version: 66.06
glider: 139
mission: 9
dive: 271
start: 5 6 111 4 59 39
data:
$ID,139
$MISSION,9
$DIVE,271
$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,-2181424.2
$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,86
$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
$GPS1,044537,2105.559,-15800.234,89,0.9,89,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-73.5
$GPS2,045844,2105.718,-15800.392,13,1.6,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.104,0.196
$KALMAN_X,-154135.2,626.3,-634.3,137308.4,-146.0
$KALMAN_Y,-1235.7,451.8,-254.1,-8296.9,4.4
$MHEAD_RNG_PITCHd_Wd,322.2,5641,-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,-116.8,0.0,0.0,0,87,0.00,0.00,-68.60,0.000,6,0.000,0.000,426,2159,3113,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.8,-5.5,13,109,13.07,2.30,0.00,0.000,4,0.133,0.030,2869,3461,3115,0,0,0,0,0,0
$GC,238,-1.19,-116.8,38.5,-18.9,41,242,0.00,2.42,0.00,0.000,6,0.000,0.035,2869,2087,3116,0,0,0,0,0,0
$GC,500,-1.19,-116.8,85.9,-16.5,65,505,0.00,2.40,0.00,0.000,4,0.000,0.032,2869,3463,3117,0,0,0,0,0,0
$GC,627,-1.19,-116.8,106.1,-15.1,78,632,0.00,2.42,0.00,0.000,6,0.000,0.035,2869,2090,3117,0,0,0,0,0,0
$GC,891,-1.19,-116.8,137.6,-9.6,102,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2090,3118,0,0,0,0,0,0
$GC,1143,-1.19,-116.8,159.1,-9.4,126,1148,0.00,2.40,0.00,0.000,4,0.000,0.036,2869,3453,3118,0,0,0,0,0,0
$GC,1214,-1.19,-116.8,166.3,-10.0,133,1219,0.00,2.40,0.00,0.000,6,0.000,0.034,2869,2091,3118,0,0,0,0,0,0
$GC,1479,-1.19,-116.8,195.2,-10.5,157,1483,0.00,2.50,0.00,0.000,4,0.000,0.044,2869,686,3118,0,0,0,0,0,0
$GC,1529,-1.19,-116.8,201.6,-12.8,161,1533,0.00,2.35,0.00,0.000,6,0.000,0.021,2869,2061,3118,0,0,0,0,0,0
$GC,1850,-1.19,-116.8,231.5,-8.2,177,1854,0.00,2.45,0.00,0.000,4,0.000,0.044,2869,693,3118,0,0,0,0,0,0
$GC,1979,-1.19,-116.8,244.6,-10.4,182,1986,0.00,2.42,0.00,0.000,6,0.000,0.023,2869,2090,3118,0,0,0,0,0,0
$GC,2295,-1.19,-116.8,277.6,-11.0,198,2299,0.00,2.53,0.00,0.000,4,0.000,0.045,2869,686,3117,0,0,0,0,0,0
$GC,2441,-1.19,-116.8,292.7,-9.1,204,2446,0.00,2.45,0.00,0.000,6,0.000,0.024,2870,2108,3117,0,0,0,0,0,0
$GC,2754,-1.19,-116.8,319.7,-9.1,214,2758,0.00,2.53,0.00,0.000,4,0.000,0.047,2869,698,3115,0,0,0,0,0,0
$GC,2810,-1.19,-116.8,325.2,-9.6,215,2814,0.00,2.42,0.00,0.000,6,0.000,0.025,2869,2106,3115,0,0,0,0,0,0
$GC,3129,-1.19,-116.8,352.2,-7.8,223,3133,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,691,3114,0,0,0,0,0,0
$GC,3162,-1.19,-116.8,354.8,-7.8,223,3167,0.00,2.45,0.00,0.000,6,0.000,0.026,2869,2104,3114,0,0,0,0,0,0
$GC,3494,-1.19,-116.8,376.1,-6.6,231,3495,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2105,3112,0,0,0,0,0,0
$GC,3819,-1.19,-116.8,401.1,-7.7,239,3824,0.00,2.58,0.00,0.000,4,0.000,0.051,2869,695,3109,0,0,0,0,0,0
$GC,3857,-1.19,-116.8,404.6,-9.6,239,3862,0.00,2.45,0.00,0.000,6,0.000,0.028,2869,2097,3109,0,0,0,0,0,0
$GC,4189,-1.19,-116.8,431.0,-7.7,248,4193,0.00,2.58,0.00,0.000,4,0.000,0.052,2869,691,3106,0,0,0,0,0,0
$GC,4236,-1.19,-116.8,434.9,-7.9,249,4240,0.00,2.47,0.00,0.000,6,0.000,0.029,2869,2103,3105,0,0,0,0,0,0
$STATE,4474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4475,begin apogee
$GC,4481,-0.31,0.0,451.8,7.0,255,4580,0.95,0.00,95.12,0.818,6,0.082,0.000,3066,1792,2635,0,0,0,0,0,0
$STATE,4581,end apogee,CONTROL_FINISHED_OK
$STATE,4581,begin climb
$GC,4584,1.19,116.8,454.2,0.0,257,4690,1.50,0.00,101.95,0.800,6,0.054,0.000,3395,1792,2158,0,0,0,0,0,0
$GC,5002,1.19,116.8,409.7,11.3,268,5007,0.00,2.62,0.00,0.000,4,0.000,0.062,3395,400,2147,0,0,0,0,0,0
