version: 66.09
glider: 106
mission: 9
dive: 175
start: 10 5 110 21 55 23
data:
$ID,106
$MISSION,9
$DIVE,175
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,0
$T_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,220
$T_MISSION,275
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52196
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,270
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,32.75
$TGT_DEFAULT_LON,-118.6667
$TGT_AUTO_DEFAULT,0
$SM_CC,325
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,3
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-14095.549
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3483
$C_PITCH,2565
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,21
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,152
$ROLL_MAX,4003
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,272
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,800
$VBD_MAX,3955
$C_VBD,2788
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-7.6861606
$PRESSURE_SLOPE,0.0001162509
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,83
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043544411
$SEABIRD_T_H,0.00064594648
$SEABIRD_T_I,2.5694355e-05
$SEABIRD_T_J,2.7212752e-06
$SEABIRD_C_G,-9.9712534
$SEABIRD_C_H,1.1236986
$SEABIRD_C_I,-0.0012384581
$SEABIRD_C_J,0.00017801338
$MI_OFFLOAD,1.0
$MI_MAXUPLOADSIZE,20480.0
$MI_MAXOPTIONALUPLOADSIZE,20480.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_SCALEFACTOR24V,1.3
$GPS1,051010,214936,3246.961,-11852.179,11,1.5,27,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-69.9
$GPS2,051010,215516,3246.975,-11852.192,14,2.3,33,13.3
$SPEED_LIMITS,0.260,0.374
$TGT_NAME,HEADING
$TGT_LATLONG,3246.975,-11905.037
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.029,0.325
$KALMAN_X,-1632.6,-1213.9,-3.5,3791.9,382.8
$KALMAN_Y,-2087.5,-623.0,-619.5,270.5,-43.2
$MHEAD_RNG_PITCHd_Wd,256.7,20000,-19.7,-15.000
$D_GRID,990
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-1.61,-243.3,0.0,0.0,0,89,0.00,0.00,-73.65,0.000,2,0.000,0.000,166,2556,3431,0,0,0,0,0,0
$GC,91,-1.61,-243.3,4.2,-12.9,13,114,12.80,2.05,-5.30,0.000,4,0.194,0.050,2208,1387,3783,0,0,0,0,0,0
$GC,200,-1.61,-243.3,34.6,-17.5,33,206,0.00,2.03,0.00,0.000,6,0.000,0.028,2207,2562,3785,0,0,0,0,0,0
$GC,269,-1.61,-243.3,45.8,-16.5,46,276,0.00,2.53,0.00,0.000,4,0.000,0.052,2208,3944,3785,0,0,0,0,0,0
$GC,317,-1.61,-243.3,54.7,-17.6,53,324,0.00,2.00,0.00,0.000,6,0.000,0.023,2208,2779,3785,0,0,0,0,0,0
$GC,509,-1.61,-243.3,86.6,-16.8,72,513,0.00,2.47,0.00,0.000,4,0.000,0.039,2208,1387,3786,0,0,0,0,0,0
$GC,562,-1.61,-243.3,95.2,-15.3,77,566,0.00,2.03,0.00,0.000,6,0.000,0.028,2208,2548,3785,0,0,0,0,0,0
$GC,758,-1.61,-243.3,126.3,-15.3,96,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2548,3786,0,0,0,0,0,0
$GC,1062,-1.61,-243.3,170.1,-13.9,106,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2548,3785,0,0,0,0,0,0
$GC,1365,-1.61,-243.3,213.9,-14.6,116,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2548,3784,0,0,0,0,0,0
$GC,1669,-1.61,-243.3,259.0,-14.9,126,1673,0.00,2.60,0.00,0.000,4,0.000,0.058,2207,3945,3784,0,0,0,0,0,0
$GC,1701,-1.61,-243.3,263.7,-14.8,127,1705,0.00,2.03,0.00,0.000,6,0.000,0.028,2207,2778,3783,0,0,0,0,0,0
$GC,2036,-1.61,-243.3,312.2,-14.4,138,2040,0.00,2.50,0.00,0.000,4,0.000,0.043,2208,1389,3782,0,0,0,0,0,0
$GC,2148,-1.61,-243.3,327.2,-13.3,141,2152,0.00,2.05,0.00,0.000,6,0.000,0.034,2207,2536,3781,0,0,0,0,0,0
