version: 66.06
glider: 139
mission: 9
dive: 35
start: 4 8 111 16 6 43
data:
$ID,139
$MISSION,9
$DIVE,35
$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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,51959
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,-2175265.5
$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,3140
$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,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,160107,2104.473,-15758.222,42,1.3,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-74.5
$GPS2,160626,2104.477,-15758.276,13,1.4,13,9.8
$SPEED_LIMITS,0.139,0.213
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,74.9,26652,-17.6,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.23,-107.1,0.0,0.0,0,94,0.00,0.00,-70.40,0.000,6,0.000,0.000,427,2087,3072,0,0,0,0,0,0
$GC,97,-1.23,-107.1,2.5,-3.4,14,116,13.38,2.40,0.00,0.000,4,0.140,0.029,2860,3512,3074,0,0,0,0,0,0
$GC,365,-1.23,-107.1,51.4,-16.8,60,369,0.00,2.40,0.00,0.000,6,0.000,0.028,2861,2092,3075,0,0,0,0,0,0
$GC,626,-1.23,-107.1,95.4,-15.5,84,630,0.00,2.38,0.00,0.000,4,0.000,0.030,2861,3499,3076,0,0,0,0,0,0
$GC,798,-1.23,-107.1,119.6,-13.4,102,806,0.00,2.38,0.00,0.000,6,0.000,0.028,2861,2095,3077,0,0,0,0,0,0
$GC,1063,-1.23,-107.1,151.4,-10.7,127,1067,0.00,2.35,0.00,0.000,4,0.000,0.030,2861,3505,3078,0,0,0,0,0,0
$GC,1096,-1.23,-107.1,154.8,-9.2,130,1100,0.00,2.35,0.00,0.000,6,0.000,0.028,2861,2091,3078,0,0,0,0,0,0
$GC,1360,-1.23,-107.1,175.3,-7.9,154,1364,0.00,2.38,0.00,0.000,4,0.000,0.031,2861,3498,3078,0,0,0,0,0,0
$GC,1506,-1.23,-107.1,187.7,-8.7,169,1510,0.00,2.33,0.00,0.000,6,0.000,0.028,2860,2097,3079,0,0,0,0,0,0
$GC,1764,-1.23,-107.1,211.6,-9.6,187,1768,0.00,2.35,0.00,0.000,4,0.000,0.041,2861,694,3079,0,0,0,0,0,0
$GC,1830,-1.23,-107.1,218.7,-10.8,190,1834,0.00,2.30,0.00,0.000,6,0.000,0.022,2860,2111,3079,0,0,0,0,0,0
$GC,2158,-1.23,-107.1,249.4,-8.7,206,2163,0.00,2.40,0.00,0.000,4,0.000,0.042,2860,694,3079,0,0,0,0,0,0
$GC,2318,-1.23,-107.1,261.5,-7.9,213,2322,0.00,2.33,0.00,0.000,6,0.000,0.024,2861,2108,3079,0,0,0,0,0,0
$GC,2648,-1.23,-107.1,284.7,-7.4,229,2652,0.00,2.35,0.00,0.000,4,0.000,0.037,2861,3496,3079,0,0,0,0,0,0
$GC,2865,-1.23,-107.1,304.9,-9.2,237,2869,0.00,2.35,0.00,0.000,6,0.000,0.032,2861,2102,3078,0,0,0,0,0,0
$GC,3196,-1.23,-107.1,332.7,-8.3,245,3200,0.00,2.42,0.00,0.000,4,0.000,0.047,2860,692,3076,0,0,0,0,0,0
$GC,3211,-1.23,-107.1,333.9,-7.4,245,3215,0.00,2.30,0.00,0.000,6,0.000,0.027,2860,2094,3076,0,0,0,0,0,0
$GC,3561,-1.23,-107.1,357.3,-7.0,254,3565,0.00,2.38,0.00,0.000,4,0.000,0.040,2860,3501,3075,0,0,0,0,0,0
$GC,3630,-1.23,-107.1,362.1,-6.9,255,3634,0.00,2.38,0.00,0.000,6,0.000,0.035,2860,2096,3074,0,0,0,0,0,0
$GC,3972,-1.23,-107.1,384.0,-6.1,264,3977,0.00,2.42,0.00,0.000,4,0.000,0.051,2860,685,3072,0,0,0,0,0,0
$GC,3991,-1.23,-107.1,385.4,-6.2,264,3996,0.00,2.35,0.00,0.000,6,0.000,0.030,2860,2101,3072,0,0,0,0,0,0
$GC,4337,-1.23,-107.1,402.2,-4.3,273,4341,0.00,2.45,0.00,0.000,4,0.000,0.050,2860,692,3070,0,0,0,0,0,0
$GC,4389,-1.23,-107.1,404.9,-5.4,274,4393,0.00,2.33,0.00,0.000,6,0.000,0.030,2860,2101,3069,0,0,0,0,0,0
$GC,4707,-1.23,-107.1,424.3,-6.6,282,4711,0.00,2.47,0.00,0.000,4,0.000,0.051,2860,686,3067,0,0,0,0,0,0
$GC,4726,-1.23,-107.1,425.7,-7.3,282,4731,0.00,2.38,0.00,0.000,6,0.000,0.031,2860,2099,3067,0,0,0,0,0,0
$STATE,5028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5028,begin apogee
$GC,5035,-0.31,0.0,451.9,9.2,290,5126,1.02,0.00,88.00,0.834,6,0.092,0.000,3068,1848,2635,0,0,0,0,0,0
