version: 66.06
glider: 139
mission: 9
dive: 205
start: 4 28 111 10 45 13
data:
$ID,139
$MISSION,9
$DIVE,205
$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,-2179799.2
$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,37
$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
$GPS1,103825,2059.757,-15753.839,40,1.6,40,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-70.8
$GPS2,104420,2059.775,-15753.886,16,1.3,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.174,0.137
$KALMAN_X,-106667.3,-6.2,100.9,100970.5,318.5
$KALMAN_Y,-22840.4,-35.7,-242.8,2785.8,295.1
$MHEAD_RNG_PITCHd_Wd,298.4,21232,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.19,-116.8,0.0,0.0,0,90,0.00,0.00,-69.68,0.000,2,0.000,0.000,430,2100,3097,0,0,0,0,0,0
$GC,93,-1.19,-116.8,3.2,-4.0,13,113,13.05,2.50,-0.28,0.000,4,0.134,0.046,2868,3502,3113,0,0,0,0,0,0
$GC,363,-1.19,-116.8,58.9,-16.7,55,368,0.00,2.50,0.00,0.000,6,0.000,0.035,2867,2087,3116,0,0,0,0,0,0
$GC,626,-1.19,-116.8,97.2,-12.7,79,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2087,3115,0,0,0,0,0,0
$GC,882,-1.19,-116.8,128.7,-12.5,103,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2086,3116,0,0,0,0,0,0
$GC,1144,-1.19,-116.8,160.2,-11.9,128,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2086,3117,0,0,0,0,0,0
$GC,1398,-1.19,-116.8,188.9,-10.6,152,1403,0.00,2.50,0.00,0.000,4,0.000,0.044,2867,682,3118,0,0,0,0,0,0
$GC,1417,-1.19,-116.8,190.7,-10.8,153,1421,0.00,2.45,0.00,0.000,6,0.000,0.023,2867,2106,3117,0,0,0,0,0,0
$GC,1674,-1.19,-116.8,214.2,-8.1,169,1679,0.00,2.53,0.00,0.000,4,0.000,0.044,2867,691,3118,0,0,0,0,0,0
$GC,1712,-1.19,-116.8,217.5,-8.5,170,1719,0.00,2.45,0.00,0.000,6,0.000,0.024,2867,2097,3118,0,0,0,0,0,0
$GC,2029,-1.19,-116.8,246.1,-9.8,186,2033,0.00,2.55,0.00,0.000,4,0.000,0.045,2867,687,3118,0,0,0,0,0,0
$GC,2052,-1.19,-116.8,248.5,-11.1,187,2056,0.00,2.45,0.00,0.000,6,0.000,0.025,2867,2102,3118,0,0,0,0,0,0
$GC,2384,-1.19,-116.8,280.9,-8.8,203,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2102,3117,0,0,0,0,0,0
$GC,2710,-1.19,-116.8,308.5,-8.5,217,2714,0.00,2.55,0.00,0.000,4,0.000,0.048,2867,685,3116,0,0,0,0,0,0
$GC,2748,-1.19,-116.8,311.6,-8.2,217,2754,0.00,2.45,0.00,0.000,6,0.000,0.027,2867,2098,3115,0,0,0,0,0,0
$GC,3079,-1.19,-116.8,337.8,-8.1,226,3083,0.00,2.58,0.00,0.000,4,0.000,0.050,2867,689,3115,0,0,0,0,0,0
$GC,3181,-1.19,-116.8,346.9,-8.7,228,3186,0.00,2.47,0.00,0.000,6,0.000,0.028,2866,2102,3114,0,0,0,0,0,0
$GC,3496,-1.19,-116.8,371.1,-7.5,236,3500,0.00,2.58,0.00,0.000,4,0.000,0.051,2867,692,3112,0,0,0,0,0,0
$GC,3533,-1.19,-116.8,374.2,-8.2,236,3539,0.00,2.47,0.00,0.000,6,0.000,0.029,2866,2100,3112,0,0,0,0,0,0
$GC,3864,-1.19,-116.8,399.6,-7.5,245,3869,0.00,2.55,0.00,0.000,4,0.000,0.054,2867,3495,3109,0,0,0,0,0,0
$GC,3880,-1.19,-116.8,400.8,-7.5,245,3884,0.00,2.55,0.00,0.000,6,0.000,0.047,2867,2095,3109,0,0,0,0,0,0
$GC,4195,-1.19,-116.8,422.6,-6.7,253,4199,0.00,2.60,0.00,0.000,4,0.000,0.056,2867,692,3107,0,0,0,0,0,0
$GC,4242,-1.19,-116.8,426.0,-7.2,254,4246,0.00,2.50,0.00,0.000,6,0.000,0.031,2867,2106,3107,0,0,0,0,0,0
$GC,4567,-1.19,-116.8,445.4,-6.2,262,4571,0.00,2.60,0.00,0.000,4,0.000,0.058,2866,3503,3104,0,0,0,0,0,0
$STATE,4625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4625,begin apogee
$GC,4635,-0.31,0.0,450.0,7.8,263,4733,0.95,0.00,94.88,0.828,6,0.086,0.000,3065,1799,2635,0,0,0,0,0,0
$STATE,4734,end apogee,CONTROL_FINISHED_OK
$STATE,4734,begin climb
$GC,4737,1.19,116.8,452.4,0.0,265,4849,1.48,2.70,100.93,0.808,4,0.058,0.064,3390,395,2157,0,0,0,0,0,0
