version: 66.06
glider: 139
mission: 9
dive: 235
start: 5 1 111 21 47 30
data:
$ID,139
$MISSION,9
$DIVE,235
$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,-2180466.2
$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,18
$R_STBD_OVSHOOT,82
$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
$GPS1,214106,2106.590,-15752.000,28,1.2,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-74.4
$GPS2,214637,2106.590,-15752.031,10,1.2,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.220,-0.028
$KALMAN_X,-145581.3,-39.1,564.5,142645.1,-2378.5
$KALMAN_Y,-16867.0,235.4,109.6,8806.3,302.0
$MHEAD_RNG_PITCHd_Wd,87.4,15812,-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,-70.68,0.000,6,0.000,0.000,425,2142,3111,0,0,0,0,0,0
$GC,96,-1.19,-116.8,4.0,-5.8,14,115,13.10,2.60,0.00,0.000,4,0.135,0.035,2868,678,3113,0,0,0,0,0,0
$GC,135,-1.19,-116.8,17.4,-33.4,21,142,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2055,3114,0,0,0,0,0,0
$GC,336,-1.19,-116.8,48.8,-15.2,46,340,0.00,2.45,0.00,0.000,4,0.000,0.042,2868,683,3115,0,0,0,0,0,0
$GC,353,-1.19,-116.8,51.5,-16.2,47,357,0.00,2.45,0.00,0.000,6,0.000,0.021,2868,2113,3115,0,0,0,0,0,0
$GC,615,-1.19,-116.8,92.7,-13.5,71,620,0.00,2.55,0.00,0.000,4,0.000,0.041,2868,683,3116,0,0,0,0,0,0
$GC,689,-1.19,-116.8,103.9,-14.8,78,696,0.00,2.42,0.00,0.000,6,0.000,0.021,2868,2089,3116,0,0,0,0,0,0
$GC,954,-1.19,-116.8,134.9,-11.1,103,958,0.00,2.47,0.00,0.000,4,0.000,0.036,2868,3498,3117,0,0,0,0,0,0
$GC,969,-1.19,-116.8,136.9,-11.0,104,973,0.00,2.45,0.00,0.000,6,0.000,0.032,2868,2091,3117,0,0,0,0,0,0
$GC,1230,-1.19,-116.8,169.2,-11.2,128,1234,0.00,2.50,0.00,0.000,4,0.000,0.036,2868,3499,3117,0,0,0,0,0,0
$GC,1283,-1.19,-116.8,174.6,-10.4,133,1287,0.00,2.47,0.00,0.000,6,0.000,0.034,2868,2096,3118,0,0,0,0,0,0
$GC,1545,-1.19,-116.8,202.6,-11.0,156,1550,0.00,2.50,0.00,0.000,4,0.000,0.044,2868,691,3118,0,0,0,0,0,0
$GC,1560,-1.19,-116.8,204.7,-11.0,156,1566,0.00,2.42,0.00,0.000,6,0.000,0.022,2868,2095,3118,0,0,0,0,0,0
$GC,1875,-1.19,-116.8,236.6,-9.8,172,1880,0.00,2.53,0.00,0.000,4,0.000,0.042,2868,3502,3118,0,0,0,0,0,0
$GC,1919,-1.19,-116.8,240.9,-9.7,174,1923,0.00,2.47,0.00,0.000,6,0.000,0.037,2868,2094,3118,0,0,0,0,0,0
$GC,2248,-1.19,-116.8,270.9,-8.4,190,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2094,3117,0,0,0,0,0,0
$GC,2559,-1.19,-116.8,294.4,-7.5,205,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2094,3116,0,0,0,0,0,0
$GC,2884,-1.19,-116.8,316.2,-6.8,215,2888,0.00,2.53,0.00,0.000,4,0.000,0.049,2868,692,3115,0,0,0,0,0,0
$GC,3014,-1.19,-116.8,327.4,-8.4,217,3020,0.00,2.42,0.00,0.000,6,0.000,0.026,2869,2107,3115,0,0,0,0,0,0
$GC,3346,-1.19,-116.8,351.1,-6.7,226,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2108,3114,0,0,0,0,0,0
$GC,3672,-1.19,-116.8,376.7,-7.9,234,3676,0.00,2.55,0.00,0.000,4,0.000,0.051,2868,695,3111,0,0,0,0,0,0
$GC,3765,-1.19,-116.8,385.4,-9.1,236,3769,0.00,2.42,0.00,0.000,6,0.000,0.028,2868,2100,3111,0,0,0,0,0,0
$GC,4088,-1.19,-116.8,414.0,-8.7,244,4092,0.00,2.55,0.00,0.000,4,0.000,0.053,2868,3498,3109,0,0,0,0,0,0
$GC,4107,-1.19,-116.8,415.9,-9.3,244,4111,0.00,2.50,0.00,0.000,6,0.000,0.045,2868,2102,3108,0,0,0,0,0,0
$GC,4454,-1.19,-116.8,440.9,-6.8,253,4455,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2101,3106,0,0,0,0,0,0
$STATE,4612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4612,begin apogee
