version: 66.06
glider: 139
mission: 9
dive: 207
start: 4 28 111 16 19 25
data:
$ID,139
$MISSION,9
$DIVE,207
$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,-2179849.8
$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,78
$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
$GPS1,161254,2101.258,-15756.287,35,1.4,52,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-74.5
$GPS2,161832,2101.302,-15756.339,13,1.9,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.193,0.109
$KALMAN_X,-105984.9,-476.3,-289.9,96914.1,1009.5
$KALMAN_Y,-23103.3,-45.6,9.3,5634.9,298.0
$MHEAD_RNG_PITCHd_Wd,289.7,16353,-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,14,begin dive
$GC,17,-1.19,-116.8,0.0,0.0,0,94,0.00,0.00,-70.68,0.000,6,0.000,0.000,427,2147,3111,0,0,0,0,0,0
$GC,97,-1.19,-116.8,3.8,-5.4,14,115,13.05,2.33,0.00,0.000,4,0.133,0.031,2867,3463,3113,0,0,0,0,0,0
$GC,367,-1.19,-116.8,57.8,-14.0,56,371,0.00,2.40,0.00,0.000,6,0.000,0.031,2868,2089,3115,0,0,0,0,0,0
$GC,628,-1.19,-116.8,94.2,-14.1,80,632,0.00,2.42,0.00,0.000,4,0.000,0.035,2867,3465,3116,0,0,0,0,0,0
$GC,893,-1.19,-116.8,127.4,-10.7,108,899,0.00,2.42,0.00,0.000,6,0.000,0.034,2868,2105,3117,0,0,0,0,0,0
$GC,1157,-1.19,-116.8,156.3,-10.3,133,1161,0.00,2.42,0.00,0.000,4,0.000,0.037,2867,3465,3117,0,0,0,0,0,0
$GC,1226,-1.19,-116.8,163.7,-10.4,140,1230,0.00,2.40,0.00,0.000,6,0.000,0.035,2868,2099,3117,0,0,0,0,0,0
$GC,1489,-1.19,-116.8,192.4,-12.1,164,1493,0.00,2.42,0.00,0.000,4,0.000,0.038,2868,3458,3118,0,0,0,0,0,0
$GC,1514,-1.19,-116.8,195.5,-11.8,166,1518,0.00,2.40,0.00,0.000,6,0.000,0.036,2867,2097,3117,0,0,0,0,0,0
$GC,1770,-1.19,-116.8,223.7,-9.5,180,1775,0.00,2.45,0.00,0.000,4,0.000,0.041,2868,3461,3118,0,0,0,0,0,0
$GC,1807,-1.19,-116.8,227.2,-9.0,181,1813,0.00,2.42,0.00,0.000,6,0.000,0.037,2868,2092,3118,0,0,0,0,0,0
$GC,2125,-1.19,-116.8,253.2,-7.2,197,2129,0.00,2.50,0.00,0.000,4,0.000,0.047,2867,694,3118,0,0,0,0,0,0
$GC,2153,-1.19,-116.8,255.3,-7.4,198,2157,0.00,2.35,0.00,0.000,6,0.000,0.025,2868,2060,3118,0,0,0,0,0,0
$GC,2479,-1.19,-116.8,283.1,-9.4,214,2484,0.00,2.62,0.00,0.000,4,0.000,0.047,2867,3506,3117,0,0,0,0,0,0
$GC,2558,-1.19,-116.8,291.3,-10.3,217,2562,0.00,2.53,0.00,0.000,6,0.000,0.041,2867,2100,3117,0,0,0,0,0,0
$GC,2870,-1.19,-116.8,316.8,-7.3,227,2875,0.00,2.55,0.00,0.000,4,0.000,0.047,2868,3499,3115,0,0,0,0,0,0
$GC,2881,-1.19,-116.8,317.5,-6.6,227,2885,0.00,2.53,0.00,0.000,6,0.000,0.041,2868,2097,3115,0,0,0,0,0,0