$STATE,5127,end apogee,CONTROL_FINISHED_OK
$STATE,5127,begin climb
$GC,5130,1.23,107.1,455.9,0.0,292,5234,1.55,2.58,94.03,0.815,4,0.061,0.061,3403,445,2197,0,0,0,0,0,0
$GC,5258,1.23,107.1,447.9,11.5,295,5263,0.00,2.42,0.00,0.000,6,0.000,0.030,3403,1859,2192,0,0,0,0,0,0
$GC,5581,1.23,107.1,412.2,10.7,303,5585,0.00,2.40,0.00,0.000,4,0.000,0.039,3403,3248,2185,0,0,0,0,0,0
$GC,5609,1.23,107.1,409.0,11.0,303,5614,0.00,2.45,0.00,0.000,6,0.000,0.045,3403,1860,2185,0,0,0,0,0,0
$GC,5945,1.23,107.1,377.3,9.1,312,5949,0.00,2.58,0.00,0.000,4,0.000,0.061,3403,435,2183,0,0,0,0,0,0
$GC,6001,1.23,107.1,371.2,10.9,313,6005,0.00,2.40,0.00,0.000,6,0.000,0.031,3403,1855,2179,0,0,0,0,0,0
$GC,6319,1.23,107.1,336.7,11.7,321,6320,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,1859,2178,0,0,0,0,0,0
$GC,6644,1.23,107.1,299.6,11.1,329,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,1859,2177,0,0,0,0,0,0
$GC,6954,1.23,107.1,264.6,11.0,344,6958,0.00,2.53,0.00,0.000,4,0.000,0.058,3403,434,2176,0,0,0,0,0,0
$GC,7036,1.23,107.1,254.6,12.0,347,7042,0.00,2.38,0.00,0.000,6,0.000,0.029,3403,1860,2174,0,0,0,0,0,0
$GC,7353,1.23,107.1,219.1,11.4,363,7357,0.00,2.53,0.00,0.000,4,0.000,0.055,3403,440,2174,0,0,0,0,0,0
$GC,7390,1.23,107.1,214.0,14.1,364,7397,0.00,2.38,0.00,0.000,6,0.000,0.028,3403,1850,2172,0,0,0,0,0,0
$GC,7714,1.23,107.1,179.3,10.2,389,7719,0.00,2.47,0.00,0.000,4,0.000,0.054,3403,438,2173,0,0,0,0,0,0
$GC,7742,1.23,107.1,176.0,10.7,391,7748,0.00,2.35,0.00,0.000,6,0.000,0.026,3403,1858,2171,0,0,0,0,0,0
$GC,8005,1.23,107.1,150.9,9.9,416,8006,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,1863,2172,0,0,0,0,0,0
$GC,8257,1.23,107.1,128.1,8.5,440,8258,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,1863,2172,0,0,0,0,0,0
$GC,8512,1.23,107.1,108.4,9.1,464,8517,0.00,2.45,0.00,0.000,4,0.000,0.048,3403,437,2172,0,0,0,0,0,0
$GC,8529,1.23,107.1,106.7,10.3,465,8534,0.00,2.30,0.00,0.000,6,0.000,0.024,3404,1862,2171,0,0,0,0,0,0
$GC,8794,1.23,107.1,79.3,9.1,489,8798,0.00,2.47,0.00,0.000,4,0.000,0.048,3403,430,2172,0,0,0,0,0,0
$GC,8820,1.23,107.1,76.5,10.9,491,8825,0.00,2.30,0.00,0.000,6,0.000,0.022,3403,1852,2171,0,0,0,0,0,0
$GC,9086,1.27,141.3,55.9,6.3,515,9119,0.00,2.38,26.05,0.513,4,0.000,0.028,3404,3237,2059,0,0,0,0,0,0
$GC,9157,1.33,184.6,51.4,5.9,522,9202,0.08,2.40,38.55,0.513,6,0.038,0.031,3440,1847,1882,0,0,0,0,0,0
$GC,9458,1.33,184.6,20.6,11.8,558,9464,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1846,1876,0,0,0,0,0,0
$STATE,9603,end climb,SURFACE_DEPTH_REACHED
$STATE,9603,begin surface coast
$FINISH,0.5,1.005159
$STATE,9627,end surface coast,CONTROL_FINISHED_OK
$STATE,9627,begin surface
$SM_CCo,9651,75.30,0.469,0,0,1288,330.17
$SM_GC,1.03,0.00,0.00,75.30,0.000,0.000,0.469,429,2130,1288,-12.47,0.85,330.17
$IRIDIUM_FIX,2057.14,-15756.91,020700,131335
$TT8_MAMPS,0.029146
$HUMID,53.66
$INTERNAL_PRESSURE,9.56722
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.3,3.008
$10V_AH,10.6,2.578
$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,29.025,101.450,246.625,75.300,0.000,29.497,33.904,141.264,4.500,0.000,13.914,1106.992,6404.237,386.591,1722.332,426.184,0.000,1136.045,0.000,1702.174,0.000,29.241,0.000
$DEVICE_MAMPS,140.361,61.360,833.729,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.528,375.128,840.023,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,31809,589
$CAP_FILE_SIZE,99481,0
$CFSIZE,260165632,254971904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080411,185007,2103.963,-15758.812,38,1.1,38,9.8