version: 66.06
glider: 139
mission: 9
dive: 208
start: 4 28 111 19 5 53
data:
$ID,139
$MISSION,9
$DIVE,208
$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,-2179870.2
$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,79
$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
$GPS1,185934,2102.245,-15757.306,13,2.9,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-74.7
$GPS2,190501,2102.318,-15757.366,14,1.6,19,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.172,0.139
$KALMAN_X,-105889.8,-503.7,13.8,94770.2,858.1
$KALMAN_Y,-22751.3,-102.5,378.0,6845.9,-84.3
$MHEAD_RNG_PITCHd_Wd,299.1,13784,-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,-69.75,0.000,2,0.000,0.000,428,2143,3110,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.3,-4.5,13,110,13.05,2.35,0.00,0.000,4,0.133,0.032,2868,3466,3112,0,0,0,0,0,0
$GC,362,-1.19,-116.8,58.8,-16.6,56,366,0.00,2.42,0.00,0.000,6,0.000,0.031,2868,2090,3114,0,0,0,0,0,0
$GC,623,-1.19,-116.8,97.4,-13.4,80,627,0.00,2.42,0.00,0.000,4,0.000,0.035,2868,3458,3115,0,0,0,0,0,0
$GC,840,-1.19,-116.8,123.7,-13.1,103,845,0.00,2.42,0.00,0.000,6,0.000,0.036,2868,2095,3115,0,0,0,0,0,0
$GC,1105,-1.19,-116.8,156.6,-12.2,127,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2095,3115,0,0,0,0,0,0
$GC,1366,-1.19,-116.8,190.7,-13.0,152,1370,0.00,2.53,0.00,0.000,4,0.000,0.043,2867,687,3116,0,0,0,0,0,0
$GC,1419,-1.19,-116.8,197.3,-12.1,157,1423,0.00,2.35,0.00,0.000,6,0.000,0.021,2868,2060,3116,0,0,0,0,0,0
$GC,1673,-1.19,-116.8,219.8,-8.9,170,1678,0.00,2.45,0.00,0.000,4,0.000,0.044,2868,691,3116,0,0,0,0,0,0
$GC,1699,-1.19,-116.8,222.4,-10.2,171,1704,0.00,2.42,0.00,0.000,6,0.000,0.024,2867,2099,3117,0,0,0,0,0,0
$GC,2030,-1.19,-116.8,256.9,-9.5,187,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2100,3117,0,0,0,0,0,0
$GC,2339,-1.19,-116.8,277.9,-5.6,202,2343,0.00,2.55,0.00,0.000,4,0.000,0.046,2867,3505,3116,0,0,0,0,0,0
$GC,2600,-1.19,-116.8,297.3,-7.1,213,2604,0.00,2.53,0.00,0.000,6,0.000,0.040,2868,2098,3116,0,0,0,0,0,0
$GC,2933,-1.19,-116.8,322.3,-8.4,222,2937,0.00,2.58,0.00,0.000,4,0.000,0.051,2867,686,3114,0,0,0,0,0,0
$GC,2947,-1.19,-116.8,323.8,-8.9,222,2951,0.00,2.47,0.00,0.000,6,0.000,0.028,2867,2103,3114,0,0,0,0,0,0
$GC,3297,-1.19,-116.8,350.5,-7.1,231,3298,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2104,3112,0,0,0,0,0,0
$GC,3623,-1.19,-116.8,367.7,-5.7,239,3628,0.00,2.60,0.00,0.000,4,0.000,0.052,2868,687,3110,0,0,0,0,0,0
$GC,3779,-1.19,-116.8,381.9,-8.7,242,3783,0.00,2.50,0.00,0.000,6,0.000,0.030,2868,2106,3109,0,0,0,0,0,0
$GC,4129,-1.19,-116.8,406.1,-6.3,251,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2107,3106,0,0,0,0,0,0
$GC,4455,-1.19,-116.8,422.0,-5.1,259,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2108,3104,0,0,0,0,0,0
$GC,4780,-1.19,-116.8,441.8,-6.4,267,4784,0.00,2.60,0.00,0.000,4,0.000,0.056,2868,692,3102,0,0,0,0,0,0
$GC,4795,-1.19,-116.8,443.1,-7.2,267,4799,0.00,2.50,0.00,0.000,6,0.000,0.032,2867,2103,3102,0,0,0,0,0,0
$STATE,4898,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4898,begin apogee
$GC,4905,-0.31,0.0,451.5,8.0,270,5003,0.95,0.00,94.68,0.828,6,0.083,0.000,3064,1789,2635,0,0,0,0,0,0
$STATE,5004,end apogee,CONTROL_FINISHED_OK
$STATE,5004,begin climb
$GC,5007,1.19,116.8,454.9,0.0,272,5119,1.50,2.75,101.47,0.811,4,0.054,0.049,3396,3198,2158,0,0,0,0,0,0
$GC,5125,1.19,116.8,448.7,8.8,274,5129,0.00,2.67,0.00,0.000,6,0.000,0.054,3395,1806,2156,0,0,0,0,0,0