$GC,3197,-1.19,-116.8,341.7,-8.2,235,3201,0.00,2.55,0.00,0.000,4,0.000,0.050,2867,688,3114,0,0,0,0,0,0
$GC,3240,-1.19,-116.8,346.1,-10.2,236,3244,0.00,2.47,0.00,0.000,6,0.000,0.028,2867,2104,3114,0,0,0,0,0,0
$GC,3568,-1.19,-116.8,374.5,-8.2,244,3572,0.00,2.60,0.00,0.000,4,0.000,0.051,2867,685,3112,0,0,0,0,0,0
$GC,3605,-1.19,-116.8,377.5,-7.5,244,3611,0.00,2.47,0.00,0.000,6,0.000,0.029,2867,2098,3112,0,0,0,0,0,0
$GC,3938,-1.19,-116.8,401.0,-7.1,253,3939,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2099,3110,0,0,0,0,0,0
$GC,4261,-1.19,-116.8,427.5,-8.2,261,4266,0.00,2.60,0.00,0.000,4,0.000,0.056,2867,3505,3109,0,0,0,0,0,0
$GC,4345,-1.19,-116.8,434.3,-8.0,262,4351,0.00,2.55,0.00,0.000,6,0.000,0.048,2868,2095,3108,0,0,0,0,0,0
$STATE,4592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4592,begin apogee
$GC,4600,-0.31,0.0,453.1,7.8,269,4698,0.95,0.00,95.47,0.820,6,0.081,0.000,3065,1795,2635,0,0,0,0,0,0
$STATE,4699,end apogee,CONTROL_FINISHED_OK
$STATE,4699,begin climb
$GC,4702,1.19,116.8,455.9,0.0,271,4814,1.48,2.67,100.97,0.802,4,0.054,0.049,3393,3201,2157,0,0,0,0,0,0
$GC,4847,1.19,116.8,442.4,12.2,274,4852,0.00,2.70,0.00,0.000,6,0.000,0.058,3393,1803,2155,0,0,0,0,0,0
$GC,5197,1.19,116.8,398.5,12.5,283,5202,0.00,2.67,0.00,0.000,4,0.000,0.064,3393,391,2146,0,0,0,0,0,0
$GC,5217,1.19,116.8,395.9,13.1,283,5221,0.00,2.50,0.00,0.000,6,0.000,0.028,3393,1807,2144,0,0,0,0,0,0
$GC,5562,1.19,116.8,355.1,11.5,292,5566,0.00,2.72,0.00,0.000,4,0.000,0.062,3393,386,2141,0,0,0,0,0,0
$GC,5590,1.19,116.8,351.5,12.6,292,5594,0.00,2.53,0.00,0.000,6,0.000,0.028,3393,1803,2139,0,0,0,0,0,0
$GC,5926,1.19,116.8,312.6,11.9,301,5927,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1807,2138,0,0,0,0,0,0
$GC,6235,1.19,116.8,277.4,10.2,313,6239,0.00,2.53,0.00,0.000,4,0.000,0.044,3393,3204,2137,0,0,0,0,0,0
$GC,6255,1.19,116.8,275.5,9.0,314,6259,0.00,2.62,0.00,0.000,6,0.000,0.047,3393,1793,2137,0,0,0,0,0,0
$GC,6584,1.19,116.8,245.5,9.9,330,6589,0.00,2.60,0.00,0.000,4,0.000,0.058,3393,390,2136,0,0,0,0,0,0
$GC,6607,1.19,116.8,242.8,11.8,331,6612,0.00,2.47,0.00,0.000,6,0.000,0.026,3393,1809,2134,0,0,0,0,0,0
$GC,6933,1.19,116.8,212.3,9.8,347,6938,0.00,2.50,0.00,0.000,4,0.000,0.040,3393,3202,2134,0,0,0,0,0,0
$GC,6962,1.19,116.8,209.2,10.6,348,6966,0.00,2.60,0.00,0.000,6,0.000,0.044,3393,1793,2133,0,0,0,0,0,0
$GC,7290,1.19,116.8,178.5,9.3,374,7294,0.00,2.60,0.00,0.000,4,0.000,0.054,3393,386,2133,0,0,0,0,0,0
