version: 66.06
glider: 139
mission: 9
dive: 100
start: 4 16 111 7 38 37
data:
$ID,139
$MISSION,9
$DIVE,100
$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,-2176680
$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,87
$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
$GPS1,073234,2105.965,-15753.204,14,6.8,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-74.0
$GPS2,073744,2105.922,-15753.111,14,1.4,14,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.220,0.030
$KALMAN_X,-24518.9,392.1,455.1,29785.8,-2182.0
$KALMAN_Y,-4851.2,81.6,-33.8,6458.3,-334.9
$MHEAD_RNG_PITCHd_Wd,72.5,17614,-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,-116.8,0.0,0.0,0,93,0.00,0.00,-70.53,0.000,6,0.000,0.000,430,2160,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.7,-6.5,14,115,13.23,2.17,0.00,0.000,4,0.138,0.032,2869,3452,3114,0,0,0,0,0,0
$GC,331,-1.19,-116.8,53.7,-17.7,52,335,0.00,2.28,0.00,0.000,6,0.000,0.028,2869,2085,3116,0,0,0,0,0,0
$GC,592,-1.19,-116.8,95.1,-13.6,76,596,0.00,2.28,0.00,0.000,4,0.000,0.028,2869,3462,3116,0,0,0,0,0,0
$GC,843,-1.19,-116.8,122.8,-11.5,103,847,0.00,2.25,0.00,0.000,6,0.000,0.027,2869,2099,3117,0,0,0,0,0,0
$GC,1108,-1.19,-116.8,153.2,-11.5,127,1112,0.00,2.28,0.00,0.000,4,0.000,0.029,2869,3458,3118,0,0,0,0,0,0
$GC,1207,-1.19,-116.8,164.1,-10.3,137,1211,0.00,2.25,0.00,0.000,6,0.000,0.027,2869,2094,3118,0,0,0,0,0,0
$GC,1471,-1.19,-116.8,192.0,-11.1,161,1475,0.00,2.35,0.00,0.000,4,0.000,0.041,2869,691,3118,0,0,0,0,0,0
$GC,1490,-1.19,-116.8,194.8,-11.4,162,1497,0.00,2.25,0.00,0.000,6,0.000,0.021,2869,2068,3118,0,0,0,0,0,0
$GC,1747,-1.19,-116.8,220.6,-10.1,177,1751,0.00,2.38,0.00,0.000,4,0.000,0.032,2869,3491,3118,0,0,0,0,0,0
$GC,1884,-1.19,-116.8,234.7,-9.1,182,1891,0.00,2.35,0.00,0.000,6,0.000,0.028,2869,2098,3118,0,0,0,0,0,0
$GC,2200,-1.19,-116.8,259.8,-7.8,198,2205,0.00,2.38,0.00,0.000,4,0.000,0.042,2869,687,3118,0,0,0,0,0,0
$GC,2336,-1.19,-116.8,271.6,-8.6,203,2342,0.00,2.28,0.00,0.000,6,0.000,0.021,2869,2099,3118,0,0,0,0,0,0
$GC,2654,-1.19,-116.8,294.4,-7.6,219,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2103,3117,0,0,0,0,0,0
$GC,2978,-1.19,-116.8,317.4,-6.7,229,2982,0.00,2.35,0.00,0.000,4,0.000,0.036,2869,3493,3116,0,0,0,0,0,0
$GC,3096,-1.19,-116.8,326.4,-7.6,231,3101,0.00,2.33,0.00,0.000,6,0.000,0.031,2869,2098,3116,0,0,0,0,0,0
$GC,3442,-1.19,-116.8,348.9,-6.1,240,3446,0.00,2.40,0.00,0.000,4,0.000,0.046,2869,694,3115,0,0,0,0,0,0
$GC,3560,-1.19,-116.8,357.7,-7.3,242,3564,0.00,2.30,0.00,0.000,6,0.000,0.026,2869,2100,3114,0,0,0,0,0,0
$GC,3901,-1.19,-116.8,380.6,-6.8,251,3906,0.00,2.42,0.00,0.000,4,0.000,0.047,2869,695,3111,0,0,0,0,0,0
$GC,3934,-1.19,-116.8,383.2,-7.4,251,3939,0.00,2.30,0.00,0.000,6,0.000,0.027,2869,2100,3111,0,0,0,0,0,0
$GC,4266,-1.19,-116.8,407.0,-7.3,259,4270,0.00,2.40,0.00,0.000,4,0.000,0.041,2869,3509,3109,0,0,0,0,0,0
$GC,4304,-1.19,-116.8,409.9,-7.8,259,4309,0.00,2.38,0.00,0.000,6,0.000,0.035,2869,2103,3108,0,0,0,0,0,0
$GC,4635,-1.19,-116.8,433.1,-6.9,268,4639,0.00,2.42,0.00,0.000,4,0.000,0.051,2869,689,3107,0,0,0,0,0,0
$GC,4655,-1.19,-116.8,434.7,-7.4,268,4659,0.00,2.35,0.00,0.000,6,0.000,0.028,2869,2102,3106,0,0,0,0,0,0
$STATE,4879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4879,begin apogee
$GC,4886,-0.31,0.0,451.4,7.3,274,4985,0.95,0.00,95.35,0.826,6,0.085,0.000,3065,1806,2635,0,0,0,0,0,0
$STATE,4986,end apogee,CONTROL_FINISHED_OK
$STATE,4986,begin climb
$GC,4989,1.19,116.8,453.6,0.0,276,5101,1.50,2.58,101.32,0.805,4,0.058,0.060,3392,400,2156,0,0,0,0,0,0
