version: 66.06
glider: 139
mission: 9
dive: 218
start: 4 29 111 22 45 49
data:
$ID,139
$MISSION,9
$DIVE,218
$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,-2180107.8
$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,22
$R_STBD_OVSHOOT,80
$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
$GPS1,223907,2108.199,-15759.643,29,1.7,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-74.7
$GPS2,224458,2108.241,-15759.680,12,3.9,31,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.216,-0.048
$KALMAN_X,-117685.6,205.4,90.4,101776.6,-2218.4
$KALMAN_Y,-21177.6,350.6,126.6,16038.9,503.7
$MHEAD_RNG_PITCHd_Wd,92.7,29308,-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,-70.25,0.000,2,0.000,0.000,424,2150,3112,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.3,-4.4,13,111,13.18,2.62,0.00,0.000,4,0.137,0.036,2869,681,3113,0,0,0,0,0,0
$GC,119,-1.19,-116.8,12.7,-25.6,17,126,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2056,3115,0,0,0,0,0,0
$GC,319,-1.19,-116.8,50.9,-16.7,43,324,0.00,2.58,0.00,0.000,4,0.000,0.035,2869,3508,3117,0,0,0,0,0,0
$GC,390,-1.19,-116.8,63.3,-18.3,50,394,0.00,2.47,0.00,0.000,6,0.000,0.035,2870,2097,3117,0,0,0,0,0,0
$GC,653,-1.19,-116.8,101.0,-12.9,74,658,0.00,2.53,0.00,0.000,4,0.000,0.044,2870,684,3117,0,0,0,0,0,0
$GC,681,-1.19,-116.8,105.4,-14.3,76,688,0.00,2.45,0.00,0.000,6,0.000,0.021,2870,2102,3117,0,0,0,0,0,0
$GC,945,-1.19,-116.8,142.0,-14.4,101,950,0.00,2.47,0.00,0.000,4,0.000,0.038,2869,3505,3118,0,0,0,0,0,0
$GC,982,-1.19,-116.8,148.1,-14.9,104,989,0.00,2.50,0.00,0.000,6,0.000,0.034,2870,2098,3118,0,0,0,0,0,0
$GC,1247,-1.19,-116.8,178.3,-9.5,129,1251,0.00,2.47,0.00,0.000,4,0.000,0.038,2870,3501,3118,0,0,0,0,0,0
$GC,1263,-1.19,-116.8,180.1,-9.4,130,1268,0.00,2.47,0.00,0.000,6,0.000,0.033,2869,2088,3118,0,0,0,0,0,0
$GC,1526,-1.19,-116.8,203.4,-8.1,152,1531,0.00,2.50,0.00,0.000,4,0.000,0.044,2869,685,3119,0,0,0,0,0,0
$GC,1549,-1.19,-116.8,205.3,-8.3,153,1554,0.00,2.42,0.00,0.000,6,0.000,0.023,2869,2100,3119,0,0,0,0,0,0
$GC,1880,-1.19,-116.8,236.5,-9.7,169,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2101,3119,0,0,0,0,0,0
$GC,2188,-1.19,-116.8,267.8,-10.6,184,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2101,3119,0,0,0,0,0,0
$GC,2499,-1.19,-116.8,299.7,-10.2,199,2503,0.00,2.53,0.00,0.000,4,0.000,0.048,2869,694,3117,0,0,0,0,0,0
$GC,2615,-1.19,-116.8,313.1,-10.8,202,2619,0.00,2.40,0.00,0.000,6,0.000,0.026,2869,2102,3117,0,0,0,0,0,0
$GC,2961,-1.19,-116.8,339.5,-6.8,211,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2103,3116,0,0,0,0,0,0
$GC,3285,-1.19,-116.8,359.8,-6.0,219,3290,0.00,2.53,0.00,0.000,4,0.000,0.051,2869,3494,3114,0,0,0,0,0,0
$GC,3324,-1.19,-116.8,362.0,-5.1,219,3328,0.00,2.47,0.00,0.000,6,0.000,0.043,2869,2106,3114,0,0,0,0,0,0
$GC,3655,-1.19,-116.8,378.2,-5.3,227,3660,0.00,2.58,0.00,0.000,4,0.000,0.053,2869,691,3112,0,0,0,0,0,0
$GC,3670,-1.19,-116.8,379.3,-5.9,227,3675,0.00,2.45,0.00,0.000,6,0.000,0.029,2870,2094,3112,0,0,0,0,0,0
$GC,4020,-1.19,-116.8,406.0,-8.3,236,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2094,3109,0,0,0,0,0,0
$GC,4345,-1.19,-116.8,435.8,-7.9,244,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2094,3106,0,0,0,0,0,0
$STATE,4545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4546,begin apogee
$GC,4552,-0.31,0.0,453.8,9.2,249,4651,0.98,0.00,95.43,0.827,6,0.091,0.000,3068,1791,2635,0,0,0,0,0,0
$STATE,4652,end apogee,CONTROL_FINISHED_OK
$STATE,4652,begin climb
