version: 66.06
glider: 139
mission: 9
dive: 211
start: 4 29 111 3 25 37
data:
$ID,139
$MISSION,9
$DIVE,211
$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,-2179938.8
$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,19
$R_STBD_OVSHOOT,36
$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
$GPS1,031906,2105.407,-15801.027,39,1.9,50,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-73.6
$GPS2,032444,2105.408,-15801.030,14,1.9,14,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.088,0.204
$KALMAN_X,-107553.0,34.9,-401.8,89983.8,51.5
$KALMAN_Y,-22183.3,103.8,-250.4,12432.5,525.0
$MHEAD_RNG_PITCHd_Wd,326.9,5705,-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,14,begin dive
$GC,17,-1.19,-116.8,0.0,0.0,0,90,0.00,0.00,-70.07,0.000,2,0.000,0.000,427,2096,3095,0,0,0,0,0,0
$GC,94,-1.19,-116.8,3.1,-3.8,13,113,13.10,2.50,-0.30,0.000,4,0.134,0.043,2869,3507,3113,0,0,0,0,0,0
$GC,277,-1.19,-116.8,42.4,-17.1,46,281,0.00,2.47,0.00,0.000,6,0.000,0.031,2869,2092,3114,0,0,0,0,0,0
$GC,538,-1.19,-116.8,81.8,-14.1,70,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2092,3115,0,0,0,0,0,0
$GC,793,-1.19,-116.8,117.8,-13.6,94,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2091,3116,0,0,0,0,0,0
$GC,1048,-1.19,-116.8,148.3,-10.9,118,1052,0.00,2.50,0.00,0.000,4,0.000,0.038,2869,3505,3117,0,0,0,0,0,0
$GC,1065,-1.19,-116.8,150.0,-10.3,119,1069,0.00,2.47,0.00,0.000,6,0.000,0.035,2869,2093,3117,0,0,0,0,0,0
$GC,1329,-1.19,-116.8,176.9,-10.6,143,1333,0.00,2.53,0.00,0.000,4,0.000,0.043,2869,684,3117,0,0,0,0,0,0
$GC,1355,-1.19,-116.8,179.8,-10.6,145,1362,0.00,2.42,0.00,0.000,6,0.000,0.022,2869,2101,3117,0,0,0,0,0,0
$GC,1636,-1.19,-116.8,208.8,-10.6,167,1640,0.00,2.50,0.00,0.000,4,0.000,0.043,2869,691,3117,0,0,0,0,0,0
$GC,1715,-1.19,-116.8,217.4,-11.1,170,1719,0.00,2.42,0.00,0.000,6,0.000,0.023,2869,2106,3118,0,0,0,0,0,0
$GC,2033,-1.19,-116.8,250.0,-10.1,185,2037,0.00,2.50,0.00,0.000,4,0.000,0.044,2869,3503,3117,0,0,0,0,0,0
$GC,2084,-1.19,-116.8,254.9,-8.6,187,2088,0.00,2.50,0.00,0.000,6,0.000,0.038,2869,2095,3117,0,0,0,0,0,0
$GC,2406,-1.19,-116.8,276.2,-6.3,203,2410,0.00,2.53,0.00,0.000,4,0.000,0.044,2869,3497,3117,0,0,0,0,0,0
$GC,2504,-1.19,-116.8,283.8,-7.6,207,2509,0.00,2.47,0.00,0.000,6,0.000,0.038,2869,2096,3116,0,0,0,0,0,0
$GC,2824,-1.19,-116.8,308.1,-9.0,221,2828,0.00,2.53,0.00,0.000,4,0.000,0.046,2869,3495,3115,0,0,0,0,0,0
$GC,2931,-1.19,-116.8,319.2,-10.9,223,2935,0.00,2.50,0.00,0.000,6,0.000,0.041,2869,2101,3115,0,0,0,0,0,0
$GC,3281,-1.19,-116.8,349.2,-7.5,232,3285,0.00,2.60,0.00,0.000,4,0.000,0.053,2869,685,3113,0,0,0,0,0,0
$GC,3365,-1.19,-116.8,357.0,-8.9,233,3370,0.00,2.45,0.00,0.000,6,0.000,0.028,2868,2095,3113,0,0,0,0,0,0
$GC,3697,-1.19,-116.8,382.2,-7.7,242,3701,0.00,2.58,0.00,0.000,4,0.000,0.053,2868,3506,3110,0,0,0,0,0,0
$GC,3716,-1.19,-116.8,383.9,-7.9,242,3721,0.00,2.53,0.00,0.000,6,0.000,0.044,2869,2099,3110,0,0,0,0,0,0
$GC,4062,-1.19,-116.8,412.1,-8.1,251,4066,0.00,2.55,0.00,0.000,4,0.000,0.052,2868,3499,3108,0,0,0,0,0,0
$GC,4189,-1.19,-116.8,422.7,-9.6,253,4193,0.00,2.55,0.00,0.000,6,0.000,0.047,2869,2099,3107,0,0,0,0,0,0
$GC,4520,-1.19,-116.8,449.5,-7.8,261,4525,0.00,2.60,0.00,0.000,4,0.000,0.057,2868,692,3105,0,0,0,0,0,0
$STATE,4528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4528,begin apogee
$GC,4537,-0.31,0.0,450.2,7.4,261,4635,0.93,0.00,94.82,0.822,6,0.084,0.000,3063,1813,2635,0,0,0,0,0,0
$STATE,4636,end apogee,CONTROL_FINISHED_OK
$STATE,4636,begin climb
$GC,4639,1.19,116.8,452.4,0.0,263,4751,1.50,2.60,100.75,0.805,4,0.056,0.050,3394,3193,2157,0,0,0,0,0,0
