version: 66.06
glider: 139
mission: 9
dive: 277
start: 5 6 111 21 44 48
data:
$ID,139
$MISSION,9
$DIVE,277
$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,-2181580.5
$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,71
$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
$GPS1,213437,2108.394,-15759.938,33,1.7,33,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-74.2
$GPS2,214355,2108.376,-15759.960,13,1.9,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.222,0.007
$KALMAN_X,-158553.9,-392.6,208.5,142648.3,-368.9
$KALMAN_Y,-3116.3,252.6,176.3,-1720.8,-415.0
$MHEAD_RNG_PITCHd_Wd,78.5,29826,-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,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,88,0.00,0.00,-69.62,0.000,2,0.000,0.000,426,2143,3092,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.1,-3.6,13,111,13.12,2.38,-0.35,0.000,4,0.135,0.044,2869,3477,3112,0,0,0,0,0,0
$GC,148,-1.19,-116.8,18.7,-21.6,24,155,0.00,2.47,0.00,0.000,6,0.000,0.034,2870,2099,3114,0,0,0,0,0,0
$GC,355,-1.19,-116.8,56.7,-17.1,48,356,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2099,3115,0,0,0,0,0,0
$GC,609,-1.19,-116.8,91.4,-14.6,72,613,0.00,2.40,0.00,0.000,4,0.000,0.032,2870,3477,3115,0,0,0,0,0,0
$GC,644,-1.19,-116.8,96.4,-16.0,75,648,0.00,2.45,0.00,0.000,6,0.000,0.035,2870,2091,3115,0,0,0,0,0,0
$GC,908,-1.19,-116.8,131.2,-12.6,99,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2090,3116,0,0,0,0,0,0
$GC,1170,-1.19,-116.8,163.6,-11.2,124,1174,0.00,2.50,0.00,0.000,4,0.000,0.042,2870,692,3117,0,0,0,0,0,0
$GC,1223,-1.19,-116.8,169.7,-12.6,129,1227,0.00,2.35,0.00,0.000,6,0.000,0.021,2869,2066,3117,0,0,0,0,0,0
$GC,1487,-1.19,-116.8,193.1,-7.6,153,1492,0.00,2.55,0.00,0.000,4,0.000,0.038,2870,3498,3117,0,0,0,0,0,0
$GC,1503,-1.19,-116.8,194.6,-7.5,154,1507,0.00,2.45,0.00,0.000,6,0.000,0.034,2870,2096,3117,0,0,0,0,0,0
$GC,1760,-1.19,-116.8,214.8,-8.4,169,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2095,3117,0,0,0,0,0,0
$GC,2068,-1.19,-116.8,246.8,-12.5,184,2072,0.00,2.53,0.00,0.000,4,0.000,0.046,2870,692,3117,0,0,0,0,0,0
$GC,2082,-1.19,-116.8,248.8,-13.4,184,2089,0.00,2.45,0.00,0.000,6,0.000,0.024,2870,2102,3117,0,0,0,0,0,0
$GC,2399,-1.19,-116.8,284.1,-9.8,200,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2102,3116,0,0,0,0,0,0
$GC,2707,-1.19,-116.8,303.6,-6.2,214,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2102,3115,0,0,0,0,0,0
$GC,3032,-1.19,-116.8,325.6,-7.4,222,3036,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,686,3114,0,0,0,0,0,0
$GC,3106,-1.19,-116.8,333.1,-9.4,223,3111,0.00,2.42,0.00,0.000,6,0.000,0.025,2869,2101,3113,0,0,0,0,0,0
$GC,3445,-1.19,-116.8,363.8,-9.8,232,3449,0.00,2.55,0.00,0.000,4,0.000,0.050,2870,694,3111,0,0,0,0,0,0
$GC,3478,-1.19,-116.8,367.8,-11.7,232,3482,0.00,2.45,0.00,0.000,6,0.000,0.027,2870,2100,3110,0,0,0,0,0,0
$STATE,3766,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3766,begin apogee
$GC,3773,-0.31,0.0,396.2,9.5,239,3871,0.95,0.00,94.70,0.765,6,0.080,0.000,3067,1788,2635,0,0,0,0,0,0
$STATE,3872,end apogee,CONTROL_FINISHED_OK
$STATE,3872,begin climb
$GC,3875,1.19,116.8,400.2,0.0,241,3987,1.48,2.65,99.32,0.749,4,0.054,0.058,3394,399,2156,0,0,0,0,0,0
