version: 66.06
glider: 139
mission: 9
dive: 204
start: 4 28 111 8 1 24
data:
$ID,139
$MISSION,9
$DIVE,204
$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,-2179781.5
$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,83
$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
$GPS1,075500,2059.158,-15752.849,41,1.0,46,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-74.2
$GPS2,080031,2059.179,-15752.874,13,1.2,18,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.181,0.127
$KALMAN_X,-107215.1,235.2,126.4,102997.5,630.9
$KALMAN_Y,-22956.9,-72.3,241.3,1347.1,73.1
$MHEAD_RNG_PITCHd_Wd,295.2,23227,-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,-116.8,0.0,0.0,0,94,0.00,0.00,-70.45,0.000,6,0.000,0.000,429,2153,3112,0,0,0,0,0,0
$GC,97,-1.19,-116.8,3.9,-5.5,14,115,13.10,2.33,0.00,0.000,4,0.135,0.033,2869,3457,3113,0,0,0,0,0,0
$GC,349,-1.19,-116.8,56.4,-15.8,53,354,0.00,2.40,0.00,0.000,6,0.000,0.033,2869,2091,3115,0,0,0,0,0,0
$GC,612,-1.19,-116.8,97.5,-14.6,77,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2091,3116,0,0,0,0,0,0
$GC,867,-1.19,-116.8,130.4,-11.1,101,871,0.00,2.40,0.00,0.000,4,0.000,0.035,2869,3458,3116,0,0,0,0,0,0
$GC,893,-1.19,-116.8,133.8,-12.5,103,897,0.00,2.40,0.00,0.000,6,0.000,0.032,2869,2099,3117,0,0,0,0,0,0
$GC,1159,-1.19,-116.8,165.5,-11.5,127,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2098,3117,0,0,0,0,0,0
$GC,1420,-1.19,-116.8,195.7,-11.0,152,1425,0.00,2.53,0.00,0.000,4,0.000,0.043,2869,690,3117,0,0,0,0,0,0
$GC,1509,-1.19,-116.8,205.4,-10.3,158,1514,0.00,2.35,0.00,0.000,6,0.000,0.023,2869,2054,3117,0,0,0,0,0,0
$GC,1839,-1.19,-116.8,236.4,-10.1,174,1843,0.00,2.45,0.00,0.000,4,0.000,0.044,2869,682,3117,0,0,0,0,0,0
$GC,1867,-1.19,-116.8,239.3,-10.0,175,1871,0.00,2.45,0.00,0.000,6,0.000,0.024,2869,2104,3118,0,0,0,0,0,0
$GC,2189,-1.19,-116.8,265.4,-7.1,191,2193,0.00,2.50,0.00,0.000,4,0.000,0.045,2869,3498,3117,0,0,0,0,0,0
$GC,2280,-1.19,-116.8,273.4,-8.0,195,2284,0.00,2.50,0.00,0.000,6,0.000,0.040,2869,2092,3117,0,0,0,0,0,0
$GC,2610,-1.19,-116.8,297.8,-7.2,211,2615,0.00,2.53,0.00,0.000,4,0.000,0.048,2869,690,3116,0,0,0,0,0,0
$GC,2626,-1.19,-116.8,299.2,-7.7,211,2631,0.00,2.45,0.00,0.000,6,0.000,0.027,2869,2099,3116,0,0,0,0,0,0
$GC,2937,-1.19,-116.8,324.8,-7.5,220,2941,0.00,2.55,0.00,0.000,4,0.000,0.049,2869,3498,3115,0,0,0,0,0,0
$GC,2984,-1.19,-116.8,328.2,-6.9,221,2988,0.00,2.50,0.00,0.000,6,0.000,0.042,2869,2103,3115,0,0,0,0,0,0
$GC,3309,-1.19,-116.8,350.1,-6.6,229,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2103,3113,0,0,0,0,0,0
$GC,3632,-1.19,-116.8,372.0,-6.6,237,3637,0.00,2.60,0.00,0.000,4,0.000,0.053,2869,686,3111,0,0,0,0,0,0
$GC,3676,-1.19,-116.8,375.2,-7.2,238,3680,0.00,2.45,0.00,0.000,6,0.000,0.030,2869,2098,3111,0,0,0,0,0,0
$GC,4009,-1.19,-116.8,398.0,-6.9,246,4013,0.00,2.58,0.00,0.000,4,0.000,0.054,2869,3508,3108,0,0,0,0,0,0
$GC,4042,-1.19,-116.8,400.4,-7.3,246,4046,0.00,2.58,0.00,0.000,6,0.000,0.046,2869,2094,3108,0,0,0,0,0,0
$GC,4374,-1.19,-116.8,423.9,-6.9,254,4378,0.00,2.58,0.00,0.000,4,0.000,0.055,2869,688,3105,0,0,0,0,0,0
$GC,4393,-1.19,-116.8,425.5,-7.6,254,4397,0.00,2.50,0.00,0.000,6,0.000,0.032,2869,2106,3105,0,0,0,0,0,0
$STATE,4736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4736,begin apogee
$GC,4743,-0.31,0.0,452.4,8.1,263,4841,0.95,0.00,94.60,0.829,6,0.083,0.000,3065,1792,2635,0,0,0,0,0,0
$STATE,4841,end apogee,CONTROL_FINISHED_OK
$STATE,4842,begin climb
$GC,4845,1.19,116.8,455.7,0.0,265,4950,1.52,0.00,101.50,0.810,6,0.056,0.000,3398,1793,2158,0,0,0,0,0,0
