version: 66.06
glider: 139
mission: 9
dive: 139
start: 4 20 111 19 31 49
data:
$ID,139
$MISSION,9
$DIVE,139
$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,-2177526.2
$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,15
$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
$GPS1,192537,2107.662,-15750.122,43,1.0,43,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-74.9
$GPS2,193056,2107.652,-15750.136,15,1.4,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.116,0.189
$KALMAN_X,-27820.2,-117.7,-320.9,29126.5,-2179.8
$KALMAN_Y,-11067.1,-12.9,269.1,5055.9,-1878.7
$MHEAD_RNG_PITCHd_Wd,21.9,12928,-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,-116.8,0.0,0.0,0,93,0.00,0.00,-70.88,0.000,6,0.000,0.000,430,2147,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.4,-4.6,14,114,13.15,2.20,0.00,0.000,4,0.136,0.028,2870,3464,3113,0,0,0,0,0,0
$GC,313,-1.19,-116.8,49.0,-19.6,51,317,0.00,2.30,0.00,0.000,6,0.000,0.029,2871,2085,3115,0,0,0,0,0,0
$GC,576,-1.19,-116.8,93.0,-14.6,75,580,0.00,2.35,0.00,0.000,4,0.000,0.041,2871,691,3115,0,0,0,0,0,0
$GC,602,-1.19,-116.8,97.4,-17.0,77,606,0.00,2.25,0.00,0.000,6,0.000,0.020,2870,2071,3115,0,0,0,0,0,0
$GC,866,-1.19,-116.8,136.0,-12.4,101,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2075,3116,0,0,0,0,0,0
$GC,1128,-1.19,-116.8,163.7,-10.0,126,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2075,3116,0,0,0,0,0,0
$GC,1383,-1.19,-116.8,191.3,-10.8,150,1387,0.00,2.35,0.00,0.000,4,0.000,0.031,2871,3495,3117,0,0,0,0,0,0
$GC,1428,-1.19,-116.8,195.8,-9.9,154,1435,0.00,2.35,0.00,0.000,6,0.000,0.027,2870,2095,3117,0,0,0,0,0,0
$GC,1685,-1.19,-116.8,219.6,-9.1,169,1689,0.00,2.33,0.00,0.000,4,0.000,0.031,2871,3498,3118,0,0,0,0,0,0
$GC,1864,-1.19,-116.8,237.0,-10.5,176,1871,0.00,2.35,0.00,0.000,6,0.000,0.029,2870,2104,3118,0,0,0,0,0,0
$GC,2181,-1.19,-116.8,266.6,-10.0,192,2185,0.00,2.35,0.00,0.000,4,0.000,0.033,2871,3496,3118,0,0,0,0,0,0
$GC,2232,-1.19,-116.8,272.0,-10.1,194,2236,0.00,2.30,0.00,0.000,6,0.000,0.030,2871,2098,3118,0,0,0,0,0,0
$GC,2571,-1.19,-116.8,308.1,-10.4,209,2575,0.00,2.38,0.00,0.000,4,0.000,0.036,2871,3496,3117,0,0,0,0,0,0
$GC,2661,-1.19,-116.8,315.3,-7.6,211,2665,0.00,2.33,0.00,0.000,6,0.000,0.031,2870,2102,3117,0,0,0,0,0,0
$GC,2989,-1.19,-116.8,336.1,-6.0,219,2993,0.00,2.40,0.00,0.000,4,0.000,0.047,2870,690,3115,0,0,0,0,0,0
$GC,3032,-1.19,-116.8,339.8,-8.8,220,3036,0.00,2.30,0.00,0.000,6,0.000,0.025,2870,2097,3115,0,0,0,0,0,0
$GC,3364,-1.19,-116.8,371.0,-9.8,228,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2100,3113,0,0,0,0,0,0
$GC,3689,-1.19,-116.8,397.7,-7.6,236,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2100,3111,0,0,0,0,0,0
$GC,4015,-1.19,-116.8,422.1,-7.3,244,4016,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2100,3108,0,0,0,0,0,0
$GC,4340,-1.19,-116.8,445.9,-7.7,252,4344,0.00,2.47,0.00,0.000,4,0.000,0.051,2870,693,3107,0,0,0,0,0,0
$STATE,4384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4384,begin apogee
$GC,4392,-0.31,0.0,450.0,8.5,253,4491,0.93,0.00,94.90,0.818,6,0.084,0.000,3064,1808,2635,0,0,0,0,0,0
$STATE,4491,end apogee,CONTROL_FINISHED_OK
$STATE,4492,begin climb
$GC,4495,1.19,116.8,452.6,0.0,255,4607,1.50,2.42,100.32,0.798,4,0.056,0.037,3395,3202,2157,0,0,0,0,0,0
$GC,4631,1.19,116.8,440.0,13.0,258,4635,0.00,2.47,0.00,0.000,6,0.000,0.044,3396,1815,2156,0,0,0,0,0,0