$GC,4655,1.19,116.8,456.6,0.0,251,4767,1.48,2.67,100.50,0.810,4,0.054,0.064,3393,406,2156,0,0,0,0,0,0
$GC,4791,1.19,116.8,447.4,14.8,254,4796,0.00,2.50,0.00,0.000,6,0.000,0.028,3394,1800,2152,0,0,0,0,0,0
$GC,5110,1.19,116.8,414.5,9.2,262,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1802,2145,0,0,0,0,0,0
$GC,5434,1.19,116.8,376.6,12.0,270,5439,0.00,2.65,0.00,0.000,4,0.000,0.061,3393,400,2142,0,0,0,0,0,0
$GC,5453,1.19,116.8,373.9,13.1,270,5458,0.00,2.50,0.00,0.000,6,0.000,0.028,3394,1811,2140,0,0,0,0,0,0
$GC,5799,1.19,116.8,334.5,12.0,279,5803,0.00,2.55,0.00,0.000,4,0.000,0.047,3394,3208,2139,0,0,0,0,0,0
$GC,5818,1.19,116.8,331.7,13.7,279,5822,0.00,2.60,0.00,0.000,6,0.000,0.049,3394,1798,2139,0,0,0,0,0,0
$GC,6145,1.19,116.8,293.0,10.8,289,6150,0.00,2.65,0.00,0.000,4,0.000,0.061,3393,390,2137,0,0,0,0,0,0
$GC,6205,1.19,116.8,284.8,14.0,291,6211,0.00,2.50,0.00,0.000,6,0.000,0.028,3394,1803,2135,0,0,0,0,0,0
$GC,6522,1.19,116.8,249.9,11.3,307,6524,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1806,2135,0,0,0,0,0,0
$GC,6830,1.19,116.8,218.4,9.0,322,6835,0.00,2.65,0.00,0.000,4,0.000,0.058,3393,394,2133,0,0,0,0,0,0
$GC,6854,1.19,116.8,215.8,11.4,323,6858,0.00,2.45,0.00,0.000,6,0.000,0.026,3394,1808,2133,0,0,0,0,0,0
$GC,7186,1.20,123.3,188.1,7.7,345,7190,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1813,2133,0,0,0,0,0,0
$GC,7447,1.20,123.3,167.2,8.6,370,7448,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1813,2132,0,0,0,0,0,0
$GC,7702,1.23,146.8,146.8,6.9,394,7731,0.00,2.67,22.55,0.595,4,0.000,0.051,3394,394,2034,0,0,0,0,0,0
$GC,7773,1.23,146.8,141.0,8.6,401,7778,0.00,2.45,0.00,0.000,6,0.000,0.022,3394,1810,2031,0,0,0,0,0,0
$GC,8036,1.23,146.8,120.4,8.1,426,8040,0.00,2.62,0.00,0.000,4,0.000,0.051,3394,392,2031,0,0,0,0,0,0
$GC,8078,1.23,146.8,116.4,9.8,430,8082,0.00,2.42,0.00,0.000,6,0.000,0.021,3394,1807,2028,0,0,0,0,0,0
$GC,8341,1.23,146.8,94.8,8.9,454,8342,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1813,2028,0,0,0,0,0,0
$GC,8595,1.23,146.8,67.5,11.9,478,8599,0.00,2.60,0.00,0.000,4,0.000,0.050,3394,392,2028,0,0,0,0,0,0
$GC,8691,1.23,146.8,56.3,10.0,488,8695,0.00,2.40,0.00,0.000,6,0.000,0.020,3394,1804,2028,0,0,0,0,0,0
$GC,8956,1.31,211.1,37.9,5.1,512,9014,0.12,0.00,55.22,0.502,6,0.061,0.000,3438,1808,1773,0,0,0,0,0,0
$GC,9273,1.31,211.1,9.1,9.8,562,9280,0.00,2.65,0.00,0.000,4,0.000,0.048,3438,391,1768,0,0,0,0,0,0
$GC,9296,1.31,211.1,6.5,10.7,566,9303,0.00,2.45,0.00,0.000,6,0.000,0.019,3438,1803,1766,0,0,0,0,0,0
$STATE,9329,end climb,SURFACE_DEPTH_REACHED
$STATE,9329,begin surface coast
$FINISH,0.9,1.022873
$STATE,9357,end surface coast,CONTROL_FINISHED_OK
$STATE,9357,begin surface
$SM_CCo,9381,60.85,0.462,0,0,1289,330.17
$SM_GC,1.51,0.00,0.00,60.85,0.000,0.000,0.462,425,2124,1289,-12.48,0.71,330.17
$IRIDIUM_FIX,2101.76,-15758.18,230700,202004
$TT8_MAMPS,0.029146
$HUMID,55.23
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.5,17.393
$10V_AH,10.6,16.802
$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,28.650,91.875,273.700,60.850,0.000,25.168,43.415,144.128,4.500,0.000,32.659,1035.413,6410.915,400.534,1516.040,430.274,33.354,1052.375,0.000,1484.396,0.000,29.268,0.000
$DEVICE_MAMPS,136.526,64.428,826.826,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,390.815,373.325,822.766,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,31733,577
$CAP_FILE_SIZE,89878,0
$CFSIZE,260165632,245956608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300411,012422,2108.134,-15759.215,12,3.5,31,9.8