version: 66.06
glider: 139
mission: 9
dive: 270
start: 5 6 111 2 6 18
data:
$ID,139
$MISSION,9
$DIVE,270
$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,-2181409.5
$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,17
$R_STBD_OVSHOOT,75
$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
$GPS1,015838,2104.437,-15759.293,13,2.0,13,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-73.0
$GPS2,020525,2104.451,-15759.371,41,2.0,41,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.065,0.212
$KALMAN_X,-153515.3,312.9,117.8,138013.5,-418.6
$KALMAN_Y,-1273.2,389.4,-139.7,-10653.7,-607.6
$MHEAD_RNG_PITCHd_Wd,333.2,8564,-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,-116.8,0.0,0.0,0,78,0.00,0.00,-59.53,0.000,2,0.000,0.000,424,2136,2841,0,0,0,0,0,0
$GC,82,-1.19,-116.8,3.0,-3.5,11,107,13.12,2.38,-5.85,0.000,4,0.135,0.044,2869,3468,3112,0,0,0,0,0,0
$GC,276,-1.19,-116.8,41.6,-20.1,47,282,0.00,2.50,0.00,0.000,6,0.000,0.040,2869,2090,3114,0,0,0,0,0,0
$GC,538,-1.19,-116.8,81.6,-14.5,72,542,0.00,2.40,0.00,0.000,4,0.000,0.034,2869,3464,3115,0,0,0,0,0,0
$GC,581,-1.19,-116.8,87.8,-13.0,76,585,0.00,2.42,0.00,0.000,6,0.000,0.031,2869,2086,3115,0,0,0,0,0,0
$GC,842,-1.19,-116.8,122.3,-12.5,100,846,0.00,2.45,0.00,0.000,4,0.000,0.035,2869,3470,3116,0,0,0,0,0,0
$GC,984,-1.19,-116.8,137.4,-9.9,115,988,0.00,2.42,0.00,0.000,6,0.000,0.033,2869,2093,3115,0,0,0,0,0,0
$GC,1247,-1.19,-116.8,164.1,-9.6,139,1252,0.00,2.42,0.00,0.000,4,0.000,0.037,2869,3461,3117,0,0,0,0,0,0
$GC,1292,-1.19,-116.8,168.5,-9.4,143,1296,0.00,2.38,0.00,0.000,6,0.000,0.034,2869,2101,3117,0,0,0,0,0,0
$GC,1556,-1.19,-116.8,191.7,-9.2,167,1561,0.00,2.55,0.00,0.000,4,0.000,0.044,2869,693,3117,0,0,0,0,0,0
$GC,1584,-1.19,-116.8,195.1,-11.5,169,1590,0.00,2.33,0.00,0.000,6,0.000,0.021,2870,2069,3117,0,0,0,0,0,0
$GC,1851,-1.19,-116.8,222.0,-10.0,185,1855,0.00,2.47,0.00,0.000,4,0.000,0.043,2869,687,3117,0,0,0,0,0,0
$GC,1884,-1.19,-116.8,225.6,-10.5,186,1888,0.00,2.42,0.00,0.000,6,0.000,0.023,2869,2100,3117,0,0,0,0,0,0
$GC,2201,-1.19,-116.8,253.7,-7.9,201,2205,0.00,2.53,0.00,0.000,4,0.000,0.044,2869,694,3116,0,0,0,0,0,0
$GC,2271,-1.19,-116.8,260.5,-8.9,204,2275,0.00,2.40,0.00,0.000,6,0.000,0.023,2869,2106,3117,0,0,0,0,0,0
$GC,2596,-1.19,-116.8,286.8,-9.2,220,2600,0.00,2.55,0.00,0.000,4,0.000,0.045,2869,689,3116,0,0,0,0,0,0
$GC,2685,-1.19,-116.8,295.5,-10.1,224,2689,0.00,2.42,0.00,0.000,6,0.000,0.025,2869,2108,3116,0,0,0,0,0,0
$GC,3030,-1.19,-116.8,326.9,-8.9,234,3035,0.00,2.55,0.00,0.000,4,0.000,0.048,2869,694,3115,0,0,0,0,0,0
$GC,3105,-1.19,-116.8,332.9,-7.9,235,3109,0.00,2.42,0.00,0.000,6,0.000,0.025,2869,2098,3114,0,0,0,0,0,0
$GC,3442,-1.19,-116.8,356.8,-7.6,244,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2099,3112,0,0,0,0,0,0
$GC,3767,-1.19,-116.8,381.8,-7.9,252,3771,0.00,2.60,0.00,0.000,4,0.000,0.051,2869,687,3110,0,0,0,0,0,0
$GC,3787,-1.19,-116.8,383.5,-8.0,252,3791,0.00,2.42,0.00,0.000,6,0.000,0.028,2869,2098,3110,0,0,0,0,0,0
$GC,4132,-1.19,-116.8,408.7,-6.9,261,4134,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2099,3108,0,0,0,0,0,0
$GC,4458,-1.19,-116.8,436.4,-9.6,269,4462,0.00,2.58,0.00,0.000,4,0.000,0.054,2869,3498,3105,0,0,0,0,0,0
$GC,4482,-1.19,-116.8,438.9,-9.8,269,4486,0.00,2.53,0.00,0.000,6,0.000,0.045,2869,2104,3105,0,0,0,0,0,0
$STATE,4616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4616,begin apogee
$GC,4624,-0.31,0.0,450.5,8.5,273,4722,0.95,0.00,94.97,0.815,6,0.083,0.000,3066,1786,2635,0,0,0,0,0,0
