version: 66.06
glider: 139
mission: 9
dive: 106
start: 4 17 111 0 10 37
data:
$ID,139
$MISSION,9
$DIVE,106
$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,-2176796
$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,85
$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
$GPS1,000406,2105.738,-15751.898,42,0.9,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-75.1
$GPS2,000944,2105.808,-15751.929,17,0.9,17,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.214,0.059
$KALMAN_X,-36173.6,-16.5,15.8,44331.8,-2948.2
$KALMAN_Y,-7348.1,342.4,10.7,8433.3,-664.8
$MHEAD_RNG_PITCHd_Wd,64.7,15569,-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,-70.85,0.000,6,0.000,0.000,426,2167,3111,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.4,-5.3,14,114,13.23,2.15,0.00,0.000,4,0.137,0.026,2870,3460,3113,0,0,0,0,0,0
$GC,367,-1.19,-116.8,54.2,-17.6,58,371,0.00,2.30,0.00,0.000,6,0.000,0.028,2870,2087,3115,0,0,0,0,0,0
$GC,628,-1.19,-116.8,96.6,-15.1,82,632,0.00,2.30,0.00,0.000,4,0.000,0.028,2870,3463,3116,0,0,0,0,0,0
$GC,862,-1.19,-116.8,128.2,-11.9,107,866,0.00,2.28,0.00,0.000,6,0.000,0.028,2870,2100,3116,0,0,0,0,0,0
$GC,1126,-1.19,-116.8,154.0,-8.0,131,1130,0.00,2.25,0.00,0.000,4,0.000,0.029,2870,3456,3117,0,0,0,0,0,0
$GC,1154,-1.19,-116.8,156.7,-8.9,133,1160,0.00,2.25,0.00,0.000,6,0.000,0.027,2870,2098,3117,0,0,0,0,0,0
$GC,1420,-1.19,-116.8,180.9,-10.6,158,1424,0.00,2.25,0.00,0.000,4,0.000,0.029,2870,3455,3118,0,0,0,0,0,0
$GC,1436,-1.19,-116.8,183.0,-10.4,159,1440,0.00,2.25,0.00,0.000,6,0.000,0.027,2870,2093,3118,0,0,0,0,0,0
$GC,1700,-1.19,-116.8,209.7,-9.3,179,1704,0.00,2.35,0.00,0.000,4,0.000,0.041,2870,690,3118,0,0,0,0,0,0
$GC,1737,-1.19,-116.8,213.3,-9.2,180,1744,0.00,2.25,0.00,0.000,6,0.000,0.021,2870,2059,3118,0,0,0,0,0,0
$GC,2053,-1.19,-116.8,240.0,-8.9,196,2058,0.00,2.40,0.00,0.000,4,0.000,0.032,2870,3495,3118,0,0,0,0,0,0
$GC,2183,-1.19,-116.8,251.1,-8.4,201,2188,0.00,2.33,0.00,0.000,6,0.000,0.028,2870,2100,3118,0,0,0,0,0,0
$GC,2502,-1.19,-116.8,280.4,-8.4,216,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2100,3117,0,0,0,0,0,0
$GC,2808,-1.19,-116.8,302.3,-5.6,230,2812,0.00,2.35,0.00,0.000,4,0.000,0.035,2870,3499,3117,0,0,0,0,0,0
$GC,2859,-1.19,-116.8,305.6,-6.0,231,2864,0.00,2.35,0.00,0.000,6,0.000,0.031,2870,2093,3116,0,0,0,0,0,0
$GC,3180,-1.19,-116.8,325.4,-6.1,239,3184,0.00,2.38,0.00,0.000,4,0.000,0.045,2870,690,3115,0,0,0,0,0,0
$GC,3204,-1.19,-116.8,327.5,-7.9,239,3208,0.00,2.30,0.00,0.000,6,0.000,0.025,2870,2105,3115,0,0,0,0,0,0
$GC,3544,-1.19,-116.8,354.4,-7.9,248,3548,0.00,2.35,0.00,0.000,4,0.000,0.038,2870,3504,3114,0,0,0,0,0,0
$GC,3592,-1.19,-116.8,358.0,-7.2,249,3596,0.00,2.38,0.00,0.000,6,0.000,0.032,2870,2099,3113,0,0,0,0,0,0
$GC,3924,-1.19,-116.8,384.2,-8.3,257,3928,0.00,2.42,0.00,0.000,4,0.000,0.048,2870,692,3111,0,0,0,0,0,0
$GC,4003,-1.19,-116.8,391.1,-8.3,258,4008,0.00,2.30,0.00,0.000,6,0.000,0.027,2870,2098,3111,0,0,0,0,0,0
$GC,4335,-1.19,-116.8,412.7,-6.0,266,4339,0.00,2.42,0.00,0.000,4,0.000,0.041,2870,3502,3108,0,0,0,0,0,0
$GC,4488,-1.19,-116.8,421.7,-5.4,269,4492,0.00,2.40,0.00,0.000,6,0.000,0.035,2870,2095,3107,0,0,0,0,0,0
$GC,4839,-1.19,-116.8,441.2,-6.0,278,4843,0.00,2.42,0.00,0.000,4,0.000,0.041,2870,3501,3105,0,0,0,0,0,0
$STATE,4976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4976,begin apogee
$GC,4985,-0.31,0.0,450.1,5.8,281,5084,0.93,0.00,95.05,0.824,6,0.087,0.000,3063,1811,2635,0,0,0,0,0,0
$STATE,5085,end apogee,CONTROL_FINISHED_OK
