version: 66.06
glider: 139
mission: 9
dive: 262
start: 5 5 111 3 40 8
data:
$ID,139
$MISSION,9
$DIVE,262
$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,-2181132
$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,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
$GPS1,032913,2059.415,-15750.826,53,1.2,66,9.8
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-71.1
$GPS2,033914,2059.518,-15750.808,34,1.2,34,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.215,0.053
$KALMAN_X,-154698.7,552.1,-187.4,154040.2,616.3
$KALMAN_Y,579.3,99.7,-388.7,-21098.3,913.6
$MHEAD_RNG_PITCHd_Wd,274.1,25391,-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,-116.8,0.0,0.0,0,84,0.00,0.00,-65.15,0.000,2,0.000,0.000,425,2111,2983,0,0,0,0,0,0
$GC,87,-1.19,-116.8,3.1,-4.0,12,111,13.07,2.47,-2.67,0.000,4,0.133,0.044,2871,3488,3114,0,0,0,0,0,0
$GC,360,-1.19,-116.8,58.3,-14.5,54,367,0.00,2.47,0.00,0.000,6,0.000,0.034,2871,2099,3116,0,0,0,0,0,0
$GC,623,-1.19,-116.8,95.5,-13.5,79,627,0.00,2.42,0.00,0.000,4,0.000,0.034,2870,3482,3116,0,0,0,0,0,0
$GC,752,-1.19,-116.8,111.9,-12.3,92,756,0.00,2.42,0.00,0.000,6,0.000,0.032,2871,2090,3116,0,0,0,0,0,0
$GC,1018,-1.19,-116.8,140.1,-10.1,116,1022,0.00,2.50,0.00,0.000,4,0.000,0.041,2870,691,3117,0,0,0,0,0,0
$GC,1078,-1.19,-116.8,148.4,-13.1,122,1082,0.00,2.35,0.00,0.000,6,0.000,0.021,2871,2084,3118,0,0,0,0,0,0
$GC,1341,-1.19,-116.8,179.3,-12.3,146,1346,0.00,2.50,0.00,0.000,4,0.000,0.038,2871,3502,3117,0,0,0,0,0,0
$GC,1458,-1.19,-116.8,194.3,-11.8,158,1464,0.00,2.50,0.00,0.000,6,0.000,0.036,2871,2101,3118,0,0,0,0,0,0
$GC,1724,-1.19,-116.8,219.2,-8.1,174,1728,0.00,2.50,0.00,0.000,4,0.000,0.043,2870,691,3118,0,0,0,0,0,0
$GC,1845,-1.19,-116.8,231.4,-10.7,179,1849,0.00,2.40,0.00,0.000,6,0.000,0.022,2871,2097,3118,0,0,0,0,0,0
$GC,2168,-1.19,-116.8,261.1,-8.9,195,2172,0.00,2.53,0.00,0.000,4,0.000,0.044,2871,685,3117,0,0,0,0,0,0
$GC,2212,-1.19,-116.8,265.5,-9.8,197,2217,0.00,2.40,0.00,0.000,6,0.000,0.023,2871,2098,3117,0,0,0,0,0,0
$GC,2545,-1.19,-116.8,288.9,-6.9,213,2550,0.00,2.50,0.00,0.000,4,0.000,0.045,2870,692,3116,0,0,0,0,0,0
$GC,2748,-1.19,-116.8,305.8,-8.9,220,2752,0.00,2.40,0.00,0.000,6,0.000,0.025,2870,2101,3115,0,0,0,0,0,0
$GC,3098,-1.19,-116.8,335.3,-7.9,229,3102,0.00,2.55,0.00,0.000,4,0.000,0.047,2871,3507,3113,0,0,0,0,0,0
$GC,3163,-1.19,-116.8,339.5,-6.5,230,3168,0.00,2.50,0.00,0.000,6,0.000,0.041,2870,2097,3113,0,0,0,0,0,0
$GC,3509,-1.19,-116.8,360.4,-6.5,239,3513,0.00,2.55,0.00,0.000,4,0.000,0.051,2871,689,3111,0,0,0,0,0,0
$GC,3649,-1.19,-116.8,374.5,-10.7,242,3653,0.00,2.42,0.00,0.000,6,0.000,0.028,2870,2099,3110,0,0,0,0,0,0
$GC,3973,-1.19,-116.8,402.1,-8.3,250,3977,0.00,2.58,0.00,0.000,4,0.000,0.051,2870,686,3108,0,0,0,0,0,0
$GC,4020,-1.19,-116.8,406.4,-8.8,251,4024,0.00,2.45,0.00,0.000,6,0.000,0.028,2870,2097,3108,0,0,0,0,0,0
$GC,4343,-1.19,-116.8,430.9,-7.3,259,4347,0.00,2.58,0.00,0.000,4,0.000,0.054,2870,3507,3105,0,0,0,0,0,0
$GC,4595,-1.19,-116.8,449.1,-6.2,264,4600,0.00,2.53,0.00,0.000,6,0.000,0.045,2870,2101,3103,0,0,0,0,0,0
$STATE,4607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4607,begin apogee
$GC,4614,-0.31,0.0,450.2,6.7,264,4712,0.93,0.00,94.50,0.818,6,0.084,0.000,3064,1794,2635,0,0,0,0,0,0
$STATE,4713,end apogee,CONTROL_FINISHED_OK
$STATE,4713,begin climb
$GC,4716,1.19,116.8,451.4,0.0,267,4824,1.50,0.00,100.65,0.798,6,0.055,0.000,3395,1794,2158,0,0,0,0,0,0
