version: 66.06
glider: 139
mission: 9
dive: 181
start: 4 25 111 15 47 7
data:
$ID,139
$MISSION,9
$DIVE,181
$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,-2179290.8
$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,18
$R_STBD_OVSHOOT,81
$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
$GPS1,154037,2109.974,-15744.312,32,1.0,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-74.4
$GPS2,154614,2110.005,-15744.278,13,1.6,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.221,0.021
$KALMAN_X,-104737.7,-169.9,698.6,115190.3,-2726.3
$KALMAN_Y,-33580.2,-214.4,9.0,32396.5,592.5
$MHEAD_RNG_PITCHd_Wd,74.8,8110,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-69.70,0.000,2,0.000,0.000,430,2141,3110,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.3,-4.7,13,109,13.10,0.00,0.00,0.000,6,0.135,0.000,2867,2141,3112,0,0,0,0,0,0
$GC,311,-1.19,-116.8,48.5,-17.6,43,315,0.00,2.33,0.00,0.000,4,0.000,0.033,2867,3462,3114,0,0,0,0,0,0
$GC,457,-1.19,-116.8,72.6,-17.4,59,462,0.00,2.42,0.00,0.000,6,0.000,0.033,2866,2086,3115,0,0,0,0,0,0
$GC,722,-1.19,-116.8,112.9,-15.2,83,726,0.00,2.45,0.00,0.000,4,0.000,0.035,2867,3463,3115,0,0,0,0,0,0
$GC,795,-1.19,-116.8,123.9,-13.9,90,801,0.00,2.45,0.00,0.000,6,0.000,0.035,2867,2098,3115,0,0,0,0,0,0
$GC,1059,-1.19,-116.8,154.0,-10.1,115,1063,0.00,2.42,0.00,0.000,4,0.000,0.037,2867,3460,3115,0,0,0,0,0,0
$GC,1201,-1.19,-116.8,168.9,-10.0,130,1206,0.00,2.40,0.00,0.000,6,0.000,0.034,2867,2092,3116,0,0,0,0,0,0
$GC,1464,-1.19,-116.8,195.5,-11.0,154,1469,0.00,2.42,0.00,0.000,4,0.000,0.040,2867,3457,3116,0,0,0,0,0,0
$GC,1566,-1.19,-116.8,207.8,-13.0,160,1571,0.00,2.40,0.00,0.000,6,0.000,0.037,2867,2098,3117,0,0,0,0,0,0
$GC,1883,-1.19,-116.8,239.8,-9.5,175,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2097,3117,0,0,0,0,0,0
$GC,2191,-1.19,-116.8,268.9,-9.0,190,2195,0.00,2.45,0.00,0.000,4,0.000,0.045,2866,3452,3116,0,0,0,0,0,0
$GC,2242,-1.19,-116.8,273.7,-9.3,192,2246,0.00,2.40,0.00,0.000,6,0.000,0.040,2866,2101,3116,0,0,0,0,0,0
$GC,2561,-1.19,-116.8,304.3,-9.2,207,2565,0.00,2.47,0.00,0.000,4,0.000,0.048,2866,3458,3116,0,0,0,0,0,0
$GC,2642,-1.19,-116.8,311.6,-8.4,208,2646,0.00,2.42,0.00,0.000,6,0.000,0.041,2867,2101,3115,0,0,0,0,0,0
$GC,2974,-1.19,-116.8,337.7,-8.0,216,2978,0.00,2.60,0.00,0.000,4,0.000,0.053,2867,683,3114,0,0,0,0,0,0
$GC,3078,-1.19,-116.8,346.2,-7.9,218,3082,0.00,2.38,0.00,0.000,6,0.000,0.028,2866,2054,3114,0,0,0,0,0,0
$GC,3392,-1.19,-116.8,368.7,-7.0,226,3397,0.00,2.65,0.00,0.000,4,0.000,0.053,2867,3509,3112,0,0,0,0,0,0
$GC,3425,-1.19,-116.8,371.5,-8.1,226,3429,0.00,2.55,0.00,0.000,6,0.000,0.045,2867,2100,3112,0,0,0,0,0,0
$GC,3756,-1.19,-116.8,398.4,-8.6,234,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2100,3109,0,0,0,0,0,0
$GC,4081,-1.19,-116.8,426.3,-8.2,242,4085,0.00,2.58,0.00,0.000,4,0.000,0.056,2867,693,3107,0,0,0,0,0,0
$GC,4179,-1.19,-116.8,435.3,-9.1,244,4183,0.00,2.50,0.00,0.000,6,0.000,0.032,2867,2105,3107,0,0,0,0,0,0
$STATE,4413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4413,begin apogee
$GC,4420,-0.31,0.0,451.7,6.7,250,4519,0.98,0.00,95.18,0.815,6,0.087,0.000,3067,1791,2635,0,0,0,0,0,0
$STATE,4520,end apogee,CONTROL_FINISHED_OK
$STATE,4520,begin climb
$GC,4523,1.19,116.8,452.8,0.0,252,4634,1.50,2.72,101.78,0.798,4,0.054,0.050,3395,3200,2157,0,0,0,0,0,0