$GC,5030,1.19,116.8,406.2,12.7,268,5035,0.00,2.47,0.00,0.000,6,0.000,0.027,3395,1802,2144,0,0,0,0,0,0
$GC,5367,1.19,116.8,373.4,9.8,277,5371,0.00,2.65,0.00,0.000,4,0.000,0.060,3395,406,2141,0,0,0,0,0,0
$GC,5381,1.19,116.8,371.7,10.0,277,5385,0.00,2.47,0.00,0.000,6,0.000,0.026,3395,1808,2141,0,0,0,0,0,0
$GC,5731,1.19,116.8,329.6,12.4,286,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1812,2139,0,0,0,0,0,0
$GC,6036,1.19,116.8,297.2,10.1,294,6040,0.00,2.62,0.00,0.000,4,0.000,0.058,3395,404,2138,0,0,0,0,0,0
$GC,6050,1.19,116.8,295.4,10.5,294,6057,0.00,2.45,0.00,0.000,6,0.000,0.027,3395,1794,2137,0,0,0,0,0,0
$GC,6366,1.19,116.8,261.6,9.7,310,6370,0.00,2.60,0.00,0.000,4,0.000,0.058,3395,401,2136,0,0,0,0,0,0
$GC,6380,1.19,116.8,260.0,9.9,310,6387,0.00,2.47,0.00,0.000,6,0.000,0.026,3395,1801,2135,0,0,0,0,0,0
$GC,6696,1.19,116.8,226.8,9.9,326,6700,0.00,2.50,0.00,0.000,4,0.000,0.040,3395,3204,2135,0,0,0,0,0,0
$GC,6717,1.19,116.8,225.0,9.1,327,6722,0.00,2.55,0.00,0.000,6,0.000,0.044,3395,1807,2134,0,0,0,0,0,0
$GC,7038,1.19,116.8,198.3,8.1,343,7042,0.00,2.60,0.00,0.000,4,0.000,0.055,3395,393,2134,0,0,0,0,0,0
$GC,7093,1.19,116.8,192.6,11.0,348,7100,0.00,2.47,0.00,0.000,6,0.000,0.025,3395,1799,2132,0,0,0,0,0,0
$GC,7357,1.19,116.8,164.4,10.6,373,7362,0.00,2.50,0.00,0.000,4,0.000,0.036,3395,3208,2132,0,0,0,0,0,0
$GC,7383,1.19,116.8,161.5,11.2,375,7388,0.00,2.55,0.00,0.000,6,0.000,0.039,3395,1802,2132,0,0,0,0,0,0
$GC,7648,1.24,156.3,140.0,6.2,399,7686,0.00,0.00,30.73,0.593,6,0.000,0.000,3395,1802,1996,0,0,0,0,0,0
$GC,7942,1.24,156.3,115.3,8.4,427,7946,0.00,2.58,0.00,0.000,4,0.000,0.051,3395,392,1992,0,0,0,0,0,0
$GC,8016,1.24,156.3,107.6,10.7,434,8023,0.00,2.47,0.00,0.000,6,0.000,0.021,3395,1806,1989,0,0,0,0,0,0
$GC,8280,1.24,156.3,82.2,9.6,459,8284,0.00,2.45,0.00,0.000,4,0.000,0.031,3395,3205,1989,0,0,0,0,0,0
$GC,8315,1.24,156.3,78.8,9.5,462,8319,0.00,2.55,0.00,0.000,6,0.000,0.037,3396,1794,1990,0,0,0,0,0,0
$GC,8580,1.30,203.4,60.6,5.9,486,8630,0.10,2.65,40.55,0.513,4,0.072,0.049,3435,397,1803,0,0,0,0,0,0
$GC,8703,1.30,203.4,51.1,8.1,499,8707,0.00,2.42,0.00,0.000,6,0.000,0.019,3435,1804,1798,0,0,0,0,0,0
$GC,8968,1.30,203.4,29.8,10.2,523,8974,0.00,2.65,0.00,0.000,4,0.000,0.048,3435,390,1798,0,0,0,0,0,0
$GC,8999,1.30,203.4,25.7,10.9,529,9006,0.00,2.45,0.00,0.000,6,0.000,0.018,3435,1804,1797,0,0,0,0,0,0
$GC,9203,1.34,232.2,5.9,6.7,566,9233,0.00,2.12,24.83,0.451,3,0.000,0.024,3435,3028,1687,0,0,0,0,0,0
$STATE,9233,end climb,SURFACE_DEPTH_REACHED
$STATE,9233,begin surface coast
$FINISH,0.9,1.015097
$STATE,9262,end surface coast,CONTROL_FINISHED_OK
$STATE,9262,begin surface
$SM_CCo,9287,46.70,0.452,0,0,1288,330.17
$SM_GC,1.68,0.00,0.00,46.70,0.000,0.000,0.452,426,2066,1288,-12.48,-0.93,330.17
$IRIDIUM_FIX,2057.14,-15801.19,300700,040414
$TT8_MAMPS,0.029146
$HUMID,56.26
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.5,21.958
$10V_AH,10.4,20.976
$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,28.500,109.175,293.175,46.700,0.000,100.935,148.280,282.214,4.500,0.000,13.938,1054.738,6289.856,432.492,1566.754,782.159,33.356,1109.104,0.000,1549.328,0.000,29.260,0.000
$DEVICE_MAMPS,133.458,62.127,818.389,451.763,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,389.171,375.793,837.100,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,31813,576
$CAP_FILE_SIZE,99466,0
$CFSIZE,260165632,243388416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060511,073625,2106.622,-15801.160,16,1.8,32,9.8