version: 66.06
glider: 139
mission: 9
dive: 105
start: 4 16 111 21 23 43
data:
$ID,139
$MISSION,9
$DIVE,105
$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,-2176777.8
$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,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
$GPS1,211738,2105.627,-15751.932,10,1.9,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-76.1
$GPS2,212250,2105.633,-15751.901,13,1.6,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.216,0.050
$KALMAN_X,-34337.6,-219.4,811.3,41949.2,-3423.1
$KALMAN_Y,-6951.8,135.4,46.0,7890.8,-578.5
$MHEAD_RNG_PITCHd_Wd,67.3,15525,-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,-70.97,0.000,6,0.000,0.000,430,2143,3111,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.5,-5.2,14,115,13.50,2.20,0.00,0.000,4,0.146,0.025,2868,3465,3113,0,0,0,0,0,0
$GC,347,-1.19,-116.8,51.9,-15.9,56,351,0.00,2.30,0.00,0.000,6,0.000,0.028,2867,2088,3114,0,0,0,0,0,0
$GC,614,-1.19,-116.8,94.6,-14.8,81,618,0.00,2.25,0.00,0.000,4,0.000,0.027,2868,3452,3116,0,0,0,0,0,0
$GC,741,-1.19,-116.8,111.1,-13.0,94,746,0.00,2.28,0.00,0.000,6,0.000,0.028,2868,2090,3116,0,0,0,0,0,0
$GC,1005,-1.19,-116.8,139.4,-9.9,118,1009,0.00,2.28,0.00,0.000,4,0.000,0.029,2868,3462,3117,0,0,0,0,0,0
$GC,1155,-1.19,-116.8,153.4,-9.0,134,1162,0.00,2.28,0.00,0.000,6,0.000,0.027,2868,2104,3117,0,0,0,0,0,0
$GC,1419,-1.19,-116.8,178.0,-10.2,159,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2104,3118,0,0,0,0,0,0
$GC,1680,-1.19,-116.8,205.0,-10.5,182,1685,0.00,2.38,0.00,0.000,4,0.000,0.040,2868,685,3118,0,0,0,0,0,0
$GC,1713,-1.19,-116.8,209.0,-11.7,183,1717,0.00,2.22,0.00,0.000,6,0.000,0.021,2868,2060,3118,0,0,0,0,0,0
$GC,2030,-1.19,-116.8,244.1,-11.2,198,2034,0.00,2.38,0.00,0.000,4,0.000,0.033,2868,3493,3117,0,0,0,0,0,0
$GC,2057,-1.19,-116.8,247.2,-11.0,199,2061,0.00,2.35,0.00,0.000,6,0.000,0.030,2868,2094,3117,0,0,0,0,0,0
$GC,2379,-1.19,-116.8,272.5,-7.0,215,2383,0.00,2.38,0.00,0.000,4,0.000,0.033,2868,3500,3118,0,0,0,0,0,0
$GC,2510,-1.19,-116.8,279.9,-5.4,220,2521,0.00,2.38,0.00,0.000,6,0.000,0.029,2868,2095,3117,0,0,0,0,0,0
$GC,2826,-1.19,-116.8,299.3,-7.3,236,2830,0.00,2.38,0.00,0.000,4,0.000,0.044,2868,690,3116,0,0,0,0,0,0
$GC,2854,-1.19,-116.8,301.6,-8.0,237,2858,0.00,2.30,0.00,0.000,6,0.000,0.024,2868,2104,3117,0,0,0,0,0,0
$GC,3190,-1.19,-116.8,330.8,-8.9,246,3194,0.00,2.40,0.00,0.000,4,0.000,0.044,2868,694,3115,0,0,0,0,0,0
$GC,3204,-1.19,-116.8,332.3,-8.9,246,3208,0.00,2.30,0.00,0.000,6,0.000,0.025,2868,2096,3115,0,0,0,0,0,0
$GC,3554,-1.19,-116.8,357.7,-6.1,255,3558,0.00,2.45,0.00,0.000,4,0.000,0.047,2868,691,3113,0,0,0,0,0,0
$GC,3597,-1.19,-116.8,360.4,-6.5,256,3601,0.00,2.33,0.00,0.000,6,0.000,0.025,2868,2100,3113,0,0,0,0,0,0
$GC,3927,-1.19,-116.8,381.5,-7.1,264,3931,0.00,2.38,0.00,0.000,4,0.000,0.039,2868,3496,3111,0,0,0,0,0,0
$GC,4045,-1.19,-116.8,391.2,-7.9,266,4050,0.00,2.35,0.00,0.000,6,0.000,0.034,2868,2098,3110,0,0,0,0,0,0
$GC,4386,-1.19,-116.8,418.3,-7.6,275,4387,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2097,3108,0,0,0,0,0,0
$GC,4711,-1.19,-116.8,438.8,-5.8,283,4715,0.00,2.40,0.00,0.000,4,0.000,0.041,2868,3495,3106,0,0,0,0,0,0
$GC,4840,-1.19,-116.8,447.0,-6.4,285,4846,0.00,2.38,0.00,0.000,6,0.000,0.036,2868,2101,3106,0,0,0,0,0,0
$STATE,4885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4885,begin apogee
$GC,4891,-0.31,0.0,450.1,6.8,287,4991,1.00,0.00,95.70,0.825,6,0.100,0.000,3067,1810,2634,0,0,0,0,0,0
$STATE,4991,end apogee,CONTROL_FINISHED_OK