$GC,4619,-0.31,0.0,451.2,6.4,257,4717,0.95,0.00,94.40,0.823,6,0.082,0.000,3065,1788,2635,0,0,0,0,0,0
$STATE,4717,end apogee,CONTROL_FINISHED_OK
$STATE,4718,begin climb
$GC,4720,1.19,116.8,452.5,0.0,259,4828,1.50,0.00,99.72,0.804,6,0.055,0.000,3395,1789,2157,0,0,0,0,0,0
$GC,5173,1.19,116.8,404.4,11.0,270,5174,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1789,2145,0,0,0,0,0,0
$GC,5498,1.19,116.8,366.0,12.3,278,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1788,2142,0,0,0,0,0,0
$GC,5823,1.19,116.8,323.0,13.3,286,5828,0.00,2.60,0.00,0.000,4,0.000,0.045,3396,3208,2140,0,0,0,0,0,0
$GC,5842,1.19,116.8,320.5,13.1,286,5847,0.00,2.62,0.00,0.000,6,0.000,0.050,3396,1804,2139,0,0,0,0,0,0
$GC,6169,1.19,116.8,282.0,11.4,298,6174,0.00,2.65,0.00,0.000,4,0.000,0.061,3395,389,2138,0,0,0,0,0,0
$GC,6191,1.19,116.8,279.5,12.9,299,6195,0.00,2.50,0.00,0.000,6,0.000,0.028,3396,1803,2135,0,0,0,0,0,0
$GC,6522,1.19,116.8,243.3,10.6,315,6526,0.00,2.65,0.00,0.000,4,0.000,0.058,3395,392,2135,0,0,0,0,0,0
$GC,6568,1.19,116.8,238.4,11.3,317,6572,0.00,2.47,0.00,0.000,6,0.000,0.026,3396,1807,2132,0,0,0,0,0,0
$GC,6898,1.19,116.8,205.1,10.2,333,6903,0.00,2.53,0.00,0.000,4,0.000,0.039,3396,3215,2133,0,0,0,0,0,0
$GC,6922,1.19,116.8,202.5,10.3,334,6926,0.00,2.60,0.00,0.000,6,0.000,0.044,3396,1800,2133,0,0,0,0,0,0
$GC,7255,1.19,116.8,168.7,10.0,364,7260,0.00,2.60,0.00,0.000,4,0.000,0.054,3396,391,2133,0,0,0,0,0,0
$GC,7319,1.19,116.8,161.4,10.7,370,7326,0.00,2.47,0.00,0.000,6,0.000,0.024,3396,1805,2130,0,0,0,0,0,0
$GC,7584,1.19,116.8,139.4,8.8,395,7588,0.00,2.62,0.00,0.000,4,0.000,0.051,3396,390,2131,0,0,0,0,0,0
$GC,7630,1.19,116.8,134.4,11.0,399,7635,0.00,2.42,0.00,0.000,6,0.000,0.022,3396,1804,2130,0,0,0,0,0,0
$GC,7893,1.26,168.4,115.1,5.7,424,7939,0.00,2.53,40.40,0.572,4,0.000,0.031,3396,3211,1948,0,0,0,0,0,0
$GC,7961,1.32,220.1,111.4,5.6,431,8017,0.12,2.60,45.33,0.565,6,0.061,0.039,3438,1797,1735,0,0,0,0,0,0
$GC,8272,1.32,220.1,76.0,13.0,461,8276,0.00,2.60,0.00,0.000,4,0.000,0.052,3438,391,1730,0,0,0,0,0,0
$GC,8325,1.32,220.1,67.1,15.6,466,8332,0.00,2.47,0.00,0.000,6,0.000,0.021,3438,1806,1726,0,0,0,0,0,0
$GC,8590,1.32,220.1,29.3,14.8,491,8596,0.00,2.65,0.00,0.000,4,0.000,0.048,3438,396,1726,0,0,0,0,0,0
$GC,8625,1.32,220.1,24.2,14.2,498,8631,0.00,2.45,0.00,0.000,6,0.000,0.020,3438,1803,1725,0,0,0,0,0,0
$STATE,8804,end climb,SURFACE_DEPTH_REACHED
$STATE,8804,begin surface coast
$FINISH,1.0,1.023085
$STATE,8833,end surface coast,CONTROL_FINISHED_OK
$STATE,8833,begin surface
$SM_CCo,8857,55.53,0.466,0,0,1288,330.17
$SM_GC,1.87,0.00,0.00,55.53,0.000,0.000,0.466,428,2152,1288,-12.46,1.44,330.17
$IRIDIUM_FIX,2057.14,-15753.90,250700,191949
$TT8_MAMPS,0.029146
$HUMID,56.41
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.5,18.713
$10V_AH,10.5,18.079
$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,28.475,96.775,279.850,55.525,0.000,25.126,40.561,144.773,4.500,0.000,15.338,978.330,6010.673,396.756,1432.588,428.727,33.356,1044.547,0.000,1417.748,0.000,29.245,0.000
$DEVICE_MAMPS,134.992,60.593,822.991,465.569,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,362.281,348.216,741.762,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,28679,536
$CAP_FILE_SIZE,88324,0
$CFSIZE,260165632,245149696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020511,001725,2106.543,-15751.633,43,0.8,43,9.8