$GC,4006,1.19,116.8,390.8,13.6,244,4010,0.00,2.47,0.00,0.000,6,0.000,0.025,3394,1805,2152,0,0,0,0,0,0
$GC,4329,1.19,116.8,349.9,11.6,252,4333,0.00,2.55,0.00,0.000,4,0.000,0.044,3394,3204,2147,0,0,0,0,0,0
$GC,4348,1.19,116.8,347.4,12.5,252,4352,0.00,2.60,0.00,0.000,6,0.000,0.048,3394,1809,2147,0,0,0,0,0,0
$GC,4693,1.19,116.8,304.0,12.8,261,4698,0.00,2.65,0.00,0.000,4,0.000,0.058,3394,396,2143,0,0,0,0,0,0
$GC,4749,1.19,116.8,297.3,11.6,262,4753,0.00,2.47,0.00,0.000,6,0.000,0.025,3394,1799,2140,0,0,0,0,0,0
$GC,5066,1.19,116.8,260.3,13.5,277,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1800,2139,0,0,0,0,0,0
$GC,5374,1.19,116.8,227.7,10.1,292,5378,0.00,2.53,0.00,0.000,4,0.000,0.041,3395,3204,2138,0,0,0,0,0,0
$GC,5425,1.19,116.8,222.6,9.5,294,5430,0.00,2.60,0.00,0.000,6,0.000,0.047,3394,1798,2137,0,0,0,0,0,0
$GC,5749,1.19,116.8,192.6,9.0,313,5753,0.00,2.60,0.00,0.000,4,0.000,0.058,3394,390,2135,0,0,0,0,0,0
$GC,5783,1.19,116.8,189.2,10.0,316,5787,0.00,2.47,0.00,0.000,6,0.000,0.024,3394,1807,2134,0,0,0,0,0,0
$GC,6046,1.19,116.8,164.5,10.1,340,6050,0.00,2.62,0.00,0.000,4,0.000,0.054,3394,395,2134,0,0,0,0,0,0
$GC,6064,1.19,116.8,162.2,10.8,341,6070,0.00,2.45,0.00,0.000,6,0.000,0.023,3394,1807,2133,0,0,0,0,0,0
$GC,6328,1.20,118.2,137.5,8.0,366,6329,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1813,2133,0,0,0,0,0,0
$GC,6580,1.20,118.2,118.0,8.7,390,6584,0.00,2.45,0.00,0.000,4,0.000,0.034,3394,3201,2133,0,0,0,0,0,0
$GC,6608,1.20,118.8,115.8,8.0,392,6615,0.00,2.55,0.00,0.000,6,0.000,0.038,3394,1804,2133,0,0,0,0,0,0
$GC,6872,1.27,178.1,100.2,5.3,417,6927,0.00,2.65,48.95,0.556,4,0.000,0.049,3394,390,1906,0,0,0,0,0,0
$GC,6968,1.27,178.1,93.4,8.3,427,6974,0.00,2.42,0.00,0.000,6,0.000,0.020,3394,1800,1902,0,0,0,0,0,0
$GC,7231,1.27,178.1,69.1,10.5,452,7235,0.00,2.62,0.00,0.000,4,0.000,0.049,3394,390,1901,0,0,0,0,0,0
$GC,7276,1.27,178.1,64.4,9.5,456,7283,0.00,2.45,0.00,0.000,6,0.000,0.020,3394,1800,1899,0,0,0,0,0,0
$GC,7541,1.30,199.8,45.5,7.0,481,7562,0.10,0.00,18.70,0.481,6,0.071,0.000,3435,1803,1819,0,0,0,0,0,0
$GC,7817,1.30,199.8,16.2,10.9,517,7823,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1803,1817,0,0,0,0,0,0
$STATE,7957,end climb,SURFACE_DEPTH_REACHED
$STATE,7957,begin surface coast
$FINISH,1.2,1.022988
$STATE,7983,end surface coast,CONTROL_FINISHED_OK
$STATE,7983,begin surface
$SM_CCo,8006,65.43,0.458,0,0,1289,330.17
$SM_GC,1.78,0.00,0.00,65.43,0.000,0.000,0.458,425,2142,1289,-12.48,1.19,330.17
$IRIDIUM_FIX,2101.76,-15800.33,300700,212112
$TT8_MAMPS,0.029146
$HUMID,56.30
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,21.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,363.8,60.9
$24V_AH,23.5,22.458
$10V_AH,10.5,21.435
$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,28.500,81.350,261.675,65.425,0.000,50.459,72.638,247.126,3.750,0.000,13.149,970.356,5264.383,388.082,1422.081,588.007,33.360,993.561,0.000,1415.434,0.000,25.992,0.000
$DEVICE_MAMPS,134.992,58.292,765.466,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,369.854,376.259,835.286,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,31865,547
$CAP_FILE_SIZE,86317,0
$CFSIZE,260165632,243109888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070511,000101,2108.477,-15758.697,61,1.0,61,9.8