$GC,7343,1.19,116.8,172.9,10.7,379,7348,0.00,2.45,0.00,0.000,6,0.000,0.024,3393,1803,2131,0,0,0,0,0,0
$GC,7608,1.19,116.8,149.4,8.9,403,7613,0.00,2.62,0.00,0.000,4,0.000,0.051,3393,387,2132,0,0,0,0,0,0
$GC,7634,1.19,116.8,146.5,11.0,405,7639,0.00,2.45,0.00,0.000,6,0.000,0.022,3393,1804,2131,0,0,0,0,0,0
$GC,7899,1.19,116.8,122.5,9.1,429,7903,0.00,2.42,0.00,0.000,4,0.000,0.033,3393,3198,2132,0,0,0,0,0,0
$GC,7927,1.19,116.8,119.6,8.5,431,7933,0.00,2.53,0.00,0.000,6,0.000,0.038,3393,1800,2132,0,0,0,0,0,0
$GC,8189,1.19,116.8,98.2,8.0,456,8193,0.00,2.58,0.00,0.000,4,0.000,0.050,3393,386,2132,0,0,0,0,0,0
$GC,8213,1.19,116.8,96.1,8.9,458,8217,0.00,2.40,0.00,0.000,6,0.000,0.021,3393,1804,2131,0,0,0,0,0,0
$GC,8477,1.19,116.8,78.2,8.3,482,8483,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1807,2132,0,0,0,0,0,0
$GC,8740,1.23,143.9,59.6,6.8,507,8770,0.00,2.45,19.95,0.497,4,0.000,0.028,3393,3195,2047,0,0,0,0,0,0
$GC,8783,1.28,184.8,57.0,6.1,511,8826,0.10,2.55,36.22,0.506,6,0.071,0.036,3433,1792,1880,0,0,0,0,0,0
$GC,9091,1.28,184.8,31.3,8.3,540,9095,0.00,2.55,0.00,0.000,4,0.000,0.045,3433,389,1875,0,0,0,0,0,0
$GC,9128,1.28,184.8,27.6,9.4,546,9135,0.00,2.45,0.00,0.000,6,0.000,0.018,3433,1803,1871,0,0,0,0,0,0
$GC,9331,1.28,184.8,9.9,10.2,583,9338,0.00,2.62,0.00,0.000,4,0.000,0.046,3433,389,1871,0,0,0,0,0,0
$GC,9363,1.28,184.8,6.3,11.3,589,9369,0.00,2.42,0.00,0.000,6,0.000,0.018,3432,1799,1870,0,0,0,0,0,0
$STATE,9401,end climb,SURFACE_DEPTH_REACHED
$STATE,9401,begin surface coast
$FINISH,0.9,1.022642
$STATE,9440,end surface coast,CONTROL_FINISHED_OK
$STATE,9440,begin surface
$SM_CCo,9464,71.75,0.457,0,0,1288,330.17
$SM_GC,1.53,0.00,0.00,71.75,0.000,0.000,0.457,428,2141,1288,-12.46,1.16,330.17
$IRIDIUM_FIX,2052.52,-15752.63,220700,131320
$TT8_MAMPS,0.028379
$HUMID,54.56
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,440.4,72.9
$24V_AH,23.5,16.541
$10V_AH,10.6,15.966
$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,28.450,121.675,252.625,71.750,0.000,31.286,33.541,153.931,4.750,0.000,13.690,1118.381,6213.752,408.987,1683.916,452.144,33.353,1141.505,0.000,1664.470,0.000,32.296,0.000
$DEVICE_MAMPS,133.458,64.428,819.923,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,408.189,393.941,892.088,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,34906,603
$CAP_FILE_SIZE,100932,0
$CFSIZE,260165632,246472704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280411,185934,2102.245,-15757.306,13,2.9,32,9.8