version: 66.06
glider: 139
mission: 9
dive: 201
start: 4 27 111 23 33 32
data:
$ID,139
$MISSION,9
$DIVE,201
$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,-2179729.5
$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,16
$R_STBD_OVSHOOT,70
$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
$GPS1,232251,2057.996,-15749.965,16,1.9,17,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-72.4
$GPS2,233240,2058.049,-15749.943,18,3.6,37,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.222,0.001
$KALMAN_X,-108734.4,-237.6,-70.0,110247.3,1300.7
$KALMAN_Y,-23544.3,-247.7,-460.5,724.0,1065.8
$MHEAD_RNG_PITCHd_Wd,260.5,28306,-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,-69.90,0.000,2,0.000,0.000,429,2147,3109,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.1,-4.1,13,110,13.10,2.65,0.00,0.000,4,0.135,0.038,2869,674,3111,0,0,0,0,0,0
$GC,332,-1.19,-116.8,56.5,-17.5,51,337,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2079,3112,0,0,0,0,0,0
$GC,595,-1.19,-116.8,93.5,-11.7,75,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2079,3113,0,0,0,0,0,0
$GC,850,-1.19,-116.8,123.3,-12.1,99,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2080,3114,0,0,0,0,0,0
$GC,1105,-1.19,-116.8,152.2,-10.6,123,1109,0.00,2.53,0.00,0.000,4,0.000,0.042,2869,672,3115,0,0,0,0,0,0
$GC,1196,-1.19,-116.8,163.6,-13.3,132,1203,0.00,2.47,0.00,0.000,6,0.000,0.022,2869,2098,3115,0,0,0,0,0,0
$GC,1460,-1.19,-116.8,189.8,-9.8,157,1465,0.00,2.50,0.00,0.000,4,0.000,0.041,2869,3506,3115,0,0,0,0,0,0
$GC,1550,-1.19,-116.8,199.8,-11.5,166,1555,0.00,2.50,0.00,0.000,6,0.000,0.035,2869,2088,3115,0,0,0,0,0,0
$GC,1810,-1.19,-116.8,226.0,-9.1,179,1814,0.00,2.53,0.00,0.000,4,0.000,0.045,2869,686,3115,0,0,0,0,0,0
$GC,1912,-1.19,-116.8,235.1,-8.7,183,1916,0.00,2.42,0.00,0.000,6,0.000,0.025,2869,2101,3115,0,0,0,0,0,0
$GC,2230,-1.19,-116.8,261.8,-9.1,198,2234,0.00,2.53,0.00,0.000,4,0.000,0.044,2869,3509,3114,0,0,0,0,0,0
$GC,2395,-1.19,-116.8,278.2,-10.0,205,2400,0.00,2.53,0.00,0.000,6,0.000,0.039,2869,2099,3113,0,0,0,0,0,0
$GC,2736,-1.19,-116.8,311.1,-8.9,219,2740,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,691,3113,0,0,0,0,0,0
$GC,2751,-1.19,-116.8,312.5,-7.6,219,2755,0.00,2.45,0.00,0.000,6,0.000,0.027,2869,2100,3111,0,0,0,0,0,0
$GC,3102,-1.19,-116.8,333.9,-5.9,228,3106,0.00,2.58,0.00,0.000,4,0.000,0.050,2869,689,3110,0,0,0,0,0,0
$GC,3126,-1.19,-116.8,335.6,-6.6,228,3130,0.00,2.47,0.00,0.000,6,0.000,0.028,2869,2108,3110,0,0,0,0,0,0
$GC,3469,-1.19,-116.8,360.2,-7.4,237,3474,0.00,2.60,0.00,0.000,4,0.000,0.051,2869,689,3108,0,0,0,0,0,0
$GC,3520,-1.19,-116.8,364.4,-8.1,238,3525,0.00,2.47,0.00,0.000,6,0.000,0.029,2869,2097,3107,0,0,0,0,0,0
$GC,3839,-1.19,-116.8,383.8,-5.6,246,3844,0.00,2.58,0.00,0.000,4,0.000,0.053,2869,3509,3105,0,0,0,0,0,0
$GC,3863,-1.19,-116.8,385.4,-7.0,246,3868,0.00,2.55,0.00,0.000,6,0.000,0.045,2869,2093,3105,0,0,0,0,0,0
$GC,4204,-1.19,-116.8,409.9,-7.5,255,4209,0.00,2.58,0.00,0.000,4,0.000,0.053,2869,3501,3103,0,0,0,0,0,0
$GC,4228,-1.19,-116.8,412.0,-8.3,255,4233,0.00,2.53,0.00,0.000,6,0.000,0.047,2869,2102,3102,0,0,0,0,0,0
$GC,4569,-1.19,-116.8,439.6,-8.1,264,4573,0.00,2.60,0.00,0.000,4,0.000,0.057,2869,692,3100,0,0,0,0,0,0
$GC,4634,-1.19,-116.8,445.4,-8.6,265,4639,0.00,2.50,0.00,0.000,6,0.000,0.031,2869,2107,3100,0,0,0,0,0,0
$STATE,4697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4697,begin apogee
$GC,4704,-0.31,0.0,450.5,7.8,267,4802,0.95,0.00,94.43,0.823,6,0.083,0.000,3065,1793,2635,0,0,0,0,0,0
$STATE,4803,end apogee,CONTROL_FINISHED_OK
$STATE,4803,begin climb