$GC,4855,1.19,116.8,443.7,11.9,267,4860,0.00,2.55,0.00,0.000,6,0.000,0.028,3390,1806,2154,0,0,0,0,0,0
$GC,5187,1.19,116.8,403.2,12.0,275,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1808,2145,0,0,0,0,0,0
$GC,5511,1.19,116.8,363.1,12.2,283,5516,0.00,2.70,0.00,0.000,4,0.000,0.062,3389,390,2143,0,0,0,0,0,0
$GC,5572,1.19,116.8,354.7,13.4,284,5576,0.00,2.50,0.00,0.000,6,0.000,0.029,3389,1797,2139,0,0,0,0,0,0
$GC,5922,1.19,116.8,314.0,11.2,293,5927,0.00,2.67,0.00,0.000,4,0.000,0.060,3390,393,2138,0,0,0,0,0,0
$GC,5950,1.19,116.8,310.0,14.2,293,5955,0.00,2.50,0.00,0.000,6,0.000,0.028,3390,1809,2137,0,0,0,0,0,0
$GC,6271,1.19,116.8,275.0,11.4,307,6275,0.00,2.70,0.00,0.000,4,0.000,0.058,3390,387,2136,0,0,0,0,0,0
$GC,6299,1.19,116.8,271.1,13.0,308,6304,0.00,2.47,0.00,0.000,6,0.000,0.027,3390,1803,2135,0,0,0,0,0,0
$GC,6619,1.19,116.8,239.0,9.4,324,6624,0.00,2.67,0.00,0.000,4,0.000,0.058,3390,386,2134,0,0,0,0,0,0
$GC,6662,1.19,116.8,234.2,11.5,326,6667,0.00,2.50,0.00,0.000,6,0.000,0.026,3390,1806,2133,0,0,0,0,0,0
$GC,6992,1.19,116.8,200.3,9.7,342,6996,0.00,2.62,0.00,0.000,4,0.000,0.054,3390,392,2133,0,0,0,0,0,0
$GC,7020,1.19,116.8,197.1,10.7,344,7027,0.00,2.47,0.00,0.000,6,0.000,0.025,3389,1798,2132,0,0,0,0,0,0
$GC,7285,1.19,116.8,174.1,9.3,369,7289,0.00,2.47,0.00,0.000,4,0.000,0.037,3390,3198,2132,0,0,0,0,0,0
$GC,7300,1.19,116.8,172.3,9.8,370,7305,0.00,2.55,0.00,0.000,6,0.000,0.040,3390,1798,2132,0,0,0,0,0,0
$GC,7564,1.19,116.8,148.5,8.9,394,7568,0.00,2.58,0.00,0.000,4,0.000,0.052,3389,386,2132,0,0,0,0,0,0
$GC,7608,1.19,116.8,143.7,11.0,398,7612,0.00,2.42,0.00,0.000,6,0.000,0.022,3390,1799,2131,0,0,0,0,0,0
$GC,7871,1.19,116.8,119.6,9.0,422,7875,0.00,2.60,0.00,0.000,4,0.000,0.051,3390,388,2132,0,0,0,0,0,0
$GC,7932,1.19,116.8,113.1,10.8,428,7936,0.00,2.42,0.00,0.000,6,0.000,0.021,3390,1805,2131,0,0,0,0,0,0
$GC,8195,1.21,126.7,93.3,7.6,452,8206,0.00,2.45,4.97,0.395,4,0.000,0.031,3390,3201,2117,0,0,0,0,0,0
$GC,8218,1.21,128.7,91.3,7.9,454,8222,0.00,2.53,0.00,0.000,6,0.000,0.036,3390,1800,2117,0,0,0,0,0,0
$GC,8483,1.27,178.8,73.5,5.7,478,8535,0.10,2.62,46.25,0.531,4,0.072,0.049,3428,392,1905,0,0,0,0,0,0
$GC,8563,1.27,178.8,66.6,10.5,486,8567,0.00,2.45,0.00,0.000,6,0.000,0.020,3428,1804,1902,0,0,0,0,0,0
$GC,8827,1.30,198.9,42.0,7.1,510,8848,0.00,0.00,17.67,0.477,6,0.000,0.000,3428,1809,1824,0,0,0,0,0,0
$GC,9106,1.30,198.9,20.5,9.0,546,9113,0.00,2.62,0.00,0.000,4,0.000,0.047,3428,397,1821,0,0,0,0,0,0
$GC,9138,1.30,198.9,17.1,11.4,552,9144,0.00,2.42,0.00,0.000,6,0.000,0.019,3428,1794,1818,0,0,0,0,0,0
$STATE,9318,end climb,SURFACE_DEPTH_REACHED
$STATE,9318,begin surface coast
$FINISH,0.8,1.023092
$STATE,9351,end surface coast,CONTROL_FINISHED_OK
$STATE,9352,begin surface
$SM_CCo,9375,65.97,0.457,0,0,1288,330.17
$SM_GC,1.47,0.00,0.00,65.97,0.000,0.000,0.457,426,2127,1288,-12.47,0.76,330.17
$IRIDIUM_FIX,2050.21,-15754.77,220700,080843
$TT8_MAMPS,0.029913
$HUMID,54.88
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,16.385
$10V_AH,10.5,15.810
$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,28.400,112.750,264.700,65.975,0.000,26.482,40.615,167.434,4.750,0.000,16.949,1087.739,6219.329,393.437,1628.982,470.139,33.364,1104.327,0.000,1611.239,0.000,32.108,0.000
$DEVICE_MAMPS,134.225,63.661,827.593,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,400.415,390.080,875.266,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,31688,591
$CAP_FILE_SIZE,97893,0
$CFSIZE,260165632,246579200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280411,132346,2100.479,-15755.080,12,2.7,31,9.8