version: 66.06
glider: 139
mission: 9
dive: 212
start: 4 29 111 6 6 30
data:
$ID,139
$MISSION,9
$DIVE,212
$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,-2179957.8
$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,66
$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
$GPS1,060007,2106.511,-15801.928,46,1.1,46,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-72.9
$GPS2,060537,2106.503,-15801.979,13,1.6,18,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.042,0.217
$KALMAN_X,-108617.4,56.2,-42.5,89029.7,-566.7
$KALMAN_Y,-22701.4,47.5,36.1,14748.1,-223.0
$MHEAD_RNG_PITCHd_Wd,1.0,3393,-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,-1.20,-116.5,0.0,0.0,0,88,0.00,0.00,-69.57,0.000,2,0.000,0.000,425,2115,3089,0,0,0,0,0,0
$GC,91,-1.20,-116.8,3.1,-3.9,13,111,13.07,2.42,-0.43,0.000,4,0.134,0.044,2866,3480,3114,0,0,0,0,0,0
$GC,301,-1.20,-116.8,43.5,-13.4,49,305,0.00,2.45,0.00,0.000,6,0.000,0.031,2866,2085,3116,0,0,0,0,0,0
$GC,563,-1.20,-116.8,78.7,-13.1,73,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2085,3116,0,0,0,0,0,0
$GC,818,-1.20,-116.8,115.4,-13.3,97,822,0.00,2.50,0.00,0.000,4,0.000,0.042,2866,693,3116,0,0,0,0,0,0
$GC,856,-1.20,-116.8,120.5,-12.8,100,863,0.00,2.38,0.00,0.000,6,0.000,0.021,2866,2070,3117,0,0,0,0,0,0
$GC,1120,-1.20,-116.8,150.2,-11.4,125,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2071,3118,0,0,0,0,0,0
$GC,1383,-1.20,-116.8,180.5,-10.1,150,1387,0.00,2.45,0.00,0.000,4,0.000,0.042,2866,691,3118,0,0,0,0,0,0
$GC,1499,-1.20,-116.8,193.4,-10.7,162,1504,0.00,2.42,0.00,0.000,6,0.000,0.022,2866,2111,3119,0,0,0,0,0,0
$GC,1757,-1.20,-116.8,220.6,-10.4,177,1762,0.00,2.53,0.00,0.000,4,0.000,0.044,2866,689,3119,0,0,0,0,0,0
$GC,1802,-1.20,-116.8,225.0,-9.7,179,1806,0.00,2.42,0.00,0.000,6,0.000,0.023,2866,2101,3119,0,0,0,0,0,0
$GC,2133,-1.20,-116.8,253.6,-8.1,195,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2102,3118,0,0,0,0,0,0
$GC,2441,-1.20,-116.8,277.7,-7.9,210,2446,0.00,2.53,0.00,0.000,4,0.000,0.046,2866,3498,3118,0,0,0,0,0,0
$GC,2625,-1.20,-116.8,294.6,-8.6,218,2629,0.00,2.47,0.00,0.000,6,0.000,0.040,2866,2104,3118,0,0,0,0,0,0
$GC,2949,-1.20,-116.8,322.5,-9.4,228,2953,0.00,2.55,0.00,0.000,4,0.000,0.049,2866,689,3116,0,0,0,0,0,0
$GC,2986,-1.20,-116.8,326.4,-9.6,228,2992,0.00,2.42,0.00,0.000,6,0.000,0.026,2866,2103,3116,0,0,0,0,0,0
$GC,3319,-1.20,-116.8,353.0,-7.5,237,3320,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2104,3115,0,0,0,0,0,0
$GC,3643,-1.20,-116.8,372.7,-6.3,245,3647,0.00,2.55,0.00,0.000,4,0.000,0.052,2866,3500,3113,0,0,0,0,0,0
$GC,3658,-1.20,-116.8,373.8,-6.1,245,3662,0.00,2.53,0.00,0.000,6,0.000,0.044,2866,2099,3113,0,0,0,0,0,0
$GC,4008,-1.20,-116.8,396.4,-6.4,254,4009,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2099,3111,0,0,0,0,0,0
$GC,4333,-1.20,-116.8,424.1,-9.1,262,4337,0.00,2.55,0.00,0.000,4,0.000,0.053,2866,3497,3108,0,0,0,0,0,0
$GC,4426,-1.20,-116.8,433.5,-10.6,264,4430,0.00,2.53,0.00,0.000,6,0.000,0.047,2866,2096,3107,0,0,0,0,0,0
$STATE,4624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4624,begin apogee
$GC,4631,-0.31,0.0,452.0,9.2,269,4730,0.98,0.00,95.05,0.821,6,0.083,0.000,3067,1796,2635,0,0,0,0,0,0
$STATE,4731,end apogee,CONTROL_FINISHED_OK
$STATE,4731,begin climb
$GC,4733,1.20,116.8,454.8,0.0,271,4845,1.48,2.75,100.47,0.802,4,0.056,0.064,3393,404,2156,0,0,0,0,0,0
$GC,4869,1.20,116.8,443.3,12.9,274,4874,0.00,2.47,0.00,0.000,6,0.000,0.028,3393,1797,2151,0,0,0,0,0,0
