version: 66.06
glider: 139
mission: 9
dive: 219
start: 4 30 111 1 34 8
data:
$ID,139
$MISSION,9
$DIVE,219
$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,-2180142
$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,20
$R_STBD_OVSHOOT,60
$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
$GPS1,012422,2108.134,-15759.215,12,3.5,31,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-75.9
$GPS2,013316,2108.238,-15759.255,11,3.5,30,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.221,-0.017
$KALMAN_X,-119309.4,366.7,-122.2,104184.9,-1981.2
$KALMAN_Y,-20669.3,323.4,181.2,15501.4,117.0
$MHEAD_RNG_PITCHd_Wd,84.7,28582,-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,-70.07,0.000,6,0.000,0.000,425,2125,3112,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.4,-5.0,13,111,13.12,2.40,0.00,0.000,4,0.135,0.032,2869,3480,3114,0,0,0,0,0,0
$GC,266,-1.19,-116.8,39.7,-16.2,45,271,0.00,2.45,0.00,0.000,6,0.000,0.032,2869,2093,3116,0,0,0,0,0,0
$GC,529,-1.19,-116.8,79.6,-12.2,69,533,0.00,2.42,0.00,0.000,4,0.000,0.033,2869,3479,3117,0,0,0,0,0,0
$GC,573,-1.19,-116.8,85.1,-12.3,73,577,0.00,2.42,0.00,0.000,6,0.000,0.031,2869,2093,3117,0,0,0,0,0,0
$GC,837,-1.19,-116.8,119.5,-12.6,97,844,0.00,2.42,0.00,0.000,4,0.000,0.035,2869,3481,3117,0,0,0,0,0,0
$GC,861,-1.19,-116.8,122.8,-12.7,99,865,0.00,2.42,0.00,0.000,6,0.000,0.033,2869,2099,3118,0,0,0,0,0,0
$GC,1125,-1.19,-116.8,151.9,-10.4,123,1129,0.00,2.45,0.00,0.000,4,0.000,0.036,2869,3477,3118,0,0,0,0,0,0
$GC,1180,-1.19,-116.8,158.0,-10.3,128,1187,0.00,2.45,0.00,0.000,6,0.000,0.034,2869,2099,3118,0,0,0,0,0,0
$GC,1444,-1.19,-116.8,183.1,-9.8,153,1449,0.00,2.45,0.00,0.000,4,0.000,0.038,2869,3477,3118,0,0,0,0,0,0
$GC,1542,-1.19,-116.8,193.1,-9.9,163,1547,0.00,2.42,0.00,0.000,6,0.000,0.036,2869,2093,3119,0,0,0,0,0,0
$GC,1810,-1.19,-116.8,216.7,-8.4,179,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2092,3118,0,0,0,0,0,0
$GC,2118,-1.19,-116.8,243.5,-8.4,194,2122,0.00,2.53,0.00,0.000,4,0.000,0.045,2869,693,3118,0,0,0,0,0,0
$GC,2162,-1.19,-116.8,247.3,-9.6,196,2166,0.00,2.35,0.00,0.000,6,0.000,0.024,2869,2076,3118,0,0,0,0,0,0
$GC,2491,-1.19,-116.8,278.8,-10.5,212,2496,0.00,2.58,0.00,0.000,4,0.000,0.045,2869,3499,3117,0,0,0,0,0,0
$GC,2528,-1.19,-116.8,282.6,-10.7,213,2534,0.00,2.47,0.00,0.000,6,0.000,0.039,2869,2098,3117,0,0,0,0,0,0
$GC,2862,-1.19,-116.8,315.3,-9.3,226,2866,0.00,2.55,0.00,0.000,4,0.000,0.049,2869,692,3117,0,0,0,0,0,0
$GC,2954,-1.19,-116.8,323.3,-8.9,228,2958,0.00,2.40,0.00,0.000,6,0.000,0.025,2869,2098,3116,0,0,0,0,0,0
$GC,3279,-1.19,-116.8,349.7,-8.5,236,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2099,3115,0,0,0,0,0,0
$GC,3602,-1.19,-116.8,379.9,-9.5,244,3607,0.00,2.55,0.00,0.000,4,0.000,0.051,2869,3498,3113,0,0,0,0,0,0
$GC,3705,-1.19,-116.8,391.0,-10.0,246,3709,0.00,2.50,0.00,0.000,6,0.000,0.044,2869,2103,3113,0,0,0,0,0,0
$GC,4024,-1.19,-116.8,410.9,-4.7,254,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2102,3110,0,0,0,0,0,0
$GC,4349,-1.19,-116.8,424.0,-4.7,262,4353,0.00,2.60,0.00,0.000,4,0.000,0.055,2869,691,3108,0,0,0,0,0,0
$GC,4372,-1.19,-116.8,425.5,-6.4,262,4377,0.00,2.42,0.00,0.000,6,0.000,0.028,2869,2099,3108,0,0,0,0,0,0
$GC,4713,-1.19,-116.8,446.5,-6.1,271,4718,0.00,2.58,0.00,0.000,4,0.000,0.054,2869,3496,3106,0,0,0,0,0,0
$GC,4746,-1.19,-116.8,449.2,-8.1,271,4751,0.00,2.53,0.00,0.000,6,0.000,0.045,2869,2093,3105,0,0,0,0,0,0
$STATE,4790,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4790,begin apogee
$GC,4798,-0.31,0.0,452.3,7.1,272,4896,0.95,0.00,94.90,0.821,6,0.078,0.000,3067,1786,2635,0,0,0,0,0,0
$STATE,4897,end apogee,CONTROL_FINISHED_OK
