version: 66.06
glider: 139
mission: 9
dive: 216
start: 4 29 111 17 8 13
data:
$ID,139
$MISSION,9
$DIVE,216
$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,-2180060
$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,18
$R_STBD_OVSHOOT,83
$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
$GPS1,170144,2107.989,-15801.339,37,2.0,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-74.4
$GPS2,170721,2107.833,-15800.855,13,2.6,32,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.220,-0.026
$KALMAN_X,-114297.0,-232.5,-2.9,96894.7,-1360.2
$KALMAN_Y,-22331.6,33.3,-2.7,16888.2,154.9
$MHEAD_RNG_PITCHd_Wd,86.9,31217,-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,15,-1.19,-116.8,0.0,0.0,0,88,0.00,0.00,-70.03,0.000,2,0.000,0.000,424,2148,3085,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.0,-3.3,13,111,13.20,2.33,-0.50,0.000,4,0.137,0.044,2870,3460,3112,0,0,0,0,0,0
$GC,215,-1.19,-116.8,31.0,-18.0,39,221,0.00,2.45,0.00,0.000,6,0.000,0.033,2870,2090,3114,0,0,0,0,0,0
$GC,477,-1.19,-116.8,70.0,-13.8,64,481,0.00,2.42,0.00,0.000,4,0.000,0.032,2870,3460,3115,0,0,0,0,0,0
$GC,540,-1.19,-116.8,80.9,-16.0,70,547,0.00,2.42,0.00,0.000,6,0.000,0.035,2870,2103,3115,0,0,0,0,0,0
$GC,805,-1.19,-116.8,116.5,-13.7,95,809,0.00,2.55,0.00,0.000,4,0.000,0.041,2870,679,3115,0,0,0,0,0,0
$GC,832,-1.19,-116.8,120.5,-13.6,97,836,0.00,2.35,0.00,0.000,6,0.000,0.021,2870,2065,3116,0,0,0,0,0,0
$GC,1096,-1.19,-116.8,152.5,-12.5,121,1101,0.00,2.45,0.00,0.000,4,0.000,0.042,2870,684,3117,0,0,0,0,0,0
$GC,1142,-1.19,-116.8,159.0,-12.6,125,1148,0.00,2.42,0.00,0.000,6,0.000,0.021,2870,2100,3117,0,0,0,0,0,0
$GC,1405,-1.19,-116.8,187.0,-10.4,150,1410,0.00,2.50,0.00,0.000,4,0.000,0.040,2870,3497,3117,0,0,0,0,0,0
$GC,1442,-1.19,-116.8,191.0,-10.0,153,1447,0.00,2.47,0.00,0.000,6,0.000,0.035,2870,2094,3117,0,0,0,0,0,0
$GC,1700,-1.19,-116.8,212.3,-8.4,171,1705,0.00,2.53,0.00,0.000,4,0.000,0.039,2870,3507,3117,0,0,0,0,0,0
$GC,1720,-1.19,-116.8,214.5,-9.6,172,1725,0.00,2.47,0.00,0.000,6,0.000,0.036,2870,2099,3117,0,0,0,0,0,0
$GC,2052,-1.19,-116.8,247.5,-10.6,188,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2099,3117,0,0,0,0,0,0
$GC,2360,-1.19,-116.8,277.2,-8.8,203,2365,0.00,2.55,0.00,0.000,4,0.000,0.048,2870,694,3116,0,0,0,0,0,0
$GC,2439,-1.19,-116.8,285.0,-9.4,206,2443,0.00,2.40,0.00,0.000,6,0.000,0.025,2870,2096,3116,0,0,0,0,0,0
$GC,2753,-1.19,-116.8,308.9,-6.7,218,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2096,3115,0,0,0,0,0,0
$GC,3078,-1.19,-116.8,333.1,-7.7,226,3082,0.00,2.53,0.00,0.000,4,0.000,0.049,2870,694,3114,0,0,0,0,0,0
$GC,3158,-1.19,-116.8,340.4,-9.3,227,3163,0.00,2.42,0.00,0.000,6,0.000,0.027,2870,2105,3113,0,0,0,0,0,0
$GC,3490,-1.19,-116.8,364.9,-7.2,235,3494,0.00,2.55,0.00,0.000,4,0.000,0.050,2870,694,3111,0,0,0,0,0,0
$GC,3509,-1.19,-116.8,366.5,-8.1,235,3513,0.00,2.45,0.00,0.000,6,0.000,0.028,2870,2102,3111,0,0,0,0,0,0
$GC,3854,-1.19,-116.8,393.1,-7.3,244,3859,0.00,2.58,0.00,0.000,4,0.000,0.052,2870,3503,3109,0,0,0,0,0,0
$GC,3915,-1.19,-116.8,397.3,-6.9,245,3920,0.00,2.53,0.00,0.000,6,0.000,0.045,2870,2096,3109,0,0,0,0,0,0
$GC,4266,-1.19,-116.8,419.6,-6.3,254,4270,0.00,2.60,0.00,0.000,4,0.000,0.055,2870,687,3106,0,0,0,0,0,0
$GC,4322,-1.19,-116.8,423.6,-6.8,255,4326,0.00,2.45,0.00,0.000,6,0.000,0.030,2870,2102,3106,0,0,0,0,0,0
$GC,4636,-1.19,-116.8,442.2,-5.7,263,4640,0.00,2.60,0.00,0.000,4,0.000,0.057,2870,3505,3104,0,0,0,0,0,0
$GC,4674,-1.19,-116.8,444.2,-5.5,263,4680,0.00,2.55,0.00,0.000,6,0.000,0.047,2870,2090,3104,0,0,0,0,0,0
$STATE,4799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4799,begin apogee