$GC,5263,1.19,116.8,409.9,12.9,276,5268,0.00,2.65,0.00,0.000,4,0.000,0.064,3398,399,2146,0,0,0,0,0,0
$GC,5282,1.19,116.8,407.1,14.0,276,5287,0.00,2.50,0.00,0.000,6,0.000,0.028,3398,1809,2144,0,0,0,0,0,0
$GC,5628,1.19,116.8,363.8,12.5,285,5632,0.00,2.70,0.00,0.000,4,0.000,0.061,3398,400,2142,0,0,0,0,0,0
$GC,5679,1.19,116.8,356.4,13.2,286,5684,0.00,2.47,0.00,0.000,6,0.000,0.028,3398,1798,2139,0,0,0,0,0,0
$GC,5998,1.19,116.8,315.1,13.2,294,6002,0.00,2.65,0.00,0.000,4,0.000,0.060,3398,396,2138,0,0,0,0,0,0
$GC,6012,1.19,116.8,312.9,13.0,294,6017,0.00,2.47,0.00,0.000,6,0.000,0.028,3398,1805,2138,0,0,0,0,0,0
$GC,6345,1.19,116.8,274.0,11.8,308,6350,0.00,2.55,0.00,0.000,4,0.000,0.046,3398,3201,2137,0,0,0,0,0,0
$GC,6360,1.19,116.8,272.0,12.3,308,6367,0.00,2.62,0.00,0.000,6,0.000,0.048,3398,1804,2137,0,0,0,0,0,0
$GC,6675,1.19,116.8,236.9,10.5,324,6677,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1804,2135,0,0,0,0,0,0
$GC,6986,1.19,116.8,204.2,10.3,339,6990,0.00,2.60,0.00,0.000,4,0.000,0.056,3398,390,2133,0,0,0,0,0,0
$GC,7048,1.19,116.8,197.2,10.6,343,7053,0.00,2.45,0.00,0.000,6,0.000,0.025,3398,1799,2131,0,0,0,0,0,0
$GC,7313,1.21,132.1,175.2,7.3,367,7333,0.00,2.70,9.73,0.575,4,0.000,0.053,3398,392,2095,0,0,0,0,0,0
$GC,7344,1.21,132.1,172.3,8.5,370,7348,0.00,2.47,0.00,0.000,6,0.000,0.024,3398,1810,2094,0,0,0,0,0,0
$GC,7607,1.21,132.1,148.9,9.3,394,7612,0.00,2.65,0.00,0.000,4,0.000,0.051,3398,389,2094,0,0,0,0,0,0
$GC,7650,1.21,132.1,144.2,11.5,398,7654,0.00,2.45,0.00,0.000,6,0.000,0.022,3398,1797,2092,0,0,0,0,0,0
$GC,7913,1.21,132.1,118.1,10.8,422,7917,0.00,2.62,0.00,0.000,4,0.000,0.050,3398,386,2092,0,0,0,0,0,0
$GC,7968,1.21,132.1,111.5,11.9,427,7973,0.00,2.45,0.00,0.000,6,0.000,0.021,3398,1806,2092,0,0,0,0,0,0
$GC,8231,1.23,141.8,89.6,7.6,452,8246,0.00,2.65,9.50,0.492,4,0.000,0.048,3398,385,2057,0,0,0,0,0,0
$GC,8280,1.24,149.9,85.9,7.6,456,8296,0.00,2.47,8.65,0.476,6,0.000,0.020,3398,1806,2023,0,0,0,0,0,0
$GC,8553,1.25,163.9,67.0,7.4,482,8573,0.00,2.65,13.82,0.491,4,0.000,0.048,3398,385,1965,0,0,0,0,0,0
$GC,8604,1.25,163.9,62.5,9.5,487,8608,0.00,2.42,0.00,0.000,6,0.000,0.019,3397,1804,1962,0,0,0,0,0,0
$GC,8868,1.28,182.6,41.6,7.2,511,8892,0.00,2.50,16.98,0.475,4,0.000,0.029,3398,3192,1889,0,0,0,0,0,0
$GC,8909,1.33,230.6,39.0,5.8,515,8959,0.12,2.50,42.00,0.492,6,0.060,0.035,3444,1799,1694,0,0,0,0,0,0
$GC,9215,1.33,230.6,6.8,12.1,563,9222,0.00,2.60,0.00,0.000,4,0.000,0.048,3444,393,1688,0,0,0,0,0,0
$STATE,9244,end climb,SURFACE_DEPTH_REACHED
$STATE,9244,begin surface coast
$FINISH,1.0,1.020700
$STATE,9263,end surface coast,CONTROL_FINISHED_OK
$STATE,9263,begin surface
$SM_CCo,9290,51.83,0.456,0,0,1288,330.17
$SM_GC,1.84,0.00,0.00,51.83,0.000,0.000,0.456,430,2098,1288,-12.45,-0.06,330.17
$IRIDIUM_FIX,2047.91,-15750.49,220700,050529
$TT8_MAMPS,0.028379
$HUMID,55.00
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.10
$XPDR_PINGS,1
$24V_AH,23.5,16.307
$10V_AH,10.5,15.734
$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,28.625,112.000,296.775,51.825,0.000,32.980,33.795,140.792,5.000,0.000,18.433,1060.380,6176.316,443.239,1548.944,445.789,33.356,1113.842,0.000,1537.842,0.000,32.092,0.000
$DEVICE_MAMPS,134.992,63.661,829.127,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,387.398,372.666,829.749,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,31797,573
$CAP_FILE_SIZE,95784,0
$CFSIZE,260165632,246624256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280411,103825,2059.757,-15753.839,40,1.6,40,9.8