$GC,5188,1.20,116.8,405.2,11.5,282,5192,0.00,2.58,0.00,0.000,4,0.000,0.049,3394,3201,2145,0,0,0,0,0,0
$GC,5202,1.20,116.8,403.4,11.4,282,5207,0.00,2.62,0.00,0.000,6,0.000,0.051,3394,1807,2145,0,0,0,0,0,0
$GC,5552,1.20,116.8,362.4,12.1,291,5557,0.00,2.67,0.00,0.000,4,0.000,0.061,3393,392,2142,0,0,0,0,0,0
$GC,5585,1.20,116.8,357.8,14.0,291,5590,0.00,2.47,0.00,0.000,6,0.000,0.028,3394,1800,2139,0,0,0,0,0,0
$GC,5916,1.20,116.8,317.7,12.7,299,5921,0.00,2.58,0.00,0.000,4,0.000,0.046,3394,3208,2138,0,0,0,0,0,0
$GC,5951,1.20,116.8,313.9,12.0,299,5955,0.00,2.60,0.00,0.000,6,0.000,0.050,3393,1800,2138,0,0,0,0,0,0
$GC,6264,1.20,116.8,279.1,12.2,310,6268,0.00,2.62,0.00,0.000,4,0.000,0.058,3393,393,2136,0,0,0,0,0,0
$GC,6315,1.20,116.8,272.1,13.4,312,6319,0.00,2.47,0.00,0.000,6,0.000,0.027,3394,1803,2134,0,0,0,0,0,0
$GC,6635,1.20,116.8,238.2,9.0,328,6640,0.00,2.53,0.00,0.000,4,0.000,0.041,3394,3205,2134,0,0,0,0,0,0
$GC,6659,1.20,116.8,235.9,10.0,329,6663,0.00,2.58,0.00,0.000,6,0.000,0.044,3394,1793,2134,0,0,0,0,0,0
$GC,6985,1.20,116.8,207.7,8.5,345,6989,0.00,2.58,0.00,0.000,4,0.000,0.054,3394,387,2133,0,0,0,0,0,0
$GC,7031,1.20,116.8,202.9,10.7,347,7035,0.00,2.45,0.00,0.000,6,0.000,0.024,3394,1807,2132,0,0,0,0,0,0
$GC,7366,1.20,116.8,171.2,10.1,377,7367,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1812,2132,0,0,0,0,0,0
$GC,7621,1.20,116.8,146.1,9.8,401,7625,0.00,2.60,0.00,0.000,4,0.000,0.052,3393,391,2132,0,0,0,0,0,0
$GC,7712,1.20,116.8,135.3,11.8,410,7719,0.00,2.47,0.00,0.000,6,0.000,0.022,3394,1809,2131,0,0,0,0,0,0
$GC,7977,1.20,116.8,111.1,9.1,435,7982,0.00,2.62,0.00,0.000,4,0.000,0.050,3394,390,2131,0,0,0,0,0,0
$GC,8085,1.20,116.8,100.0,9.6,446,8089,0.00,2.40,0.00,0.000,6,0.000,0.021,3393,1805,2130,0,0,0,0,0,0
$GC,8348,1.20,116.8,79.3,8.6,470,8349,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1809,2132,0,0,0,0,0,0
$GC,8601,1.21,130.3,60.5,7.4,494,8615,0.00,2.65,8.18,0.449,4,0.000,0.048,3393,392,2102,0,0,0,0,0,0
$GC,8685,1.21,130.3,53.4,9.1,503,8689,0.00,2.40,0.00,0.000,6,0.000,0.020,3394,1807,2100,0,0,0,0,0,0
$GC,8949,1.25,164.5,35.2,6.4,527,8989,0.00,2.50,30.55,0.488,4,0.000,0.029,3394,3191,1963,0,0,0,0,0,0
$GC,9077,1.27,173.9,26.7,7.6,545,9095,0.00,2.55,9.60,0.430,6,0.000,0.036,3394,1800,1925,0,0,0,0,0,0
$GC,9292,1.33,221.8,11.0,5.8,584,9337,0.15,0.00,40.97,0.467,6,0.054,0.000,3445,1800,1730,0,0,0,0,0,0
$STATE,9392,end climb,SURFACE_DEPTH_REACHED
$STATE,9392,begin surface coast
$FINISH,0.9,1.022996
$STATE,9417,end surface coast,CONTROL_FINISHED_OK
$STATE,9417,begin surface
$SM_CCo,9441,55.35,0.456,0,0,1288,330.17
$SM_GC,1.53,0.00,0.00,55.35,0.000,0.000,0.456,432,2144,1288,-12.45,1.24,330.17
$IRIDIUM_FIX,2059.45,-15803.33,230700,030343
$TT8_MAMPS,0.029146
$HUMID,54.48
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,16.929
$10V_AH,10.5,16.348
$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,28.675,96.925,284.825,55.350,0.000,28.022,33.436,146.625,4.500,0.000,18.336,1100.760,6199.910,388.905,1706.819,432.837,33.351,1120.462,0.000,1685.542,0.000,29.247,0.000
$DEVICE_MAMPS,134.225,63.661,820.690,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.926,398.512,917.794,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,34915,606
$CAP_FILE_SIZE,95726,0
$CFSIZE,260165632,246235136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290411,084604,2107.569,-15802.253,18,2.8,37,9.8