$GC,4805,1.19,116.8,452.5,0.0,269,4912,1.52,0.00,102.15,0.803,6,0.055,0.000,3398,1793,2158,0,0,0,0,0,0
$GC,5225,1.19,116.8,404.5,12.7,280,5229,0.00,2.65,0.00,0.000,4,0.000,0.064,3398,403,2146,0,0,0,0,0,0
$GC,5253,1.19,116.8,400.4,14.1,280,5258,0.00,2.50,0.00,0.000,6,0.000,0.027,3398,1807,2144,0,0,0,0,0,0
$GC,5589,1.19,116.8,361.8,11.1,289,5590,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1809,2141,0,0,0,0,0,0
$GC,5914,1.19,116.8,324.5,11.0,297,5919,0.00,2.67,0.00,0.000,4,0.000,0.060,3398,402,2139,0,0,0,0,0,0
$GC,5952,1.19,116.8,319.5,13.7,297,5957,0.00,2.47,0.00,0.000,6,0.000,0.028,3398,1799,2137,0,0,0,0,0,0
$GC,6264,1.19,116.8,286.8,10.1,308,6269,0.00,2.65,0.00,0.000,4,0.000,0.059,3398,401,2137,0,0,0,0,0,0
$GC,6311,1.19,116.8,281.2,10.9,310,6315,0.00,2.47,0.00,0.000,6,0.000,0.027,3398,1800,2135,0,0,0,0,0,0
$GC,6636,1.19,116.8,246.5,10.8,326,6640,0.00,2.53,0.00,0.000,4,0.000,0.044,3398,3196,2134,0,0,0,0,0,0
$GC,6687,1.19,116.8,240.8,10.8,328,6691,0.00,2.58,0.00,0.000,6,0.000,0.047,3398,1803,2134,0,0,0,0,0,0
$GC,7007,1.19,116.8,206.6,10.8,344,7012,0.00,2.60,0.00,0.000,4,0.000,0.054,3397,388,2133,0,0,0,0,0,0
$GC,7101,1.19,116.8,195.1,12.1,350,7107,0.00,2.50,0.00,0.000,6,0.000,0.025,3398,1805,2132,0,0,0,0,0,0
$GC,7363,1.19,116.8,169.2,8.6,375,7368,0.00,2.50,0.00,0.000,4,0.000,0.038,3399,3204,2132,0,0,0,0,0,0
$GC,7402,1.21,126.2,166.1,7.6,378,7412,0.00,2.58,4.45,0.435,6,0.000,0.041,3398,1805,2121,0,0,0,0,0,0
$GC,7673,1.21,126.2,143.1,8.7,404,7678,0.00,2.60,0.00,0.000,4,0.000,0.051,3398,389,2120,0,0,0,0,0,0
$GC,7737,1.21,126.2,136.6,10.4,410,7744,0.00,2.47,0.00,0.000,6,0.000,0.022,3398,1807,2118,0,0,0,0,0,0
$GC,8002,1.23,144.5,114.1,7.2,435,8024,0.00,2.47,17.60,0.552,4,0.000,0.032,3398,3196,2044,0,0,0,0,0,0
$GC,8036,1.23,144.5,111.0,8.1,438,8040,0.00,2.58,0.00,0.000,6,0.000,0.037,3398,1791,2045,0,0,0,0,0,0
$GC,8299,1.27,175.8,89.7,6.6,462,8336,0.00,2.60,28.12,0.538,4,0.000,0.048,3398,389,1916,0,0,0,0,0,0
$GC,8342,1.27,175.8,86.2,8.1,466,8349,0.00,2.50,0.00,0.000,6,0.000,0.020,3398,1808,1914,0,0,0,0,0,0
$GC,8606,1.27,175.8,61.8,9.0,491,8611,0.00,2.62,0.00,0.000,4,0.000,0.047,3398,389,1913,0,0,0,0,0,0
$GC,8642,1.27,175.8,57.8,11.5,494,8649,0.00,2.42,0.00,0.000,6,0.000,0.019,3398,1788,1910,0,0,0,0,0,0
$GC,8907,1.28,183.3,35.8,7.7,519,8919,0.00,2.65,7.15,0.414,4,0.000,0.047,3398,389,1885,0,0,0,0,0,0
$GC,8932,1.29,196.2,33.8,7.4,521,8953,0.00,2.45,12.40,0.456,6,0.000,0.019,3398,1817,1834,0,0,0,0,0,0
$GC,9211,1.31,213.0,13.8,7.3,568,9229,0.10,0.00,15.68,0.447,6,0.071,0.000,3440,1818,1765,0,0,0,0,0,0
$STATE,9326,end climb,SURFACE_DEPTH_REACHED
$STATE,9328,begin surface coast
$FINISH,0.9,1.009516
$STATE,9357,end surface coast,CONTROL_FINISHED_OK
$STATE,9357,begin surface
$SM_CCo,9381,60.10,0.459,0,0,1288,330.17
$SM_GC,1.56,0.00,0.00,60.10,0.000,0.000,0.459,430,2122,1288,-12.45,0.57,330.17
$IRIDIUM_FIX,2047.91,-15750.49,210700,232330
$TT8_MAMPS,0.028379
$HUMID,54.96
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,21.90
$XPDR_PINGS,1
$24V_AH,23.5,16.060
$10V_AH,10.5,15.501
$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,28.600,112.575,281.975,60.100,0.000,59.556,70.581,245.465,5.000,0.000,38.095,1106.343,6203.089,439.158,1672.029,611.687,33.352,1138.784,0.000,1630.083,0.000,32.105,0.000
$DEVICE_MAMPS,134.992,63.661,822.991,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.852,383.470,865.278,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,31744,594
$CAP_FILE_SIZE,102532,0
$CFSIZE,260165632,246763520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280411,021237,2058.297,-15750.954,64,0.8,64,9.8