version: 66.06
glider: 139
mission: 9
dive: 177
start: 4 25 111 4 44 19
data:
$ID,139
$MISSION,9
$DIVE,177
$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,-2179215
$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,93
$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
$GPS1,043431,2111.760,-15746.284,46,1.1,46,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-73.7
$GPS2,044326,2111.744,-15746.322,16,1.6,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.219,-0.032
$KALMAN_X,-100457.8,639.6,640.1,106624.0,-2650.0
$KALMAN_Y,-34896.5,5.3,-37.8,36755.9,715.5
$MHEAD_RNG_PITCHd_Wd,88.6,12458,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.19,-116.8,0.0,0.0,0,90,0.00,0.00,-69.75,0.000,2,0.000,0.000,430,2157,3098,0,0,0,0,0,0
$GC,93,-1.19,-116.8,3.1,-3.7,13,113,13.10,2.65,-0.25,0.000,4,0.136,0.046,2868,672,3112,0,0,0,0,0,0
$GC,124,-1.19,-116.8,12.8,-26.4,18,131,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2050,3113,0,0,0,0,0,0
$GC,332,-1.19,-116.8,47.5,-15.0,46,336,0.00,2.47,0.00,0.000,4,0.000,0.042,2868,682,3114,0,0,0,0,0,0
$GC,350,-1.19,-116.8,50.8,-14.3,47,357,0.00,2.45,0.00,0.000,6,0.000,0.021,2867,2096,3114,0,0,0,0,0,0
$GC,612,-1.19,-116.8,86.5,-12.7,72,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2096,3114,0,0,0,0,0,0
$GC,866,-1.19,-116.8,118.2,-12.0,96,871,0.00,2.50,0.00,0.000,4,0.000,0.037,2868,3504,3115,0,0,0,0,0,0
$GC,884,-1.19,-116.8,120.1,-11.6,97,888,0.00,2.47,0.00,0.000,6,0.000,0.034,2868,2088,3115,0,0,0,0,0,0
$GC,1148,-1.19,-116.8,153.3,-11.8,121,1152,0.00,2.50,0.00,0.000,4,0.000,0.038,2868,3503,3115,0,0,0,0,0,0
$GC,1248,-1.19,-116.8,165.5,-10.3,131,1253,0.00,2.47,0.00,0.000,6,0.000,0.034,2868,2098,3115,0,0,0,0,0,0
$GC,1511,-1.19,-116.8,193.0,-10.1,156,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2098,3116,0,0,0,0,0,0
$GC,1758,-1.19,-116.8,216.8,-9.1,172,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2098,3116,0,0,0,0,0,0
$GC,2069,-1.19,-116.8,246.4,-8.0,187,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2098,3116,0,0,0,0,0,0
$GC,2377,-1.19,-116.8,273.7,-10.0,202,2381,0.00,2.50,0.00,0.000,4,0.000,0.044,2868,3493,3115,0,0,0,0,0,0
$GC,2619,-1.19,-116.8,293.9,-9.7,212,2626,0.00,2.53,0.00,0.000,6,0.000,0.041,2868,2101,3115,0,0,0,0,0,0
$GC,2952,-1.19,-116.8,322.1,-8.4,223,2956,0.00,2.58,0.00,0.000,4,0.000,0.051,2868,689,3114,0,0,0,0,0,0
$GC,3054,-1.19,-116.8,331.9,-8.5,225,3059,0.00,2.45,0.00,0.000,6,0.000,0.028,2868,2093,3114,0,0,0,0,0,0
$GC,3368,-1.19,-116.8,358.7,-8.6,233,3369,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2094,3112,0,0,0,0,0,0
$GC,3693,-1.19,-116.8,379.8,-6.0,241,3694,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2093,3110,0,0,0,0,0,0
$GC,4019,-1.19,-116.8,403.3,-8.0,249,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2094,3108,0,0,0,0,0,0
$GC,4343,-1.19,-116.8,427.0,-6.8,257,4344,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2094,3106,0,0,0,0,0,0
$STATE,4665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4665,begin apogee
$GC,4673,-0.31,0.0,451.9,8.0,265,4771,0.95,0.00,95.32,0.814,6,0.084,0.000,3064,1794,2635,0,0,0,0,0,0
$STATE,4772,end apogee,CONTROL_FINISHED_OK
$STATE,4772,begin climb
$GC,4775,1.19,116.8,454.4,0.0,267,4887,1.50,2.72,100.70,0.798,4,0.057,0.050,3394,3194,2157,0,0,0,0,0,0
$GC,4906,1.19,116.8,444.1,11.1,270,4911,0.00,2.67,0.00,0.000,6,0.000,0.056,3394,1806,2156,0,0,0,0,0,0