$GC,5124,1.19,116.8,406.4,11.5,277,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1794,2146,0,0,0,0,0,0
$GC,5450,1.19,116.8,370.4,11.3,285,5454,0.00,2.60,0.00,0.000,4,0.000,0.044,3395,3206,2143,0,0,0,0,0,0
$GC,5464,1.19,116.8,368.6,10.8,285,5468,0.00,2.60,0.00,0.000,6,0.000,0.049,3395,1808,2142,0,0,0,0,0,0
$GC,5814,1.19,116.8,328.6,11.5,294,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1808,2139,0,0,0,0,0,0
$GC,6119,1.19,116.8,293.1,12.1,302,6124,0.00,2.62,0.00,0.000,4,0.000,0.059,3395,394,2138,0,0,0,0,0,0
$GC,6179,1.19,116.8,285.2,13.5,304,6186,0.00,2.50,0.00,0.000,6,0.000,0.027,3395,1800,2135,0,0,0,0,0,0
$GC,6495,1.19,116.8,250.8,10.6,320,6499,0.00,2.65,0.00,0.000,4,0.000,0.058,3395,392,2134,0,0,0,0,0,0
$GC,6587,1.19,116.8,240.3,11.8,324,6592,0.00,2.47,0.00,0.000,6,0.000,0.025,3395,1802,2132,0,0,0,0,0,0
$GC,6912,1.19,116.8,205.8,10.4,340,6913,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1807,2132,0,0,0,0,0,0
$GC,7230,1.19,116.8,174.5,9.7,367,7235,0.00,2.60,0.00,0.000,4,0.000,0.054,3395,393,2132,0,0,0,0,0,0
$GC,7282,1.19,116.8,169.4,9.5,372,7286,0.00,2.42,0.00,0.000,6,0.000,0.023,3395,1802,2131,0,0,0,0,0,0
$GC,7545,1.19,116.8,145.2,9.5,396,7549,0.00,2.47,0.00,0.000,4,0.000,0.035,3396,3205,2131,0,0,0,0,0,0
$GC,7609,1.19,116.8,139.4,8.9,402,7616,0.00,2.58,0.00,0.000,6,0.000,0.040,3395,1801,2131,0,0,0,0,0,0
$GC,7874,1.21,126.1,117.7,7.6,427,7884,0.00,2.58,4.00,0.380,4,0.000,0.052,3395,390,2121,0,0,0,0,0,0
$GC,7916,1.21,126.1,114.2,8.7,431,7920,0.00,2.45,0.00,0.000,6,0.000,0.021,3395,1808,2120,0,0,0,0,0,0
$GC,8180,1.25,158.0,96.0,6.6,455,8217,0.00,0.00,29.62,0.546,6,0.000,0.000,3395,1813,1989,0,0,0,0,0,0
$GC,8475,1.25,158.0,72.5,8.6,483,8481,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1813,1986,0,0,0,0,0,0
$GC,8737,1.27,175.4,49.7,7.2,508,8758,0.00,2.65,15.80,0.480,4,0.000,0.047,3395,388,1918,0,0,0,0,0,0
$GC,8789,1.27,180.0,46.0,7.8,513,8801,0.00,2.42,4.75,0.364,6,0.000,0.019,3396,1811,1901,0,0,0,0,0,0
$GC,9056,1.32,216.2,30.1,6.4,538,9093,0.12,0.00,32.22,0.479,6,0.060,0.000,3441,1813,1751,0,0,0,0,0,0
$GC,9290,1.32,216.2,11.4,8.8,580,9297,0.00,2.65,0.00,0.000,4,0.000,0.049,3441,394,1748,0,0,0,0,0,0
$GC,9334,1.32,216.2,6.3,10.6,589,9341,0.00,2.42,0.00,0.000,6,0.000,0.018,3441,1793,1743,0,0,0,0,0,0
$STATE,9362,end climb,SURFACE_DEPTH_REACHED
$STATE,9362,begin surface coast
$FINISH,1.0,1.018014
$STATE,9390,end surface coast,CONTROL_FINISHED_OK
$STATE,9390,begin surface
$SM_CCo,9414,56.50,0.454,0,0,1289,330.17
$SM_GC,1.79,0.00,0.00,56.50,0.000,0.000,0.454,428,2142,1289,-12.47,1.22,330.17
$IRIDIUM_FIX,2052.52,-15749.62,290700,030352
$TT8_MAMPS,0.029146
$HUMID,56.06
$INTERNAL_PRESSURE,9.63558
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.5,21.173
$10V_AH,10.5,20.260
$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,28.600,96.275,281.550,56.500,0.000,51.916,78.314,237.130,5.000,0.000,34.597,1120.745,6069.435,407.205,1820.025,658.009,33.400,1175.964,0.000,1785.417,0.000,34.389,0.000
$DEVICE_MAMPS,133.458,59.059,818.389,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.787,398.117,887.385,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,31788,599
$CAP_FILE_SIZE,102342,0
$CFSIZE,260165632,243822592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050511,061929,2059.996,-15751.886,31,5.0,50,9.8