version: 66.06
glider: 139
mission: 9
dive: 214
start: 4 29 111 11 39 42
data:
$ID,139
$MISSION,9
$DIVE,214
$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,-2180009.8
$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,17
$R_STBD_OVSHOOT,85
$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
$GPS1,113301,2107.997,-15801.982,42,1.2,42,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-75.8
$GPS2,113849,2108.023,-15802.052,13,0.9,18,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.221,-0.020
$KALMAN_X,-111422.1,-199.3,-62.8,91982.3,-1822.1
$KALMAN_Y,-22472.7,-251.0,58.0,17596.8,140.3
$MHEAD_RNG_PITCHd_Wd,85.3,33312,-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,12,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,88,0.00,0.00,-69.78,0.000,2,0.000,0.000,429,2156,3092,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.2,-3.9,13,111,13.12,2.33,-0.38,0.000,4,0.136,0.044,2869,3462,3113,0,0,0,0,0,0
$GC,135,-1.19,-116.8,16.0,-27.1,21,142,0.00,2.47,0.00,0.000,6,0.000,0.035,2869,2095,3114,0,0,0,0,0,0
$GC,336,-1.19,-116.8,46.9,-14.4,47,340,0.00,2.40,0.00,0.000,4,0.000,0.033,2870,3457,3116,0,0,0,0,0,0
$GC,353,-1.19,-116.8,49.3,-14.3,48,357,0.00,2.42,0.00,0.000,6,0.000,0.031,2869,2087,3115,0,0,0,0,0,0
$GC,614,-1.19,-116.8,85.0,-14.4,72,618,0.00,2.42,0.00,0.000,4,0.000,0.035,2869,3451,3116,0,0,0,0,0,0
$GC,735,-1.19,-116.8,100.0,-12.6,84,742,0.00,2.42,0.00,0.000,6,0.000,0.034,2869,2097,3116,0,0,0,0,0,0
$GC,998,-1.19,-116.8,130.2,-9.0,109,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2097,3117,0,0,0,0,0,0
$GC,1253,-1.19,-116.8,154.7,-9.5,133,1257,0.00,2.53,0.00,0.000,4,0.000,0.043,2869,689,3117,0,0,0,0,0,0
$GC,1279,-1.19,-116.8,157.3,-9.5,135,1283,0.00,2.30,0.00,0.000,6,0.000,0.021,2869,2054,3117,0,0,0,0,0,0
$GC,1541,-1.19,-116.8,183.9,-11.2,159,1545,0.00,2.45,0.00,0.000,4,0.000,0.042,2869,685,3118,0,0,0,0,0,0
$GC,1560,-1.19,-116.8,186.2,-11.3,160,1566,0.00,2.42,0.00,0.000,6,0.000,0.023,2869,2090,3118,0,0,0,0,0,0
$GC,1829,-1.19,-116.8,216.8,-11.6,179,1833,0.00,2.53,0.00,0.000,4,0.000,0.041,2869,3498,3118,0,0,0,0,0,0
$GC,1942,-1.19,-116.8,230.4,-11.4,184,1946,0.00,2.45,0.00,0.000,6,0.000,0.035,2869,2100,3118,0,0,0,0,0,0
$GC,2276,-1.19,-116.8,260.8,-7.6,200,2280,0.00,2.50,0.00,0.000,4,0.000,0.043,2869,3498,3118,0,0,0,0,0,0
$GC,2308,-1.19,-116.8,263.9,-8.2,201,2313,0.00,2.47,0.00,0.000,6,0.000,0.038,2869,2093,3118,0,0,0,0,0,0
$GC,2624,-1.19,-116.8,291.5,-9.1,216,2629,0.00,2.55,0.00,0.000,4,0.000,0.044,2869,3505,3117,0,0,0,0,0,0
$GC,2693,-1.19,-116.8,298.3,-10.0,219,2697,0.00,2.50,0.00,0.000,6,0.000,0.041,2869,2094,3117,0,0,0,0,0,0
$GC,3014,-1.19,-116.8,327.8,-9.2,228,3015,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2094,3116,0,0,0,0,0,0
$GC,3339,-1.19,-116.8,348.9,-5.9,236,3343,0.00,2.58,0.00,0.000,4,0.000,0.051,2869,686,3115,0,0,0,0,0,0
$GC,3363,-1.19,-116.8,350.4,-6.6,236,3367,0.00,2.45,0.00,0.000,6,0.000,0.027,2869,2096,3114,0,0,0,0,0,0
$GC,3704,-1.19,-116.8,374.3,-7.2,245,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2097,3112,0,0,0,0,0,0
$GC,4029,-1.19,-116.8,398.3,-7.3,253,4033,0.00,2.55,0.00,0.000,4,0.000,0.052,2869,693,3110,0,0,0,0,0,0
$GC,4104,-1.19,-116.8,404.3,-7.9,254,4108,0.00,2.45,0.00,0.000,6,0.000,0.029,2869,2099,3110,0,0,0,0,0,0
$GC,4440,-1.19,-116.8,429.3,-7.1,263,4444,0.00,2.60,0.00,0.000,4,0.000,0.056,2869,3505,3107,0,0,0,0,0,0
$GC,4473,-1.19,-116.8,431.9,-7.8,263,4478,0.00,2.53,0.00,0.000,6,0.000,0.047,2869,2100,3107,0,0,0,0,0,0
$STATE,4761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4761,begin apogee
$GC,4768,-0.31,0.0,451.4,6.3,270,4867,0.95,0.00,95.20,0.822,6,0.084,0.000,3066,1795,2635,0,0,0,0,0,0