$GC,5230,1.19,116.8,401.5,13.9,278,5234,0.00,2.70,0.00,0.000,4,0.000,0.064,3394,392,2147,0,0,0,0,0,0
$GC,5273,1.19,116.8,394.7,15.9,279,5278,0.00,2.50,0.00,0.000,6,0.000,0.028,3394,1803,2143,0,0,0,0,0,0
$GC,5601,1.19,116.8,349.3,13.5,287,5606,0.00,2.72,0.00,0.000,4,0.000,0.063,3394,387,2141,0,0,0,0,0,0
$GC,5639,1.19,116.8,343.8,14.4,287,5644,0.00,2.53,0.00,0.000,6,0.000,0.028,3394,1803,2139,0,0,0,0,0,0
$GC,5970,1.19,116.8,308.3,10.4,296,5974,0.00,2.67,0.00,0.000,4,0.000,0.061,3394,391,2138,0,0,0,0,0,0
$GC,6031,1.19,116.8,300.8,12.5,297,6035,0.00,2.50,0.00,0.000,6,0.000,0.028,3394,1799,2137,0,0,0,0,0,0
$GC,6366,1.19,116.8,263.2,11.2,313,6367,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1804,2136,0,0,0,0,0,0
$GC,6674,1.19,116.8,228.6,10.2,328,6679,0.00,2.65,0.00,0.000,4,0.000,0.057,3394,392,2135,0,0,0,0,0,0
$GC,6696,1.19,116.8,226.3,10.8,329,6700,0.00,2.47,0.00,0.000,6,0.000,0.025,3394,1811,2133,0,0,0,0,0,0
$GC,7018,1.20,117.7,195.6,8.0,347,7023,0.00,2.47,0.00,0.000,4,0.000,0.038,3394,3195,2133,0,0,0,0,0,0
$GC,7053,1.21,128.4,192.7,7.5,350,7066,0.00,2.55,6.97,0.532,6,0.000,0.042,3394,1795,2110,0,0,0,0,0,0
$GC,7328,1.22,133.5,171.7,7.8,376,7340,0.00,2.60,6.10,0.491,4,0.000,0.052,3394,390,2089,0,0,0,0,0,0
$GC,7379,1.22,133.5,166.7,11.4,381,7384,0.00,2.45,0.00,0.000,6,0.000,0.022,3394,1806,2087,0,0,0,0,0,0
$GC,7644,1.24,150.6,143.6,7.2,405,7662,0.00,0.00,16.17,0.562,6,0.000,0.000,3394,1810,2021,0,0,0,0,0,0
$GC,7919,1.24,150.6,117.9,9.4,431,7924,0.00,2.62,0.00,0.000,4,0.000,0.051,3394,388,2018,0,0,0,0,0,0
$GC,7963,1.24,150.6,112.6,12.3,435,7968,0.00,2.42,0.00,0.000,6,0.000,0.021,3394,1804,2015,0,0,0,0,0,0
$GC,8228,1.24,150.6,87.0,8.2,459,8233,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1809,2015,0,0,0,0,0,0
$GC,8491,1.28,187.0,69.8,6.4,484,8531,0.00,2.67,32.38,0.514,4,0.000,0.048,3394,387,1871,0,0,0,0,0,0
$GC,8554,1.28,187.0,65.1,9.1,490,8558,0.00,2.45,0.00,0.000,6,0.000,0.019,3394,1808,1867,0,0,0,0,0,0
$GC,8820,1.28,187.0,42.9,8.4,514,8824,0.00,2.60,0.00,0.000,4,0.000,0.048,3394,389,1867,0,0,0,0,0,0
$GC,8873,1.28,187.0,37.0,10.4,519,8880,0.00,2.42,0.00,0.000,6,0.000,0.019,3394,1789,1864,0,0,0,0,0,0
$GC,9141,1.31,211.8,15.8,6.9,561,9171,0.12,2.53,21.55,0.456,4,0.061,0.030,3440,3188,1770,0,0,0,0,0,0
$GC,9204,1.31,211.8,9.4,11.8,573,9210,0.00,2.55,0.00,0.000,6,0.000,0.034,3440,1796,1770,0,0,0,0,0,0
$STATE,9260,end climb,SURFACE_DEPTH_REACHED
$STATE,9260,begin surface coast
$FINISH,1.3,1.023004
$STATE,9288,end surface coast,CONTROL_FINISHED_OK
$STATE,9289,begin surface
$SM_CCo,9312,61.30,0.456,0,0,1288,330.17
$SM_GC,1.52,0.00,0.00,61.30,0.000,0.000,0.456,428,2145,1288,-12.46,1.24,330.17
$IRIDIUM_FIX,2101.76,-15745.74,190700,040410
$TT8_MAMPS,0.029146
$HUMID,53.81
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.5,14.071
$10V_AH,10.6,13.633
$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,28.550,87.525,279.200,61.300,0.000,59.625,72.386,214.108,4.500,0.000,17.086,1059.982,6285.497,396.684,1596.133,573.238,33.357,1081.478,0.000,1579.271,0.000,29.251,0.000
$DEVICE_MAMPS,135.759,64.428,813.787,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.154,383.944,870.299,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,31791,588
$CAP_FILE_SIZE,93964,0
$CFSIZE,260165632,247934976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250411,072125,2111.572,-15745.777,8,1.9,13,9.8