$GC,5457,1.19,116.8,404.6,14.1,282,5462,0.00,2.67,0.00,0.000,4,0.000,0.064,3394,392,2147,0,0,0,0,0,0
$GC,5504,1.19,116.8,397.2,14.1,283,5509,0.00,2.53,0.00,0.000,6,0.000,0.028,3395,1803,2143,0,0,0,0,0,0
$GC,5827,1.19,116.8,358.6,11.9,291,5832,0.00,2.58,0.00,0.000,4,0.000,0.049,3396,3203,2141,0,0,0,0,0,0
$GC,5851,1.19,116.8,355.2,13.4,291,5855,0.00,2.65,0.00,0.000,6,0.000,0.051,3396,1796,2141,0,0,0,0,0,0
$GC,6192,1.19,116.8,312.3,12.6,300,6196,0.00,2.62,0.00,0.000,4,0.000,0.061,3395,392,2139,0,0,0,0,0,0
$GC,6271,1.19,116.8,300.9,14.1,301,6275,0.00,2.47,0.00,0.000,6,0.000,0.028,3396,1800,2137,0,0,0,0,0,0
$GC,6588,1.19,116.8,261.7,11.2,315,6589,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1805,2136,0,0,0,0,0,0
$GC,6895,1.19,116.8,233.3,8.9,330,6899,0.00,2.53,0.00,0.000,4,0.000,0.043,3396,3213,2135,0,0,0,0,0,0
$GC,6939,1.19,116.8,228.8,10.3,332,6943,0.00,2.62,0.00,0.000,6,0.000,0.046,3396,1795,2135,0,0,0,0,0,0
$GC,7260,1.19,116.8,194.9,9.0,350,7264,0.00,2.60,0.00,0.000,4,0.000,0.056,3395,384,2133,0,0,0,0,0,0
$GC,7313,1.19,116.8,190.0,9.8,355,7317,0.00,2.47,0.00,0.000,6,0.000,0.025,3396,1814,2132,0,0,0,0,0,0
$GC,7577,1.19,116.8,166.7,9.3,379,7582,0.00,2.65,0.00,0.000,4,0.000,0.053,3395,383,2132,0,0,0,0,0,0
$GC,7660,1.19,116.8,157.4,11.0,387,7666,0.00,2.45,0.00,0.000,6,0.000,0.023,3396,1804,2131,0,0,0,0,0,0
$GC,7923,1.19,116.8,130.4,10.6,412,7928,0.00,2.47,0.00,0.000,4,0.000,0.035,3395,3203,2131,0,0,0,0,0,0
$GC,7966,1.19,116.8,126.0,10.1,416,7970,0.00,2.55,0.00,0.000,6,0.000,0.038,3396,1796,2132,0,0,0,0,0,0
$GC,8228,1.19,116.8,104.5,9.5,440,8233,0.00,2.58,0.00,0.000,4,0.000,0.050,3395,384,2132,0,0,0,0,0,0
$GC,8253,1.19,116.8,101.7,10.8,442,8258,0.00,2.42,0.00,0.000,6,0.000,0.021,3396,1810,2131,0,0,0,0,0,0
$GC,8516,1.22,138.5,81.6,7.0,466,8539,0.00,2.53,15.10,0.514,4,0.000,0.031,3396,3202,2070,0,0,0,0,0,0
$GC,8591,1.24,152.9,76.4,7.4,474,8612,0.00,2.55,14.10,0.502,6,0.000,0.037,3396,1796,2011,0,0,0,0,0,0
$GC,8867,1.24,156.4,55.7,7.9,500,8878,0.00,2.60,4.28,0.353,4,0.000,0.047,3395,393,1996,0,0,0,0,0,0
$GC,8965,1.27,179.3,48.6,7.0,510,8992,0.00,2.45,20.73,0.489,6,0.000,0.020,3396,1808,1904,0,0,0,0,0,0
$GC,9247,1.32,219.0,29.4,6.2,537,9288,0.12,2.65,34.67,0.481,4,0.060,0.046,3442,392,1742,0,0,0,0,0,0
$GC,9340,1.32,219.0,20.0,12.1,555,9346,0.00,2.45,0.00,0.000,6,0.000,0.019,3442,1800,1736,0,0,0,0,0,0
$STATE,9503,end climb,SURFACE_DEPTH_REACHED
$STATE,9503,begin surface coast
$FINISH,0.9,1.009541
$STATE,9536,end surface coast,CONTROL_FINISHED_OK
$STATE,9536,begin surface
$SM_CCo,9560,56.88,0.458,0,0,1287,330.17
$SM_GC,1.74,0.00,0.00,56.88,0.000,0.000,0.458,430,2136,1287,-12.45,1.02,330.17
$IRIDIUM_FIX,2054.83,-15756.91,220700,161635
$TT8_MAMPS,0.029146
$HUMID,54.68
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,16.619
$10V_AH,10.6,16.043
$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,28.475,102.275,285.025,56.875,0.000,27.924,33.268,141.791,4.500,0.000,19.768,1095.468,6304.660,405.868,1706.247,433.278,33.355,1132.855,0.000,1683.361,0.000,29.255,0.000
$DEVICE_MAMPS,133.458,64.428,828.360,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.912,383.841,869.467,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,31876,591
$CAP_FILE_SIZE,97286,0
$CFSIZE,260165632,246431744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280411,214720,2103.138,-15758.428,11,1.8,30,9.8