version: 66.06
glider: 139
mission: 9
dive: 202
start: 4 28 111 2 25 44
data:
$ID,139
$MISSION,9
$DIVE,202
$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,-2179744.5
$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,17
$R_STBD_OVSHOOT,73
$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
$GPS1,021237,2058.297,-15750.954,64,0.8,64,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-72.0
$GPS2,022449,2058.278,-15751.044,14,1.5,14,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.220,-0.023
$KALMAN_X,-108265.1,76.8,-294.0,107790.7,1369.9
$KALMAN_Y,-23335.9,-192.0,-341.3,765.1,1341.3
$MHEAD_RNG_PITCHd_Wd,254.1,26631,-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,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,88,0.00,0.00,-69.75,0.000,2,0.000,0.000,429,2120,3110,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.5,-5.5,13,110,13.12,2.42,0.00,0.000,4,0.135,0.035,2870,3475,3112,0,0,0,0,0,0
$GC,361,-1.19,-116.8,55.4,-15.9,55,365,0.00,2.47,0.00,0.000,6,0.000,0.035,2870,2088,3114,0,0,0,0,0,0
$GC,624,-1.19,-116.8,95.2,-14.3,79,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2088,3115,0,0,0,0,0,0
$GC,878,-1.19,-116.8,129.4,-11.9,103,882,0.00,2.42,0.00,0.000,4,0.000,0.035,2870,3465,3116,0,0,0,0,0,0
$GC,931,-1.19,-116.8,135.4,-10.9,108,935,0.00,2.42,0.00,0.000,6,0.000,0.033,2870,2093,3115,0,0,0,0,0,0
$GC,1192,-1.19,-116.8,162.3,-10.6,132,1196,0.00,2.53,0.00,0.000,4,0.000,0.042,2870,683,3116,0,0,0,0,0,0
$GC,1328,-1.19,-116.8,180.3,-13.0,146,1335,0.00,2.38,0.00,0.000,6,0.000,0.022,2870,2056,3116,0,0,0,0,0,0
$GC,1600,-1.19,-116.8,210.1,-9.2,167,1604,0.00,2.55,0.00,0.000,4,0.000,0.040,2870,3499,3116,0,0,0,0,0,0
$GC,1651,-1.19,-116.8,215.5,-10.1,169,1655,0.00,2.47,0.00,0.000,6,0.000,0.035,2870,2101,3116,0,0,0,0,0,0
$GC,1972,-1.19,-116.8,239.8,-7.0,185,1979,0.00,2.53,0.00,0.000,4,0.000,0.045,2870,689,3116,0,0,0,0,0,0
$GC,2008,-1.19,-116.8,242.7,-7.3,186,2013,0.00,2.40,0.00,0.000,6,0.000,0.025,2870,2099,3116,0,0,0,0,0,0
$GC,2329,-1.19,-116.8,265.5,-8.0,202,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2100,3115,0,0,0,0,0,0
$GC,2640,-1.19,-116.8,290.9,-8.2,217,2645,0.00,2.58,0.00,0.000,4,0.000,0.048,2870,695,3115,0,0,0,0,0,0
$GC,2678,-1.19,-116.8,294.7,-10.2,218,2685,0.00,2.45,0.00,0.000,6,0.000,0.027,2870,2088,3114,0,0,0,0,0,0
$GC,2992,-1.19,-116.8,322.8,-8.9,228,2997,0.00,2.58,0.00,0.000,4,0.000,0.049,2870,3509,3112,0,0,0,0,0,0
$GC,3053,-1.19,-116.8,328.1,-8.3,229,3057,0.00,2.55,0.00,0.000,6,0.000,0.042,2870,2095,3113,0,0,0,0,0,0
$GC,3403,-1.19,-116.8,352.9,-7.0,238,3408,0.00,2.55,0.00,0.000,4,0.000,0.051,2870,692,3110,0,0,0,0,0,0
$GC,3455,-1.19,-116.8,356.9,-7.8,239,3459,0.00,2.45,0.00,0.000,6,0.000,0.029,2870,2109,3110,0,0,0,0,0,0
$GC,3775,-1.19,-116.8,380.4,-7.8,247,3779,0.00,2.55,0.00,0.000,4,0.000,0.053,2870,3501,3107,0,0,0,0,0,0
$GC,3872,-1.19,-116.8,388.5,-8.2,249,3877,0.00,2.55,0.00,0.000,6,0.000,0.048,2870,2096,3106,0,0,0,0,0,0
$GC,4193,-1.19,-116.8,413.4,-7.5,257,4197,0.00,2.60,0.00,0.000,4,0.000,0.055,2870,685,3105,0,0,0,0,0,0
$GC,4212,-1.19,-116.8,415.2,-8.0,257,4217,0.00,2.50,0.00,0.000,6,0.000,0.031,2870,2103,3104,0,0,0,0,0,0
$GC,4558,-1.19,-116.8,439.2,-6.7,266,4562,0.00,2.58,0.00,0.000,4,0.000,0.058,2870,3499,3102,0,0,0,0,0,0
$GC,4586,-1.19,-116.8,441.0,-6.4,266,4591,0.00,2.55,0.00,0.000,6,0.000,0.048,2870,2098,3101,0,0,0,0,0,0
$STATE,4757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4757,begin apogee
$GC,4764,-0.31,0.0,451.6,6.0,271,4862,0.95,0.00,94.45,0.821,6,0.083,0.000,3067,1794,2635,0,0,0,0,0,0
$STATE,4863,end apogee,CONTROL_FINISHED_OK
$STATE,4863,begin climb
$GC,4866,1.19,116.8,452.7,0.0,273,4978,1.48,2.67,101.25,0.802,4,0.056,0.050,3393,3201,2157,0,0,0,0,0,0
