version: 66.06
glider: 139
mission: 9
dive: 115
start: 4 18 111 1 15 17
data:
$ID,139
$MISSION,9
$DIVE,115
$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,-2176998
$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,92
$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
$GPS1,010832,2106.144,-15750.139,12,1.8,12,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-75.3
$GPS2,011425,2106.187,-15750.177,17,1.7,34,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.200,0.097
$KALMAN_X,-54301.5,277.3,-54.0,65263.7,-3136.8
$KALMAN_Y,-13475.0,393.5,-226.7,15452.0,-1033.5
$MHEAD_RNG_PITCHd_Wd,54.4,12560,-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,-116.8,0.0,0.0,0,93,0.00,0.00,-70.50,0.000,6,0.000,0.000,429,2170,3110,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.6,-5.3,14,115,13.18,2.15,0.00,0.000,4,0.137,0.025,2867,3462,3112,0,0,0,0,0,0
$GC,302,-1.19,-116.8,48.3,-16.6,49,306,0.00,2.33,0.00,0.000,6,0.000,0.029,2867,2080,3114,0,0,0,0,0,0
$GC,567,-1.19,-116.8,93.5,-16.5,74,571,0.00,2.30,0.00,0.000,4,0.000,0.026,2867,3461,3115,0,0,0,0,0,0
$GC,829,-1.19,-116.8,130.0,-13.1,102,836,0.00,2.28,0.00,0.000,6,0.000,0.025,2867,2098,3115,0,0,0,0,0,0
$GC,1093,-1.19,-116.8,159.2,-8.9,127,1100,0.00,2.25,0.00,0.000,4,0.000,0.028,2867,3449,3116,0,0,0,0,0,0
$GC,1231,-1.19,-116.8,172.5,-10.2,141,1236,0.00,2.22,0.00,0.000,6,0.000,0.028,2867,2101,3116,0,0,0,0,0,0
$GC,1493,-1.19,-116.8,198.1,-10.0,166,1497,0.00,2.38,0.00,0.000,4,0.000,0.041,2867,691,3117,0,0,0,0,0,0
$GC,1519,-1.19,-116.8,200.6,-9.4,169,1523,0.00,2.20,0.00,0.000,6,0.000,0.021,2868,2062,3117,0,0,0,0,0,0
$GC,1850,-1.19,-116.8,234.4,-9.4,185,1854,0.00,2.40,0.00,0.000,4,0.000,0.032,2867,3495,3118,0,0,0,0,0,0
$GC,1951,-1.19,-116.8,244.2,-9.3,189,1955,0.00,2.35,0.00,0.000,6,0.000,0.028,2867,2092,3117,0,0,0,0,0,0
$GC,2267,-1.19,-116.8,267.9,-7.5,204,2271,0.00,2.38,0.00,0.000,4,0.000,0.033,2867,3495,3117,0,0,0,0,0,0
$GC,2534,-1.19,-116.8,290.3,-8.1,215,2539,0.00,2.35,0.00,0.000,6,0.000,0.030,2868,2095,3116,0,0,0,0,0,0
$GC,2867,-1.19,-116.8,320.6,-9.2,227,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2094,3115,0,0,0,0,0,0
$GC,3192,-1.19,-116.8,347.0,-7.5,235,3196,0.00,2.38,0.00,0.000,4,0.000,0.046,2867,695,3113,0,0,0,0,0,0
$GC,3248,-1.19,-116.8,351.6,-8.3,236,3252,0.00,2.30,0.00,0.000,6,0.000,0.025,2867,2100,3113,0,0,0,0,0,0
$GC,3566,-1.19,-116.8,373.9,-6.6,244,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2101,3110,0,0,0,0,0,0
$GC,3893,-1.19,-116.8,393.0,-5.9,252,3897,0.00,2.38,0.00,0.000,4,0.000,0.039,2867,3495,3109,0,0,0,0,0,0
$GC,3954,-1.19,-116.8,397.6,-7.4,253,3958,0.00,2.35,0.00,0.000,6,0.000,0.033,2867,2096,3108,0,0,0,0,0,0
$GC,4305,-1.19,-116.8,423.2,-7.3,262,4309,0.00,2.40,0.00,0.000,4,0.000,0.051,2867,694,3106,0,0,0,0,0,0
$GC,4375,-1.19,-116.8,429.3,-9.4,263,4379,0.00,2.35,0.00,0.000,6,0.000,0.028,2867,2107,3105,0,0,0,0,0,0
$STATE,4713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4713,begin apogee
$GC,4720,-0.31,0.0,451.8,5.7,272,4818,0.98,0.00,94.72,0.827,6,0.085,0.000,3068,1809,2635,0,0,0,0,0,0
$STATE,4818,end apogee,CONTROL_FINISHED_OK
$STATE,4819,begin climb
$GC,4822,1.19,116.8,452.6,0.0,274,4928,1.52,0.00,101.93,0.806,6,0.057,0.000,3398,1809,2158,0,0,0,0,0,0
$GC,5240,1.19,116.8,401.9,12.6,285,5244,0.00,2.55,0.00,0.000,4,0.000,0.059,3398,390,2145,0,0,0,0,0,0
