version: 66.06
glider: 139
mission: 9
dive: 206
start: 4 28 111 13 33 27
data:
$ID,139
$MISSION,9
$DIVE,206
$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,-2179835.2
$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,19
$R_STBD_OVSHOOT,61
$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
$GPS1,132346,2100.479,-15755.080,12,2.7,31,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-74.1
$GPS2,133234,2100.505,-15755.154,15,2.9,34,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.190,0.114
$KALMAN_X,-106318.9,-278.5,-225.1,99032.3,510.6
$KALMAN_Y,-22893.8,-16.6,-408.7,4338.2,686.0
$MHEAD_RNG_PITCHd_Wd,291.2,18780,-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,-70.70,0.000,6,0.000,0.000,426,2130,3110,0,0,0,0,0,0
$GC,97,-1.19,-116.8,3.9,-5.4,14,116,13.10,2.60,0.00,0.000,4,0.134,0.037,2870,676,3112,0,0,0,0,0,0
$GC,360,-1.19,-116.8,61.8,-16.1,54,367,0.00,2.42,0.00,0.000,6,0.000,0.021,2871,2074,3113,0,0,0,0,0,0
$GC,623,-1.19,-116.8,98.7,-12.1,79,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2074,3115,0,0,0,0,0,0
$GC,879,-1.19,-116.8,125.7,-8.4,103,883,0.00,2.55,0.00,0.000,4,0.000,0.038,2870,3503,3115,0,0,0,0,0,0
$GC,905,-1.19,-116.8,128.1,-8.9,105,909,0.00,2.47,0.00,0.000,6,0.000,0.033,2870,2089,3115,0,0,0,0,0,0
$GC,1169,-1.19,-116.8,156.0,-9.8,129,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2088,3116,0,0,0,0,0,0
$GC,1431,-1.19,-116.8,182.7,-10.8,154,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2088,3116,0,0,0,0,0,0
$GC,1684,-1.19,-116.8,211.1,-10.6,173,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2088,3116,0,0,0,0,0,0
$GC,1992,-1.19,-116.8,239.1,-9.5,188,1996,0.00,2.53,0.00,0.000,4,0.000,0.046,2870,689,3116,0,0,0,0,0,0
$GC,2052,-1.19,-116.8,245.5,-11.0,190,2059,0.00,2.45,0.00,0.000,6,0.000,0.025,2870,2090,3116,0,0,0,0,0,0
$GC,2367,-1.19,-116.8,274.4,-10.5,206,2372,0.00,2.53,0.00,0.000,4,0.000,0.047,2870,694,3115,0,0,0,0,0,0
$GC,2465,-1.19,-116.8,285.1,-10.3,210,2469,0.00,2.42,0.00,0.000,6,0.000,0.026,2870,2100,3114,0,0,0,0,0,0
$GC,2805,-1.19,-116.8,312.2,-7.4,223,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2100,3114,0,0,0,0,0,0
$GC,3129,-1.19,-116.8,333.1,-7.2,231,3133,0.00,2.58,0.00,0.000,4,0.000,0.048,2870,694,3113,0,0,0,0,0,0
$GC,3247,-1.19,-116.8,342.7,-7.7,233,3251,0.00,2.45,0.00,0.000,6,0.000,0.028,2870,2098,3112,0,0,0,0,0,0
$GC,3588,-1.19,-116.8,367.1,-7.1,242,3592,0.00,2.58,0.00,0.000,4,0.000,0.051,2871,3502,3110,0,0,0,0,0,0
$GC,3625,-1.19,-116.8,370.2,-8.4,242,3631,0.00,2.53,0.00,0.000,6,0.000,0.044,2870,2097,3109,0,0,0,0,0,0
$GC,3956,-1.19,-116.8,397.8,-8.5,251,3961,0.00,2.58,0.00,0.000,4,0.000,0.051,2870,3499,3107,0,0,0,0,0,0
$GC,4061,-1.19,-116.8,405.8,-7.8,253,4066,0.00,2.53,0.00,0.000,6,0.000,0.045,2870,2100,3106,0,0,0,0,0,0
$GC,4375,-1.19,-116.8,426.5,-6.2,261,4380,0.00,2.62,0.00,0.000,4,0.000,0.055,2870,691,3105,0,0,0,0,0,0
$GC,4515,-1.19,-116.8,435.8,-6.5,264,4519,0.00,2.50,0.00,0.000,6,0.000,0.031,2870,2106,3103,0,0,0,0,0,0
$STATE,4719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4720,begin apogee
$GC,4726,-0.31,0.0,450.1,6.7,269,4825,0.95,0.00,94.70,0.819,6,0.083,0.000,3067,1790,2635,0,0,0,0,0,0
$STATE,4825,end apogee,CONTROL_FINISHED_OK
$STATE,4825,begin climb
$GC,4829,1.19,116.8,451.8,0.0,271,4941,1.48,2.67,100.90,0.802,4,0.054,0.062,3393,400,2157,0,0,0,0,0,0
