version: 66.06
glider: 139
mission: 9
dive: 210
start: 4 29 111 0 42 15
data:
$ID,139
$MISSION,9
$DIVE,210
$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,-2179923.5
$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,18
$R_STBD_OVSHOOT,58
$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
$GPS1,003554,2104.347,-15759.778,28,1.6,46,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-72.8
$GPS2,004122,2104.398,-15759.790,14,1.6,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.128,0.181
$KALMAN_X,-106800.1,-125.6,-262.5,91395.3,-16.5
$KALMAN_Y,-21900.1,21.6,-271.1,10372.3,665.1
$MHEAD_RNG_PITCHd_Wd,314.9,8281,-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,-116.8,0.0,0.0,0,89,0.00,0.00,-70.32,0.000,2,0.000,0.000,427,2115,3106,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.1,-3.7,13,111,13.18,2.42,0.00,0.000,4,0.137,0.033,2870,3482,3108,0,0,0,0,0,0
$GC,327,-1.19,-116.8,52.2,-14.3,52,332,0.00,2.47,0.00,0.000,6,0.000,0.033,2870,2087,3110,0,0,0,0,0,0
$GC,589,-1.19,-116.8,90.5,-13.8,76,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2087,3111,0,0,0,0,0,0
$GC,843,-1.19,-116.8,121.2,-11.8,100,848,0.00,2.47,0.00,0.000,4,0.000,0.035,2870,3480,3112,0,0,0,0,0,0
$GC,972,-1.19,-116.8,134.7,-11.4,113,977,0.00,2.45,0.00,0.000,6,0.000,0.035,2870,2096,3112,0,0,0,0,0,0
$GC,1235,-1.19,-116.8,162.8,-10.7,138,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2095,3112,0,0,0,0,0,0
$GC,1488,-1.19,-116.8,189.7,-10.3,162,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2095,3113,0,0,0,0,0,0
$GC,1739,-1.19,-116.8,212.9,-8.2,179,1743,0.00,2.47,0.00,0.000,4,0.000,0.041,2870,3477,3113,0,0,0,0,0,0
$GC,1759,-1.19,-116.8,214.7,-8.1,180,1763,0.00,2.45,0.00,0.000,6,0.000,0.036,2870,2096,3113,0,0,0,0,0,0
$GC,2089,-1.19,-116.8,246.7,-10.7,196,2093,0.00,2.55,0.00,0.000,4,0.000,0.046,2870,685,3113,0,0,0,0,0,0
$GC,2103,-1.19,-116.8,248.6,-11.1,196,2110,0.00,2.40,0.00,0.000,6,0.000,0.025,2870,2071,3112,0,0,0,0,0,0
$GC,2419,-1.19,-116.8,274.4,-7.2,212,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2071,3112,0,0,0,0,0,0
$GC,2730,-1.19,-116.8,300.9,-8.5,227,2734,0.00,2.50,0.00,0.000,4,0.000,0.047,2870,688,3111,0,0,0,0,0,0
$GC,2805,-1.19,-116.8,307.1,-8.0,228,2809,0.00,2.45,0.00,0.000,6,0.000,0.026,2870,2109,3111,0,0,0,0,0,0
$GC,3142,-1.19,-116.8,333.1,-8.2,237,3146,0.00,2.58,0.00,0.000,4,0.000,0.048,2870,688,3110,0,0,0,0,0,0
$GC,3166,-1.19,-116.8,335.2,-8.3,237,3170,0.00,2.45,0.00,0.000,6,0.000,0.027,2870,2103,3109,0,0,0,0,0,0
$GC,3506,-1.19,-116.8,359.3,-7.4,246,3511,0.00,2.55,0.00,0.000,4,0.000,0.050,2870,693,3107,0,0,0,0,0,0
$GC,3682,-1.19,-116.8,377.5,-11.1,249,3687,0.00,2.45,0.00,0.000,6,0.000,0.029,2870,2096,3106,0,0,0,0,0,0
$GC,4014,-1.19,-116.8,404.8,-7.9,258,4018,0.00,2.60,0.00,0.000,4,0.000,0.055,2870,3503,3104,0,0,0,0,0,0
$GC,4028,-1.19,-116.8,406.2,-7.7,258,4033,0.00,2.55,0.00,0.000,6,0.000,0.046,2870,2101,3104,0,0,0,0,0,0
$GC,4378,-1.19,-116.8,431.9,-7.1,267,4383,0.00,2.55,0.00,0.000,4,0.000,0.053,2870,3502,3102,0,0,0,0,0,0
$GC,4426,-1.19,-116.8,435.7,-7.7,268,4430,0.00,2.58,0.00,0.000,6,0.000,0.048,2870,2094,3101,0,0,0,0,0,0
$STATE,4665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4665,begin apogee
$GC,4672,-0.31,0.0,450.7,5.9,274,4769,0.95,0.00,94.20,0.819,6,0.082,0.000,3067,1793,2635,0,0,0,0,0,0
$STATE,4770,end apogee,CONTROL_FINISHED_OK
$STATE,4770,begin climb
$GC,4773,1.19,116.8,451.2,0.0,276,4882,1.52,2.75,101.68,0.798,4,0.055,0.064,3399,403,2156,0,0,0,0,0,0
