version: 66.06
glider: 139
mission: 9
dive: 92
start: 4 15 111 9 23 43
data:
$ID,139
$MISSION,9
$DIVE,92
$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,-2176522.5
$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,65
$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
$GPS1,091726,2104.508,-15755.474,12,1.8,12,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-75.2
$GPS2,092250,2104.455,-15755.475,12,1.8,12,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.210,0.070
$KALMAN_X,-9877.0,560.9,128.3,11223.0,-2481.2
$KALMAN_Y,-2750.5,54.4,150.0,1481.0,-804.3
$MHEAD_RNG_PITCHd_Wd,61.7,21841,-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,-116.8,0.0,0.0,0,93,0.00,0.00,-71.38,0.000,6,0.000,0.000,432,2120,3111,0,0,0,0,0,0
$GC,96,-1.19,-116.8,2.9,-4.0,14,115,13.23,2.28,0.00,0.000,4,0.137,0.028,2870,3479,3114,0,0,0,0,0,0
$GC,367,-1.19,-116.8,53.4,-17.9,58,371,0.00,2.35,0.00,0.000,6,0.000,0.031,2870,2091,3116,0,0,0,0,0,0
$GC,628,-1.19,-116.8,93.7,-15.0,82,632,0.00,2.30,0.00,0.000,4,0.000,0.030,2869,3474,3116,0,0,0,0,0,0
$GC,890,-1.19,-116.8,127.8,-12.7,110,897,0.00,2.33,0.00,0.000,6,0.000,0.027,2869,2092,3117,0,0,0,0,0,0
$GC,1154,-1.19,-116.8,155.1,-9.1,135,1158,0.00,2.30,0.00,0.000,4,0.000,0.029,2869,3478,3117,0,0,0,0,0,0
$GC,1246,-1.19,-116.8,164.3,-10.0,144,1253,0.00,2.33,0.00,0.000,6,0.000,0.028,2870,2100,3117,0,0,0,0,0,0
$GC,1510,-1.19,-116.8,189.6,-9.9,169,1515,0.00,2.30,0.00,0.000,4,0.000,0.031,2870,3477,3118,0,0,0,0,0,0
$GC,1562,-1.19,-116.8,195.8,-11.0,174,1566,0.00,2.28,0.00,0.000,6,0.000,0.026,2869,2096,3118,0,0,0,0,0,0
$GC,1817,-1.19,-116.8,221.6,-10.1,188,1821,0.00,2.33,0.00,0.000,4,0.000,0.031,2869,3481,3118,0,0,0,0,0,0
$GC,1956,-1.19,-116.8,234.1,-7.5,194,1960,0.00,2.28,0.00,0.000,6,0.000,0.027,2869,2100,3118,0,0,0,0,0,0
$GC,2281,-1.19,-116.8,264.0,-10.2,210,2285,0.00,2.38,0.00,0.000,4,0.000,0.041,2869,695,3118,0,0,0,0,0,0
$GC,2332,-1.19,-116.8,269.2,-10.0,212,2336,0.00,2.28,0.00,0.000,6,0.000,0.022,2869,2086,3118,0,0,0,0,0,0
$GC,2653,-1.19,-116.8,301.3,-9.7,228,2654,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2090,3117,0,0,0,0,0,0
$GC,2977,-1.19,-116.8,331.1,-8.9,236,2981,0.00,2.38,0.00,0.000,4,0.000,0.037,2869,3502,3116,0,0,0,0,0,0
$GC,2991,-1.19,-116.8,332.3,-8.5,236,2995,0.00,2.35,0.00,0.000,6,0.000,0.031,2869,2103,3116,0,0,0,0,0,0
$GC,3341,-1.19,-116.8,359.7,-7.5,245,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2103,3114,0,0,0,0,0,0
$GC,3667,-1.19,-116.8,384.8,-7.7,253,3672,0.00,2.40,0.00,0.000,4,0.000,0.047,2869,692,3112,0,0,0,0,0,0
$GC,3696,-1.19,-116.8,386.9,-7.2,253,3700,0.00,2.33,0.00,0.000,6,0.000,0.027,2869,2105,3112,0,0,0,0,0,0
$GC,4038,-1.19,-116.8,409.5,-6.7,262,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2107,3110,0,0,0,0,0,0
$GC,4362,-1.19,-116.8,433.4,-7.6,270,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2108,3108,0,0,0,0,0,0
$STATE,4602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4602,begin apogee
$GC,4609,-0.31,0.0,451.2,7.2,276,4708,0.95,0.00,95.45,0.825,6,0.085,0.000,3065,1806,2635,0,0,0,0,0,0
$STATE,4709,end apogee,CONTROL_FINISHED_OK
$STATE,4709,begin climb
