version: 66.06
glider: 139
mission: 9
dive: 423
start: 5 23 111 6 37 13
data:
$ID,139
$MISSION,9
$DIVE,423
$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,-2184745.2
$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,20
$R_STBD_OVSHOOT,56
$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
$GPS1,061707,2057.931,-15802.745,58,0.9,58,9.8
$_CALLS,4
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-74.3
$GPS2,063620,2057.876,-15803.061,14,1.1,14,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.016,0.221
$KALMAN_X,54509.3,-54.5,-122.5,-68831.8,-40.0
$KALMAN_Y,-38316.6,224.1,129.0,77315.9,-872.2
$MHEAD_RNG_PITCHd_Wd,354.4,19444,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.19,-116.8,0.0,0.0,0,90,0.00,0.00,-69.25,0.000,6,0.000,0.000,423,2114,3112,0,0,0,0,0,0
$GC,94,-1.19,-116.8,3.4,-4.0,13,113,13.48,2.58,0.00,0.000,4,0.146,0.038,2868,678,3115,0,0,0,0,0,0
$GC,121,-1.19,-116.8,13.7,-28.6,17,128,0.00,2.45,0.00,0.000,6,0.000,0.020,2868,2093,3116,0,0,0,0,0,0
$GC,322,-1.19,-116.8,51.3,-15.0,42,327,0.00,2.47,0.00,0.000,4,0.000,0.033,2868,3500,3117,0,0,0,0,0,0
$GC,376,-1.19,-116.8,59.4,-14.5,47,383,0.00,2.50,0.00,0.000,6,0.000,0.031,2868,2095,3117,0,0,0,0,0,0
$GC,638,-1.19,-116.8,98.4,-14.2,72,642,0.00,2.53,0.00,0.000,4,0.000,0.043,2868,691,3117,0,0,0,0,0,0
$GC,673,-1.19,-116.8,103.5,-14.8,75,677,0.00,2.38,0.00,0.000,6,0.000,0.021,2868,2093,3117,0,0,0,0,0,0
$GC,938,-1.19,-116.8,133.8,-10.9,99,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2093,3117,0,0,0,0,0,0
$GC,1199,-1.19,-116.8,162.5,-10.9,124,1203,0.00,2.50,0.00,0.000,4,0.000,0.037,2868,3497,3117,0,0,0,0,0,0
$GC,1334,-1.19,-116.8,177.2,-11.2,138,1338,0.00,2.45,0.00,0.000,6,0.000,0.035,2868,2099,3118,0,0,0,0,0,0
$GC,1608,-1.19,-116.8,205.3,-11.3,161,1612,0.00,2.50,0.00,0.000,4,0.000,0.036,2868,3506,3118,0,0,0,0,0,0
$GC,1750,-1.19,-116.8,220.4,-8.9,167,1754,0.00,2.50,0.00,0.000,6,0.000,0.035,2868,2094,3117,0,0,0,0,0,0
$GC,2077,-1.19,-116.8,247.6,-7.8,183,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2093,3117,0,0,0,0,0,0
$GC,2384,-1.19,-116.8,272.3,-8.9,198,2388,0.00,2.55,0.00,0.000,4,0.000,0.047,2868,686,3116,0,0,0,0,0,0
$GC,2476,-1.19,-116.8,281.5,-10.0,202,2480,0.00,2.40,0.00,0.000,6,0.000,0.023,2868,2098,3116,0,0,0,0,0,0
$GC,2820,-1.19,-116.8,311.6,-8.4,216,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2098,3114,0,0,0,0,0,0
$GC,3144,-1.19,-116.8,332.8,-6.5,224,3149,0.00,2.55,0.00,0.000,4,0.000,0.047,2868,690,3112,0,0,0,0,0,0
$GC,3242,-1.19,-116.8,340.7,-8.7,226,3247,0.00,2.42,0.00,0.000,6,0.000,0.025,2868,2101,3113,0,0,0,0,0,0
$GC,3561,-1.19,-116.8,366.2,-8.3,234,3565,0.00,2.58,0.00,0.000,4,0.000,0.050,2868,689,3110,0,0,0,0,0,0
$GC,3693,-1.19,-116.8,377.8,-9.0,236,3699,0.00,2.45,0.00,0.000,6,0.000,0.027,2868,2101,3109,0,0,0,0,0,0
$GC,4025,-1.19,-116.8,401.8,-6.5,245,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2103,3107,0,0,0,0,0,0
$GC,4350,-1.19,-116.8,423.9,-7.0,253,4354,0.00,2.58,0.00,0.000,4,0.000,0.052,2868,696,3105,0,0,0,0,0,0
$GC,4365,-1.19,-116.8,424.9,-6.5,253,4369,0.00,2.45,0.00,0.000,6,0.000,0.028,2868,2098,3104,0,0,0,0,0,0
$GC,4715,-1.19,-116.8,448.2,-6.7,262,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2100,3102,0,0,0,0,0,0
$STATE,4753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4753,begin apogee
$GC,4760,-0.31,0.0,451.0,6.8,263,4857,1.00,0.00,94.00,0.814,6,0.098,0.000,3067,1797,2635,0,0,0,0,0,0