$GC,4969,1.19,116.8,438.1,14.0,274,4974,0.00,2.53,0.00,0.000,6,0.000,0.028,3394,1801,2151,0,0,0,0,0,0
$GC,5283,1.19,116.8,399.6,12.0,282,5287,0.00,2.70,0.00,0.000,4,0.000,0.063,3393,403,2145,0,0,0,0,0,0
$GC,5334,1.19,116.8,392.4,14.2,283,5339,0.00,2.47,0.00,0.000,6,0.000,0.028,3394,1800,2143,0,0,0,0,0,0
$GC,5653,1.19,116.8,356.3,11.3,291,5654,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1804,2141,0,0,0,0,0,0
$GC,5978,1.19,116.8,317.5,12.5,299,5982,0.00,2.67,0.00,0.000,4,0.000,0.061,3393,397,2138,0,0,0,0,0,0
$GC,6048,1.19,116.8,307.7,13.9,300,6052,0.00,2.47,0.00,0.000,6,0.000,0.028,3394,1801,2136,0,0,0,0,0,0
$GC,6371,1.19,116.8,271.4,10.5,314,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1806,2135,0,0,0,0,0,0
$GC,6682,1.19,116.8,237.7,10.9,329,6686,0.00,2.65,0.00,0.000,4,0.000,0.057,3393,396,2134,0,0,0,0,0,0
$GC,6719,1.19,116.8,233.1,11.7,330,6726,0.00,2.50,0.00,0.000,6,0.000,0.026,3394,1801,2133,0,0,0,0,0,0
$GC,7035,1.19,116.8,200.2,10.2,346,7039,0.00,2.50,0.00,0.000,4,0.000,0.038,3394,3208,2133,0,0,0,0,0,0
$GC,7070,1.19,116.8,196.7,10.3,349,7074,0.00,2.58,0.00,0.000,6,0.000,0.043,3394,1808,2133,0,0,0,0,0,0
$GC,7334,1.19,116.8,171.7,9.2,373,7339,0.00,2.62,0.00,0.000,4,0.000,0.054,3394,386,2132,0,0,0,0,0,0
$GC,7350,1.19,116.8,170.0,9.3,374,7354,0.00,2.45,0.00,0.000,6,0.000,0.023,3394,1811,2131,0,0,0,0,0,0
$GC,7613,1.20,119.4,147.6,7.9,398,7618,0.00,2.65,0.00,0.000,4,0.000,0.052,3394,387,2132,0,0,0,0,0,0
$GC,7666,1.20,119.4,142.4,10.0,403,7671,0.00,2.45,0.00,0.000,6,0.000,0.022,3394,1804,2131,0,0,0,0,0,0
$GC,7931,1.20,119.4,118.8,9.6,427,7936,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1808,2131,0,0,0,0,0,0
$GC,8193,1.21,131.8,97.6,7.5,452,8204,0.00,0.00,9.55,0.496,6,0.000,0.000,3394,1809,2097,0,0,0,0,0,0
$GC,8460,1.24,155.0,77.7,7.0,477,8491,0.00,2.70,21.33,0.521,4,0.000,0.049,3393,389,2001,0,0,0,0,0,0
$GC,8540,1.24,155.0,70.6,8.7,485,8547,0.00,2.45,0.00,0.000,6,0.000,0.021,3394,1795,1998,0,0,0,0,0,0
$GC,8805,1.25,160.0,49.6,7.8,510,8816,0.00,2.47,5.45,0.377,4,0.000,0.028,3394,3198,1981,0,0,0,0,0,0
$GC,8847,1.25,160.6,46.1,8.0,514,8851,0.00,2.55,0.00,0.000,6,0.000,0.037,3394,1793,1981,0,0,0,0,0,0
$GC,9112,1.30,204.1,25.4,6.0,544,9157,0.12,2.60,38.97,0.483,4,0.061,0.045,3439,386,1801,0,0,0,0,0,0
$GC,9197,1.30,204.1,18.7,9.8,560,9203,0.00,2.47,0.00,0.000,6,0.000,0.019,3439,1803,1796,0,0,0,0,0,0
$STATE,9357,end climb,SURFACE_DEPTH_REACHED
$STATE,9357,begin surface coast
$FINISH,0.9,1.003532
$STATE,9386,end surface coast,CONTROL_FINISHED_OK
$STATE,9386,begin surface
$SM_CCo,9410,65.50,0.460,0,0,1288,330.17
$SM_GC,1.50,0.00,0.00,65.50,0.000,0.000,0.460,428,2146,1288,-12.47,1.30,330.17
$IRIDIUM_FIX,2047.91,-16035.52,220700,131317
$TT8_MAMPS,0.029146
$HUMID,55.11
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.5,16.466
$10V_AH,10.5,15.888
$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,28.575,92.550,270.900,65.500,0.000,58.425,121.364,148.804,4.750,0.000,35.348,1087.340,6267.668,398.805,1694.104,558.478,33.360,1119.905,0.000,1652.747,0.000,33.942,0.000
$DEVICE_MAMPS,134.225,62.894,819.156,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.540,386.908,868.556,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,31692,594
$CAP_FILE_SIZE,95908,0
$CFSIZE,260165632,246530048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280411,161254,2101.258,-15756.287,35,1.4,52,9.8