version: 66.06
glider: 139
mission: 9
dive: 215
start: 4 29 111 14 26 49
data:
$ID,139
$MISSION,9
$DIVE,215
$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,-2180026
$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,79
$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
$GPS1,142026,2107.999,-15801.448,38,2.4,57,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-73.2
$GPS2,142556,2108.031,-15801.478,15,1.4,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.217,-0.044
$KALMAN_X,-112585.2,-287.0,-293.2,94448.2,-1117.6
$KALMAN_Y,-22299.0,-182.3,62.2,17372.0,321.6
$MHEAD_RNG_PITCHd_Wd,91.6,32330,-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,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,88,0.00,0.00,-69.70,0.000,6,0.000,0.000,425,2151,3112,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.6,-5.2,13,109,13.07,2.33,0.00,0.000,4,0.134,0.032,2868,3461,3115,0,0,0,0,0,0
$GC,184,-1.19,-116.8,25.9,-16.3,33,191,0.00,2.45,0.00,0.000,6,0.000,0.032,2868,2093,3116,0,0,0,0,0,0
$GC,385,-1.19,-116.8,56.7,-13.7,54,389,0.00,2.42,0.00,0.000,4,0.000,0.034,2868,3458,3117,0,0,0,0,0,0
$GC,428,-1.19,-116.8,63.3,-15.5,58,433,0.00,2.40,0.00,0.000,6,0.000,0.032,2868,2093,3117,0,0,0,0,0,0
$GC,693,-1.19,-116.8,104.8,-15.4,82,697,0.00,2.40,0.00,0.000,4,0.000,0.035,2868,3458,3118,0,0,0,0,0,0
$GC,709,-1.19,-116.8,107.6,-14.9,83,713,0.00,2.40,0.00,0.000,6,0.000,0.034,2868,2092,3118,0,0,0,0,0,0
$GC,975,-1.19,-116.8,144.2,-12.9,107,980,0.00,2.42,0.00,0.000,4,0.000,0.038,2868,3463,3118,0,0,0,0,0,0
$GC,1162,-1.19,-116.8,165.2,-8.9,126,1169,0.00,2.42,0.00,0.000,6,0.000,0.035,2868,2107,3119,0,0,0,0,0,0
$GC,1426,-1.19,-116.8,188.3,-8.9,151,1430,0.00,2.40,0.00,0.000,4,0.000,0.038,2868,3457,3119,0,0,0,0,0,0
$GC,1478,-1.19,-116.8,193.5,-9.5,156,1482,0.00,2.40,0.00,0.000,6,0.000,0.035,2867,2090,3119,0,0,0,0,0,0
$GC,1746,-1.19,-116.8,221.0,-11.4,172,1750,0.00,2.45,0.00,0.000,4,0.000,0.039,2868,3457,3119,0,0,0,0,0,0
$GC,1820,-1.19,-116.8,229.8,-11.1,175,1824,0.00,2.42,0.00,0.000,6,0.000,0.038,2867,2094,3120,0,0,0,0,0,0
$GC,2142,-1.19,-116.8,261.7,-8.9,191,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2093,3119,0,0,0,0,0,0
$GC,2449,-1.19,-116.8,289.2,-9.2,206,2453,0.00,2.53,0.00,0.000,4,0.000,0.048,2868,689,3119,0,0,0,0,0,0
$GC,2564,-1.19,-116.8,298.3,-7.7,211,2569,0.00,2.35,0.00,0.000,6,0.000,0.025,2868,2055,3118,0,0,0,0,0,0
$GC,2914,-1.19,-116.8,325.1,-7.4,220,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2056,3117,0,0,0,0,0,0
$GC,3239,-1.19,-116.8,352.8,-8.8,228,3243,0.00,2.62,0.00,0.000,4,0.000,0.050,2868,3504,3115,0,0,0,0,0,0
$GC,3366,-1.19,-116.8,364.0,-8.4,230,3370,0.00,2.50,0.00,0.000,6,0.000,0.044,2867,2103,3115,0,0,0,0,0,0
$GC,3697,-1.19,-116.8,392.7,-8.6,238,3701,0.00,2.58,0.00,0.000,4,0.000,0.053,2867,691,3113,0,0,0,0,0,0
$GC,3749,-1.19,-116.8,397.5,-9.1,239,3753,0.00,2.45,0.00,0.000,6,0.000,0.030,2867,2098,3113,0,0,0,0,0,0
$GC,4067,-1.19,-116.8,423.4,-7.9,247,4072,0.00,2.58,0.00,0.000,4,0.000,0.054,2867,687,3110,0,0,0,0,0,0
$GC,4082,-1.19,-116.8,424.7,-8.1,247,4086,0.00,2.45,0.00,0.000,6,0.000,0.030,2867,2100,3110,0,0,0,0,0,0
$STATE,4429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4429,begin apogee
$GC,4436,-0.31,0.0,451.1,7.4,256,4535,0.95,0.00,95.60,0.818,6,0.083,0.000,3065,1793,2635,0,0,0,0,0,0
$STATE,4536,end apogee,CONTROL_FINISHED_OK
$STATE,4536,begin climb
$GC,4539,1.19,116.8,453.0,0.0,258,4644,1.52,0.00,101.60,0.798,6,0.055,0.000,3398,1793,2159,0,0,0,0,0,0
