version: 66.06
glider: 139
mission: 9
dive: 267
start: 5 5 111 18 2 17
data:
$ID,139
$MISSION,9
$DIVE,267
$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,-2181316.5
$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,18
$R_STBD_OVSHOOT,70
$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
$GPS1,175520,2102.187,-15756.802,43,3.2,62,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-74.0
$GPS2,180125,2102.274,-15756.854,44,1.7,44,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.198,0.099
$KALMAN_X,-153292.2,-814.8,-521.5,143905.4,805.0
$KALMAN_Y,-17.3,-460.1,-303.1,-14926.2,664.4
$MHEAD_RNG_PITCHd_Wd,286.6,14386,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.19,-116.8,0.0,0.0,0,89,0.00,0.00,-69.47,0.000,6,0.000,0.000,423,2133,3112,0,0,0,0,0,0
$GC,93,-1.19,-116.8,3.7,-5.3,13,112,13.12,2.35,0.00,0.000,4,0.135,0.030,2870,3474,3115,0,0,0,0,0,0
$GC,360,-1.19,-116.8,57.4,-13.6,55,364,0.00,2.45,0.00,0.000,6,0.000,0.033,2870,2085,3117,0,0,0,0,0,0
$GC,622,-1.19,-116.8,93.7,-14.3,79,627,0.00,2.42,0.00,0.000,4,0.000,0.034,2870,3471,3118,0,0,0,0,0,0
$GC,722,-1.19,-116.8,106.9,-11.2,89,726,0.00,2.40,0.00,0.000,6,0.000,0.031,2870,2099,3118,0,0,0,0,0,0
$GC,987,-1.19,-116.8,136.6,-11.3,113,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2100,3118,0,0,0,0,0,0
$GC,1248,-1.19,-116.8,162.2,-9.2,138,1252,0.00,2.55,0.00,0.000,4,0.000,0.044,2869,692,3119,0,0,0,0,0,0
$GC,1380,-1.19,-116.8,176.7,-10.9,152,1385,0.00,2.33,0.00,0.000,6,0.000,0.021,2870,2069,3119,0,0,0,0,0,0
$GC,1652,-1.19,-116.8,202.4,-9.4,176,1656,0.00,2.55,0.00,0.000,4,0.000,0.039,2870,3498,3119,0,0,0,0,0,0
$GC,1680,-1.19,-116.8,205.2,-9.1,177,1684,0.00,2.47,0.00,0.000,6,0.000,0.035,2869,2096,3119,0,0,0,0,0,0
$GC,2003,-1.19,-116.8,229.4,-7.7,193,2008,0.00,2.53,0.00,0.000,4,0.000,0.045,2870,693,3119,0,0,0,0,0,0
$GC,2069,-1.19,-116.8,236.6,-11.2,196,2074,0.00,2.40,0.00,0.000,6,0.000,0.023,2869,2103,3119,0,0,0,0,0,0
$GC,2401,-1.19,-116.8,269.4,-8.1,212,2405,0.00,2.55,0.00,0.000,4,0.000,0.046,2870,687,3119,0,0,0,0,0,0
$GC,2422,-1.19,-116.8,271.3,-8.8,213,2426,0.00,2.40,0.00,0.000,6,0.000,0.024,2869,2099,3118,0,0,0,0,0,0
$GC,2754,-1.19,-116.8,302.0,-9.7,229,2759,0.00,2.55,0.00,0.000,4,0.000,0.047,2869,692,3118,0,0,0,0,0,0
$GC,2829,-1.19,-116.8,309.4,-8.7,230,2833,0.00,2.40,0.00,0.000,6,0.000,0.025,2870,2100,3117,0,0,0,0,0,0
$GC,3171,-1.19,-116.8,340.2,-10.2,239,3175,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,694,3116,0,0,0,0,0,0
$GC,3222,-1.19,-116.8,346.3,-10.8,240,3226,0.00,2.45,0.00,0.000,6,0.000,0.026,2870,2108,3116,0,0,0,0,0,0
$GC,3541,-1.19,-116.8,373.4,-7.8,248,3545,0.00,2.58,0.00,0.000,4,0.000,0.050,2869,690,3114,0,0,0,0,0,0
$GC,3602,-1.19,-116.8,378.8,-8.6,249,3606,0.00,2.45,0.00,0.000,6,0.000,0.027,2870,2105,3114,0,0,0,0,0,0
$STATE,3950,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3951,begin apogee
$GC,3957,-0.31,0.0,408.3,8.4,258,4056,0.95,0.00,95.18,0.774,6,0.081,0.000,3067,1792,2635,0,0,0,0,0,0
$STATE,4057,end apogee,CONTROL_FINISHED_OK
$STATE,4057,begin climb
$GC,4060,1.19,116.8,410.9,0.0,260,4166,1.48,0.00,99.50,0.758,6,0.054,0.000,3395,1792,2158,0,0,0,0,0,0
$GC,4468,1.19,116.8,362.2,12.3,270,4469,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1792,2148,0,0,0,0,0,0