$GC,4893,1.19,116.8,437.2,15.5,279,4897,0.00,2.50,0.00,0.000,6,0.000,0.026,3400,1804,2153,0,0,0,0,0,0
$GC,5233,1.19,116.8,395.9,10.3,288,5238,0.00,2.67,0.00,0.000,4,0.000,0.061,3399,398,2146,0,0,0,0,0,0
$GC,5252,1.19,116.8,393.6,11.2,288,5256,0.00,2.47,0.00,0.000,6,0.000,0.027,3399,1805,2143,0,0,0,0,0,0
$GC,5597,1.19,116.8,353.2,12.3,297,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1808,2141,0,0,0,0,0,0
$GC,5922,1.19,116.8,317.9,10.8,305,5926,0.00,2.65,0.00,0.000,4,0.000,0.060,3399,399,2139,0,0,0,0,0,0
$GC,5973,1.19,116.8,311.0,13.1,306,5978,0.00,2.47,0.00,0.000,6,0.000,0.028,3400,1803,2137,0,0,0,0,0,0
$GC,6296,1.19,116.8,273.9,11.7,319,6301,0.00,2.65,0.00,0.000,4,0.000,0.058,3399,400,2136,0,0,0,0,0,0
$GC,6311,1.19,116.8,271.9,11.2,319,6316,0.00,2.45,0.00,0.000,6,0.000,0.027,3400,1802,2135,0,0,0,0,0,0
$GC,6629,1.19,116.8,240.1,10.7,335,6633,0.00,2.53,0.00,0.000,4,0.000,0.041,3400,3204,2134,0,0,0,0,0,0
$GC,6643,1.19,116.8,238.0,11.2,335,6649,0.00,2.58,0.00,0.000,6,0.000,0.044,3399,1805,2134,0,0,0,0,0,0
$GC,6960,1.19,116.8,202.5,12.3,351,6961,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1805,2133,0,0,0,0,0,0
$GC,7277,1.19,116.8,169.8,9.9,379,7282,0.00,2.60,0.00,0.000,4,0.000,0.054,3399,384,2133,0,0,0,0,0,0
$GC,7303,1.19,116.8,167.1,11.1,381,7308,0.00,2.47,0.00,0.000,6,0.000,0.023,3400,1811,2131,0,0,0,0,0,0
$GC,7568,1.19,116.8,139.4,9.4,405,7572,0.00,2.62,0.00,0.000,4,0.000,0.052,3400,389,2131,0,0,0,0,0,0
$GC,7594,1.19,116.8,136.3,11.4,407,7599,0.00,2.45,0.00,0.000,6,0.000,0.022,3400,1804,2131,0,0,0,0,0,0
$GC,7859,1.19,116.8,110.3,10.1,431,7863,0.00,2.60,0.00,0.000,4,0.000,0.051,3399,388,2131,0,0,0,0,0,0
$GC,7897,1.19,116.8,106.3,9.4,434,7903,0.00,2.45,0.00,0.000,6,0.000,0.021,3399,1802,2131,0,0,0,0,0,0
$GC,8161,1.22,138.5,87.8,7.0,459,8181,0.00,2.65,15.23,0.520,4,0.000,0.049,3399,390,2069,0,0,0,0,0,0
$GC,8192,1.22,138.5,85.1,8.7,462,8198,0.00,2.45,0.00,0.000,6,0.000,0.021,3400,1801,2067,0,0,0,0,0,0
$GC,8456,1.22,138.5,63.2,8.1,487,8461,0.00,2.45,0.00,0.000,4,0.000,0.031,3400,3192,2067,0,0,0,0,0,0
$GC,8544,1.28,187.2,57.1,5.8,496,8594,0.00,2.53,42.70,0.515,6,0.000,0.035,3400,1794,1870,0,0,0,0,0,0
$GC,8849,1.30,204.5,34.3,7.2,525,8870,0.00,2.60,15.38,0.465,4,0.000,0.047,3400,385,1800,0,0,0,0,0,0
$GC,8966,1.30,204.5,23.9,9.4,545,8972,0.00,2.45,0.00,0.000,6,0.000,0.019,3400,1801,1795,0,0,0,0,0,0
$GC,9170,1.35,241.6,8.6,6.3,582,9210,0.12,2.67,32.05,0.462,4,0.060,0.049,3446,397,1647,0,0,0,0,0,0
$STATE,9224,end climb,SURFACE_DEPTH_REACHED
$STATE,9224,begin surface coast
$FINISH,0.9,1.021930
$STATE,9249,end surface coast,CONTROL_FINISHED_OK
$STATE,9249,begin surface
$SM_CCo,9275,46.28,0.456,0,0,1288,330.17
$SM_GC,1.40,0.00,0.00,46.28,0.000,0.000,0.456,427,2093,1288,-12.47,-0.14,330.17
$IRIDIUM_FIX,2057.14,-15636.26,220700,212110
$TT8_MAMPS,0.029146
$HUMID,54.68
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,16.774
$10V_AH,10.5,16.195
$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,28.775,107.225,301.225,46.275,0.000,30.320,39.647,138.801,4.500,0.000,15.912,1076.187,6107.157,430.731,1604.750,433.858,33.354,1110.426,0.000,1590.916,0.000,29.247,0.000
$DEVICE_MAMPS,137.293,63.661,819.156,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.286,390.476,892.305,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,31839,597
$CAP_FILE_SIZE,93926,0
$CFSIZE,260165632,246337536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290411,031906,2105.407,-15801.027,39,1.9,50,9.8