version: 66.06
glider: 139
mission: 9
dive: 273
start: 5 6 111 10 37 7
data:
$ID,139
$MISSION,9
$DIVE,273
$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,-2181473.8
$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,82
$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
$GPS1,102925,2107.444,-15801.391,47,1.8,47,9.8
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,4
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-76.6
$GPS2,103614,2107.407,-15801.416,12,1.7,12,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.006,0.222
$KALMAN_X,-154544.6,76.0,600.7,135255.9,-803.0
$KALMAN_Y,-2586.1,-66.3,200.4,-3747.3,-1351.3
$MHEAD_RNG_PITCHd_Wd,351.7,2049,-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,-69.78,0.000,3,0.000,0.000,427,2155,3112,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.4,-4.2,13,110,13.10,2.33,0.00,0.000,4,0.135,0.032,2865,3469,3115,0,0,0,0,0,0
$GC,359,-1.19,-116.8,60.5,-16.7,55,363,0.00,2.42,0.00,0.000,6,0.000,0.032,2864,2082,3117,0,0,0,0,0,0
$GC,621,-1.19,-116.8,99.2,-13.2,79,628,0.00,2.40,0.00,0.000,4,0.000,0.031,2865,3474,3117,0,0,0,0,0,0
$GC,665,-1.19,-116.8,105.2,-12.3,83,671,0.00,2.40,0.00,0.000,6,0.000,0.034,2865,2096,3117,0,0,0,0,0,0
$GC,928,-1.19,-116.8,137.1,-11.0,108,933,0.00,2.50,0.00,0.000,4,0.000,0.041,2865,685,3118,0,0,0,0,0,0
$GC,945,-1.19,-116.8,139.0,-10.6,109,949,0.00,2.33,0.00,0.000,6,0.000,0.020,2865,2062,3118,0,0,0,0,0,0
$GC,1207,-1.19,-116.8,165.7,-9.4,133,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2062,3119,0,0,0,0,0,0
$GC,1462,-1.19,-116.8,190.1,-9.6,157,1467,0.00,2.53,0.00,0.000,4,0.000,0.038,2865,3495,3120,0,0,0,0,0,0
$GC,1564,-1.19,-116.8,200.2,-9.7,167,1569,0.00,2.45,0.00,0.000,6,0.000,0.034,2865,2092,3119,0,0,0,0,0,0
$GC,1817,-1.19,-116.8,227.0,-10.6,180,1822,0.00,2.53,0.00,0.000,4,0.000,0.044,2865,684,3119,0,0,0,0,0,0
$GC,1854,-1.19,-116.8,231.4,-12.0,181,1860,0.00,2.40,0.00,0.000,6,0.000,0.022,2865,2095,3120,0,0,0,0,0,0
$GC,2171,-1.19,-116.8,262.0,-8.5,197,2175,0.00,2.50,0.00,0.000,4,0.000,0.044,2865,692,3119,0,0,0,0,0,0
$GC,2195,-1.19,-116.8,264.3,-8.9,198,2199,0.00,2.40,0.00,0.000,6,0.000,0.023,2865,2102,3119,0,0,0,0,0,0
$GC,2520,-1.19,-116.8,297.9,-10.2,214,2524,0.00,2.53,0.00,0.000,4,0.000,0.045,2865,687,3118,0,0,0,0,0,0
$GC,2584,-1.19,-116.8,304.4,-10.7,216,2589,0.00,2.42,0.00,0.000,6,0.000,0.025,2865,2105,3118,0,0,0,0,0,0
$GC,2930,-1.19,-116.8,333.2,-7.9,225,2934,0.00,2.50,0.00,0.000,4,0.000,0.046,2865,3497,3116,0,0,0,0,0,0
$GC,2944,-1.19,-116.8,334.5,-8.3,225,2949,0.00,2.47,0.00,0.000,6,0.000,0.040,2865,2099,3116,0,0,0,0,0,0
$GC,3295,-1.19,-116.8,361.5,-7.3,234,3299,0.00,2.55,0.00,0.000,4,0.000,0.046,2865,3505,3115,0,0,0,0,0,0
$GC,3437,-1.19,-116.8,371.4,-6.4,237,3441,0.00,2.50,0.00,0.000,6,0.000,0.043,2864,2104,3114,0,0,0,0,0,0
$GC,3762,-1.19,-116.8,392.4,-6.8,245,3766,0.00,2.60,0.00,0.000,4,0.000,0.052,2864,685,3112,0,0,0,0,0,0
$GC,3880,-1.19,-116.8,401.7,-8.6,247,3884,0.00,2.45,0.00,0.000,6,0.000,0.027,2865,2103,3111,0,0,0,0,0,0
$GC,4220,-1.19,-116.8,430.5,-8.5,256,4225,0.00,2.58,0.00,0.000,4,0.000,0.052,2865,685,3109,0,0,0,0,0,0
$GC,4272,-1.19,-116.8,435.7,-10.2,257,4276,0.00,2.47,0.00,0.000,6,0.000,0.028,2865,2102,3108,0,0,0,0,0,0
$STATE,4465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4466,begin apogee
$GC,4473,-0.31,0.0,451.9,8.1,262,4572,0.98,0.00,95.68,0.814,6,0.082,0.000,3067,1790,2635,0,0,0,0,0,0
$STATE,4573,end apogee,CONTROL_FINISHED_OK
$STATE,4573,begin climb
$GC,4576,1.19,116.8,453.4,0.0,264,4688,1.48,2.70,100.68,0.796,4,0.054,0.060,3394,409,2157,0,0,0,0,0,0