$GC,5117,1.19,116.8,443.1,11.8,279,5121,0.00,2.40,0.00,0.000,6,0.000,0.028,3392,1816,2153,0,0,0,0,0,0
$GC,5445,1.19,116.8,404.1,11.7,287,5449,0.00,2.58,0.00,0.000,4,0.000,0.059,3392,391,2146,0,0,0,0,0,0
$GC,5488,1.19,116.8,398.6,12.6,288,5492,0.00,2.38,0.00,0.000,6,0.000,0.028,3392,1793,2143,0,0,0,0,0,0
$GC,5815,1.19,116.8,361.9,11.2,296,5820,0.00,2.53,0.00,0.000,4,0.000,0.058,3392,380,2141,0,0,0,0,0,0
$GC,5834,1.19,116.8,359.2,13.8,296,5839,0.00,2.40,0.00,0.000,6,0.000,0.028,3392,1816,2140,0,0,0,0,0,0
$GC,6179,1.19,116.8,316.5,11.9,305,6184,0.00,2.55,0.00,0.000,4,0.000,0.058,3392,388,2139,0,0,0,0,0,0
$GC,6217,1.19,116.8,311.4,13.9,305,6222,0.00,2.35,0.00,0.000,6,0.000,0.028,3393,1785,2136,0,0,0,0,0,0
$GC,6530,1.19,116.8,275.6,10.7,318,6535,0.00,2.40,0.00,0.000,4,0.000,0.034,3392,3212,2136,0,0,0,0,0,0
$GC,6552,1.19,116.8,273.4,11.1,319,6556,0.00,2.42,0.00,0.000,6,0.000,0.038,3392,1802,2136,0,0,0,0,0,0
$GC,6883,1.19,116.8,239.4,9.5,335,6887,0.00,2.47,0.00,0.000,4,0.000,0.056,3392,385,2135,0,0,0,0,0,0
$GC,6979,1.19,116.8,228.6,11.4,339,6983,0.00,2.35,0.00,0.000,6,0.000,0.026,3392,1813,2133,0,0,0,0,0,0
$GC,7306,1.19,116.8,195.2,10.9,357,7310,0.00,2.33,0.00,0.000,4,0.000,0.031,3393,3205,2133,0,0,0,0,0,0
$GC,7362,1.19,116.8,189.1,10.8,362,7368,0.00,2.42,0.00,0.000,6,0.000,0.037,3393,1804,2133,0,0,0,0,0,0
$GC,7624,1.19,116.8,158.9,11.6,387,7628,0.00,2.45,0.00,0.000,4,0.000,0.052,3392,384,2132,0,0,0,0,0,0
$GC,7694,1.19,116.8,150.2,11.3,394,7698,0.00,2.33,0.00,0.000,6,0.000,0.023,3393,1805,2131,0,0,0,0,0,0
$GC,7957,1.19,116.8,123.9,9.3,418,7961,0.00,2.30,0.00,0.000,4,0.000,0.029,3393,3207,2131,0,0,0,0,0,0
$GC,8014,1.20,120.6,119.0,7.8,424,8018,0.00,2.40,0.00,0.000,6,0.000,0.035,3393,1797,2131,0,0,0,0,0,0
$GC,8277,1.20,124.0,98.9,7.9,448,8281,0.00,2.40,0.00,0.000,4,0.000,0.048,3392,388,2131,0,0,0,0,0,0
$GC,8300,1.20,124.0,96.7,9.5,450,8306,0.00,2.30,0.00,0.000,6,0.000,0.021,3392,1799,2132,0,0,0,0,0,0
$GC,8562,1.21,130.7,77.5,7.7,475,8576,0.00,2.50,8.35,0.462,4,0.000,0.047,3393,382,2102,0,0,0,0,0,0
$GC,8654,1.21,130.7,69.9,9.0,485,8658,0.00,2.30,0.00,0.000,6,0.000,0.021,3393,1823,2100,0,0,0,0,0,0
$GC,8918,1.23,141.7,51.9,7.5,509,8935,0.00,0.00,11.35,0.471,6,0.000,0.000,3393,1829,2056,0,0,0,0,0,0
$GC,9193,1.29,196.1,33.8,5.5,535,9249,0.12,2.55,48.03,0.496,4,0.062,0.045,3436,379,1833,0,0,0,0,0,0
$GC,9297,1.29,196.1,23.3,12.7,551,9303,0.00,2.33,0.00,0.000,6,0.000,0.019,3436,1783,1828,0,0,0,0,0,0
$STATE,9474,end climb,SURFACE_DEPTH_REACHED
$STATE,9474,begin surface coast
$FINISH,0.6,1.022569
$STATE,9502,end surface coast,CONTROL_FINISHED_OK
$STATE,9502,begin surface
$SM_CCo,9526,68.70,0.464,0,0,1288,330.17
$SM_GC,1.29,0.00,0.00,68.70,0.000,0.000,0.464,424,2161,1288,-12.48,1.72,330.17
$IRIDIUM_FIX,2057.14,-15756.04,100700,040433
$TT8_MAMPS,0.028379
$HUMID,54.29
$INTERNAL_PRESSURE,9.57698
$TCM_TEMP,21.60
$XPDR_PINGS,1
$24V_AH,23.4,8.083
$10V_AH,10.5,7.705
$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,28.725,110.150,264.400,68.700,0.000,27.385,32.895,132.995,4.750,0.000,14.644,1113.295,6211.535,399.354,1759.501,423.824,33.348,1170.523,0.000,1737.296,0.000,29.259,0.000
$DEVICE_MAMPS,138.060,59.826,826.059,464.035,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.774,379.353,857.765,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31737,589
$CAP_FILE_SIZE,101339,0
$CFSIZE,260165632,251674624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160411,101937,2105.906,-15752.792,26,1.7,26,9.8