$GC,4712,1.19,116.8,453.6,0.0,278,4824,1.50,2.58,101.00,0.806,4,0.060,0.059,3391,397,2156,0,0,0,0,0,0
$GC,4867,1.19,116.8,439.1,14.3,281,4871,0.00,2.40,0.00,0.000,6,0.000,0.028,3392,1811,2150,0,0,0,0,0,0
$GC,5207,1.19,116.8,396.1,12.7,290,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1816,2144,0,0,0,0,0,0
$GC,5532,1.19,116.8,355.4,11.9,298,5536,0.00,2.55,0.00,0.000,4,0.000,0.060,3392,385,2141,0,0,0,0,0,0
$GC,5575,1.19,116.8,349.2,14.1,299,5580,0.00,2.38,0.00,0.000,6,0.000,0.028,3392,1794,2139,0,0,0,0,0,0
$GC,5903,1.19,116.8,311.4,11.2,307,5907,0.00,2.47,0.00,0.000,4,0.000,0.056,3391,391,2137,0,0,0,0,0,0
$GC,5922,1.19,116.8,309.1,11.1,307,5926,0.00,2.38,0.00,0.000,6,0.000,0.028,3392,1810,2137,0,0,0,0,0,0
$GC,6251,1.19,116.8,269.8,12.3,321,6253,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1815,2136,0,0,0,0,0,0
$GC,6559,1.19,116.8,235.8,10.3,336,6563,0.00,2.53,0.00,0.000,4,0.000,0.056,3392,386,2135,0,0,0,0,0,0
$GC,6628,1.19,116.8,228.4,11.9,339,6632,0.00,2.35,0.00,0.000,6,0.000,0.025,3392,1799,2133,0,0,0,0,0,0
$GC,6954,1.19,116.8,200.5,8.7,355,6958,0.00,2.35,0.00,0.000,4,0.000,0.031,3392,3205,2133,0,0,0,0,0,0
$GC,6998,1.19,116.8,196.5,9.2,359,7002,0.00,2.40,0.00,0.000,6,0.000,0.036,3392,1799,2133,0,0,0,0,0,0
$GC,7263,1.19,116.8,172.7,8.5,383,7267,0.00,2.35,0.00,0.000,4,0.000,0.029,3392,3213,2132,0,0,0,0,0,0
$GC,7343,1.19,116.8,165.6,9.3,391,7347,0.00,2.42,0.00,0.000,6,0.000,0.035,3392,1798,2132,0,0,0,0,0,0
$GC,7607,1.19,116.8,141.4,9.8,415,7611,0.00,2.42,0.00,0.000,4,0.000,0.051,3391,388,2132,0,0,0,0,0,0
$GC,7713,1.19,116.8,131.7,8.7,426,7717,0.00,2.33,0.00,0.000,6,0.000,0.021,3391,1822,2131,0,0,0,0,0,0
$GC,7976,1.34,234.3,118.4,2.6,450,8077,0.15,0.00,96.62,0.578,6,0.057,0.000,3438,1828,1678,0,0,0,0,0,0
$GC,8332,1.34,234.3,79.8,13.4,485,8336,0.00,2.53,0.00,0.000,4,0.000,0.050,3438,390,1671,0,0,0,0,0,0
$GC,8403,1.34,234.3,67.8,16.3,492,8410,0.00,2.33,0.00,0.000,6,0.000,0.020,3438,1797,1668,0,0,0,0,0,0
$GC,8666,1.34,234.3,35.2,12.7,517,8670,0.00,2.45,0.00,0.000,4,0.000,0.048,3438,383,1668,0,0,0,0,0,0
$GC,8755,1.34,234.3,22.1,15.1,532,8762,0.00,2.33,0.00,0.000,6,0.000,0.019,3438,1799,1666,0,0,0,0,0,0
$STATE,8897,end climb,SURFACE_DEPTH_REACHED
$STATE,8899,begin surface coast
$FINISH,0.6,1.023004
$STATE,8921,end surface coast,CONTROL_FINISHED_OK
$STATE,8922,begin surface
$SM_CCo,8945,48.42,0.461,0,0,1288,330.17
$SM_GC,1.27,0.00,0.00,48.42,0.000,0.000,0.461,427,2145,1288,-12.47,1.27,330.17
$IRIDIUM_FIX,2054.83,-15754.77,090700,060626
$TT8_MAMPS,0.029146
$HUMID,54.64
$INTERNAL_PRESSURE,9.57698
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.4,7.478
$10V_AH,10.6,7.079
$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,28.800,81.650,293.075,48.425,0.000,26.898,34.512,146.887,4.500,0.000,12.589,1026.333,5920.372,387.191,1574.028,412.632,33.345,1070.163,0.000,1557.201,0.000,29.248,0.000
$DEVICE_MAMPS,137.293,59.826,824.525,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,380.490,360.255,790.242,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31829,562
$CAP_FILE_SIZE,88837,0
$CFSIZE,260165632,252076032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150411,115455,2104.352,-15755.688,39,1.8,39,9.8