.7,11.6,400,7797,0.00,2.45,0.00,0.000,6,0.000,0.022,3396,1804,2131,0,0,0,0,0,0
$GC,8056,1.20,121.2,119.2,7.8,424,8061,0.00,2.62,0.00,0.000,4,0.000,0.050,3395,386,2132,0,0,0,0,0,0
$GC,8091,1.20,121.2,116.2,8.9,427,8096,0.00,2.42,0.00,0.000,6,0.000,0.021,3396,1803,2132,0,0,0,0,0,0
$GC,8356,1.20,124.3,96.6,7.9,451,8360,0.00,2.45,0.00,0.000,4,0.000,0.031,3396,3200,2132,0,0,0,0,0,0
$GC,8371,1.20,124.3,94.9,8.6,452,8376,0.00,2.53,0.00,0.000,6,0.000,0.037,3396,1799,2132,0,0,0,0,0,0
$GC,8636,1.26,168.4,74.2,6.0,476,8685,0.00,2.67,40.58,0.528,4,0.000,0.050,3395,387,1946,0,0,0,0,0,0
$GC,8698,1.26,168.4,69.4,8.3,482,8702,0.00,2.45,0.00,0.000,6,0.000,0.020,3396,1802,1945,0,0,0,0,0,0
$GC,8963,1.27,177.7,47.7,7.6,506,8973,0.00,0.00,8.82,0.439,6,0.000,0.000,3396,1803,1909,0,0,0,0,0,0
$GC,9227,1.32,218.7,30.7,6.1,531,9272,0.12,2.70,35.88,0.482,4,0.061,0.048,3441,390,1742,0,0,0,0,0,0
$GC,9333,1.32,218.7,21.1,9.5,551,9340,0.00,2.45,0.00,0.000,6,0.000,0.019,3441,1800,1737,0,0,0,0,0,0
$STATE,9516,end climb,SURFACE_DEPTH_REACHED
$STATE,9516,begin surface coast
$FINISH,0.9,1.009532
$STATE,9538,end surface coast,CONTROL_FINISHED_OK
$STATE,9538,begin surface
$SM_CCo,9562,55.97,0.456,0,0,1288,330.17
$SM_GC,1.44,0.00,0.00,55.97,0.000,0.000,0.456,428,2116,1288,-12.46,0.45,330.17
$IRIDIUM_FIX,2052.52,-15759.05,220700,191911
$TT8_MAMPS,0.028379
$HUMID,55.00
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.5,16.696
$10V_AH,10.5,16.119
$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,28.525,106.750,281.050,55.975,0.000,30.410,43.688,145.411,4.500,0.000,35.842,1080.524,6390.643,394.284,1662.291,451.018,33.354,1110.533,0.000,1622.849,0.000,31.418,0.000
$DEVICE_MAMPS,133.458,61.360,827.593,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.805,379.221,862.781,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,31806,589
$CAP_FILE_SIZE,97217,0
$CFSIZE,260165632,246382592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290411,003554,2104.347,-15759.778,28,1.6,46,9.8