version: 66.06
glider: 139
mission: 9
dive: 275
start: 5 6 111 16 5 59
data:
$ID,139
$MISSION,9
$DIVE,275
$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,-2181548.8
$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,17
$R_STBD_OVSHOOT,73
$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
$GPS1,155852,2108.656,-15801.656,9,2.7,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-73.3
$GPS2,160507,2108.685,-15801.727,57,1.0,57,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.215,-0.053
$KALMAN_X,-155698.8,-614.4,-567.6,137741.2,-751.0
$KALMAN_Y,-2674.3,-463.6,-58.1,-647.5,320.9
$MHEAD_RNG_PITCHd_Wd,94.0,32931,-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,12,begin dive
$GC,15,-1.19,-116.8,0.0,0.0,0,88,0.00,0.00,-69.90,0.000,6,0.000,0.000,428,2148,3112,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.6,-4.5,13,109,13.12,2.33,0.00,0.000,4,0.136,0.030,2868,3470,3115,0,0,0,0,0,0
$GC,172,-1.19,-116.8,24.2,-17.9,30,178,0.00,2.47,0.00,0.000,6,0.000,0.035,2868,2093,3117,0,0,0,0,0,0
$GC,378,-1.19,-116.8,57.8,-13.3,52,382,0.00,2.42,0.00,0.000,4,0.000,0.031,2868,3467,3118,0,0,0,0,0,0
$GC,415,-1.19,-116.8,63.2,-13.0,55,422,0.00,2.45,0.00,0.000,6,0.000,0.031,2868,2093,3118,0,0,0,0,0,0
$GC,676,-1.19,-116.8,97.9,-14.0,80,680,0.00,2.45,0.00,0.000,4,0.000,0.035,2868,3472,3118,0,0,0,0,0,0
$GC,736,-1.19,-116.8,106.0,-13.6,86,741,0.00,2.40,0.00,0.000,6,0.000,0.032,2868,2098,3118,0,0,0,0,0,0
$GC,1000,-1.19,-116.8,138.6,-11.8,110,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2098,3119,0,0,0,0,0,0
$GC,1252,-1.19,-116.8,167.0,-11.3,134,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2098,3119,0,0,0,0,0,0
$GC,1508,-1.19,-116.8,192.8,-9.7,158,1512,0.00,2.50,0.00,0.000,4,0.000,0.044,2868,692,3120,0,0,0,0,0,0
$GC,1550,-1.19,-116.8,197.1,-9.7,162,1554,0.00,2.33,0.00,0.000,6,0.000,0.021,2868,2068,3120,0,0,0,0,0,0
$GC,1817,-1.19,-116.8,221.2,-8.2,176,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2068,3120,0,0,0,0,0,0
$GC,2125,-1.19,-116.8,249.5,-8.9,191,2130,0.00,2.58,0.00,0.000,4,0.000,0.043,2868,3498,3120,0,0,0,0,0,0
$GC,2185,-1.19,-116.8,255.7,-9.9,193,2191,0.00,2.47,0.00,0.000,6,0.000,0.038,2868,2096,3120,0,0,0,0,0,0
$GC,2502,-1.19,-116.8,282.7,-8.4,209,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2095,3119,0,0,0,0,0,0
$GC,2809,-1.19,-116.8,306.2,-6.6,222,2814,0.00,2.53,0.00,0.000,4,0.000,0.049,2868,694,3117,0,0,0,0,0,0
$GC,2861,-1.19,-116.8,309.5,-6.0,223,2866,0.00,2.40,0.00,0.000,6,0.000,0.025,2868,2096,3117,0,0,0,0,0,0
$GC,3180,-1.19,-116.8,327.2,-5.5,231,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2096,3116,0,0,0,0,0,0
$GC,3505,-1.19,-116.8,348.8,-6.9,239,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2096,3114,0,0,0,0,0,0
$GC,3831,-1.19,-116.8,375.1,-8.8,247,3836,0.00,2.55,0.00,0.000,4,0.000,0.051,2868,688,3111,0,0,0,0,0,0
$GC,3875,-1.19,-116.8,379.5,-10.4,248,3879,0.00,2.47,0.00,0.000,6,0.000,0.028,2868,2114,3111,0,0,0,0,0,0
$GC,4207,-1.19,-116.8,409.0,-8.8,256,4211,0.00,2.58,0.00,0.000,4,0.000,0.051,2868,694,3109,0,0,0,0,0,0
$GC,4305,-1.19,-116.8,419.1,-10.8,258,4309,0.00,2.42,0.00,0.000,6,0.000,0.028,2868,2103,3108,0,0,0,0,0,0
$GC,4624,-1.19,-116.8,439.7,-5.4,266,4628,0.00,2.58,0.00,0.000,4,0.000,0.054,2868,695,3106,0,0,0,0,0,0
$GC,4634,-1.19,-116.8,440.5,-5.0,266,4639,0.00,2.45,0.00,0.000,6,0.000,0.029,2868,2105,3106,0,0,0,0,0,0
$STATE,4787,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4787,begin apogee
$GC,4794,-0.31,0.0,451.1,6.9,270,4893,0.95,0.00,95.57,0.825,6,0.083,0.000,3065,1796,2635,0,0,0,0,0,0
$STATE,4894,end apogee,CONTROL_FINISHED_OK
