version: 66.06
glider: 139
mission: 9
dive: 233
start: 5 1 111 16 14 58
data:
$ID,139
$MISSION,9
$DIVE,233
$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,-2180436.8
$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,85
$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
$GPS1,160807,2106.497,-15753.530,29,1.6,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-73.6
$GPS2,161406,2106.526,-15753.556,36,0.9,41,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.218,-0.041
$KALMAN_X,-142538.2,-71.6,-273.7,137844.0,-2002.0
$KALMAN_Y,-17331.1,-237.6,-93.1,9827.6,425.3
$MHEAD_RNG_PITCHd_Wd,90.8,18427,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-69.72,0.000,2,0.000,0.000,430,2154,3083,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.1,-3.8,13,111,13.10,2.62,-0.55,0.000,4,0.135,0.045,2869,678,3113,0,0,0,0,0,0
$GC,140,-1.19,-116.8,16.8,-24.7,22,146,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2054,3114,0,0,0,0,0,0
$GC,346,-1.19,-116.8,51.6,-16.5,48,350,0.00,2.47,0.00,0.000,4,0.000,0.041,2869,680,3115,0,0,0,0,0,0
$GC,408,-1.19,-116.8,61.9,-16.6,54,412,0.00,2.42,0.00,0.000,6,0.000,0.021,2870,2106,3115,0,0,0,0,0,0
$GC,672,-1.19,-116.8,100.1,-14.8,78,676,0.00,2.45,0.00,0.000,4,0.000,0.035,2869,3498,3116,0,0,0,0,0,0
$GC,699,-1.19,-116.8,104.6,-14.5,80,706,0.00,2.50,0.00,0.000,6,0.000,0.033,2869,2094,3116,0,0,0,0,0,0
$GC,964,-1.19,-116.8,135.2,-11.2,105,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2094,3116,0,0,0,0,0,0
$GC,1225,-1.19,-116.8,169.5,-13.9,130,1229,0.00,2.50,0.00,0.000,4,0.000,0.037,2869,3501,3117,0,0,0,0,0,0
$GC,1441,-1.19,-116.8,194.4,-8.8,153,1445,0.00,2.47,0.00,0.000,6,0.000,0.034,2869,2098,3117,0,0,0,0,0,0
$GC,1709,-1.19,-116.8,212.4,-6.3,169,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2098,3118,0,0,0,0,0,0
$GC,2016,-1.19,-116.8,236.2,-10.2,184,2020,0.00,2.47,0.00,0.000,4,0.000,0.040,2869,3495,3118,0,0,0,0,0,0
$GC,2180,-1.19,-116.8,253.9,-10.4,191,2184,0.00,2.45,0.00,0.000,6,0.000,0.038,2869,2102,3118,0,0,0,0,0,0
$GC,2501,-1.19,-116.8,284.0,-10.0,207,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2101,3117,0,0,0,0,0,0
$GC,2809,-1.19,-116.8,313.4,-9.8,219,2814,0.00,2.55,0.00,0.000,4,0.000,0.049,2869,689,3116,0,0,0,0,0,0
$GC,2971,-1.19,-116.8,331.0,-10.5,222,2975,0.00,2.42,0.00,0.000,6,0.000,0.026,2869,2103,3116,0,0,0,0,0,0
$GC,3312,-1.19,-116.8,359.5,-7.4,231,3319,0.00,2.55,0.00,0.000,4,0.000,0.049,2869,692,3114,0,0,0,0,0,0
$GC,3334,-1.19,-116.8,361.3,-7.6,231,3338,0.00,2.42,0.00,0.000,6,0.000,0.027,2869,2103,3114,0,0,0,0,0,0
$GC,3684,-1.19,-116.8,387.7,-7.8,240,3688,0.00,2.55,0.00,0.000,4,0.000,0.051,2869,694,3112,0,0,0,0,0,0
$GC,3750,-1.19,-116.8,393.2,-7.9,241,3754,0.00,2.45,0.00,0.000,6,0.000,0.028,2869,2102,3111,0,0,0,0,0,0
$GC,4095,-1.19,-116.8,424.9,-10.4,250,4099,0.00,2.58,0.00,0.000,4,0.000,0.052,2869,3505,3109,0,0,0,0,0,0
$GC,4118,-1.19,-116.8,427.7,-11.8,250,4123,0.00,2.53,0.00,0.000,6,0.000,0.046,2869,2103,3108,0,0,0,0,0,0
$STATE,4336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4336,begin apogee
$GC,4343,-0.31,0.0,450.9,10.2,256,4441,0.95,0.00,94.85,0.815,6,0.081,0.000,3067,1786,2635,0,0,0,0,0,0
$STATE,4442,end apogee,CONTROL_FINISHED_OK
$STATE,4442,begin climb
$GC,4445,1.19,116.8,454.3,0.0,258,4555,1.50,2.70,100.15,0.799,4,0.054,0.063,3395,400,2157,0,0,0,0,0,0
