version: 66.06
glider: 139
mission: 9
dive: 102
start: 4 16 111 13 13 1
data:
$ID,139
$MISSION,9
$DIVE,102
$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,-2176712.2
$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,20
$R_STBD_OVSHOOT,62
$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
$GPS1,130637,2105.788,-15753.183,32,1.1,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-75.3
$GPS2,131208,2105.841,-15753.248,15,1.4,15,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.217,0.047
$KALMAN_X,-28952.7,510.5,-339.4,34667.2,-3146.0
$KALMAN_Y,-5513.1,-378.8,30.4,7363.9,-519.9
$MHEAD_RNG_PITCHd_Wd,68.1,17849,-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,-116.8,0.0,0.0,0,93,0.00,0.00,-71.93,0.000,6,0.000,0.000,428,2113,3111,0,0,0,0,0,0
$GC,96,-1.19,-116.8,2.8,-3.2,14,114,13.20,2.30,0.00,0.000,4,0.137,0.028,2868,3488,3113,0,0,0,0,0,0
$GC,297,-1.19,-116.8,42.1,-16.3,50,303,0.00,2.38,0.00,0.000,6,0.000,0.029,2868,2087,3115,0,0,0,0,0,0
$GC,559,-1.19,-116.8,84.3,-15.1,75,563,0.00,2.35,0.00,0.000,4,0.000,0.031,2868,3481,3116,0,0,0,0,0,0
$GC,822,-1.19,-116.8,123.7,-12.3,103,828,0.00,2.28,0.00,0.000,6,0.000,0.026,2868,2093,3116,0,0,0,0,0,0
$GC,1085,-1.19,-116.8,153.4,-13.1,128,1089,0.00,2.30,0.00,0.000,4,0.000,0.028,2868,3485,3117,0,0,0,0,0,0
$GC,1138,-1.19,-116.8,159.6,-11.2,133,1143,0.00,2.30,0.00,0.000,6,0.000,0.027,2868,2101,3117,0,0,0,0,0,0
$GC,1406,-1.19,-116.8,190.1,-11.7,158,1410,0.00,2.28,0.00,0.000,4,0.000,0.029,2868,3479,3118,0,0,0,0,0,0
$GC,1589,-1.19,-116.8,210.2,-10.3,172,1593,0.00,2.30,0.00,0.000,6,0.000,0.027,2868,2096,3118,0,0,0,0,0,0
$GC,1914,-1.19,-116.8,240.0,-7.9,188,1919,0.00,2.38,0.00,0.000,4,0.000,0.041,2868,691,3118,0,0,0,0,0,0
$GC,1947,-1.19,-116.8,242.6,-8.1,189,1951,0.00,2.28,0.00,0.000,6,0.000,0.021,2868,2090,3119,0,0,0,0,0,0
$GC,2269,-1.19,-116.8,264.5,-7.9,205,2273,0.00,2.35,0.00,0.000,4,0.000,0.034,2868,3493,3118,0,0,0,0,0,0
$GC,2334,-1.19,-116.8,270.2,-8.9,207,2339,0.00,2.33,0.00,0.000,6,0.000,0.028,2868,2100,3118,0,0,0,0,0,0
$GC,2650,-1.19,-116.8,296.4,-8.4,223,2655,0.00,2.40,0.00,0.000,4,0.000,0.044,2867,690,3117,0,0,0,0,0,0
$GC,2770,-1.19,-116.8,305.5,-7.0,226,2775,0.00,2.28,0.00,0.000,6,0.000,0.024,2867,2098,3117,0,0,0,0,0,0
$GC,3111,-1.19,-116.8,327.8,-7.4,235,3115,0.00,2.35,0.00,0.000,4,0.000,0.037,2868,3500,3116,0,0,0,0,0,0
$GC,3272,-1.19,-116.8,343.9,-10.3,238,3277,0.00,2.33,0.00,0.000,6,0.000,0.031,2868,2102,3115,0,0,0,0,0,0
$GC,3618,-1.19,-116.8,375.7,-8.7,247,3622,0.00,2.35,0.00,0.000,4,0.000,0.038,2867,3493,3113,0,0,0,0,0,0
$GC,3740,-1.19,-116.8,385.6,-8.1,249,3745,0.00,2.35,0.00,0.000,6,0.000,0.034,2868,2102,3112,0,0,0,0,0,0
$GC,4077,-1.19,-116.8,406.0,-5.5,258,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2101,3110,0,0,0,0,0,0
$GC,4402,-1.19,-116.8,425.6,-6.5,266,4406,0.00,2.42,0.00,0.000,4,0.000,0.051,2867,694,3108,0,0,0,0,0,0
$GC,4425,-1.19,-116.8,427.6,-7.6,266,4429,0.00,2.33,0.00,0.000,6,0.000,0.028,2867,2093,3107,0,0,0,0,0,0
$STATE,4727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4727,begin apogee
$GC,4734,-0.31,0.0,451.2,8.0,274,4833,0.95,0.00,95.70,0.826,6,0.084,0.000,3064,1809,2635,0,0,0,0,0,0
$STATE,4834,end apogee,CONTROL_FINISHED_OK
$STATE,4834,begin climb
$GC,4837,1.19,116.8,453.5,0.0,276,4949,1.50,2.58,101.40,0.805,4,0.058,0.060,3393,393,2156,0,0,0,0,0,0