$GC,4949,1.19,116.8,395.0,14.2,266,4953,0.00,2.55,0.00,0.000,4,0.000,0.061,3395,383,2147,0,0,0,0,0,0
$GC,5000,1.19,116.8,386.5,16.3,267,5005,0.00,2.38,0.00,0.000,6,0.000,0.029,3396,1803,2143,0,0,0,0,0,0
$GC,5319,1.19,116.8,341.4,13.5,275,5323,0.00,2.53,0.00,0.000,4,0.000,0.059,3396,386,2141,0,0,0,0,0,0
$GC,5375,1.19,116.8,332.9,15.6,276,5379,0.00,2.38,0.00,0.000,6,0.000,0.028,3395,1801,2139,0,0,0,0,0,0
$GC,5690,1.19,116.8,293.9,11.2,285,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1807,2138,0,0,0,0,0,0
$GC,5998,1.19,116.8,260.9,10.2,300,5999,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1807,2137,0,0,0,0,0,0
$GC,6309,1.19,116.8,229.7,11.2,315,6313,0.00,2.47,0.00,0.000,4,0.000,0.054,3396,386,2135,0,0,0,0,0,0
$GC,6342,1.19,116.8,225.5,12.6,316,6346,0.00,2.33,0.00,0.000,6,0.000,0.026,3396,1810,2133,0,0,0,0,0,0
$GC,6659,1.19,116.8,192.2,9.4,334,6663,0.00,2.30,0.00,0.000,4,0.000,0.031,3396,3203,2133,0,0,0,0,0,0
$GC,6703,1.19,116.8,188.2,9.5,338,6707,0.00,2.40,0.00,0.000,6,0.000,0.035,3396,1792,2134,0,0,0,0,0,0
$GC,6966,1.19,116.8,163.2,9.6,362,6970,0.00,2.45,0.00,0.000,4,0.000,0.051,3395,385,2133,0,0,0,0,0,0
$GC,7021,1.19,116.8,157.6,9.4,367,7026,0.00,2.33,0.00,0.000,6,0.000,0.022,3396,1808,2132,0,0,0,0,0,0
$GC,7284,1.19,116.8,135.5,8.6,392,7288,0.00,2.45,0.00,0.000,4,0.000,0.049,3395,387,2132,0,0,0,0,0,0
$GC,7338,1.19,116.8,129.6,11.0,397,7344,0.00,2.28,0.00,0.000,6,0.000,0.021,3396,1790,2131,0,0,0,0,0,0
$GC,7601,1.19,116.8,106.6,8.7,422,7605,0.00,2.42,0.00,0.000,4,0.000,0.046,3396,376,2132,0,0,0,0,0,0
$GC,7701,1.19,116.8,95.2,12.5,432,7708,0.00,2.33,0.00,0.000,6,0.000,0.021,3396,1802,2131,0,0,0,0,0,0
$GC,7963,1.19,116.8,69.9,10.3,457,7967,0.00,2.28,0.00,0.000,4,0.000,0.027,3396,3203,2132,0,0,0,0,0,0
$GC,8021,1.19,116.8,63.7,10.6,463,8028,0.00,2.40,0.00,0.000,6,0.000,0.032,3396,1799,2133,0,0,0,0,0,0
$GC,8284,1.24,152.5,44.1,6.4,488,8317,0.00,2.53,27.02,0.491,4,0.000,0.048,3396,382,2012,0,0,0,0,0,0
$GC,8421,1.24,152.5,32.7,9.4,503,8425,0.00,2.33,0.00,0.000,6,0.000,0.020,3396,1814,2007,0,0,0,0,0,0
$GC,8691,1.29,197.1,14.6,6.0,549,8737,0.10,2.53,38.85,0.471,4,0.071,0.045,3436,382,1829,0,0,0,0,0,0
$GC,8768,1.29,197.1,7.6,11.2,563,8774,0.00,2.33,0.00,0.000,6,0.000,0.019,3436,1780,1825,0,0,0,0,0,0
$STATE,8807,end climb,SURFACE_DEPTH_REACHED
$STATE,8807,begin surface coast
$FINISH,0.8,1.023099
$STATE,8835,end surface coast,CONTROL_FINISHED_OK
$STATE,8835,begin surface
$SM_CCo,8859,69.03,0.459,0,0,1289,330.17
$SM_GC,1.50,0.00,0.00,69.03,0.000,0.000,0.459,428,2158,1289,-12.46,1.64,330.17
$IRIDIUM_FIX,2057.14,-15748.75,140700,161651
$TT8_MAMPS,0.028379
$HUMID,53.30
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.90
$XPDR_PINGS,4
$24V_AH,23.4,11.153
$10V_AH,10.5,10.704
$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,28.525,90.225,261.100,69.025,0.000,30.190,32.267,138.876,5.500,0.000,15.605,1049.927,5765.957,375.786,1649.940,408.753,33.338,1095.958,0.000,1628.184,0.000,29.263,0.000
$DEVICE_MAMPS,135.759,60.593,818.389,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,388.559,375.515,864.741,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31852,575
$CAP_FILE_SIZE,92373,0
$CFSIZE,260165632,249778176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200411,220154,2108.153,-15749.678,38,1.9,38,9.8