$STATE,4723,end apogee,CONTROL_FINISHED_OK
$STATE,4723,begin climb
$GC,4726,1.19,116.8,453.1,0.0,275,4831,1.50,0.00,101.25,0.796,6,0.056,0.000,3396,1786,2158,0,0,0,0,0,0
$GC,5135,1.19,116.8,410.4,11.5,285,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1786,2146,0,0,0,0,0,0
$GC,5458,1.19,116.8,371.7,12.3,293,5463,0.00,2.60,0.00,0.000,4,0.000,0.061,3396,400,2143,0,0,0,0,0,0
$GC,5472,1.19,116.8,369.6,13.0,293,5477,0.00,2.45,0.00,0.000,6,0.000,0.027,3396,1802,2141,0,0,0,0,0,0
$GC,5822,1.19,116.8,324.4,12.6,302,5827,0.00,2.65,0.00,0.000,4,0.000,0.061,3395,400,2139,0,0,0,0,0,0
$GC,5841,1.19,116.8,321.7,13.4,302,5846,0.00,2.47,0.00,0.000,6,0.000,0.028,3396,1800,2138,0,0,0,0,0,0
$GC,6169,1.19,116.8,285.1,11.5,313,6170,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1802,2138,0,0,0,0,0,0
$GC,6477,1.19,116.8,255.1,8.4,328,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1802,2135,0,0,0,0,0,0
$GC,6788,1.19,116.8,224.7,10.8,343,6792,0.00,2.65,0.00,0.000,4,0.000,0.058,3396,394,2134,0,0,0,0,0,0
$GC,6832,1.19,116.8,219.7,10.9,345,6836,0.00,2.47,0.00,0.000,6,0.000,0.025,3396,1806,2133,0,0,0,0,0,0
$GC,7156,1.19,116.8,189.4,10.7,365,7160,0.00,2.62,0.00,0.000,4,0.000,0.055,3396,393,2133,0,0,0,0,0,0
$GC,7220,1.19,116.8,181.3,12.6,371,7225,0.00,2.45,0.00,0.000,6,0.000,0.025,3396,1804,2131,0,0,0,0,0,0
$GC,7483,1.19,116.8,154.7,10.2,396,7487,0.00,2.47,0.00,0.000,4,0.000,0.035,3396,3204,2132,0,0,0,0,0,0
$GC,7527,1.19,116.8,150.0,10.2,400,7531,0.00,2.55,0.00,0.000,6,0.000,0.041,3396,1804,2132,0,0,0,0,0,0
$GC,7790,1.19,116.8,125.7,8.3,424,7791,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1804,2132,0,0,0,0,0,0
$GC,8043,1.23,144.1,106.4,6.8,448,8072,0.00,2.58,19.88,0.549,4,0.000,0.032,3396,3204,2046,0,0,0,0,0,0
$GC,8078,1.25,160.5,103.9,7.3,451,8102,0.00,2.55,15.98,0.527,6,0.000,0.038,3396,1797,1979,0,0,0,0,0,0
$GC,8357,1.25,160.5,81.2,9.3,478,8358,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1797,1975,0,0,0,0,0,0
$GC,8613,1.27,174.3,58.5,7.4,502,8632,0.00,0.00,12.38,0.479,6,0.000,0.000,3396,1797,1924,0,0,0,0,0,0
$GC,8890,1.29,197.6,42.8,7.0,528,8921,0.10,2.62,21.17,0.483,4,0.072,0.048,3435,395,1827,0,0,0,0,0,0
$GC,8927,1.31,210.2,39.7,7.4,531,8945,0.00,2.47,11.90,0.453,6,0.000,0.020,3435,1811,1778,0,0,0,0,0,0
$GC,9202,1.31,210.2,13.8,11.4,572,9208,0.00,2.65,0.00,0.000,4,0.000,0.049,3435,393,1775,0,0,0,0,0,0
$GC,9224,1.31,210.2,11.7,8.7,576,9231,0.00,2.42,0.00,0.000,6,0.000,0.019,3435,1796,1773,0,0,0,0,0,0
$STATE,9305,end climb,SURFACE_DEPTH_REACHED
$STATE,9305,begin surface coast
$FINISH,1.1,1.013402
$STATE,9347,end surface coast,CONTROL_FINISHED_OK
$STATE,9347,begin surface
$SM_CCo,9371,59.78,0.456,0,0,1288,330.17
$SM_GC,1.73,0.00,0.00,59.78,0.000,0.000,0.456,427,2157,1288,-12.47,1.61,330.17
$IRIDIUM_FIX,2054.83,-15806.34,290700,232338
$TT8_MAMPS,0.028379
$HUMID,56.14
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,21.865
$10V_AH,10.6,20.897
$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,28.475,95.900,277.525,59.775,0.000,30.698,37.644,191.956,4.750,0.000,41.879,1083.386,6253.534,420.209,1598.316,484.748,33.358,1076.574,0.000,1553.283,0.000,36.117,0.000
$DEVICE_MAMPS,134.992,61.360,814.554,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.890,393.565,885.284,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31748,598
$CAP_FILE_SIZE,93901,0
$CFSIZE,260165632,243441664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060511,044537,2105.559,-15800.234,89,0.9,89,9.8