$STATE,4894,begin climb
$GC,4897,1.19,116.8,453.0,0.0,272,5009,1.52,2.70,101.43,0.808,4,0.056,0.060,3396,398,2157,0,0,0,0,0,0
$GC,5019,1.19,116.8,440.1,13.2,275,5023,0.00,2.53,0.00,0.000,6,0.000,0.026,3397,1805,2154,0,0,0,0,0,0
$GC,5355,1.19,116.8,398.4,11.5,284,5356,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1807,2145,0,0,0,0,0,0
$GC,5680,1.19,116.8,365.7,9.6,292,5684,0.00,2.67,0.00,0.000,4,0.000,0.061,3396,403,2143,0,0,0,0,0,0
$GC,5717,1.19,116.8,361.6,10.6,292,5723,0.00,2.47,0.00,0.000,6,0.000,0.028,3397,1802,2140,0,0,0,0,0,0
$GC,6049,1.19,116.8,327.1,11.7,301,6053,0.00,2.62,0.00,0.000,4,0.000,0.058,3396,403,2139,0,0,0,0,0,0
$GC,6068,1.19,116.8,324.1,15.1,301,6072,0.00,2.47,0.00,0.000,6,0.000,0.027,3397,1801,2138,0,0,0,0,0,0
$GC,6394,1.19,116.8,281.9,12.4,312,6395,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1805,2137,0,0,0,0,0,0
$GC,6705,1.19,116.8,244.8,10.8,327,6709,0.00,2.55,0.00,0.000,4,0.000,0.042,3397,3215,2136,0,0,0,0,0,0
$GC,6750,1.19,116.8,240.0,10.5,329,6754,0.00,2.60,0.00,0.000,6,0.000,0.047,3397,1806,2136,0,0,0,0,0,0
$GC,7081,1.19,116.8,208.6,9.6,345,7082,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1807,2135,0,0,0,0,0,0
$GC,7395,1.19,116.8,177.9,10.2,370,7399,0.00,2.62,0.00,0.000,4,0.000,0.055,3396,392,2134,0,0,0,0,0,0
$GC,7423,1.19,116.8,174.5,12.4,372,7430,0.00,2.47,0.00,0.000,6,0.000,0.025,3397,1803,2132,0,0,0,0,0,0
$GC,7687,1.20,122.9,152.7,7.7,397,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1809,2132,0,0,0,0,0,0
$GC,7949,1.20,122.9,131.9,8.2,422,7953,0.00,2.60,0.00,0.000,4,0.000,0.051,3396,389,2132,0,0,0,0,0,0
$GC,7966,1.20,122.9,130.5,8.5,423,7970,0.00,2.45,0.00,0.000,6,0.000,0.021,3396,1807,2131,0,0,0,0,0,0
$GC,8230,1.21,131.8,109.7,7.6,447,8250,0.00,2.53,9.70,0.512,4,0.000,0.032,3397,3202,2096,0,0,0,0,0,0
$GC,8265,1.21,131.8,106.2,8.6,450,8271,0.00,2.58,0.00,0.000,6,0.000,0.038,3397,1801,2097,0,0,0,0,0,0
$GC,8529,1.21,131.8,83.3,10.0,475,8534,0.00,2.58,0.00,0.000,4,0.000,0.049,3396,391,2095,0,0,0,0,0,0
$GC,8549,1.21,131.8,80.7,11.2,476,8555,0.00,2.45,0.00,0.000,6,0.000,0.021,3397,1799,2093,0,0,0,0,0,0
$GC,8813,1.32,215.5,64.5,4.2,501,8893,0.12,2.72,72.20,0.527,4,0.061,0.058,3441,386,1755,0,0,0,0,0,0
$GC,8913,1.32,215.5,56.2,11.8,511,8918,0.00,2.45,0.00,0.000,6,0.000,0.019,3441,1812,1751,0,0,0,0,0,0
$GC,9178,1.32,215.5,27.0,11.7,537,9185,0.00,2.67,0.00,0.000,4,0.000,0.049,3441,390,1749,0,0,0,0,0,0
$GC,9231,1.32,215.5,19.5,13.7,548,9238,0.00,2.45,0.00,0.000,6,0.000,0.019,3441,1798,1746,0,0,0,0,0,0
$STATE,9394,end climb,SURFACE_DEPTH_REACHED
$STATE,9394,begin surface coast
$FINISH,1.0,1.023042
$STATE,9423,end surface coast,CONTROL_FINISHED_OK
$STATE,9423,begin surface
$SM_CCo,9447,57.28,0.459,0,0,1289,330.17
$SM_GC,1.77,0.00,0.00,57.28,0.000,0.000,0.459,428,2147,1289,-12.47,1.30,330.17
$IRIDIUM_FIX,2101.76,-15801.19,300700,131351
$TT8_MAMPS,0.028379
$HUMID,56.49
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.60
$XPDR_PINGS,2
$24V_AH,23.5,22.285
$10V_AH,10.4,21.287
$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,28.575,96.600,278.900,57.275,0.000,27.330,43.532,141.624,5.000,0.000,57.168,1046.876,6430.837,421.513,1549.400,431.747,33.358,1070.549,0.000,1492.147,0.000,29.267,0.000
$DEVICE_MAMPS,135.759,60.593,825.292,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,394.473,378.636,834.695,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,31779,583
$CAP_FILE_SIZE,91148,0
$CFSIZE,260165632,243200000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060511,184534,2108.549,-15801.231,11,3.0,30,9.8