version: 66.06
glider: 139
mission: 9
dive: 213
start: 4 29 111 8 52 35
data:
$ID,139
$MISSION,9
$DIVE,213
$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,-2179990.2
$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,19
$R_STBD_OVSHOOT,76
$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
$GPS1,084604,2107.569,-15802.253,18,2.8,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-76.3
$GPS2,085143,2107.600,-15802.307,14,1.8,31,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.218,0.039
$KALMAN_X,-109845.5,-41.2,230.6,89514.1,-1472.9
$KALMAN_Y,-23000.5,-112.1,73.8,17195.5,-528.8
$MHEAD_RNG_PITCHd_Wd,70.2,33663,-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,-70.40,0.000,2,0.000,0.000,431,2145,3098,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.0,-3.0,13,111,13.05,2.62,-0.22,0.000,4,0.134,0.048,2868,674,3112,0,0,0,0,0,0
$GC,119,-1.19,-116.8,12.1,-24.5,17,126,0.00,2.42,0.00,0.000,6,0.000,0.021,2867,2067,3113,0,0,0,0,0,0
$GC,328,-1.19,-116.8,49.8,-14.9,44,333,0.00,2.55,0.00,0.000,4,0.000,0.035,2868,3498,3114,0,0,0,0,0,0
$GC,392,-1.19,-116.8,59.6,-14.7,50,399,0.00,2.53,0.00,0.000,6,0.000,0.035,2868,2089,3114,0,0,0,0,0,0
$GC,655,-1.19,-116.8,96.2,-13.3,75,659,0.00,2.50,0.00,0.000,4,0.000,0.035,2868,3495,3115,0,0,0,0,0,0
$GC,725,-1.19,-116.8,105.6,-12.6,82,729,0.00,2.45,0.00,0.000,6,0.000,0.032,2868,2097,3115,0,0,0,0,0,0
$GC,988,-1.19,-116.8,136.5,-10.7,106,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2097,3116,0,0,0,0,0,0
$GC,1241,-1.19,-116.8,162.8,-10.9,130,1245,0.00,2.50,0.00,0.000,4,0.000,0.044,2867,692,3117,0,0,0,0,0,0
$GC,1407,-1.19,-116.8,180.2,-10.8,147,1412,0.00,2.40,0.00,0.000,6,0.000,0.022,2868,2099,3117,0,0,0,0,0,0
$GC,1669,-1.19,-116.8,204.6,-9.4,170,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2100,3117,0,0,0,0,0,0
$GC,1977,-1.19,-116.8,234.1,-9.1,185,1981,0.00,2.53,0.00,0.000,4,0.000,0.044,2868,3501,3117,0,0,0,0,0,0
$GC,2055,-1.19,-116.8,241.5,-9.3,188,2060,0.00,2.47,0.00,0.000,6,0.000,0.038,2868,2099,3116,0,0,0,0,0,0
$GC,2372,-1.19,-116.8,269.6,-8.2,203,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2099,3116,0,0,0,0,0,0
$GC,2681,-1.19,-116.8,292.2,-6.9,218,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2099,3115,0,0,0,0,0,0
$GC,3007,-1.19,-116.8,319.5,-9.9,229,3012,0.00,2.55,0.00,0.000,4,0.000,0.050,2868,694,3114,0,0,0,0,0,0
$GC,3023,-1.19,-116.8,321.2,-10.6,229,3028,0.00,2.40,0.00,0.000,6,0.000,0.027,2867,2095,3114,0,0,0,0,0,0
$GC,3337,-1.19,-116.8,345.3,-6.9,237,3342,0.00,2.53,0.00,0.000,4,0.000,0.049,2868,693,3112,0,0,0,0,0,0
$GC,3385,-1.19,-116.8,348.9,-7.3,238,3389,0.00,2.42,0.00,0.000,6,0.000,0.028,2867,2100,3112,0,0,0,0,0,0
$GC,3708,-1.19,-116.8,372.0,-7.7,246,3712,0.00,2.55,0.00,0.000,4,0.000,0.052,2868,3499,3110,0,0,0,0,0,0
$GC,3760,-1.19,-116.8,376.1,-7.5,247,3764,0.00,2.53,0.00,0.000,6,0.000,0.044,2867,2102,3110,0,0,0,0,0,0
$GC,4079,-1.19,-116.8,400.2,-7.8,255,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2102,3108,0,0,0,0,0,0
$GC,4403,-1.19,-116.8,423.6,-7.2,263,4408,0.00,2.55,0.00,0.000,4,0.000,0.052,2867,3503,3106,0,0,0,0,0,0
$GC,4455,-1.19,-116.8,427.4,-7.7,264,4460,0.00,2.55,0.00,0.000,6,0.000,0.047,2868,2100,3105,0,0,0,0,0,0
$GC,4774,-1.19,-116.8,448.1,-6.6,272,4778,0.00,2.58,0.00,0.000,4,0.000,0.054,2868,3497,3103,0,0,0,0,0,0
$STATE,4800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4800,begin apogee
$GC,4809,-0.31,0.0,450.0,6.1,272,4907,0.93,0.00,94.53,0.819,6,0.085,0.000,3061,1795,2635,0,0,0,0,0,0
$STATE,4908,end apogee,CONTROL_FINISHED_OK
$STATE,4908,begin climb