$GC,4793,1.19,116.8,323.9,10.9,278,4797,0.00,2.60,0.00,0.000,4,0.000,0.059,3394,400,2144,0,0,0,0,0,0
$GC,4827,1.19,116.8,319.7,12.1,278,4832,0.00,2.45,0.00,0.000,6,0.000,0.027,3394,1803,2141,0,0,0,0,0,0
$GC,5140,1.19,116.8,285.3,10.2,288,5144,0.00,2.62,0.00,0.000,4,0.000,0.058,3395,406,2140,0,0,0,0,0,0
$GC,5209,1.19,116.8,277.2,11.1,291,5213,0.00,2.45,0.00,0.000,6,0.000,0.026,3394,1801,2138,0,0,0,0,0,0
$GC,5535,1.19,116.8,240.0,11.4,307,5540,0.00,2.62,0.00,0.000,4,0.000,0.057,3394,405,2138,0,0,0,0,0,0
$GC,5566,1.19,116.8,236.1,13.4,308,5570,0.00,2.45,0.00,0.000,6,0.000,0.025,3394,1806,2136,0,0,0,0,0,0
$GC,5886,1.19,116.8,203.7,10.4,324,5890,0.00,2.60,0.00,0.000,4,0.000,0.056,3394,404,2136,0,0,0,0,0,0
$GC,5957,1.19,116.8,195.5,12.4,329,5961,0.00,2.42,0.00,0.000,6,0.000,0.024,3394,1808,2134,0,0,0,0,0,0
$GC,6222,1.19,116.8,170.4,8.9,353,6226,0.00,2.60,0.00,0.000,4,0.000,0.053,3394,402,2134,0,0,0,0,0,0
$GC,6237,1.19,116.8,168.5,9.4,354,6241,0.00,2.42,0.00,0.000,6,0.000,0.023,3395,1807,2133,0,0,0,0,0,0
$GC,6501,1.19,116.8,144.6,9.6,378,6505,0.00,2.60,0.00,0.000,4,0.000,0.052,3394,398,2133,0,0,0,0,0,0
$GC,6565,1.19,116.8,137.6,9.7,384,6572,0.00,2.45,0.00,0.000,6,0.000,0.023,3395,1799,2132,0,0,0,0,0,0
$GC,6830,1.19,116.8,113.5,10.1,409,6834,0.00,2.55,0.00,0.000,4,0.000,0.050,3394,405,2133,0,0,0,0,0,0
$GC,6845,1.19,116.8,111.5,10.7,410,6849,0.00,2.40,0.00,0.000,6,0.000,0.021,3395,1818,2132,0,0,0,0,0,0
$GC,7108,1.25,158.5,91.5,6.1,434,7148,0.00,2.72,32.35,0.543,4,0.000,0.049,3394,405,1986,0,0,0,0,0,0
$GC,7195,1.25,164.7,85.1,7.7,443,7207,0.00,2.40,6.10,0.430,6,0.000,0.020,3394,1798,1962,0,0,0,0,0,0
$GC,7470,1.26,168.9,63.5,7.8,469,7482,0.00,2.58,5.20,0.391,4,0.000,0.048,3394,405,1944,0,0,0,0,0,0
$GC,7514,1.26,168.9,59.2,10.1,473,7521,0.00,2.40,0.00,0.000,6,0.000,0.020,3395,1793,1942,0,0,0,0,0,0
$GC,7776,1.26,168.9,37.3,9.5,498,7780,0.00,2.55,0.00,0.000,4,0.000,0.048,3394,402,1942,0,0,0,0,0,0
$GC,7820,1.26,168.9,33.7,8.6,502,7824,0.00,2.40,0.00,0.000,6,0.000,0.018,3395,1809,1940,0,0,0,0,0,0
$GC,8085,1.30,203.3,18.5,6.4,545,8126,0.10,2.65,30.00,0.468,4,0.071,0.045,3435,409,1804,0,0,0,0,0,0
$GC,8151,1.30,203.3,11.8,11.6,557,8158,0.00,2.40,0.00,0.000,6,0.000,0.018,3435,1794,1802,0,0,0,0,0,0
$STATE,8260,end climb,SURFACE_DEPTH_REACHED
$STATE,8260,begin surface coast
$FINISH,1.0,1.000364
$STATE,8322,end surface coast,CONTROL_FINISHED_OK
$STATE,8322,begin surface
$SM_CCo,8346,63.03,0.453,0,0,1288,330.17
$SM_GC,1.73,0.00,0.00,63.03,0.000,0.000,0.453,425,2125,1288,-12.48,0.71,330.17
$IRIDIUM_FIX,2052.52,-15752.63,290700,151502
$TT8_MAMPS,0.029146
$HUMID,55.00
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,22.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,380.3,57.9
$24V_AH,23.5,21.623
$10V_AH,10.5,20.665
$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,28.475,100.775,268.325,63.025,0.000,27.464,32.079,154.773,4.000,0.000,44.865,1070.306,5179.813,396.444,1673.410,455.542,33.361,1086.370,0.000,1638.021,0.000,27.557,0.000
$DEVICE_MAMPS,134.992,59.059,773.903,452.530,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.781,407.631,930.282,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,31752,588
$CAP_FILE_SIZE,92409,0
$CFSIZE,260165632,243585024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050511,202320,2103.000,-15757.753,14,2.0,14,9.8