$GC,5301,1.19,116.8,393.6,13.7,286,5305,0.00,2.38,0.00,0.000,6,0.000,0.028,3398,1796,2143,0,0,0,0,0,0
$GC,5614,1.19,116.8,359.4,10.4,294,5618,0.00,2.40,0.00,0.000,4,0.000,0.035,3398,3214,2141,0,0,0,0,0,0
$GC,5638,1.19,116.8,356.9,9.7,294,5642,0.00,2.47,0.00,0.000,6,0.000,0.041,3398,1803,2141,0,0,0,0,0,0
$GC,5978,1.19,116.8,318.4,11.9,303,5982,0.00,2.53,0.00,0.000,4,0.000,0.058,3398,381,2138,0,0,0,0,0,0
$GC,6085,1.19,116.8,302.2,15.0,305,6089,0.00,2.40,0.00,0.000,6,0.000,0.028,3398,1819,2136,0,0,0,0,0,0
$GC,6420,1.19,116.8,259.8,11.6,321,6421,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1825,2135,0,0,0,0,0,0
$GC,6728,1.19,116.8,223.5,11.5,336,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1825,2135,0,0,0,0,0,0
$GC,7039,1.19,116.8,193.1,9.7,354,7044,0.00,2.53,0.00,0.000,4,0.000,0.054,3398,384,2134,0,0,0,0,0,0
$GC,7074,1.19,116.8,189.5,11.5,357,7079,0.00,2.33,0.00,0.000,6,0.000,0.025,3398,1809,2132,0,0,0,0,0,0
$GC,7339,1.19,116.8,163.0,11.7,381,7343,0.00,2.50,0.00,0.000,4,0.000,0.052,3398,384,2132,0,0,0,0,0,0
$GC,7393,1.19,116.8,155.5,13.1,386,7400,0.00,2.35,0.00,0.000,6,0.000,0.025,3398,1791,2131,0,0,0,0,0,0
$GC,7658,1.21,131.0,133.7,7.4,411,7676,0.00,2.35,8.82,0.528,4,0.000,0.028,3398,3209,2099,0,0,0,0,0,0
$GC,7698,1.26,169.5,130.8,6.3,415,7738,0.00,2.42,34.88,0.592,6,0.000,0.034,3398,1797,1944,0,0,0,0,0,0
$GC,7996,1.26,169.5,109.1,8.8,443,8000,0.00,2.47,0.00,0.000,4,0.000,0.050,3398,379,1938,0,0,0,0,0,0
$GC,8022,1.26,169.5,106.4,10.8,445,8026,0.00,2.33,0.00,0.000,6,0.000,0.021,3398,1827,1936,0,0,0,0,0,0
$GC,8286,1.26,169.5,82.6,9.1,469,8291,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1833,1936,0,0,0,0,0,0
$GC,8549,1.26,170.7,62.0,8.0,494,8553,0.00,2.47,0.00,0.000,4,0.000,0.047,3398,385,1936,0,0,0,0,0,0
$GC,8585,1.26,170.7,58.1,10.5,497,8592,0.00,2.30,0.00,0.000,6,0.000,0.019,3398,1783,1934,0,0,0,0,0,0
$GC,8850,1.29,191.4,38.2,7.1,522,8874,0.00,2.45,19.08,0.479,4,0.000,0.046,3397,382,1853,0,0,0,0,0,0
$GC,8952,1.32,216.1,31.2,6.9,532,8980,0.08,2.33,22.10,0.475,6,0.035,0.019,3437,1812,1753,0,0,0,0,0,0
$GC,9177,1.32,216.1,8.6,11.2,572,9184,0.00,2.50,0.00,0.000,4,0.000,0.048,3437,386,1751,0,0,0,0,0,0
$GC,9213,1.32,216.1,4.1,13.3,579,9219,0.00,2.30,0.00,0.000,6,0.000,0.018,3437,1787,1749,0,0,0,0,0,0
$STATE,9224,end climb,SURFACE_DEPTH_REACHED
$STATE,9225,begin surface coast
$FINISH,0.6,1.009788
$STATE,9247,end surface coast,CONTROL_FINISHED_OK
$STATE,9247,begin surface
$SM_CCo,9271,59.42,0.459,0,0,1288,330.17
$SM_GC,1.35,0.00,0.00,59.42,0.000,0.000,0.459,430,2168,1288,-12.45,1.92,330.17
$IRIDIUM_FIX,2059.45,-15750.89,110700,222215
$TT8_MAMPS,0.028379
$HUMID,53.38
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,9.259
$10V_AH,10.6,8.858
$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,28.650,91.075,281.525,59.425,0.000,28.327,35.500,151.639,4.500,0.000,34.950,1082.233,6043.181,430.476,1699.047,431.158,33.350,1139.005,0.000,1661.183,0.000,29.253,0.000
$DEVICE_MAMPS,136.526,59.059,826.826,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.423,379.345,849.943,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31930,585
$CAP_FILE_SIZE,94040,0
$CFSIZE,260165632,250949632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180411,035207,2106.310,-15750.385,40,0.8,40,9.8