$GC,2467,-1.61,-243.3,371.0,-13.8,152,2471,0.00,2.67,0.00,0.000,4,0.000,0.070,2207,3956,3780,0,0,0,0,0,0
$GC,2493,-1.61,-243.3,374.9,-14.5,152,2500,0.00,2.05,0.00,0.000,6,0.000,0.029,2207,2792,3780,0,0,0,0,0,0
$GC,2802,-1.61,-243.3,418.4,-14.1,163,2806,0.00,2.58,0.00,0.000,4,0.000,0.052,2207,1368,3778,0,0,0,0,0,0
$GC,2924,-1.61,-243.3,434.9,-13.1,166,2932,0.00,2.12,0.00,0.000,6,0.000,0.037,2207,2547,3778,0,0,0,0,0,0
$GC,3233,-1.61,-243.3,477.5,-13.8,177,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2547,3777,0,0,0,0,0,0
$GC,3537,-1.61,-243.3,519.6,-13.6,187,3541,0.00,2.80,0.00,0.000,4,0.000,0.099,2207,3949,3775,0,0,0,0,0,0
$GC,3579,-1.61,-243.3,525.5,-13.8,188,3583,0.00,2.10,0.00,0.000,6,0.000,0.044,2207,2804,3775,0,0,0,0,0,0
$GC,3904,-1.61,-243.3,566.6,-12.5,199,3908,0.00,2.78,0.00,0.000,4,0.000,0.088,2207,1385,3774,0,0,0,0,0,0
$GC,4032,-1.61,-243.3,582.2,-11.8,203,4036,0.00,2.22,0.00,0.000,6,0.000,0.070,2207,2541,3774,0,0,0,0,0,0
$GC,4367,-1.61,-243.3,623.8,-12.2,214,4371,0.00,3.00,0.00,0.000,4,0.000,0.128,2207,3959,3772,0,0,0,0,0,0
$GC,4420,-1.61,-243.3,630.6,-13.1,215,4424,0.00,2.30,0.00,0.000,6,0.000,0.086,2207,2810,3772,0,0,0,0,0,0
$GC,4734,-1.61,-243.3,668.9,-12.1,226,4738,0.00,3.03,0.00,0.000,4,0.000,0.133,2207,1401,3771,0,0,0,0,0,0
$GC,4879,-1.61,-243.3,685.8,-12.6,230,4883,0.00,2.45,0.00,0.000,6,0.000,0.131,2207,2547,3771,0,0,1,0,0,0
$GC,5192,-1.61,-243.3,723.8,-12.3,241,5196,0.00,2.85,0.00,0.000,4,0.000,0.097,2207,3965,3770,0,0,0,0,0,0
$GC,5218,-1.61,-243.3,727.1,-13.3,241,5225,0.00,2.15,0.00,0.000,6,0.000,0.046,2207,2800,3769,0,0,0,0,0,0
$GC,5527,-1.61,-243.3,764.4,-12.0,252,5531,0.00,2.67,0.00,0.000,4,0.000,0.078,2207,1394,3768,0,0,0,0,0,0
$GC,5649,-1.61,-243.3,778.9,-12.6,255,5656,0.00,2.20,0.00,0.000,6,0.000,0.058,2207,2560,3768,0,0,0,0,0,0
$GC,5958,-1.61,-243.3,815.4,-12.0,266,5962,0.00,2.75,0.00,0.000,4,0.000,0.091,2207,3961,3767,0,0,0,0,0,0
$GC,5995,-1.61,-243.3,820.1,-13.0,267,5999,0.00,2.12,0.00,0.000,6,0.000,0.048,2207,2809,3766,0,0,0,0,0,0
$GC,6325,-1.61,-243.3,859.8,-12.1,278,6329,0.00,2.72,0.00,0.000,4,0.000,0.076,2207,1397,3766,0,0,0,0,0,0
$GC,6481,-1.61,-243.3,877.9,-11.1,282,6487,0.00,2.15,0.00,0.000,6,0.000,0.057,2207,2553,3765,0,0,0,0,0,0
$GC,6788,-1.61,-243.3,914.3,-11.7,293,6789,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2554,3765,0,0,0,0,0,0
$GC,7092,-1.61,-243.3,949.3,-11.7,303,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2555,3764,0,0,0,0,0,0
$GC,7395,-1.61,-243.3,984.6,-11.7,313,7399,0.00,2.75,0.00,0.000,4,0.000,0.091,2207,3959,3763,0,0,0,0,0,0
$GC,7427,-1.61,-243.3,988.4,-12.0,314,7431,0.00,2.12,0.00,0.000,6,0.000,0.046,2207,2804,3763,0,0,0,0,0,0
$STATE,7441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7441,begin apogee
$GC,7445,-0.33,0.0,990.0,11.1,314,7658,1.42,0.00,206.07,1.286,6,0.109,0.000,2490,2748,2787,0,0,0,0,0,0
$STATE,7658,end apogee,CONTROL_FINISHED_OK
$STATE,7659,begin climb
$GC,7661,1.61,243.3,1000.1,0.0,321,7881,1.92,2.33,210.38,1.255,4,0.048,0.077,2915,3914,1796,0,0,0,0,0,0
$GC,7976,1.61,243.3,955.4,20.0,331,7983,0.00,2.15,0.00,0.000,6,0.000,0.045,2915,2760,1791,0,0,0,0,0,0
$GC,8284,1.61,243.3,895.2,19.4,342,8288,0.00,2.72,0.00,0.000,4,0.000,0.073,2914,1345,1790,0,0,0,0,0,0
$GC,8423,1.61,243.3,868.1,19.8,346,8427,0.00,2.15,0.00,0.000,6,0.000,0.048,2914,2499,1788,0,0,0,0,0,0
$GC,8748,1.61,243.3,803.9,20.0,357,8748,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2499,1788,0,0,0,0,0,0