$GC,4806,-0.31,0.0,450.6,5.0,267,4905,0.95,0.00,94.75,0.825,6,0.084,0.000,3066,1789,2634,0,0,0,0,0,0
$STATE,4905,end apogee,CONTROL_FINISHED_OK
$STATE,4905,begin climb
$GC,4908,1.19,116.8,450.9,0.0,269,5016,1.50,0.00,100.72,0.805,6,0.057,0.000,3396,1789,2158,0,0,0,0,0,0
$GC,5316,1.19,116.8,402.6,12.2,279,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1789,2146,0,0,0,0,0,0
$GC,5641,1.19,116.8,366.0,11.1,287,5645,0.00,2.62,0.00,0.000,4,0.000,0.047,3396,3202,2143,0,0,0,0,0,0
$GC,5684,1.19,116.8,361.1,11.4,288,5689,0.00,2.62,0.00,0.000,6,0.000,0.053,3396,1802,2143,0,0,0,0,0,0
$GC,6012,1.19,116.8,324.2,11.9,296,6017,0.00,2.67,0.00,0.000,4,0.000,0.062,3396,391,2140,0,0,0,0,0,0
$GC,6082,1.19,116.8,313.6,15.1,297,6087,0.00,2.50,0.00,0.000,6,0.000,0.028,3396,1802,2137,0,0,0,0,0,0
$GC,6406,1.19,116.8,274.5,11.5,310,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1804,2137,0,0,0,0,0,0
$GC,6716,1.19,116.8,245.2,8.7,325,6720,0.00,2.67,0.00,0.000,4,0.000,0.058,3396,386,2135,0,0,0,0,0,0
$GC,6767,1.19,116.8,240.4,9.3,327,6771,0.00,2.47,0.00,0.000,6,0.000,0.025,3396,1813,2133,0,0,0,0,0,0
$GC,7089,1.19,116.8,214.7,8.2,343,7090,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1817,2133,0,0,0,0,0,0
$GC,7402,1.19,116.8,184.2,10.4,365,7403,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1817,2133,0,0,0,0,0,0
$GC,7657,1.19,116.8,156.6,10.6,389,7662,0.00,2.62,0.00,0.000,4,0.000,0.053,3396,391,2133,0,0,0,0,0,0
$GC,7684,1.19,116.8,153.4,12.6,391,7688,0.00,2.42,0.00,0.000,6,0.000,0.022,3396,1807,2132,0,0,0,0,0,0
$GC,7948,1.19,116.8,128.2,8.8,415,7953,0.00,2.62,0.00,0.000,4,0.000,0.051,3395,384,2132,0,0,0,0,0,0
$GC,8011,1.19,116.8,122.2,9.5,421,8015,0.00,2.42,0.00,0.000,6,0.000,0.021,3396,1803,2132,0,0,0,0,0,0
$GC,8275,1.20,119.4,102.2,7.9,445,8279,0.00,2.45,0.00,0.000,4,0.000,0.032,3396,3200,2132,0,0,0,0,0,0
$GC,8314,1.20,119.4,98.8,8.2,448,8320,0.00,2.55,0.00,0.000,6,0.000,0.039,3396,1805,2132,0,0,0,0,0,0
$GC,8578,1.21,128.0,75.9,7.6,473,8590,0.00,2.60,6.20,0.424,4,0.000,0.048,3396,383,2113,0,0,0,0,0,0
$GC,8694,1.21,128.8,66.9,8.0,485,8701,0.00,2.45,0.00,0.000,6,0.000,0.021,3396,1795,2111,0,0,0,0,0,0
$GC,8958,1.30,204.3,54.9,4.6,510,9030,0.10,2.53,65.82,0.515,4,0.072,0.030,3435,3201,1801,0,0,0,0,0,0
$GC,9073,1.30,204.3,46.7,8.1,521,9080,0.00,2.58,0.00,0.000,6,0.000,0.038,3434,1805,1800,0,0,0,0,0,0
$GC,9338,1.30,204.3,21.4,10.4,553,9344,0.00,2.62,0.00,0.000,4,0.000,0.049,3434,390,1797,0,0,0,0,0,0
$GC,9365,1.30,204.3,18.2,11.4,558,9371,0.00,2.45,0.00,0.000,6,0.000,0.019,3434,1803,1795,0,0,0,0,0,0
$STATE,9506,end climb,SURFACE_DEPTH_REACHED
$STATE,9508,begin surface coast
$FINISH,1.1,1.022988
$STATE,9536,end surface coast,CONTROL_FINISHED_OK
$STATE,9536,begin surface
$SM_CCo,9560,63.50,0.458,0,0,1289,330.17
$SM_GC,1.63,0.00,0.00,63.50,0.000,0.000,0.458,428,2137,1289,-12.46,1.05,330.17
$IRIDIUM_FIX,2101.76,-15800.33,230700,141401
$TT8_MAMPS,0.029146
$HUMID,55.23
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.5,17.233
$10V_AH,10.5,16.652
$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,28.525,106.475,267.500,63.500,0.000,26.674,32.982,140.800,4.500,0.000,33.125,1077.646,6414.187,405.619,1632.241,432.789,33.359,1102.137,0.000,1598.287,0.000,29.247,0.000
$DEVICE_MAMPS,137.293,62.127,825.292,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.805,381.742,867.780,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,31769,589
$CAP_FILE_SIZE,96208,0
$CFSIZE,260165632,246046720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290411,195000,2108.002,-15800.158,38,1.3,44,9.8