version: 66.06
glider: 139
mission: 9
dive: 104
start: 4 16 111 18 47 30
data:
$ID,139
$MISSION,9
$DIVE,104
$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,-2176763
$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,18
$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
$GPS1,183807,2105.894,-15752.624,36,1.0,36,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-75.9
$GPS2,184637,2105.910,-15752.492,12,1.1,17,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.222,-0.004
$KALMAN_X,-32717.0,-139.8,529.4,39509.1,-2621.7
$KALMAN_Y,-6110.3,-137.5,-41.4,7919.2,50.3
$MHEAD_RNG_PITCHd_Wd,81.3,16543,-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,-70.35,0.000,6,0.000,0.000,428,2145,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.7,-6.4,14,114,13.25,2.20,0.00,0.000,4,0.138,0.028,2869,3462,3114,0,0,0,0,0,0
$GC,225,-1.19,-116.8,32.6,-15.1,41,229,0.00,2.30,0.00,0.000,6,0.000,0.029,2869,2086,3115,0,0,0,0,0,0
$GC,487,-1.19,-116.8,77.7,-16.6,65,491,0.00,2.28,0.00,0.000,4,0.000,0.027,2869,3459,3115,0,0,0,0,0,0
$GC,750,-1.19,-116.8,116.6,-15.4,93,755,0.00,2.25,0.00,0.000,6,0.000,0.029,2869,2100,3116,0,0,0,0,0,0
$GC,1013,-1.19,-116.8,146.7,-10.8,118,1017,0.00,2.28,0.00,0.000,4,0.000,0.028,2869,3462,3117,0,0,0,0,0,0
$GC,1184,-1.19,-116.8,167.6,-12.2,136,1190,0.00,2.30,0.00,0.000,6,0.000,0.027,2869,2094,3117,0,0,0,0,0,0
$GC,1448,-1.19,-116.8,196.8,-11.3,161,1452,0.00,2.28,0.00,0.000,4,0.000,0.030,2869,3452,3117,0,0,0,0,0,0
$GC,1485,-1.19,-116.8,201.3,-11.2,164,1492,0.00,2.28,0.00,0.000,6,0.000,0.028,2870,2106,3118,0,0,0,0,0,0
$GC,1801,-1.19,-116.8,232.9,-9.5,180,1805,0.00,2.38,0.00,0.000,4,0.000,0.041,2869,688,3118,0,0,0,0,0,0
$GC,1828,-1.19,-116.8,235.7,-10.1,181,1833,0.00,2.20,0.00,0.000,6,0.000,0.021,2869,2060,3118,0,0,0,0,0,0
$GC,2150,-1.19,-116.8,262.3,-7.5,197,2154,0.00,2.30,0.00,0.000,4,0.000,0.041,2869,692,3118,0,0,0,0,0,0
$GC,2224,-1.19,-116.8,269.5,-10.2,200,2228,0.00,2.28,0.00,0.000,6,0.000,0.022,2869,2102,3117,0,0,0,0,0,0
$GC,2544,-1.19,-116.8,298.7,-9.2,216,2548,0.00,2.35,0.00,0.000,4,0.000,0.034,2869,3503,3117,0,0,0,0,0,0
$GC,2692,-1.19,-116.8,312.3,-8.8,220,2696,0.00,2.35,0.00,0.000,6,0.000,0.030,2869,2091,3116,0,0,0,0,0,0
$GC,3006,-1.19,-116.8,336.4,-7.3,228,3010,0.00,2.38,0.00,0.000,4,0.000,0.035,2869,3494,3116,0,0,0,0,0,0
$GC,3025,-1.19,-116.8,337.8,-7.0,228,3029,0.00,2.35,0.00,0.000,6,0.000,0.031,2869,2096,3116,0,0,0,0,0,0
$GC,3375,-1.19,-116.8,360.7,-6.7,237,3379,0.00,2.38,0.00,0.000,4,0.000,0.037,2869,3496,3114,0,0,0,0,0,0
$GC,3642,-1.19,-116.8,381.0,-9.0,242,3647,0.00,2.35,0.00,0.000,6,0.000,0.033,2869,2096,3113,0,0,0,0,0,0
$GC,3974,-1.19,-116.8,410.8,-9.2,250,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2095,3110,0,0,0,0,0,0
$GC,4299,-1.19,-116.8,436.7,-7.4,258,4303,0.00,2.42,0.00,0.000,4,0.000,0.051,2869,685,3108,0,0,0,0,0,0
$GC,4314,-1.19,-116.8,437.9,-7.6,258,4318,0.00,2.33,0.00,0.000,6,0.000,0.028,2869,2093,3107,0,0,0,0,0,0
$STATE,4498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4498,begin apogee
$GC,4505,-0.31,0.0,452.8,8.0,263,4605,0.95,0.00,95.85,0.820,6,0.084,0.000,3065,1809,2635,0,0,0,0,0,0
$STATE,4605,end apogee,CONTROL_FINISHED_OK
$STATE,4605,begin climb
$GC,4608,1.19,116.8,455.1,0.0,265,4717,1.50,0.00,101.45,0.801,6,0.058,0.000,3394,1808,2158,0,0,0,0,0,0