$STATE,4897,begin climb
$GC,4899,1.19,116.8,452.7,0.0,274,5011,1.48,2.72,100.43,0.801,4,0.055,0.048,3393,3193,2157,0,0,0,0,0,0
$GC,5022,1.19,116.8,441.9,11.3,276,5027,0.00,2.65,0.00,0.000,6,0.000,0.053,3392,1804,2156,0,0,0,0,0,0
$GC,5353,1.20,119.1,412.5,7.9,285,5358,0.00,2.70,0.00,0.000,4,0.000,0.064,3393,391,2146,0,0,0,0,0,0
$GC,5372,1.20,119.1,410.2,11.5,285,5377,0.00,2.47,0.00,0.000,6,0.000,0.027,3393,1799,2144,0,0,0,0,0,0
$GC,5718,1.20,119.1,362.3,15.0,294,5722,0.00,2.65,0.00,0.000,4,0.000,0.060,3393,392,2142,0,0,0,0,0,0
$GC,5737,1.20,119.1,359.5,13.0,294,5741,0.00,2.47,0.00,0.000,6,0.000,0.028,3393,1801,2140,0,0,0,0,0,0
$GC,6082,1.20,119.1,320.3,11.3,303,6086,0.00,2.55,0.00,0.000,4,0.000,0.045,3393,3204,2139,0,0,0,0,0,0
$GC,6152,1.20,119.1,313.0,10.0,304,6156,0.00,2.60,0.00,0.000,6,0.000,0.051,3393,1798,2139,0,0,0,0,0,0
$GC,6476,1.20,119.1,281.3,10.1,317,6481,0.00,2.62,0.00,0.000,4,0.000,0.060,3393,394,2137,0,0,0,0,0,0
$GC,6527,1.20,119.1,275.2,11.8,319,6531,0.00,2.45,0.00,0.000,6,0.000,0.027,3393,1800,2135,0,0,0,0,0,0
$GC,6850,1.20,119.1,240.5,10.4,335,6855,0.00,2.65,0.00,0.000,4,0.000,0.058,3393,394,2134,0,0,0,0,0,0
$GC,6878,1.20,119.1,236.8,12.4,336,6883,0.00,2.45,0.00,0.000,6,0.000,0.026,3393,1802,2134,0,0,0,0,0,0
$GC,7199,1.20,119.1,207.5,8.7,352,7200,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1805,2133,0,0,0,0,0,0
$GC,7516,1.23,146.3,185.0,6.8,377,7544,0.00,2.70,22.45,0.628,4,0.000,0.054,3393,392,2037,0,0,0,0,0,0
$GC,7568,1.23,146.3,179.8,11.1,382,7575,0.00,2.50,0.00,0.000,6,0.000,0.024,3393,1801,2033,0,0,0,0,0,0
$GC,7832,1.23,146.3,151.1,11.9,407,7837,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1804,2032,0,0,0,0,0,0
$GC,8093,1.23,146.3,125.3,9.3,432,8094,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1804,2032,0,0,0,0,0,0
$GC,8348,1.23,146.3,99.9,10.0,456,8353,0.00,2.62,0.00,0.000,4,0.000,0.051,3393,387,2032,0,0,0,0,0,0
$GC,8394,1.23,146.3,94.2,13.4,460,8401,0.00,2.47,0.00,0.000,6,0.000,0.021,3393,1807,2030,0,0,0,0,0,0
$GC,8657,1.23,146.3,70.3,8.4,485,8661,0.00,2.45,0.00,0.000,4,0.000,0.031,3393,3209,2029,0,0,0,0,0,0
$GC,8701,1.23,146.3,66.5,8.4,489,8705,0.00,2.55,0.00,0.000,6,0.000,0.038,3393,1799,2030,0,0,0,0,0,0
$GC,8965,1.29,192.1,46.7,5.9,513,9015,0.10,2.67,39.35,0.505,4,0.072,0.049,3432,391,1849,0,0,0,0,0,0
$GC,9065,1.29,192.1,37.7,9.8,523,9069,0.00,2.45,0.00,0.000,6,0.000,0.019,3432,1804,1845,0,0,0,0,0,0
$GC,9329,1.29,192.1,15.1,8.6,563,9336,0.00,2.62,0.00,0.000,4,0.000,0.048,3432,398,1845,0,0,0,0,0,0
$GC,9369,1.29,192.1,10.9,11.0,571,9375,0.00,2.45,0.00,0.000,6,0.000,0.019,3432,1803,1843,0,0,0,0,0,0
$STATE,9450,end climb,SURFACE_DEPTH_REACHED
$STATE,9450,begin surface coast
$FINISH,0.9,1.007609
$STATE,9485,end surface coast,CONTROL_FINISHED_OK
$STATE,9486,begin surface
$SM_CCo,9509,69.32,0.459,0,0,1288,330.17
$SM_GC,1.71,0.00,0.00,69.32,0.000,0.000,0.459,431,2139,1288,-12.45,1.10,330.17
$IRIDIUM_FIX,2057.14,-15603.19,240700,010100
$TT8_MAMPS,0.028379
$HUMID,55.07
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,441.1,46.9
$24V_AH,23.5,17.475
$10V_AH,10.5,16.879
$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,28.425,111.900,257.125,69.325,0.000,53.072,76.249,201.109,4.750,0.000,33.499,1092.461,6401.456,403.842,1648.883,569.280,33.360,1115.328,0.000,1611.958,0.000,32.252,0.000
$DEVICE_MAMPS,134.992,64.428,820.690,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,400.991,382.146,865.266,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,31765,592
$CAP_FILE_SIZE,100700,0
$CFSIZE,260165632,245899264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300411,041506,2108.148,-15758.513,40,1.0,40,9.8