$GC,4757,1.19,116.8,442.1,11.7,265,4761,0.00,2.62,0.00,0.000,6,0.000,0.053,3393,1805,2156,0,0,0,0,0,0
$GC,5089,1.19,116.8,394.3,15.0,273,5091,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1805,2147,0,0,0,0,0,0
$GC,5413,1.19,116.8,358.9,10.1,281,5417,0.00,2.60,0.00,0.000,4,0.000,0.048,3394,3200,2143,0,0,0,0,0,0
$GC,5427,1.19,116.8,357.4,9.9,281,5432,0.00,2.62,0.00,0.000,6,0.000,0.050,3393,1800,2143,0,0,0,0,0,0
$GC,5777,1.19,116.8,316.2,12.3,290,5782,0.00,2.65,0.00,0.000,4,0.000,0.061,3393,387,2139,0,0,0,0,0,0
$GC,5805,1.19,116.8,312.3,13.6,290,5810,0.00,2.47,0.00,0.000,6,0.000,0.026,3393,1799,2138,0,0,0,0,0,0
$GC,6125,1.19,116.8,277.0,11.2,303,6127,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1801,2137,0,0,0,0,0,0
$GC,6433,1.19,116.8,243.7,10.1,318,6437,0.00,2.53,0.00,0.000,4,0.000,0.043,3394,3201,2136,0,0,0,0,0,0
$GC,6476,1.19,116.8,239.2,10.7,320,6480,0.00,2.58,0.00,0.000,6,0.000,0.047,3393,1799,2136,0,0,0,0,0,0
$GC,6806,1.19,116.8,202.5,9.2,336,6810,0.00,2.62,0.00,0.000,4,0.000,0.056,3393,385,2135,0,0,0,0,0,0
$GC,6850,1.19,116.8,198.3,9.8,338,6854,0.00,2.45,0.00,0.000,6,0.000,0.024,3394,1803,2132,0,0,0,0,0,0
$GC,7113,1.19,116.8,174.0,9.2,362,7117,0.00,2.47,0.00,0.000,4,0.000,0.037,3394,3205,2133,0,0,0,0,0,0
$GC,7142,1.19,116.8,171.0,9.5,364,7149,0.00,2.60,0.00,0.000,6,0.000,0.042,3393,1800,2133,0,0,0,0,0,0
$GC,7407,1.19,116.8,148.0,8.9,389,7411,0.00,2.58,0.00,0.000,4,0.000,0.054,3393,389,2132,0,0,0,0,0,0
$GC,7487,1.19,116.8,140.0,9.2,397,7492,0.00,2.45,0.00,0.000,6,0.000,0.022,3394,1806,2131,0,0,0,0,0,0
$GC,7752,1.22,137.6,118.8,7.1,421,7772,0.00,2.65,14.52,0.545,4,0.000,0.049,3393,389,2072,0,0,0,0,0,0
$GC,7783,1.27,179.5,116.7,6.1,424,7830,0.00,2.47,37.62,0.571,6,0.000,0.021,3394,1823,1902,0,0,0,0,0,0
$GC,8085,1.27,179.5,94.9,8.3,453,8090,0.00,2.65,0.00,0.000,4,0.000,0.050,3393,385,1896,0,0,0,0,0,0
$GC,8186,1.27,179.5,85.3,8.1,463,8191,0.00,2.42,0.00,0.000,6,0.000,0.020,3394,1796,1893,0,0,0,0,0,0
$GC,8450,1.27,179.5,61.5,9.8,488,8454,0.00,2.42,0.00,0.000,4,0.000,0.029,3394,3195,1893,0,0,0,0,0,0
$GC,8476,1.27,179.5,58.7,9.5,490,8480,0.00,2.50,0.00,0.000,6,0.000,0.035,3393,1796,1892,0,0,0,0,0,0
$GC,8741,1.27,179.5,34.1,8.6,514,8746,0.00,2.55,0.00,0.000,4,0.000,0.048,3393,385,1893,0,0,0,0,0,0
$GC,8802,1.32,216.6,29.6,6.3,520,8843,0.10,2.42,31.42,0.482,6,0.033,0.018,3438,1804,1751,0,0,0,0,0,0
$GC,9041,1.32,216.6,6.5,10.1,563,9047,0.00,2.62,0.00,0.000,4,0.000,0.046,3438,393,1748,0,0,0,0,0,0
$GC,9068,1.32,216.6,3.3,11.8,568,9074,0.00,2.42,0.00,0.000,6,0.000,0.018,3438,1803,1746,0,0,0,0,0,0
$STATE,9079,end climb,SURFACE_DEPTH_REACHED
$STATE,9079,begin surface coast
$FINISH,0.9,1.004611
$STATE,9103,end surface coast,CONTROL_FINISHED_OK
$STATE,9103,begin surface
$SM_CCo,9127,57.70,0.459,0,0,1289,330.17
$SM_GC,1.46,0.00,0.00,57.70,0.000,0.000,0.459,426,2114,1289,-12.48,0.40,330.17
$IRIDIUM_FIX,2054.83,-15801.19,230700,000036
$TT8_MAMPS,0.029146
$HUMID,55.23
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.5,16.852
$10V_AH,10.5,16.270
$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,28.525,116.125,279.150,57.700,0.000,27.656,32.281,160.211,4.500,0.000,14.427,1072.530,5974.675,395.213,1626.998,456.228,33.350,1119.450,0.000,1608.918,0.000,29.257,0.000
$DEVICE_MAMPS,134.225,61.360,822.224,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,388.386,376.767,840.403,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,31794,574
$CAP_FILE_SIZE,98961,0
$CFSIZE,260165632,246284288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290411,060007,2106.511,-15801.928,46,1.1,46,9.8