$STATE,4858,end apogee,CONTROL_FINISHED_OK
$STATE,4858,begin climb
$GC,4861,1.19,116.8,453.0,0.0,265,4967,1.55,0.00,100.65,0.795,6,0.067,0.000,3398,1797,2158,0,0,0,0,0,0
$GC,5281,1.19,116.8,404.1,12.9,276,5282,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1797,2147,0,0,0,0,0,0
$GC,5606,1.19,116.8,364.5,11.9,284,5607,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1797,2143,0,0,0,0,0,0
$GC,5931,1.19,116.8,330.1,10.7,292,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1797,2141,0,0,0,0,0,0
$GC,6236,1.19,116.8,296.1,11.5,300,6240,0.00,2.60,0.00,0.000,4,0.000,0.061,3397,405,2139,0,0,0,0,0,0
$GC,6264,1.19,116.8,292.1,14.1,301,6268,0.00,2.42,0.00,0.000,6,0.000,0.027,3397,1803,2137,0,0,0,0,0,0
$GC,6586,1.19,116.8,256.4,9.9,317,6587,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1806,2136,0,0,0,0,0,0
$GC,6893,1.19,116.8,223.7,10.5,332,6894,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1807,2135,0,0,0,0,0,0
$GC,7205,1.19,116.8,196.3,8.2,349,7207,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1807,2134,0,0,0,0,0,0
$GC,7461,1.19,116.8,172.5,10.8,373,7465,0.00,2.47,0.00,0.000,4,0.000,0.036,3398,3206,2134,0,0,0,0,0,0
$GC,7494,1.19,116.8,168.5,11.2,376,7498,0.00,2.55,0.00,0.000,6,0.000,0.041,3397,1804,2134,0,0,0,0,0,0
$GC,7757,1.19,116.8,144.0,9.2,400,7759,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1804,2133,0,0,0,0,0,0
$GC,8009,1.19,116.8,123.5,8.2,424,8014,0.00,2.58,0.00,0.000,4,0.000,0.054,3397,392,2133,0,0,0,0,0,0
$GC,8037,1.19,116.8,120.7,10.2,426,8044,0.00,2.47,0.00,0.000,6,0.000,0.022,3397,1813,2131,0,0,0,0,0,0
$GC,8302,1.25,158.7,101.9,6.1,451,8340,0.00,2.47,32.20,0.552,4,0.000,0.030,3398,3200,1988,0,0,0,0,0,0
$GC,8389,1.29,194.5,96.2,6.4,460,8426,0.00,2.55,31.95,0.542,6,0.000,0.038,3397,1793,1841,0,0,0,0,0,0
$GC,8682,1.29,194.5,72.3,9.3,488,8687,0.00,2.58,0.00,0.000,4,0.000,0.053,3397,392,1837,0,0,0,0,0,0
$GC,8745,1.29,194.5,66.3,8.9,494,8752,0.00,2.45,0.00,0.000,6,0.000,0.020,3398,1801,1832,0,0,0,0,0,0
$GC,9010,1.30,204.0,44.2,7.6,519,9025,0.10,2.50,8.52,0.433,4,0.070,0.028,3440,3195,1802,0,0,0,0,0,0
$GC,9085,1.30,204.0,37.0,9.6,527,9090,0.00,2.50,0.00,0.000,6,0.000,0.035,3440,1800,1802,0,0,0,0,0,0
$GC,9351,1.30,204.0,10.8,10.0,569,9358,0.00,2.50,0.00,0.000,4,0.000,0.027,3440,3204,1802,0,0,0,0,0,0
$GC,9387,1.36,248.0,8.2,6.0,576,9432,0.00,2.58,38.28,0.462,6,0.000,0.041,3440,1804,1623,0,0,0,0,0,0
$STATE,9448,end climb,SURFACE_DEPTH_REACHED
$STATE,9449,begin surface coast
$FINISH,1.2,1.022870
$STATE,9479,end surface coast,CONTROL_FINISHED_OK
$STATE,9479,begin surface
$SM_CCo,9503,42.20,0.453,0,0,1288,330.17
$SM_GC,1.99,0.00,0.00,42.20,0.000,0.000,0.453,428,2138,1288,-12.47,1.10,330.17
$IRIDIUM_FIX,2047.91,-15802.92,160800,060657
$TT8_MAMPS,0.029146
$HUMID,58.38
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.50
$XPDR_PINGS,14
$24V_AH,23.5,34.292
$10V_AH,10.4,32.400
$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,29.025,81.075,305.600,42.200,0.000,106.492,150.402,560.279,8.000,0.000,14.660,1053.106,6594.194,403.603,1563.167,1085.692,33.358,1073.058,0.000,1552.622,0.000,29.256,0.000
$DEVICE_MAMPS,145.730,60.593,813.787,452.530,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.911,394.247,847.785,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,31766,592
$CAP_FILE_SIZE,102326,0
$CFSIZE,260165632,236175360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230511,091752,2058.786,-15803.036,34,2.1,53,9.8