version: 66.06
glider: 139
mission: 9
dive: 272
start: 5 6 111 7 47 23
data:
$ID,139
$MISSION,9
$DIVE,272
$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,-2181460.2
$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,43
$R_STBD_OVSHOOT,46
$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
$GPS1,073625,2106.622,-15801.160,16,1.8,32,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-71.8
$GPS2,074631,2106.680,-15801.186,18,2.0,35,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.078,0.208
$KALMAN_X,-154512.0,484.7,-326.1,136143.5,55.9
$KALMAN_Y,-1866.2,262.0,144.9,-6086.6,-681.7
$MHEAD_RNG_PITCHd_Wd,329.6,3419,-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,-69.95,0.000,2,0.000,0.000,425,2068,3112,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.3,-4.8,13,110,13.15,2.53,0.00,0.000,4,0.136,0.030,2870,3503,3114,0,0,0,0,0,0
$GC,361,-1.19,-116.8,55.2,-16.7,57,365,0.00,2.45,0.00,0.000,6,0.000,0.032,2869,2114,3116,0,0,0,0,0,0
$GC,623,-1.19,-116.8,92.7,-13.1,81,627,0.00,2.42,0.00,0.000,4,0.000,0.032,2870,3492,3117,0,0,0,0,0,0
$GC,832,-1.19,-116.8,121.3,-14.6,103,836,0.00,2.45,0.00,0.000,6,0.000,0.033,2869,2099,3117,0,0,0,0,0,0
$GC,1096,-1.19,-116.8,155.8,-11.4,127,1101,0.00,2.53,0.00,0.000,4,0.000,0.041,2869,686,3118,0,0,0,0,0,0
$GC,1124,-1.19,-116.8,159.2,-11.0,129,1130,0.00,2.40,0.00,0.000,6,0.000,0.020,2869,2099,3118,0,0,0,0,0,0
$GC,1385,-1.19,-116.8,184.1,-8.4,154,1389,0.00,2.55,0.00,0.000,4,0.000,0.042,2869,682,3118,0,0,0,0,0,0
$GC,1402,-1.19,-116.8,185.5,-8.3,155,1406,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2102,3118,0,0,0,0,0,0
$GC,1674,-1.19,-116.8,211.7,-10.3,175,1678,0.00,2.47,0.00,0.000,4,0.000,0.038,2870,3503,3118,0,0,0,0,0,0
$GC,1694,-1.19,-116.8,214.2,-10.8,176,1698,0.00,2.47,0.00,0.000,6,0.000,0.035,2869,2099,3119,0,0,0,0,0,0
$GC,2023,-1.19,-116.8,245.4,-8.5,192,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2098,3119,0,0,0,0,0,0
$GC,2334,-1.19,-116.8,267.9,-7.8,207,2339,0.00,2.55,0.00,0.000,4,0.000,0.047,2869,688,3118,0,0,0,0,0,0
$GC,2473,-1.19,-116.8,281.1,-9.2,213,2477,0.00,2.42,0.00,0.000,6,0.000,0.024,2869,2096,3118,0,0,0,0,0,0
$GC,2796,-1.19,-116.8,308.7,-8.8,227,2801,0.00,2.53,0.00,0.000,4,0.000,0.047,2870,693,3117,0,0,0,0,0,0
$GC,2816,-1.19,-116.8,310.6,-9.1,227,2820,0.00,2.42,0.00,0.000,6,0.000,0.025,2870,2101,3117,0,0,0,0,0,0
$GC,3161,-1.19,-116.8,337.9,-7.5,236,3162,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2102,3115,0,0,0,0,0,0
$GC,3487,-1.19,-116.8,361.6,-6.9,244,3491,0.00,2.53,0.00,0.000,4,0.000,0.049,2869,3500,3113,0,0,0,0,0,0
$GC,3507,-1.19,-116.8,363.1,-6.6,244,3511,0.00,2.53,0.00,0.000,6,0.000,0.041,2869,2093,3113,0,0,0,0,0,0
$GC,3852,-1.19,-116.8,385.6,-6.9,253,3856,0.00,2.58,0.00,0.000,4,0.000,0.052,2869,688,3110,0,0,0,0,0,0
$GC,3937,-1.19,-116.8,391.8,-7.5,254,3942,0.00,2.47,0.00,0.000,6,0.000,0.028,2869,2105,3109,0,0,0,0,0,0
$GC,4268,-1.19,-116.8,413.3,-6.4,263,4273,0.00,2.60,0.00,0.000,4,0.000,0.052,2869,685,3108,0,0,0,0,0,0
$GC,4283,-1.19,-116.8,414.4,-6.7,263,4287,0.00,2.47,0.00,0.000,6,0.000,0.028,2869,2101,3107,0,0,0,0,0,0
$GC,4633,-1.19,-116.8,436.9,-6.3,272,4638,0.00,2.58,0.00,0.000,4,0.000,0.052,2869,694,3105,0,0,0,0,0,0
$GC,4657,-1.19,-116.8,438.5,-6.5,272,4662,0.00,2.47,0.00,0.000,6,0.000,0.029,2869,2107,3105,0,0,0,0,0,0
$STATE,4833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4833,begin apogee
$GC,4840,-0.31,0.0,451.1,7.1,277,4938,0.95,0.00,95.18,0.822,6,0.081,0.000,3067,1794,2635,0,0,0,0,0,0
$STATE,4939,end apogee,CONTROL_FINISHED_OK
$STATE,4939,begin climb
$GC,4942,1.19,116.8,452.8,0.0,279,5055,1.48,2.65,101.15,0.801,4,0.054,0.047,3394,3198,2157,0,0,0,0,0,0
