version: 66.06
glider: 139
mission: 9
dive: 103
start: 4 16 111 15 59 57
data:
$ID,139
$MISSION,9
$DIVE,103
$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,-2176744.5
$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,89
$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
$GPS1,155028,2105.842,-15753.396,11,9.1,30,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-75.4
$GPS2,155904,2105.939,-15753.262,11,8.3,30,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.222,0.003
$KALMAN_X,-31081.2,202.6,-338.7,37073.4,-2469.9
$KALMAN_Y,-5726.1,-363.4,-107.2,7879.2,-38.1
$MHEAD_RNG_PITCHd_Wd,79.3,17874,-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,13,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,-71.10,0.000,6,0.000,0.000,427,2145,3112,0,0,0,0,0,0
$GC,97,-1.19,-116.8,3.4,-5.1,14,115,13.25,2.20,0.00,0.000,4,0.139,0.031,2867,3455,3114,0,0,0,0,0,0
$GC,253,-1.19,-116.8,38.9,-15.5,43,257,0.00,2.30,0.00,0.000,6,0.000,0.028,2867,2077,3115,0,0,0,0,0,0
$GC,515,-1.19,-116.8,81.4,-14.3,67,519,0.00,2.28,0.00,0.000,4,0.000,0.028,2867,3453,3116,0,0,0,0,0,0
$GC,781,-1.19,-116.8,116.9,-11.8,96,785,0.00,2.28,0.00,0.000,6,0.000,0.027,2867,2092,3117,0,0,0,0,0,0
$GC,1044,-1.19,-116.8,145.3,-11.1,120,1048,0.00,2.28,0.00,0.000,4,0.000,0.029,2867,3452,3117,0,0,0,0,0,0
$GC,1171,-1.19,-116.8,159.4,-11.4,133,1176,0.00,2.22,0.00,0.000,6,0.000,0.027,2868,2097,3118,0,0,0,0,0,0
$GC,1437,-1.19,-116.8,186.8,-10.2,158,1441,0.00,2.25,0.00,0.000,4,0.000,0.030,2867,3456,3118,0,0,0,0,0,0
$GC,1479,-1.19,-116.8,190.9,-10.0,162,1483,0.00,2.22,0.00,0.000,6,0.000,0.027,2867,2100,3118,0,0,0,0,0,0
$GC,1741,-1.19,-116.8,217.0,-10.2,179,1745,0.00,2.35,0.00,0.000,4,0.000,0.041,2867,695,3118,0,0,0,0,0,0
$GC,1806,-1.19,-116.8,224.2,-10.7,182,1810,0.00,2.20,0.00,0.000,6,0.000,0.021,2867,2064,3119,0,0,0,0,0,0
$GC,2136,-1.19,-116.8,254.0,-8.0,198,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2068,3118,0,0,0,0,0,0
$GC,2446,-1.19,-116.8,279.2,-7.7,213,2450,0.00,2.40,0.00,0.000,4,0.000,0.034,2867,3496,3118,0,0,0,0,0,0
$GC,2583,-1.19,-116.8,291.4,-9.3,219,2587,0.00,2.33,0.00,0.000,6,0.000,0.030,2867,2096,3117,0,0,0,0,0,0
$GC,2929,-1.19,-116.8,320.3,-8.5,230,2934,0.00,2.38,0.00,0.000,4,0.000,0.044,2867,691,3116,0,0,0,0,0,0
$GC,3052,-1.19,-116.8,332.4,-10.6,232,3057,0.00,2.33,0.00,0.000,6,0.000,0.025,2867,2106,3116,0,0,0,0,0,0
$GC,3389,-1.19,-116.8,362.7,-8.9,241,3393,0.00,2.35,0.00,0.000,4,0.000,0.037,2867,3496,3114,0,0,0,0,0,0
$GC,3614,-1.19,-116.8,380.1,-6.9,245,3620,0.00,2.33,0.00,0.000,6,0.000,0.032,2867,2100,3113,0,0,0,0,0,0
$GC,3946,-1.19,-116.8,399.2,-5.7,254,3950,0.00,2.40,0.00,0.000,4,0.000,0.039,2867,3499,3111,0,0,0,0,0,0
$GC,4040,-1.19,-116.8,405.1,-6.8,256,4044,0.00,2.38,0.00,0.000,6,0.000,0.035,2867,2102,3110,0,0,0,0,0,0
$GC,4372,-1.19,-116.8,426.2,-6.6,264,4373,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2101,3108,0,0,0,0,0,0
$GC,4697,-1.19,-116.8,446.7,-6.3,272,4702,0.00,2.40,0.00,0.000,4,0.000,0.041,2867,3493,3106,0,0,0,0,0,0
$STATE,4741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4742,begin apogee
$GC,4751,-0.31,0.0,450.0,7.1,273,4850,0.95,0.00,94.95,0.824,6,0.089,0.000,3064,1809,2634,0,0,0,0,0,0
$STATE,4851,end apogee,CONTROL_FINISHED_OK
$STATE,4851,begin climb
$GC,4854,1.19,116.8,451.4,0.0,275,4966,1.50,2.60,100.72,0.804,4,0.058,0.060,3392,386,2156,0,0,0,0,0,0
$GC,4976,1.19,116.8,439.5,13.2,277,4982,0.00,2.38,0.00,0.000,6,0.000,0.028,3392,1789,2153,0,0,0,0,0,0