$GC,4565,1.19,116.8,447.4,9.2,261,4569,0.00,2.47,0.00,0.000,6,0.000,0.026,3395,1800,2154,0,0,0,0,0,0
$GC,4901,1.19,116.8,419.4,9.4,270,4905,0.00,2.67,0.00,0.000,4,0.000,0.062,3395,396,2146,0,0,0,0,0,0
$GC,4920,1.19,116.8,416.7,12.4,270,4924,0.00,2.47,0.00,0.000,6,0.000,0.027,3395,1801,2144,0,0,0,0,0,0
$GC,5265,1.19,116.8,377.2,11.5,279,5269,0.00,2.55,0.00,0.000,4,0.000,0.045,3395,3210,2142,0,0,0,0,0,0
$GC,5279,1.19,116.8,375.2,12.1,279,5284,0.00,2.62,0.00,0.000,6,0.000,0.049,3395,1804,2142,0,0,0,0,0,0
$GC,5629,1.19,116.8,331.8,13.0,288,5634,0.00,2.65,0.00,0.000,4,0.000,0.060,3395,395,2139,0,0,0,0,0,0
$GC,5686,1.19,116.8,323.4,15.5,289,5690,0.00,2.47,0.00,0.000,6,0.000,0.028,3395,1803,2137,0,0,0,0,0,0
$GC,6001,1.19,116.8,280.9,13.9,300,6005,0.00,2.67,0.00,0.000,4,0.000,0.060,3395,392,2137,0,0,0,0,0,0
$GC,6038,1.19,116.8,275.1,15.5,301,6044,0.00,2.45,0.00,0.000,6,0.000,0.027,3395,1802,2134,0,0,0,0,0,0
$GC,6355,1.19,116.8,236.1,11.2,317,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1804,2134,0,0,0,0,0,0
$GC,6663,1.19,116.8,205.9,9.4,332,6667,0.00,2.50,0.00,0.000,4,0.000,0.039,3396,3210,2133,0,0,0,0,0,0
$GC,6709,1.19,116.8,201.3,9.7,334,6714,0.00,2.55,0.00,0.000,6,0.000,0.043,3395,1802,2133,0,0,0,0,0,0
$GC,7045,1.22,134.5,172.9,7.2,365,7064,0.00,0.00,12.07,0.583,6,0.000,0.000,3395,1803,2086,0,0,0,0,0,0
$GC,7322,1.22,134.5,147.7,9.7,391,7326,0.00,2.60,0.00,0.000,4,0.000,0.052,3395,391,2084,0,0,0,0,0,0
$GC,7359,1.22,134.5,143.1,11.6,394,7366,0.00,2.47,0.00,0.000,6,0.000,0.022,3395,1809,2082,0,0,0,0,0,0
$GC,7624,1.22,134.5,119.2,8.8,419,7628,0.00,2.42,0.00,0.000,4,0.000,0.032,3395,3202,2081,0,0,0,0,0,0
$GC,7658,1.22,134.5,116.1,9.0,422,7662,0.00,2.53,0.00,0.000,6,0.000,0.038,3395,1798,2082,0,0,0,0,0,0
$GC,7921,1.22,134.5,93.3,9.1,446,7925,0.00,2.58,0.00,0.000,4,0.000,0.050,3395,389,2081,0,0,0,0,0,0
$GC,7985,1.22,134.5,86.5,10.0,452,7991,0.00,2.45,0.00,0.000,6,0.000,0.021,3395,1803,2081,0,0,0,0,0,0
$GC,8249,1.24,157.0,66.7,7.0,477,8271,0.00,0.00,20.17,0.510,6,0.000,0.000,3395,1806,1995,0,0,0,0,0,0
$GC,8525,1.25,158.7,46.8,7.9,503,8527,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1806,1993,0,0,0,0,0,0
$GC,8782,1.25,163.7,27.9,7.8,529,8795,0.00,2.60,7.43,0.413,4,0.000,0.046,3395,392,1965,0,0,0,0,0,0
$GC,8944,1.26,168.3,14.1,7.8,565,8957,0.00,2.42,4.95,0.353,6,0.000,0.019,3395,1801,1947,0,0,0,0,0,0
$STATE,9087,end climb,SURFACE_DEPTH_REACHED
$STATE,9087,begin surface coast
$FINISH,1.0,1.015240
$STATE,9138,end surface coast,CONTROL_FINISHED_OK
$STATE,9138,begin surface
$SM_CCo,9162,81.90,0.462,0,0,1288,330.17
$SM_GC,1.50,0.00,0.00,81.90,0.000,0.000,0.462,426,2144,1288,-12.48,1.24,330.17
$IRIDIUM_FIX,2057.14,-15753.90,250700,131336
$TT8_MAMPS,0.028379
$HUMID,54.01
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.5,18.557
$10V_AH,10.5,17.935
$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,28.125,96.750,239.625,81.900,0.000,27.893,35.860,146.952,4.500,0.000,41.310,1091.629,5981.355,414.992,1680.209,436.558,33.355,1097.168,0.000,1640.570,0.000,29.247,0.000
$DEVICE_MAMPS,134.992,62.894,815.321,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,406.359,394.462,907.765,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,31761,600
$CAP_FILE_SIZE,93343,0
$CFSIZE,260165632,245239808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010511,185010,2106.554,-15752.915,9,2.8,28,9.8