$GC,5016,1.19,116.8,412.0,11.6,275,5020,0.00,2.55,0.00,0.000,4,0.000,0.060,3394,390,2146,0,0,0,0,0,0
$GC,5077,1.19,116.8,403.1,15.1,276,5081,0.00,2.38,0.00,0.000,6,0.000,0.028,3394,1803,2143,0,0,0,0,0,0
$GC,5390,1.19,116.8,359.0,14.5,284,5394,0.00,2.38,0.00,0.000,4,0.000,0.035,3394,3204,2142,0,0,0,0,0,0
$GC,5409,1.19,116.8,356.0,15.3,284,5413,0.00,2.45,0.00,0.000,6,0.000,0.041,3394,1796,2141,0,0,0,0,0,0
$GC,5754,1.19,116.8,312.5,12.0,293,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1795,2139,0,0,0,0,0,0
$GC,6063,1.19,116.8,280.8,9.4,305,6067,0.00,2.47,0.00,0.000,4,0.000,0.057,3394,383,2137,0,0,0,0,0,0
$GC,6107,1.19,116.8,276.4,9.5,307,6112,0.00,2.35,0.00,0.000,6,0.000,0.028,3394,1803,2134,0,0,0,0,0,0
$GC,6438,1.19,116.8,243.1,10.1,323,6443,0.00,2.53,0.00,0.000,4,0.000,0.055,3394,377,2134,0,0,0,0,0,0
$GC,6521,1.19,116.8,232.5,11.5,326,6528,0.00,2.38,0.00,0.000,6,0.000,0.025,3394,1802,2132,0,0,0,0,0,0
$GC,6837,1.19,116.8,199.2,10.0,342,6841,0.00,2.50,0.00,0.000,4,0.000,0.051,3394,379,2132,0,0,0,0,0,0
$GC,6890,1.19,116.8,193.7,11.4,347,6894,0.00,2.35,0.00,0.000,6,0.000,0.024,3395,1814,2131,0,0,0,0,0,0
$GC,7154,1.19,116.8,169.8,8.8,371,7158,0.00,2.47,0.00,0.000,4,0.000,0.051,3394,383,2132,0,0,0,0,0,0
$GC,7170,1.19,116.8,168.1,8.9,372,7174,0.00,2.33,0.00,0.000,6,0.000,0.023,3394,1810,2131,0,0,0,0,0,0
$GC,7433,1.19,116.8,144.5,10.2,396,7437,0.00,2.30,0.00,0.000,4,0.000,0.028,3394,3205,2131,0,0,0,0,0,0
$GC,7463,1.19,116.8,141.6,9.5,399,7467,0.00,2.40,0.00,0.000,6,0.000,0.034,3394,1787,2131,0,0,0,0,0,0
$GC,7727,1.19,116.8,114.2,10.6,423,7731,0.00,2.33,0.00,0.000,4,0.000,0.027,3394,3204,2131,0,0,0,0,0,0
$GC,7754,1.19,116.8,111.0,10.0,425,7760,0.00,2.38,0.00,0.000,6,0.000,0.032,3394,1791,2131,0,0,0,0,0,0
$GC,8018,1.25,164.3,91.7,5.8,450,8064,0.00,2.50,37.10,0.547,4,0.000,0.048,3393,392,1964,0,0,0,0,0,0
$GC,8106,1.30,204.0,86.3,6.2,459,8147,0.12,2.30,35.10,0.534,6,0.062,0.020,3434,1802,1802,0,0,0,0,0,0
$GC,8403,1.30,204.0,55.9,10.7,487,8408,0.00,2.47,0.00,0.000,4,0.000,0.048,3434,382,1798,0,0,0,0,0,0
$GC,8431,1.30,204.0,52.2,12.7,489,8438,0.00,2.33,0.00,0.000,6,0.000,0.020,3435,1799,1796,0,0,0,0,0,0
$GC,8696,1.30,204.0,20.0,12.4,521,8702,0.00,2.47,0.00,0.000,4,0.000,0.047,3434,389,1795,0,0,0,0,0,0
$GC,8752,1.30,204.0,13.0,12.1,533,8758,0.00,2.33,0.00,0.000,6,0.000,0.019,3435,1813,1794,0,0,0,0,0,0
$STATE,8840,end climb,SURFACE_DEPTH_REACHED
$STATE,8840,begin surface coast
$FINISH,0.7,1.013414
$STATE,8870,end surface coast,CONTROL_FINISHED_OK
$STATE,8870,begin surface
$SM_CCo,8894,64.60,0.463,0,0,1288,330.17
$SM_GC,1.44,0.00,0.00,64.60,0.000,0.000,0.463,431,2143,1288,-12.45,1.22,330.17
$IRIDIUM_FIX,2057.14,-15801.19,100700,181837
$TT8_MAMPS,0.029146
$HUMID,53.74
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,8.401
$10V_AH,10.6,8.010
$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,28.725,100.050,269.500,64.600,0.000,46.122,66.642,209.822,4.500,0.000,17.841,1040.774,5844.209,404.047,1627.174,554.219,33.347,1115.031,0.000,1604.376,0.000,29.246,0.000
$DEVICE_MAMPS,138.060,59.826,819.923,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,374.545,358.441,787.328,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31733,554
$CAP_FILE_SIZE,96794,0
$CFSIZE,260165632,251482112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160411,211738,2105.627,-15751.932,10,1.9,10,9.8