$STATE,5085,begin climb
$GC,5088,1.19,116.8,451.0,0.0,283,5200,1.52,2.65,100.95,0.802,4,0.059,0.060,3395,387,2156,0,0,0,0,0,0
$GC,5210,1.19,116.8,437.3,14.6,285,5216,0.00,2.40,0.00,0.000,6,0.000,0.027,3396,1794,2153,0,0,0,0,0,0
$GC,5541,1.19,116.8,388.8,14.9,294,5545,0.00,2.40,0.00,0.000,4,0.000,0.036,3396,3207,2145,0,0,0,0,0,0
$GC,5574,1.19,116.8,384.0,14.4,294,5578,0.00,2.47,0.00,0.000,6,0.000,0.042,3396,1800,2145,0,0,0,0,0,0
$GC,5905,1.19,116.8,338.1,13.3,302,5909,0.00,2.53,0.00,0.000,4,0.000,0.058,3395,385,2141,0,0,0,0,0,0
$GC,5956,1.19,116.8,330.7,14.5,303,5961,0.00,2.38,0.00,0.000,6,0.000,0.028,3396,1813,2139,0,0,0,0,0,0
$GC,6275,1.19,116.8,293.9,11.0,312,6280,0.00,2.55,0.00,0.000,4,0.000,0.057,3396,385,2138,0,0,0,0,0,0
$GC,6303,1.19,116.8,290.6,11.7,313,6308,0.00,2.38,0.00,0.000,6,0.000,0.028,3396,1806,2136,0,0,0,0,0,0
$GC,6625,1.19,116.8,255.1,11.2,329,6629,0.00,2.35,0.00,0.000,4,0.000,0.032,3395,3204,2136,0,0,0,0,0,0
$GC,6645,1.19,116.8,252.8,10.9,330,6649,0.00,2.42,0.00,0.000,6,0.000,0.038,3396,1794,2136,0,0,0,0,0,0
$GC,6974,1.19,116.8,220.1,9.9,346,6978,0.00,2.47,0.00,0.000,4,0.000,0.054,3395,385,2135,0,0,0,0,0,0
$GC,7053,1.19,116.8,210.7,12.1,349,7057,0.00,2.33,0.00,0.000,6,0.000,0.025,3396,1811,2133,0,0,0,0,0,0
$GC,7376,1.19,116.8,177.6,11.4,374,7380,0.00,2.33,0.00,0.000,4,0.000,0.030,3396,3208,2133,0,0,0,0,0,0
$GC,7442,1.19,116.8,170.5,10.3,381,7447,0.00,2.40,0.00,0.000,6,0.000,0.035,3396,1796,2133,0,0,0,0,0,0
$GC,7707,1.19,116.8,143.7,10.7,405,7712,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1796,2133,0,0,0,0,0,0
$GC,7969,1.22,138.9,122.0,7.0,430,7988,0.00,0.00,15.90,0.549,6,0.000,0.000,3396,1796,2068,0,0,0,0,0,0
$GC,8245,1.22,138.9,99.6,8.5,456,8250,0.00,2.33,0.00,0.000,4,0.000,0.027,3396,3206,2065,0,0,0,0,0,0
$GC,8306,1.22,140.0,94.4,8.0,462,8311,0.00,2.40,0.00,0.000,6,0.000,0.032,3396,1797,2065,0,0,0,0,0,0
$GC,8571,1.28,185.4,75.3,5.9,486,8614,0.00,0.00,40.92,0.526,6,0.000,0.000,3395,1797,1879,0,0,0,0,0,0
$GC,8866,1.28,185.4,53.3,8.6,514,8870,0.00,2.42,0.00,0.000,4,0.000,0.048,3396,388,1874,0,0,0,0,0,0
$GC,8896,1.28,185.4,50.5,10.0,517,8900,0.00,2.30,0.00,0.000,6,0.000,0.019,3396,1816,1872,0,0,0,0,0,0
$GC,9161,1.28,185.4,27.5,8.1,543,9167,0.00,2.50,0.00,0.000,4,0.000,0.047,3396,387,1871,0,0,0,0,0,0
$GC,9188,1.28,185.4,24.9,8.8,548,9195,0.00,2.30,0.00,0.000,6,0.000,0.019,3396,1790,1870,0,0,0,0,0,0
$GC,9392,1.28,185.4,8.1,8.5,585,9399,0.00,2.45,0.00,0.000,4,0.000,0.047,3396,389,1870,0,0,0,0,0,0
$STATE,9446,end climb,SURFACE_DEPTH_REACHED
$STATE,9446,begin surface coast
$FINISH,0.6,1.011602
$STATE,9482,end surface coast,CONTROL_FINISHED_OK
$STATE,9484,begin surface
$SM_CCo,9510,73.97,0.459,0,0,1288,330.17
$SM_GC,1.33,0.00,0.00,73.97,0.000,0.000,0.459,426,2106,1288,-12.47,0.17,330.17
$IRIDIUM_FIX,2057.14,-15751.76,100700,212109
$TT8_MAMPS,0.029146
$HUMID,53.15
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.4,8.554
$10V_AH,10.6,8.165
$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,28.400,109.950,252.825,73.975,0.000,28.748,37.232,149.487,4.500,0.000,17.592,1137.351,6127.058,391.290,1800.296,469.663,33.347,1165.755,0.000,1787.793,0.000,33.231,0.000
$DEVICE_MAMPS,136.526,59.826,823.758,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.915,396.610,904.871,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31792,605
$CAP_FILE_SIZE,101143,0
$CFSIZE,260165632,251379712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170411,025134,2106.021,-15752.016,13,5.0,32,9.8