version: 66.06
glider: 139
mission: 9
dive: 250
start: 5 3 111 16 4 49
data:
$ID,139
$MISSION,9
$DIVE,250
$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,535.98047
$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,-2180770.5
$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,19
$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
$GPS1,154836,2103.170,-15744.350,33,0.9,37,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-72.7
$GPS2,160355,2103.209,-15744.212,16,1.2,33,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.085,-0.205
$KALMAN_X,-160406.4,96.0,-758.7,172162.7,64.8
$KALMAN_Y,-11433.4,-224.9,-514.2,-1800.3,1404.3
$MHEAD_RNG_PITCHd_Wd,192.7,13837,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,119,0.00,0.00,-98.72,0.000,6,0.000,0.000,430,2157,3112,0,0,0,0,0,0
$GC,123,-1.19,-116.8,3.7,-5.1,19,142,13.07,2.62,0.00,0.000,4,0.135,0.035,2869,679,3113,0,0,0,0,0,0
$GC,304,-1.19,-116.8,48.4,-17.2,49,309,0.00,2.35,0.00,0.000,6,0.000,0.021,2869,2064,3115,0,0,0,0,0,0
$GC,567,-1.19,-116.8,85.9,-14.7,73,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2064,3115,0,0,0,0,0,0
$GC,822,-1.19,-116.8,121.6,-13.0,97,826,0.00,2.55,0.00,0.000,4,0.000,0.035,2869,3506,3115,0,0,0,0,0,0
$GC,949,-1.19,-116.8,136.2,-9.7,110,954,0.00,2.47,0.00,0.000,6,0.000,0.031,2870,2084,3115,0,0,0,0,0,0
$GC,1210,-1.19,-116.8,162.0,-10.2,134,1214,0.00,2.50,0.00,0.000,4,0.000,0.035,2869,3498,3115,0,0,0,0,0,0
$GC,1330,-1.19,-116.8,175.3,-11.2,146,1337,0.00,2.47,0.00,0.000,6,0.000,0.035,2869,2109,3115,0,0,0,0,0,0
$GC,1594,-1.19,-116.8,202.0,-10.0,170,1598,0.00,2.53,0.00,0.000,4,0.000,0.042,2869,683,3115,0,0,0,0,0,0
$GC,1640,-1.19,-116.8,207.1,-10.8,172,1644,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2101,3115,0,0,0,0,0,0
$GC,1965,-1.19,-116.8,236.2,-9.4,188,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2101,3115,0,0,0,0,0,0
$GC,2276,-1.19,-116.8,264.1,-9.1,203,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2101,3115,0,0,0,0,0,0
$GC,2584,-1.19,-116.8,291.6,-8.2,218,2588,0.00,2.53,0.00,0.000,4,0.000,0.044,2869,3504,3114,0,0,0,0,0,0
$GC,2765,-1.19,-116.8,308.4,-10.6,225,2769,0.00,2.50,0.00,0.000,6,0.000,0.039,2869,2103,3113,0,0,0,0,0,0
$GC,3093,-1.19,-116.8,330.4,-5.1,233,3097,0.00,2.53,0.00,0.000,4,0.000,0.044,2869,3501,3110,0,0,0,0,0,0
$GC,3177,-1.19,-116.8,334.2,-5.6,234,3183,0.00,2.53,0.00,0.000,6,0.000,0.041,2870,2090,3110,0,0,0,0,0,0
$GC,3510,-1.19,-116.8,355.3,-6.9,243,3514,0.00,2.55,0.00,0.000,4,0.000,0.051,2869,693,3108,0,0,0,0,0,0
$GC,3695,-1.19,-116.8,369.5,-8.1,247,3699,0.00,2.42,0.00,0.000,6,0.000,0.028,2869,2099,3106,0,0,0,0,0,0
$GC,4019,-1.19,-116.8,389.1,-5.9,255,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2099,3104,0,0,0,0,0,0
$GC,4345,-1.19,-116.8,413.1,-7.5,263,4349,0.00,2.58,0.00,0.000,4,0.000,0.053,2869,685,3101,0,0,0,0,0,0
$GC,4391,-1.19,-116.8,417.0,-8.3,264,4396,0.00,2.45,0.00,0.000,6,0.000,0.029,2869,2098,3101,0,0,0,0,0,0
$GC,4716,-1.19,-116.8,440.2,-6.6,272,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2099,3098,0,0,0,0,0,0
$STATE,4874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4874,begin apogee
$GC,4881,-0.31,0.0,451.3,6.9,276,4978,0.95,0.00,93.68,0.825,6,0.083,0.000,3066,1791,2635,0,0,0,0,0,0
$STATE,4979,end apogee,CONTROL_FINISHED_OK
$STATE,4979,begin climb
$GC,4982,1.19,116.8,453.0,0.0,278,5092,1.50,2.72,102.03,0.805,4,0.054,0.063,3395,395,2157,0,0,0,0,0,0