$STATE,4991,begin climb
$GC,4994,1.19,116.8,451.6,0.0,289,5101,1.55,0.00,102.57,0.808,6,0.071,0.000,3393,1810,2157,0,0,0,0,0,0
$GC,5412,1.19,116.8,404.5,12.8,300,5417,0.00,2.40,0.00,0.000,4,0.000,0.035,3393,3201,2146,0,0,0,0,0,0
$GC,5428,1.19,116.8,402.7,12.6,300,5432,0.00,2.45,0.00,0.000,6,0.000,0.041,3393,1804,2146,0,0,0,0,0,0
$GC,5778,1.19,116.8,359.3,12.4,309,5782,0.00,2.55,0.00,0.000,4,0.000,0.060,3393,380,2142,0,0,0,0,0,0
$GC,5811,1.19,116.8,354.5,15.4,309,5815,0.00,2.40,0.00,0.000,6,0.000,0.028,3393,1808,2139,0,0,0,0,0,0
$GC,6142,1.19,116.8,315.2,11.9,317,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1813,2139,0,0,0,0,0,0
$GC,6449,1.19,116.8,282.5,10.2,328,6450,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1813,2138,0,0,0,0,0,0
$GC,6759,1.19,116.8,251.7,9.5,343,6764,0.00,2.53,0.00,0.000,4,0.000,0.055,3393,383,2136,0,0,0,0,0,0
$GC,6787,1.19,116.8,248.8,10.4,344,6792,0.00,2.35,0.00,0.000,6,0.000,0.026,3393,1818,2133,0,0,0,0,0,0
$GC,7112,1.19,116.8,221.5,8.4,360,7116,0.00,2.33,0.00,0.000,4,0.000,0.031,3394,3204,2134,0,0,0,0,0,0
$GC,7140,1.19,116.8,218.6,9.0,361,7144,0.00,2.42,0.00,0.000,6,0.000,0.037,3393,1798,2134,0,0,0,0,0,0
$GC,7465,1.19,116.8,186.8,10.3,383,7470,0.00,2.47,0.00,0.000,4,0.000,0.052,3393,379,2133,0,0,0,0,0,0
$GC,7528,1.19,116.8,179.7,11.7,389,7532,0.00,2.33,0.00,0.000,6,0.000,0.023,3393,1793,2132,0,0,0,0,0,0
$GC,7793,1.19,116.8,151.6,10.6,413,7797,0.00,2.45,0.00,0.000,4,0.000,0.050,3393,376,2132,0,0,0,0,0,0
$GC,7821,1.19,116.8,147.5,13.0,415,7826,0.00,2.33,0.00,0.000,6,0.000,0.022,3393,1812,2132,0,0,0,0,0,0
$GC,8084,1.23,143.6,123.4,6.8,440,8113,0.00,2.35,19.92,0.568,4,0.000,0.028,3393,3191,2048,0,0,0,0,0,0
$GC,8135,1.26,172.2,120.0,6.7,445,8171,0.00,2.38,26.30,0.568,6,0.000,0.033,3393,1798,1931,0,0,0,0,0,0
$GC,8426,1.26,172.2,96.3,8.4,473,8431,0.00,2.45,0.00,0.000,4,0.000,0.049,3393,379,1926,0,0,0,0,0,0
$GC,8536,1.26,172.2,86.7,8.4,484,8543,0.00,2.33,0.00,0.000,6,0.000,0.021,3393,1785,1923,0,0,0,0,0,0
$GC,8801,1.28,184.7,69.2,7.5,509,8818,0.10,0.00,10.93,0.480,6,0.075,0.000,3436,1791,1881,0,0,0,0,0,0
$GC,9076,1.28,184.7,41.0,10.6,535,9080,0.00,2.40,0.00,0.000,4,0.000,0.046,3435,388,1880,0,0,0,0,0,0
$GC,9118,1.28,184.7,35.5,12.1,539,9122,0.00,2.30,0.00,0.000,6,0.000,0.019,3435,1833,1878,0,0,0,0,0,0
$GC,9388,1.28,184.7,5.9,10.7,584,9395,0.00,2.53,0.00,0.000,4,0.000,0.045,3435,386,1878,0,0,0,0,0,0
$GC,9402,1.28,184.7,4.5,10.7,586,9409,0.00,2.28,0.00,0.000,6,0.000,0.018,3435,1776,1878,0,0,0,0,0,0
$STATE,9414,end climb,SURFACE_DEPTH_REACHED
$STATE,9414,begin surface coast
$FINISH,0.6,1.022951
$STATE,9442,end surface coast,CONTROL_FINISHED_OK
$STATE,9442,begin surface
$SM_CCo,9466,76.18,0.466,0,0,1289,330.17
$SM_GC,1.35,0.00,0.00,76.18,0.000,0.000,0.466,426,2167,1289,-12.47,1.89,330.17
$IRIDIUM_FIX,2059.45,-15723.87,100700,181833
$TT8_MAMPS,0.028379
$HUMID,53.38
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.4,8.478
$10V_AH,10.5,8.085
$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,29.125,100.300,255.425,76.175,0.000,24.822,34.069,138.420,4.500,0.000,13.941,1098.027,6253.338,445.321,1637.498,423.807,33.344,1136.782,0.000,1621.882,0.000,29.261,0.000
$DEVICE_MAMPS,146.497,59.826,825.292,465.569,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.621,382.263,850.091,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31823,593
$CAP_FILE_SIZE,96263,0
$CFSIZE,260165632,251432960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170411,000406,2105.738,-15751.898,42,0.9,42,9.8