$GC,4911,1.19,116.8,451.9,0.0,275,5023,1.50,2.72,100.65,0.800,4,0.057,0.064,3391,393,2156,0,0,0,0,0,0
$GC,5048,1.19,116.8,439.4,14.2,278,5052,0.00,2.50,0.00,0.000,6,0.000,0.027,3392,1803,2152,0,0,0,0,0,0
$GC,5366,1.19,116.8,397.7,13.2,286,5370,0.00,2.60,0.00,0.000,4,0.000,0.048,3392,3210,2145,0,0,0,0,0,0
$GC,5385,1.19,116.8,395.0,13.8,286,5389,0.00,2.62,0.00,0.000,6,0.000,0.052,3392,1801,2145,0,0,0,0,0,0
$GC,5730,1.19,116.8,346.0,14.5,295,5731,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1801,2142,0,0,0,0,0,0
$GC,6055,1.19,116.8,304.9,12.3,303,6059,0.00,2.65,0.00,0.000,4,0.000,0.061,3392,390,2139,0,0,0,0,0,0
$GC,6102,1.19,116.8,299.0,12.7,304,6106,0.00,2.47,0.00,0.000,6,0.000,0.028,3392,1802,2137,0,0,0,0,0,0
$GC,6427,1.19,116.8,266.2,9.1,320,6431,0.00,2.53,0.00,0.000,4,0.000,0.044,3392,3203,2136,0,0,0,0,0,0
$GC,6450,1.19,116.8,264.1,9.1,321,6454,0.00,2.60,0.00,0.000,6,0.000,0.048,3392,1795,2136,0,0,0,0,0,0
$GC,6776,1.20,121.4,235.6,7.8,337,6780,0.00,2.58,0.00,0.000,4,0.000,0.041,3392,3209,2135,0,0,0,0,0,0
$GC,6796,1.20,121.4,233.8,8.1,338,6801,0.00,2.58,0.00,0.000,6,0.000,0.044,3392,1800,2134,0,0,0,0,0,0
$GC,7126,1.20,121.4,205.4,10.2,354,7130,0.00,2.58,0.00,0.000,4,0.000,0.054,3392,392,2134,0,0,0,0,0,0
$GC,7177,1.20,121.4,199.1,12.7,356,7181,0.00,2.47,0.00,0.000,6,0.000,0.024,3392,1812,2132,0,0,0,0,0,0
$GC,7507,1.20,121.4,166.0,9.5,387,7508,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1816,2133,0,0,0,0,0,0
$GC,7763,1.20,121.4,142.5,8.6,411,7767,0.00,2.62,0.00,0.000,4,0.000,0.051,3391,384,2133,0,0,0,0,0,0
$GC,7816,1.20,121.4,136.9,10.9,416,7821,0.00,2.45,0.00,0.000,6,0.000,0.021,3392,1805,2131,0,0,0,0,0,0
$GC,8080,1.21,128.7,113.7,7.7,440,8091,0.00,2.53,6.75,0.469,4,0.000,0.033,3392,3201,2109,0,0,0,0,0,0
$GC,8107,1.21,128.7,111.4,8.2,442,8113,0.00,2.58,0.00,0.000,6,0.000,0.038,3392,1797,2109,0,0,0,0,0,0
$GC,8372,1.22,135.1,92.0,7.7,467,8384,0.00,2.60,7.35,0.465,4,0.000,0.050,3392,390,2083,0,0,0,0,0,0
$GC,8418,1.22,135.1,87.9,8.4,472,8422,0.00,2.45,0.00,0.000,6,0.000,0.020,3392,1808,2081,0,0,0,0,0,0
$GC,8683,1.25,163.9,69.0,6.7,496,8711,0.00,0.00,26.20,0.516,6,0.000,0.000,3392,1813,1966,0,0,0,0,0,0
$GC,8968,1.28,188.0,47.7,6.9,523,8995,0.10,2.47,21.50,0.489,4,0.071,0.028,3431,3202,1867,0,0,0,0,0,0
$GC,9016,1.28,188.0,43.2,9.6,528,9021,0.00,2.58,0.00,0.000,6,0.000,0.037,3431,1793,1866,0,0,0,0,0,0
$GC,9281,1.28,188.0,16.0,9.1,565,9287,0.00,2.58,0.00,0.000,4,0.000,0.048,3431,396,1864,0,0,0,0,0,0
$GC,9333,1.28,188.0,10.6,10.4,576,9340,0.00,2.42,0.00,0.000,6,0.000,0.019,3431,1798,1861,0,0,0,0,0,0
$STATE,9414,end climb,SURFACE_DEPTH_REACHED
$STATE,9414,begin surface coast
$FINISH,0.8,1.010841
$STATE,9449,end surface coast,CONTROL_FINISHED_OK
$STATE,9450,begin surface
$SM_CCo,9473,71.05,0.462,0,0,1288,330.17
$SM_GC,1.74,0.00,0.00,71.05,0.000,0.000,0.462,430,2155,1288,-12.46,1.55,330.17
$IRIDIUM_FIX,2059.45,-15801.19,230700,060644
$TT8_MAMPS,0.028379
$HUMID,55.27
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.5,17.003
$10V_AH,10.5,16.424
$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,28.375,107.450,256.975,71.050,0.000,30.358,32.274,137.551,4.500,0.000,31.759,1099.199,6311.790,394.597,1641.133,438.877,33.351,1097.977,0.000,1614.081,0.000,29.255,0.000
$DEVICE_MAMPS,134.225,63.661,819.156,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.627,392.701,872.288,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,31781,597
$CAP_FILE_SIZE,96870,0
$CFSIZE,260165632,246190080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290411,113301,2107.997,-15801.982,42,1.2,42,9.8