$GC,4640,1.19,116.8,441.5,12.5,255,4644,0.00,2.67,0.00,0.000,6,0.000,0.053,3394,1805,2156,0,0,0,0,0,0
$GC,4980,1.19,116.8,398.0,12.4,264,4985,0.00,2.67,0.00,0.000,4,0.000,0.064,3394,392,2146,0,0,0,0,0,0
$GC,5056,1.19,116.8,387.5,14.2,265,5061,0.00,2.53,0.00,0.000,6,0.000,0.028,3395,1812,2142,0,0,0,0,0,0
$GC,5393,1.19,116.8,341.5,13.6,274,5397,0.00,2.53,0.00,0.000,4,0.000,0.048,3395,3197,2140,0,0,0,0,0,0
$GC,5462,1.19,116.8,332.8,12.2,275,5467,0.00,2.62,0.00,0.000,6,0.000,0.051,3394,1800,2140,0,0,0,0,0,0
$GC,5783,1.19,116.8,295.5,11.4,284,5787,0.00,2.65,0.00,0.000,4,0.000,0.060,3394,391,2138,0,0,0,0,0,0
$GC,5816,1.19,116.8,291.6,12.6,285,5820,0.00,2.50,0.00,0.000,6,0.000,0.026,3395,1807,2136,0,0,0,0,0,0
$GC,6131,1.19,116.8,259.2,10.0,300,6135,0.00,2.50,0.00,0.000,4,0.000,0.044,3395,3197,2136,0,0,0,0,0,0
$GC,6152,1.19,116.8,257.1,10.5,301,6157,0.00,2.60,0.00,0.000,6,0.000,0.047,3395,1799,2136,0,0,0,0,0,0
$GC,6484,1.19,116.8,221.2,11.0,317,6485,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1798,2134,0,0,0,0,0,0
$GC,6794,1.19,116.8,189.6,10.2,336,6798,0.00,2.58,0.00,0.000,4,0.000,0.054,3394,393,2133,0,0,0,0,0,0
$GC,6818,1.19,116.8,187.0,11.4,338,6823,0.00,2.47,0.00,0.000,6,0.000,0.024,3395,1808,2132,0,0,0,0,0,0
$GC,7081,1.19,116.8,161.7,9.6,362,7085,0.00,2.45,0.00,0.000,4,0.000,0.036,3395,3197,2132,0,0,0,0,0,0
$GC,7113,1.19,116.8,158.5,9.3,365,7118,0.00,2.55,0.00,0.000,6,0.000,0.041,3395,1801,2132,0,0,0,0,0,0
$GC,7374,1.19,116.8,133.8,9.1,390,7376,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1801,2132,0,0,0,0,0,0
$GC,7629,1.23,145.6,114.4,6.7,414,7658,0.00,2.67,21.35,0.553,4,0.000,0.052,3395,388,2040,0,0,0,0,0,0
$GC,7688,1.23,145.6,109.8,9.5,420,7692,0.00,2.45,0.00,0.000,6,0.000,0.021,3395,1803,2036,0,0,0,0,0,0
$GC,7956,1.23,145.6,86.5,8.2,445,7961,0.00,2.42,0.00,0.000,4,0.000,0.031,3395,3192,2036,0,0,0,0,0,0
$GC,7984,1.23,145.6,83.6,8.5,447,7990,0.00,2.50,0.00,0.000,6,0.000,0.036,3395,1800,2036,0,0,0,0,0,0
$GC,8247,1.23,145.6,60.2,8.5,472,8248,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1800,2036,0,0,0,0,0,0
$GC,8502,1.25,158.2,40.9,7.4,496,8523,0.00,2.62,11.90,0.456,4,0.000,0.048,3395,390,1988,0,0,0,0,0,0
$GC,8537,1.25,158.2,38.0,8.2,499,8544,0.00,2.45,0.00,0.000,6,0.000,0.020,3395,1804,1987,0,0,0,0,0,0
$GC,8803,1.29,197.6,20.2,6.2,537,8844,0.10,0.00,34.75,0.475,6,0.072,0.000,3436,1809,1828,0,0,0,0,0,0
$STATE,8990,end climb,SURFACE_DEPTH_REACHED
$STATE,8990,begin surface coast
$FINISH,1.0,1.022958
$STATE,9018,end surface coast,CONTROL_FINISHED_OK
$STATE,9018,begin surface
$SM_CCo,9042,68.50,0.458,0,0,1288,330.17
$SM_GC,1.67,0.00,0.00,68.50,0.000,0.000,0.458,430,2118,1288,-12.45,0.51,330.17
$IRIDIUM_FIX,2104.07,-15742.72,190700,131351
$TT8_MAMPS,0.028379
$HUMID,54.21
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,14.377
$10V_AH,10.6,13.932
$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,28.550,96.500,264.950,68.500,0.000,27.310,50.551,142.846,4.500,0.000,13.264,1060.651,5922.092,420.765,1597.337,450.266,33.350,1092.141,0.000,1588.510,0.000,29.246,0.000
$DEVICE_MAMPS,134.992,63.661,815.321,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,389.636,376.515,855.269,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31766,576
$CAP_FILE_SIZE,91277,0
$CFSIZE,260165632,247742464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250411,182024,2109.869,-15744.038,29,1.0,47,9.8