$GC,5102,1.19,116.8,442.6,11.5,281,5106,0.00,2.50,0.00,0.000,6,0.000,0.027,3395,1802,2154,0,0,0,0,0,0
$GC,5443,1.19,116.8,400.4,11.9,290,5444,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1805,2144,0,0,0,0,0,0
$GC,5768,1.19,116.8,360.4,12.4,298,5772,0.00,2.67,0.00,0.000,4,0.000,0.061,3395,403,2141,0,0,0,0,0,0
$GC,5805,1.19,116.8,355.2,13.5,298,5811,0.00,2.45,0.00,0.000,6,0.000,0.028,3395,1799,2139,0,0,0,0,0,0
$GC,6136,1.19,116.8,317.1,11.0,307,6141,0.00,2.62,0.00,0.000,4,0.000,0.061,3394,403,2138,0,0,0,0,0,0
$GC,6216,1.19,116.8,306.7,12.5,308,6220,0.00,2.47,0.00,0.000,6,0.000,0.028,3395,1804,2136,0,0,0,0,0,0
$GC,6531,1.19,116.8,274.2,10.3,321,6536,0.00,2.53,0.00,0.000,4,0.000,0.042,3395,3212,2135,0,0,0,0,0,0
$GC,6576,1.19,116.8,269.5,10.6,323,6580,0.00,2.60,0.00,0.000,6,0.000,0.048,3395,1807,2135,0,0,0,0,0,0
$GC,6907,1.19,116.8,233.8,11.1,339,6912,0.00,2.62,0.00,0.000,4,0.000,0.057,3394,394,2133,0,0,0,0,0,0
$GC,6953,1.19,116.8,228.0,12.1,341,6958,0.00,2.47,0.00,0.000,6,0.000,0.026,3395,1802,2132,0,0,0,0,0,0
$GC,7281,1.19,116.8,194.1,9.4,359,7282,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1805,2132,0,0,0,0,0,0
$GC,7536,1.19,116.8,171.3,9.1,383,7538,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1805,2131,0,0,0,0,0,0
$GC,7790,1.19,116.8,145.2,11.3,407,7791,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1805,2131,0,0,0,0,0,0
$GC,8045,1.19,116.8,120.1,10.4,431,8049,0.00,2.45,0.00,0.000,4,0.000,0.034,3395,3207,2131,0,0,0,0,0,0
$GC,8108,1.19,116.8,114.2,8.6,437,8112,0.00,2.53,0.00,0.000,6,0.000,0.038,3395,1802,2131,0,0,0,0,0,0
$GC,8373,1.23,142.5,93.6,6.8,461,8400,0.00,2.60,18.17,0.531,4,0.000,0.049,3395,391,2052,0,0,0,0,0,0
$GC,8420,1.23,142.5,89.9,8.4,466,8424,0.00,2.45,0.00,0.000,6,0.000,0.021,3395,1817,2051,0,0,0,0,0,0
$GC,8684,1.23,142.5,69.9,8.5,490,8689,0.00,2.42,0.00,0.000,4,0.000,0.029,3395,3202,2050,0,0,0,0,0,0
$GC,8703,1.24,154.4,68.4,7.5,491,8723,0.00,2.53,11.62,0.480,6,0.000,0.035,3395,1790,2004,0,0,0,0,0,0
$GC,8978,1.24,154.4,45.8,8.3,517,8983,0.00,2.53,0.00,0.000,4,0.000,0.048,3395,390,2002,0,0,0,0,0,0
$GC,9004,1.24,154.4,43.5,9.6,519,9008,0.00,2.40,0.00,0.000,6,0.000,0.019,3395,1801,2000,0,0,0,0,0,0
$GC,9270,1.31,209.2,25.0,5.5,550,9327,0.12,2.53,47.20,0.482,4,0.061,0.028,3440,3195,1781,0,0,0,0,0,0
$GC,9358,1.32,219.8,19.4,7.5,566,9376,0.00,2.58,10.55,0.426,6,0.000,0.036,3441,1799,1737,0,0,0,0,0,0
$STATE,9542,end climb,SURFACE_DEPTH_REACHED
$STATE,9542,begin surface coast
$FINISH,0.9,1.012368
$STATE,9575,end surface coast,CONTROL_FINISHED_OK
$STATE,9575,begin surface
$SM_CCo,9599,162.32,0.456,0,0,449,535.98
$SM_GC,1.59,0.00,0.00,162.32,0.000,0.000,0.456,425,2151,449,-12.48,1.53,535.98
$IRIDIUM_FIX,2054.83,-15741.46,270700,161635
$TT8_MAMPS,0.029146
$HUMID,54.21
$INTERNAL_PRESSURE,9.54769
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,19.990
$10V_AH,10.5,19.260
$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,28.575,91.700,283.250,162.325,0.000,143.250,395.583,0.000,4.750,0.000,33.525,1099.624,6563.322,539.714,1712.653,768.243,33.369,1255.976,0.000,1677.660,0.000,32.097,0.000
$DEVICE_MAMPS,134.992,62.894,824.525,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.000,396.340,897.760,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355780
$DATA_FILE_SIZE,34894,606
$CAP_FILE_SIZE,94313,0
$CFSIZE,260165632,244383744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030511,184854,2102.625,-15744.356,26,1.0,44,9.8