$GC,5065,1.19,116.8,442.3,10.2,281,5070,0.00,2.62,0.00,0.000,6,0.000,0.051,3394,1808,2157,0,0,0,0,0,0
$GC,5396,1.19,116.8,404.6,11.2,290,5401,0.00,2.67,0.00,0.000,4,0.000,0.061,3394,396,2147,0,0,0,0,0,0
$GC,5461,1.19,116.8,395.8,13.0,291,5466,0.00,2.47,0.00,0.000,6,0.000,0.026,3394,1800,2142,0,0,0,0,0,0
$GC,5807,1.19,116.8,355.2,12.2,300,5808,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1802,2141,0,0,0,0,0,0
$GC,6131,1.19,116.8,318.1,11.0,308,6136,0.00,2.55,0.00,0.000,4,0.000,0.043,3394,3204,2139,0,0,0,0,0,0
$GC,6187,1.19,116.8,312.1,11.0,309,6192,0.00,2.62,0.00,0.000,6,0.000,0.049,3394,1796,2139,0,0,0,0,0,0
$GC,6504,1.19,116.8,276.7,10.9,322,6509,0.00,2.62,0.00,0.000,4,0.000,0.059,3394,392,2138,0,0,0,0,0,0
$GC,6526,1.19,116.8,274.4,11.4,323,6531,0.00,2.47,0.00,0.000,6,0.000,0.025,3394,1805,2136,0,0,0,0,0,0
$GC,6858,1.19,116.8,242.4,10.5,339,6859,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1808,2135,0,0,0,0,0,0
$GC,7165,1.19,116.8,213.5,9.0,354,7170,0.00,2.62,0.00,0.000,4,0.000,0.056,3394,390,2134,0,0,0,0,0,0
$GC,7203,1.19,116.8,209.1,11.4,355,7208,0.00,2.47,0.00,0.000,6,0.000,0.024,3394,1804,2133,0,0,0,0,0,0
$GC,7528,1.19,116.8,176.2,10.7,381,7532,0.00,2.65,0.00,0.000,4,0.000,0.054,3394,387,2133,0,0,0,0,0,0
$GC,7555,1.19,116.8,172.9,12.1,383,7559,0.00,2.47,0.00,0.000,6,0.000,0.023,3394,1813,2132,0,0,0,0,0,0
$GC,7819,1.19,116.8,148.7,8.4,407,7823,0.00,2.62,0.00,0.000,4,0.000,0.052,3394,390,2132,0,0,0,0,0,0
$GC,7838,1.19,116.8,146.4,9.6,408,7845,0.00,2.45,0.00,0.000,6,0.000,0.022,3394,1798,2131,0,0,0,0,0,0
$GC,8103,1.21,130.1,124.2,7.4,433,8116,0.00,2.50,8.02,0.502,4,0.000,0.033,3394,3200,2104,0,0,0,0,0,0
$GC,8155,1.22,139.1,119.8,7.6,438,8174,0.00,2.53,9.88,0.518,6,0.000,0.038,3394,1796,2066,0,0,0,0,0,0
$GC,8429,1.22,139.1,97.9,8.9,464,8433,0.00,2.55,0.00,0.000,4,0.000,0.049,3394,389,2064,0,0,0,0,0,0
$GC,8490,1.22,139.1,91.9,9.3,470,8494,0.00,2.42,0.00,0.000,6,0.000,0.020,3394,1802,2062,0,0,0,0,0,0
$GC,8754,1.28,189.0,73.9,5.7,494,8805,0.10,2.67,43.55,0.528,4,0.071,0.048,3434,386,1863,0,0,0,0,0,0
$GC,8845,1.28,189.0,65.2,12.8,503,8852,0.00,2.45,0.00,0.000,6,0.000,0.019,3434,1792,1858,0,0,0,0,0,0
$GC,9109,1.28,189.0,38.3,8.9,528,9114,0.00,2.58,0.00,0.000,4,0.000,0.048,3434,385,1858,0,0,0,0,0,0
$GC,9156,1.28,189.0,32.8,12.1,532,9162,0.00,2.45,0.00,0.000,6,0.000,0.018,3434,1806,1855,0,0,0,0,0,0
$GC,9423,1.28,189.0,13.2,8.9,578,9429,0.00,2.45,0.00,0.000,4,0.000,0.030,3434,3195,1855,0,0,0,0,0,0
$GC,9441,1.28,189.0,10.7,11.6,581,9448,0.00,2.53,0.00,0.000,6,0.000,0.031,3434,1796,1855,0,0,0,0,0,0
$STATE,9512,end climb,SURFACE_DEPTH_REACHED
$STATE,9512,begin surface coast
$FINISH,1.1,1.023050
$STATE,9540,end surface coast,CONTROL_FINISHED_OK
$STATE,9542,begin surface
$SM_CCo,9566,69.03,0.458,0,0,1287,330.17
$SM_GC,1.75,0.00,0.00,69.03,0.000,0.000,0.458,428,2153,1287,-12.46,1.47,330.17
$IRIDIUM_FIX,2059.45,-15803.33,300700,070739
$TT8_MAMPS,0.029146
$HUMID,55.63
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.5,22.042
$10V_AH,10.5,21.056
$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,28.500,117.000,257.775,69.025,0.000,61.448,110.329,214.607,4.500,0.000,35.236,1107.325,6387.656,404.530,1689.768,653.527,33.358,1128.079,0.000,1651.917,0.000,29.249,0.000
$DEVICE_MAMPS,135.759,61.360,822.224,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.592,388.842,875.273,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,31811,599
$CAP_FILE_SIZE,101913,0
$CFSIZE,260165632,243339264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060511,102925,2107.444,-15801.391,47,1.8,47,9.8