$GC,4997,1.19,116.8,440.4,11.8,276,5002,0.00,2.67,0.00,0.000,6,0.000,0.057,3392,1809,2156,0,0,0,0,0,0
$GC,5320,1.19,116.8,401.8,11.5,284,5325,0.00,2.70,0.00,0.000,4,0.000,0.064,3392,393,2146,0,0,0,0,0,0
$GC,5340,1.19,116.8,399.3,12.2,284,5344,0.00,2.53,0.00,0.000,6,0.000,0.028,3392,1807,2144,0,0,0,0,0,0
$GC,5685,1.19,116.8,363.3,10.4,293,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1810,2142,0,0,0,0,0,0
$GC,6010,1.19,116.8,327.5,11.1,301,6014,0.00,2.70,0.00,0.000,4,0.000,0.061,3393,391,2139,0,0,0,0,0,0
$GC,6038,1.19,116.8,323.9,12.9,301,6042,0.00,2.50,0.00,0.000,6,0.000,0.028,3392,1807,2137,0,0,0,0,0,0
$GC,6355,1.19,116.8,287.6,11.5,312,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1811,2137,0,0,0,0,0,0
$GC,6666,1.19,116.8,256.7,9.9,327,6670,0.00,2.65,0.00,0.000,4,0.000,0.058,3392,392,2135,0,0,0,0,0,0
$GC,6694,1.19,116.8,253.5,10.5,328,6698,0.00,2.50,0.00,0.000,6,0.000,0.027,3392,1807,2134,0,0,0,0,0,0
$GC,7014,1.19,116.8,221.3,11.0,344,7019,0.00,2.65,0.00,0.000,4,0.000,0.057,3392,389,2133,0,0,0,0,0,0
$GC,7057,1.19,116.8,216.2,11.6,346,7062,0.00,2.47,0.00,0.000,6,0.000,0.025,3392,1799,2132,0,0,0,0,0,0
$GC,7383,1.20,117.4,187.3,8.0,368,7387,0.00,2.47,0.00,0.000,4,0.000,0.038,3393,3199,2132,0,0,0,0,0,0
$GC,7425,1.20,117.4,183.6,8.1,372,7429,0.00,2.55,0.00,0.000,6,0.000,0.043,3392,1798,2132,0,0,0,0,0,0
$GC,7688,1.20,117.4,162.5,8.4,396,7693,0.00,2.60,0.00,0.000,4,0.000,0.053,3392,386,2132,0,0,0,0,0,0
$GC,7749,1.20,117.4,156.4,10.2,402,7753,0.00,2.47,0.00,0.000,6,0.000,0.022,3392,1812,2131,0,0,0,0,0,0
$GC,8012,1.20,117.4,133.8,9.0,426,8016,0.00,2.62,0.00,0.000,4,0.000,0.050,3392,389,2131,0,0,0,0,0,0
$GC,8049,1.20,117.4,130.1,9.7,429,8054,0.00,2.42,0.00,0.000,6,0.000,0.021,3392,1799,2130,0,0,0,0,0,0
$GC,8312,1.23,141.5,111.3,6.9,454,8335,0.00,2.47,17.73,0.541,4,0.000,0.031,3393,3195,2057,0,0,0,0,0,0
$GC,8384,1.23,145.5,105.9,7.8,461,8394,0.00,2.53,5.32,0.420,6,0.000,0.038,3392,1798,2042,0,0,0,0,0,0
$GC,8649,1.24,149.6,85.3,7.8,486,8661,0.00,2.60,4.90,0.393,4,0.000,0.048,3392,383,2024,0,0,0,0,0,0
$GC,8672,1.24,149.6,83.4,8.8,488,8677,0.00,2.45,0.00,0.000,6,0.000,0.020,3392,1804,2022,0,0,0,0,0,0
$GC,8937,1.27,180.0,64.7,6.6,512,8969,0.00,2.70,27.23,0.509,4,0.000,0.049,3392,369,1901,0,0,0,0,0,0
$GC,9007,1.27,180.0,59.0,9.5,519,9013,0.00,2.50,0.00,0.000,6,0.000,0.020,3392,1798,1896,0,0,0,0,0,0
$GC,9271,1.27,180.0,35.6,9.9,544,9277,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1803,1896,0,0,0,0,0,0
$GC,9538,1.35,240.0,17.4,5.3,587,9594,0.15,0.00,50.85,0.475,6,0.053,0.000,3445,1804,1655,0,0,0,0,0,0
$STATE,9692,end climb,SURFACE_DEPTH_REACHED
$STATE,9692,begin surface coast
$FINISH,1.0,1.022900
$STATE,9720,end surface coast,CONTROL_FINISHED_OK
$STATE,9720,begin surface
$SM_CCo,9744,47.30,0.452,0,0,1288,330.17
$SM_GC,1.46,0.00,0.00,47.30,0.000,0.000,0.452,429,2159,1288,-12.46,1.67,330.17
$IRIDIUM_FIX,2047.91,-15752.63,220700,020231
$TT8_MAMPS,0.029146
$HUMID,54.05
$INTERNAL_PRESSURE,9.63558
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,16.152
$10V_AH,10.6,15.584
$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,28.575,112.550,301.725,47.300,0.000,81.129,100.368,293.820,4.750,0.000,14.242,1137.469,6536.867,400.366,1725.977,726.898,33.353,1157.041,0.000,1702.800,0.000,32.082,0.000
$DEVICE_MAMPS,134.992,63.661,821.457,451.763,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.233,404.994,912.788,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,35021,620
$CAP_FILE_SIZE,108904,0
$CFSIZE,260165632,246706176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280411,050950,2058.493,-15751.981,15,1.9,15,9.8