$GC,5307,1.19,116.8,393.9,13.3,286,5311,0.00,2.45,0.00,0.000,4,0.000,0.036,3392,3215,2145,0,0,0,0,0,0
$GC,5335,1.19,116.8,390.0,12.6,286,5339,0.00,2.47,0.00,0.000,6,0.000,0.042,3392,1801,2145,0,0,0,0,0,0
$GC,5671,1.19,116.8,346.4,13.3,295,5672,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1801,2141,0,0,0,0,0,0
$GC,5996,1.19,116.8,305.7,12.0,303,6000,0.00,2.40,0.00,0.000,4,0.000,0.034,3392,3210,2139,0,0,0,0,0,0
$GC,6012,1.19,116.8,303.9,11.4,303,6016,0.00,2.47,0.00,0.000,6,0.000,0.040,3392,1792,2139,0,0,0,0,0,0
$GC,6345,1.19,116.8,269.5,11.2,318,6349,0.00,2.50,0.00,0.000,4,0.000,0.057,3392,380,2137,0,0,0,0,0,0
$GC,6388,1.19,116.8,264.3,12.8,320,6393,0.00,2.40,0.00,0.000,6,0.000,0.027,3392,1825,2135,0,0,0,0,0,0
$GC,6718,1.19,116.8,229.3,10.8,336,6722,0.00,2.53,0.00,0.000,4,0.000,0.054,3392,382,2134,0,0,0,0,0,0
$GC,6750,1.19,116.8,225.4,12.0,337,6754,0.00,2.33,0.00,0.000,6,0.000,0.025,3392,1801,2133,0,0,0,0,0,0
$GC,7069,1.19,116.8,193.1,11.1,355,7073,0.00,2.50,0.00,0.000,4,0.000,0.052,3392,378,2133,0,0,0,0,0,0
$GC,7112,1.19,116.8,187.8,12.0,359,7117,0.00,2.35,0.00,0.000,6,0.000,0.024,3392,1805,2132,0,0,0,0,0,0
$GC,7377,1.19,116.8,162.8,10.0,383,7381,0.00,2.50,0.00,0.000,4,0.000,0.051,3392,377,2132,0,0,0,0,0,0
$GC,7432,1.19,116.8,157.1,9.3,388,7439,0.00,2.35,0.00,0.000,6,0.000,0.023,3392,1792,2131,0,0,0,0,0,0
$GC,7696,1.19,116.8,132.1,11.1,413,7700,0.00,2.33,0.00,0.000,4,0.000,0.028,3393,3210,2132,0,0,0,0,0,0
$GC,7778,1.19,116.8,124.1,8.7,421,7783,0.00,2.40,0.00,0.000,6,0.000,0.035,3392,1791,2132,0,0,0,0,0,0
$GC,8041,1.26,166.6,104.2,5.7,446,8087,0.00,2.47,39.62,0.559,4,0.000,0.047,3392,386,1952,0,0,0,0,0,0
$GC,8129,1.26,166.6,97.2,9.3,455,8134,0.00,2.35,0.00,0.000,6,0.000,0.021,3392,1829,1949,0,0,0,0,0,0
$GC,8394,1.26,170.4,76.8,7.8,479,8405,0.00,2.58,3.67,0.331,4,0.000,0.049,3392,384,1939,0,0,0,0,0,0
$GC,8444,1.26,170.4,71.9,8.8,484,8448,0.00,2.30,0.00,0.000,6,0.000,0.020,3392,1792,1937,0,0,0,0,0,0
$GC,8713,1.26,170.4,50.2,8.9,509,8719,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1797,1937,0,0,0,0,0,0
$GC,8976,1.27,176.2,29.4,7.8,534,8989,0.00,2.45,6.78,0.401,4,0.000,0.045,3392,384,1915,0,0,0,0,0,0
$GC,9022,1.27,176.2,25.0,10.2,543,9029,0.00,2.33,0.00,0.000,6,0.000,0.019,3392,1798,1912,0,0,0,0,0,0
$GC,9225,1.28,184.8,9.3,7.6,580,9244,0.10,2.50,8.70,0.410,4,0.072,0.044,3432,388,1880,0,0,0,0,0,0
$GC,9277,1.28,184.8,3.9,11.2,590,9284,0.00,2.33,0.00,0.000,6,0.000,0.018,3432,1814,1878,0,0,0,0,0,0
$STATE,9289,end climb,SURFACE_DEPTH_REACHED
$STATE,9289,begin surface coast
$FINISH,0.5,1.020917
$STATE,9316,end surface coast,CONTROL_FINISHED_OK
$STATE,9317,begin surface
$SM_CCo,9341,74.30,0.459,0,0,1288,330.17
$SM_GC,1.33,0.00,0.00,74.30,0.000,0.000,0.459,428,2145,1288,-12.46,1.24,330.17
$IRIDIUM_FIX,2057.14,-15756.04,100700,131312
$TT8_MAMPS,0.029146
$HUMID,52.40
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.4,8.319
$10V_AH,10.6,7.936
$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,28.700,105.475,254.450,74.300,0.000,49.991,131.920,140.368,4.500,0.000,31.469,1116.264,6076.159,389.523,1779.569,572.597,33.344,1163.598,0.000,1753.595,0.000,29.260,0.000
$DEVICE_MAMPS,138.827,59.826,823.758,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.881,394.029,877.380,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31805,597
$CAP_FILE_SIZE,100797,0
$CFSIZE,260165632,251527168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160411,183807,2105.894,-15752.624,36,1.0,36,9.8