$STATE,4868,end apogee,CONTROL_FINISHED_OK
$STATE,4868,begin climb
$GC,4871,1.19,116.8,452.5,0.0,272,4982,1.50,2.70,100.62,0.802,4,0.058,0.063,3394,404,2157,0,0,0,0,0,0
$GC,4999,1.19,116.8,439.0,14.7,275,5003,0.00,2.47,0.00,0.000,6,0.000,0.026,3395,1801,2152,0,0,0,0,0,0
$GC,5326,1.19,116.8,396.5,12.2,283,5327,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1803,2146,0,0,0,0,0,0
$GC,5651,1.19,116.8,357.2,12.4,291,5656,0.00,2.67,0.00,0.000,4,0.000,0.061,3394,400,2142,0,0,0,0,0,0
$GC,5685,1.19,116.8,352.6,14.5,291,5689,0.00,2.47,0.00,0.000,6,0.000,0.028,3395,1807,2139,0,0,0,0,0,0
$GC,6016,1.19,116.8,310.9,12.3,299,6020,0.00,2.67,0.00,0.000,4,0.000,0.060,3395,399,2138,0,0,0,0,0,0
$GC,6049,1.19,116.8,306.4,14.3,299,6053,0.00,2.45,0.00,0.000,6,0.000,0.028,3395,1801,2137,0,0,0,0,0,0
$GC,6363,1.19,116.8,273.7,9.3,312,6368,0.00,2.65,0.00,0.000,4,0.000,0.058,3395,400,2137,0,0,0,0,0,0
$GC,6387,1.19,116.8,271.3,10.6,313,6391,0.00,2.47,0.00,0.000,6,0.000,0.027,3395,1807,2135,0,0,0,0,0,0
$GC,6713,1.19,116.8,241.9,9.0,329,6717,0.00,2.53,0.00,0.000,4,0.000,0.043,3395,3206,2135,0,0,0,0,0,0
$GC,6740,1.19,116.8,239.1,10.0,330,6745,0.00,2.58,0.00,0.000,6,0.000,0.045,3395,1800,2135,0,0,0,0,0,0
$GC,7061,1.19,116.8,205.6,10.5,346,7062,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1800,2133,0,0,0,0,0,0
$GC,7380,1.19,116.8,174.6,9.2,373,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1800,2133,0,0,0,0,0,0
$GC,7634,1.19,116.8,152.8,8.7,397,7638,0.00,2.58,0.00,0.000,4,0.000,0.051,3395,392,2133,0,0,0,0,0,0
$GC,7685,1.19,116.8,147.3,10.7,402,7690,0.00,2.45,0.00,0.000,6,0.000,0.022,3394,1809,2131,0,0,0,0,0,0
$GC,7948,1.19,116.8,121.5,9.7,426,7953,0.00,2.45,0.00,0.000,4,0.000,0.034,3395,3204,2132,0,0,0,0,0,0
$GC,7995,1.19,116.8,116.7,9.5,430,8002,0.00,2.55,0.00,0.000,6,0.000,0.038,3395,1803,2132,0,0,0,0,0,0
$GC,8260,1.23,141.8,95.0,6.9,455,8287,0.00,2.60,18.25,0.528,4,0.000,0.048,3395,390,2054,0,0,0,0,0,0
$GC,8320,1.24,155.0,90.0,7.4,461,8339,0.00,2.42,12.60,0.503,6,0.000,0.020,3395,1812,2001,0,0,0,0,0,0
$GC,8602,1.26,166.8,71.0,7.5,488,8623,0.00,2.70,11.35,0.479,4,0.000,0.048,3395,387,1954,0,0,0,0,0,0
$GC,8652,1.26,166.8,66.9,8.2,493,8657,0.00,2.42,0.00,0.000,6,0.000,0.020,3395,1801,1951,0,0,0,0,0,0
$GC,8917,1.26,171.0,46.4,7.8,517,8929,0.00,2.45,4.95,0.372,4,0.000,0.028,3395,3197,1936,0,0,0,0,0,0
$GC,8970,1.29,195.7,42.4,6.9,522,8999,0.05,2.55,22.80,0.485,6,0.044,0.037,3431,1798,1836,0,0,0,0,0,0
$GC,9266,1.29,195.7,16.9,8.6,563,9272,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1798,1832,0,0,0,0,0,0
$STATE,9425,end climb,SURFACE_DEPTH_REACHED
$STATE,9425,begin surface coast
$FINISH,0.9,1.023005
$STATE,9455,end surface coast,CONTROL_FINISHED_OK
$STATE,9455,begin surface
$SM_CCo,9479,67.60,0.457,0,0,1288,330.17
$SM_GC,1.73,0.00,0.00,67.60,0.000,0.000,0.457,426,2151,1288,-12.47,1.44,330.17
$IRIDIUM_FIX,2057.14,-15801.19,230700,080843
$TT8_MAMPS,0.028379
$HUMID,55.35
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.5,17.080
$10V_AH,10.6,16.501
$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,28.450,106.225,265.775,67.600,0.000,28.108,42.426,153.143,4.500,0.000,18.795,1086.865,6328.300,401.005,1614.659,466.337,33.353,1101.924,0.000,1604.839,0.000,29.245,0.000
$DEVICE_MAMPS,135.759,62.894,822.224,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.959,394.881,885.207,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,31746,598
$CAP_FILE_SIZE,96907,0
$CFSIZE,260165632,246140928
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290411,142026,2107.999,-15801.448,38,2.4,57,9.8