$GC,9051,1.61,243.3,742.6,20.1,367,9052,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2499,1788,0,0,0,0,0,0
$GC,9355,1.61,243.3,683.0,19.8,377,9359,0.00,2.20,0.00,0.000,4,0.000,0.064,2915,1351,1787,0,0,0,0,0,0
$GC,9387,1.61,243.3,676.7,19.9,378,9390,0.00,2.12,0.00,0.000,6,0.000,0.045,2915,2501,1787,0,0,0,0,0,0
$GC,9722,1.61,243.3,612.5,19.3,389,9726,0.00,2.20,0.00,0.000,4,0.000,0.063,2915,1348,1787,0,0,0,0,0,0
$GC,9769,1.61,243.3,603.3,19.2,390,9774,0.00,2.12,0.00,0.000,6,0.000,0.046,2914,2497,1787,0,0,0,0,0,0
$GC,10089,1.61,243.3,543.9,18.6,401,10090,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2497,1787,0,0,0,0,0,0
$GC,10392,1.61,243.3,489.7,17.5,411,10396,0.00,2.15,0.00,0.000,4,0.000,0.055,2915,1347,1787,0,0,0,0,0,0
$GC,10418,1.61,243.3,485.1,17.9,411,10426,0.00,2.10,0.00,0.000,6,0.000,0.038,2914,2503,1787,0,0,0,0,0,0
$GC,10727,1.61,243.3,430.6,17.5,422,10728,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2503,1787,0,0,0,0,0,0
$GC,11030,1.61,243.3,375.7,18.1,432,11035,0.00,2.15,0.00,0.000,4,0.000,0.050,2915,1344,1786,0,0,0,0,0,0
$GC,11067,1.61,243.3,369.1,18.2,433,11072,0.00,2.08,0.00,0.000,6,0.000,0.034,2915,2499,1786,0,0,0,0,0,0
$GC,11398,1.61,243.3,308.3,18.3,444,11398,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2501,1786,0,0,0,0,0,0
$GC,11701,1.61,243.3,251.4,18.8,454,11705,0.00,2.12,0.00,0.000,4,0.000,0.047,2915,1344,1786,0,0,0,0,0,0
$GC,11749,1.61,243.3,242.1,20.0,455,11753,0.00,2.05,0.00,0.000,6,0.000,0.032,2915,2498,1786,0,0,0,0,0,0
$GC,12068,1.61,243.3,181.8,18.8,466,12069,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2498,1786,0,0,0,0,0,0
$GC,12371,1.61,243.3,125.6,17.7,476,12375,0.00,2.12,0.00,0.000,4,0.000,0.047,2915,1340,1786,0,0,0,0,0,0
$GC,12398,1.61,243.3,121.0,17.0,476,12405,0.00,2.05,0.00,0.000,6,0.000,0.031,2915,2496,1786,0,0,0,0,0,0
$GC,12713,1.61,243.3,68.1,15.6,507,12714,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2496,1786,0,0,0,0,0,0
$GC,12902,1.63,256.2,39.8,14.5,531,12915,0.00,0.00,10.80,0.649,6,0.000,0.000,2915,2496,1742,0,0,0,0,0,0
$GC,12978,1.67,295.8,29.7,13.4,545,13018,0.00,0.00,35.25,0.682,6,0.000,0.000,2915,2496,1579,0,0,0,0,0,0
$GC,13081,1.72,336.2,16.1,13.3,564,13122,0.10,2.62,34.65,0.653,4,0.081,0.051,2942,3900,1415,0,0,0,0,0,0
$GC,13148,1.72,336.2,5.6,16.8,576,13154,0.00,2.05,0.00,0.000,6,0.000,0.028,2942,2751,1413,0,0,0,0,0,0
$STATE,13162,end climb,SURFACE_DEPTH_REACHED
$STATE,13162,begin surface coast
$FINISH,-0.0,1.024300
$STATE,13178,end surface coast,CONTROL_FINISHED_OK
$STATE,13178,begin surface
$SM_CCo,13257,0.00,0.000,0,0,1407,338.76
$SM_GC,0.93,12.70,0.00,0.00,0.047,0.000,0.000,169,2745,1407,-10.99,5.51,338.76
$IRIDIUM_FIX,3327.96,-11804.20,051010,212100
$TT8_MAMPS,0.051681
$HUMID,54.05
$INTERNAL_PRESSURE,7.14871
$TCM_TEMP,19.30
$24V_AH,23.3,32.893
$10V_AH,10.1,19.567
$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,28.950,116.475,497.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000,35.158,0.000,10894.964,583.983,1729.370,111.649,0.000,1380.660,0.000,1345.516,0.000,0.000,0.000
$DEVICE_MAMPS,194.310,133.110,1285.965,0.000,0.000,0.000,0.000,0.000,0.000,0.000,50.000,0.000,0.390,18.000,38.000,44.000,0.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,397.768,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354736
$DATA_FILE_SIZE,20089,582
$CAP_FILE_SIZE,146581,0
$CFSIZE,260034560,248840192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,061010,013852,3246.542,-11854.848,114,4.6,133,13.3