$GC,4957,1.19,116.8,403.5,13.0,269,4961,0.00,2.62,0.00,0.000,4,0.000,0.063,3397,404,2147,0,0,0,0,0,0
$GC,5003,1.19,116.8,396.8,14.0,270,5008,0.00,2.47,0.00,0.000,6,0.000,0.028,3398,1803,2143,0,0,0,0,0,0
$GC,5326,1.19,116.8,357.1,12.5,278,5327,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1806,2142,0,0,0,0,0,0
$GC,5651,1.19,116.8,316.6,12.1,286,5656,0.00,2.67,0.00,0.000,4,0.000,0.061,3398,399,2139,0,0,0,0,0,0
$GC,5666,1.19,116.8,314.7,11.7,286,5670,0.00,2.47,0.00,0.000,6,0.000,0.027,3398,1812,2138,0,0,0,0,0,0
$GC,6000,1.19,116.8,276.3,11.0,299,6004,0.00,2.65,0.00,0.000,4,0.000,0.058,3397,401,2137,0,0,0,0,0,0
$GC,6060,1.19,116.8,268.8,12.2,301,6066,0.00,2.47,0.00,0.000,6,0.000,0.028,3398,1803,2136,0,0,0,0,0,0
$GC,6377,1.19,116.8,235.8,10.7,317,6382,0.00,2.65,0.00,0.000,4,0.000,0.058,3397,399,2134,0,0,0,0,0,0
$GC,6433,1.19,116.8,228.7,12.5,319,6437,0.00,2.47,0.00,0.000,6,0.000,0.025,3398,1811,2133,0,0,0,0,0,0
$GC,6750,1.19,116.8,193.6,11.9,336,6754,0.00,2.50,0.00,0.000,4,0.000,0.039,3398,3208,2133,0,0,0,0,0,0
$GC,6796,1.19,116.8,188.5,11.6,340,6802,0.00,2.60,0.00,0.000,6,0.000,0.043,3398,1806,2133,0,0,0,0,0,0
$GC,7060,1.19,116.8,164.9,8.1,365,7065,0.00,2.62,0.00,0.000,4,0.000,0.054,3397,390,2133,0,0,0,0,0,0
$GC,7087,1.19,116.8,162.5,9.5,367,7091,0.00,2.45,0.00,0.000,6,0.000,0.023,3397,1814,2132,0,0,0,0,0,0
$GC,7351,1.19,116.8,141.7,8.6,391,7356,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1818,2132,0,0,0,0,0,0
$GC,7612,1.19,116.8,116.6,8.8,416,7616,0.00,2.45,0.00,0.000,4,0.000,0.034,3398,3202,2132,0,0,0,0,0,0
$GC,7640,1.19,116.8,114.2,8.5,418,7647,0.00,2.55,0.00,0.000,6,0.000,0.038,3398,1805,2132,0,0,0,0,0,0
$GC,7905,1.25,163.2,97.2,5.9,443,7951,0.00,2.65,36.62,0.553,4,0.000,0.049,3398,387,1966,0,0,0,0,0,0
$GC,7974,1.25,163.2,92.1,8.3,450,7981,0.00,2.50,0.00,0.000,6,0.000,0.021,3398,1802,1964,0,0,0,0,0,0
$GC,8237,1.25,163.2,72.7,8.4,475,8241,0.00,2.62,0.00,0.000,4,0.000,0.048,3398,386,1963,0,0,0,0,0,0
$GC,8289,1.25,163.2,67.8,9.4,480,8294,0.00,2.45,0.00,0.000,6,0.000,0.019,3398,1813,1961,0,0,0,0,0,0
$GC,8554,1.27,175.8,47.8,7.4,504,8571,0.00,0.00,11.30,0.459,6,0.000,0.000,3398,1818,1917,0,0,0,0,0,0
$GC,8829,1.32,218.3,29.9,6.1,530,8875,0.12,2.72,37.05,0.483,4,0.061,0.048,3442,391,1744,0,0,0,0,0,0
$GC,8925,1.32,218.3,21.2,11.0,548,8931,0.00,2.45,0.00,0.000,6,0.000,0.018,3442,1798,1739,0,0,0,0,0,0
$STATE,9109,end climb,SURFACE_DEPTH_REACHED
$STATE,9109,begin surface coast
$FINISH,1.2,1.022991
$STATE,9137,end surface coast,CONTROL_FINISHED_OK
$STATE,9138,begin surface
$SM_CCo,9162,57.17,0.457,0,0,1288,330.17
$SM_GC,1.57,0.00,0.00,57.17,0.000,0.000,0.457,425,2147,1288,-12.48,1.33,330.17
$IRIDIUM_FIX,2101.76,-15803.33,230700,111146
$TT8_MAMPS,0.027612
$HUMID,55.07
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,17.157
$10V_AH,10.5,16.576
$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,28.550,101.075,282.175,57.175,0.000,25.499,37.937,144.855,4.750,0.000,15.493,1066.886,6023.320,432.384,1592.184,435.882,33.357,1103.775,0.000,1575.970,0.000,32.015,0.000
$DEVICE_MAMPS,134.225,62.894,818.389,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.480,381.996,872.192,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,31682,587
$CAP_FILE_SIZE,92270,0
$CFSIZE,260165632,246095872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290411,170144,2107.989,-15801.339,37,2.0,37,9.8