$GC,4712,1.19,116.8,438.2,15.8,267,4716,0.00,2.45,0.00,0.000,6,0.000,0.026,3394,1799,2152,0,0,0,0,0,0
$GC,5030,1.19,116.8,394.3,13.9,275,5034,0.00,2.65,0.00,0.000,4,0.000,0.060,3394,400,2146,0,0,0,0,0,0
$GC,5068,1.19,116.8,388.5,15.4,275,5073,0.00,2.45,0.00,0.000,6,0.000,0.026,3394,1800,2143,0,0,0,0,0,0
$GC,5399,1.19,116.8,352.3,10.4,284,5400,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1802,2141,0,0,0,0,0,0
$GC,5724,1.19,116.8,315.7,11.8,292,5725,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1802,2139,0,0,0,0,0,0
$GC,6032,1.19,116.8,279.7,9.6,303,6037,0.00,2.55,0.00,0.000,4,0.000,0.041,3394,3207,2138,0,0,0,0,0,0
$GC,6065,1.19,116.8,276.4,8.5,304,6070,0.00,2.60,0.00,0.000,6,0.000,0.047,3394,1804,2138,0,0,0,0,0,0
$GC,6382,1.19,116.8,245.7,11.0,319,6387,0.00,2.65,0.00,0.000,4,0.000,0.058,3394,388,2136,0,0,0,0,0,0
$GC,6420,1.19,116.8,240.8,12.6,320,6427,0.00,2.50,0.00,0.000,6,0.000,0.025,3394,1799,2134,0,0,0,0,0,0
$GC,6736,1.21,127.9,212.4,7.5,336,6744,0.00,0.00,6.65,0.545,6,0.000,0.000,3394,1800,2112,0,0,0,0,0,0
$GC,7052,1.21,127.9,183.3,9.5,359,7056,0.00,2.53,0.00,0.000,4,0.000,0.038,3394,3212,2112,0,0,0,0,0,0
$GC,7096,1.21,127.9,179.4,8.7,363,7100,0.00,2.60,0.00,0.000,6,0.000,0.043,3394,1793,2112,0,0,0,0,0,0
$GC,7360,1.21,127.9,154.1,10.0,387,7365,0.00,2.58,0.00,0.000,4,0.000,0.053,3394,392,2111,0,0,0,0,0,0
$GC,7424,1.21,127.9,147.1,9.2,393,7430,0.00,2.42,0.00,0.000,6,0.000,0.021,3394,1812,2109,0,0,0,0,0,0
$GC,7687,1.21,127.9,124.7,10.4,418,7692,0.00,2.45,0.00,0.000,4,0.000,0.033,3394,3204,2109,0,0,0,0,0,0
$GC,7712,1.21,127.9,122.5,8.4,420,7717,0.00,2.53,0.00,0.000,6,0.000,0.039,3394,1801,2109,0,0,0,0,0,0
$GC,7976,1.24,150.9,102.5,7.0,444,8004,0.00,2.67,20.98,0.545,4,0.000,0.052,3394,392,2018,0,0,0,0,0,0
$GC,8083,1.24,150.9,93.0,11.2,455,8087,0.00,2.42,0.00,0.000,6,0.000,0.019,3394,1804,2014,0,0,0,0,0,0
$GC,8347,1.24,150.9,69.1,8.0,479,8353,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1808,2014,0,0,0,0,0,0
$GC,8610,1.26,172.9,48.0,7.0,504,8632,0.00,0.00,19.90,0.490,6,0.000,0.000,3394,1808,1929,0,0,0,0,0,0
$GC,8888,1.27,179.3,29.1,7.7,531,8901,0.00,2.62,7.03,0.407,4,0.000,0.048,3394,392,1902,0,0,0,0,0,0
$GC,8934,1.27,179.3,24.5,9.7,540,8941,0.00,2.45,0.00,0.000,6,0.000,0.018,3394,1805,1899,0,0,0,0,0,0
$GC,9137,1.33,230.7,10.1,5.7,577,9187,0.15,2.47,44.35,0.468,4,0.052,0.029,3448,3198,1693,0,0,0,0,0,0
$GC,9196,1.34,231.0,5.0,8.0,587,9203,0.08,2.55,0.00,0.000,6,0.078,0.028,3429,1792,1692,0,0,0,0,0,0
$STATE,9208,end climb,SURFACE_DEPTH_REACHED
$STATE,9208,begin surface coast
$FINISH,1.0,1.023062
$STATE,9241,end surface coast,CONTROL_FINISHED_OK
$STATE,9241,begin surface
$SM_CCo,9265,50.62,0.456,0,0,1288,330.17
$SM_GC,1.73,0.00,0.00,50.62,0.000,0.000,0.456,425,2145,1288,-12.48,1.27,330.17
$IRIDIUM_FIX,2059.45,-15759.05,300700,070701
$TT8_MAMPS,0.029146
$HUMID,55.82
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,21.90
$XPDR_PINGS,1
$24V_AH,23.5,22.124
$10V_AH,10.5,21.134
$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,28.625,106.175,295.250,50.625,0.000,30.266,36.859,215.352,4.750,0.000,12.760,1082.503,6055.054,407.411,1660.086,521.613,33.361,1134.290,0.000,1644.280,0.000,29.265,0.000
$DEVICE_MAMPS,134.992,59.826,813.787,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.939,396.609,884.197,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,31794,595
$CAP_FILE_SIZE,98488,0
$CFSIZE,260165632,243290112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060511,131357,2108.228,-15801.788,35,2.2,54,9.8