$GC,4996,1.19,116.8,438.0,13.6,279,5000,0.00,2.40,0.00,0.000,6,0.000,0.028,3394,1806,2150,0,0,0,0,0,0
$GC,5332,1.19,116.8,395.8,12.2,288,5336,0.00,2.53,0.00,0.000,4,0.000,0.058,3393,393,2144,0,0,0,0,0,0
$GC,5351,1.19,116.8,393.2,12.9,288,5355,0.00,2.38,0.00,0.000,6,0.000,0.028,3394,1804,2143,0,0,0,0,0,0
$GC,5696,1.19,116.8,352.1,11.8,297,5697,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1809,2141,0,0,0,0,0,0
$GC,6021,1.19,116.8,315.4,10.9,305,6025,0.00,2.38,0.00,0.000,4,0.000,0.035,3394,3208,2139,0,0,0,0,0,0
$GC,6072,1.19,116.8,310.5,9.2,306,6076,0.00,2.45,0.00,0.000,6,0.000,0.041,3393,1804,2139,0,0,0,0,0,0
$GC,6395,1.19,116.8,281.3,9.0,319,6399,0.00,2.53,0.00,0.000,4,0.000,0.058,3393,379,2137,0,0,0,0,0,0
$GC,6485,1.19,116.8,271.2,11.8,323,6489,0.00,2.35,0.00,0.000,6,0.000,0.028,3394,1796,2134,0,0,0,0,0,0
$GC,6816,1.19,116.8,236.1,10.0,339,6820,0.00,2.50,0.00,0.000,4,0.000,0.054,3393,382,2133,0,0,0,0,0,0
$GC,6853,1.19,116.8,231.3,13.0,340,6860,0.00,2.40,0.00,0.000,6,0.000,0.026,3394,1814,2132,0,0,0,0,0,0
$GC,7171,1.19,116.8,196.8,10.7,357,7175,0.00,2.53,0.00,0.000,4,0.000,0.054,3393,379,2132,0,0,0,0,0,0
$GC,7224,1.19,116.8,190.5,12.2,362,7228,0.00,2.35,0.00,0.000,6,0.000,0.025,3394,1807,2131,0,0,0,0,0,0
$GC,7487,1.19,116.8,163.8,10.8,386,7488,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1812,2131,0,0,0,0,0,0
$GC,7740,1.19,116.8,138.9,8.6,410,7744,0.00,2.33,0.00,0.000,4,0.000,0.028,3394,3211,2132,0,0,0,0,0,0
$GC,7792,1.21,125.5,134.9,7.6,415,7802,0.00,2.40,3.88,0.381,6,0.000,0.035,3394,1796,2123,0,0,0,0,0,0
$GC,8057,1.21,125.5,114.1,9.5,440,8061,0.00,2.42,0.00,0.000,4,0.000,0.044,3393,375,2122,0,0,0,0,0,0
$GC,8076,1.21,125.5,112.3,9.3,441,8081,0.00,2.33,0.00,0.000,6,0.000,0.021,3394,1803,2121,0,0,0,0,0,0
$GC,8339,1.27,177.8,94.9,5.6,466,8394,0.00,2.58,46.65,0.555,4,0.000,0.048,3393,380,1909,0,0,0,0,0,0
$GC,8419,1.27,177.8,89.4,8.2,474,8425,0.00,2.35,0.00,0.000,6,0.000,0.020,3394,1798,1906,0,0,0,0,0,0
$GC,8683,1.31,208.5,69.9,6.6,499,8717,0.12,2.38,27.10,0.515,4,0.062,0.025,3436,3198,1783,0,0,0,0,0,0
$GC,8736,1.31,208.5,64.9,9.8,504,8743,0.00,2.42,0.00,0.000,6,0.000,0.032,3436,1801,1783,0,0,0,0,0,0
$GC,9001,1.31,208.5,33.8,12.4,529,9005,0.00,2.45,0.00,0.000,4,0.000,0.048,3436,387,1781,0,0,0,0,0,0
$GC,9094,1.31,208.5,20.8,13.8,546,9100,0.00,2.33,0.00,0.000,6,0.000,0.019,3436,1813,1777,0,0,0,0,0,0
$STATE,9262,end climb,SURFACE_DEPTH_REACHED
$STATE,9262,begin surface coast
$FINISH,0.8,1.023218
$STATE,9290,end surface coast,CONTROL_FINISHED_OK
$STATE,9290,begin surface
$SM_CCo,9314,62.88,0.462,0,0,1288,330.17
$SM_GC,1.35,0.00,0.00,62.88,0.000,0.000,0.462,427,2145,1288,-12.47,1.30,330.17
$IRIDIUM_FIX,2057.14,-15753.90,100700,101012
$TT8_MAMPS,0.028379
$HUMID,53.89
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,8.238
$10V_AH,10.5,7.856
$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,28.725,100.850,274.725,62.875,0.000,23.236,38.854,151.525,4.500,0.000,15.730,1085.268,6066.164,397.553,1722.240,439.658,33.349,1148.379,0.000,1698.966,0.000,29.262,0.000
$DEVICE_MAMPS,136.526,59.826,826.059,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,393.787,374.389,832.245,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31826,582
$CAP_FILE_SIZE,97062,0
$CFSIZE,260165632,251584512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160411,155028,2105.842,-15753.396,11,9.1,30,9.8