version: 66.06
glider: 139
mission: 9
dive: 36
start: 4 8 111 18 58 33
data:
$ID,139
$MISSION,9
$DIVE,36
$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,-2175283.8
$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,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,20
$R_STBD_OVSHOOT,84
$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
$GPS1,185007,2103.963,-15758.812,38,1.1,38,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-75.3
$GPS2,185814,2103.952,-15758.935,17,1.1,17,9.8
$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,73.1,27888,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.23,-107.1,0.0,0.0,0,88,0.00,0.00,-70.12,0.000,6,0.000,0.000,428,2130,3072,0,0,0,0,0,0
$GC,91,-1.23,-107.1,2.2,-2.5,13,110,13.35,2.22,0.00,0.000,4,0.140,0.028,2864,3459,3074,0,0,0,0,0,0
$GC,224,-1.23,-107.1,27.9,-16.0,42,231,0.00,2.35,0.00,0.000,6,0.000,0.029,2864,2087,3076,0,0,0,0,0,0
$GC,430,-1.23,-107.1,63.1,-16.9,62,434,0.00,2.30,0.00,0.000,4,0.000,0.029,2864,3455,3076,0,0,0,0,0,0
$GC,579,-1.23,-107.1,86.2,-14.2,78,583,0.00,2.28,0.00,0.000,6,0.000,0.028,2864,2094,3077,0,0,0,0,0,0
$GC,842,-1.23,-107.1,121.0,-13.0,102,846,0.00,2.28,0.00,0.000,4,0.000,0.029,2864,3462,3078,0,0,0,0,0,0
$GC,877,-1.23,-107.1,125.4,-12.1,105,881,0.00,2.28,0.00,0.000,6,0.000,0.030,2864,2094,3078,0,0,0,0,0,0
$GC,1142,-1.23,-107.1,156.4,-12.2,129,1146,0.00,2.30,0.00,0.000,4,0.000,0.031,2864,3459,3079,0,0,0,0,0,0
$GC,1283,-1.23,-107.1,171.9,-9.9,144,1287,0.00,2.25,0.00,0.000,6,0.000,0.028,2864,2098,3079,0,0,0,0,0,0
$GC,1546,-1.23,-107.1,196.4,-9.9,168,1550,0.00,2.28,0.00,0.000,4,0.000,0.031,2864,3454,3079,0,0,0,0,0,0
$GC,1565,-1.23,-107.1,198.5,-9.7,170,1569,0.00,2.28,0.00,0.000,6,0.000,0.028,2864,2098,3079,0,0,0,0,0,0
$GC,1831,-1.23,-107.1,226.6,-10.6,183,1835,0.00,2.28,0.00,0.000,4,0.000,0.032,2864,3461,3080,0,0,0,0,0,0
$GC,1840,-1.23,-107.1,227.7,-10.2,183,1845,0.00,2.28,0.00,0.000,6,0.000,0.028,2864,2099,3080,0,0,0,0,0,0
$GC,2156,-1.23,-107.1,252.8,-7.4,198,2160,0.00,2.42,0.00,0.000,4,0.000,0.043,2864,690,3079,0,0,0,0,0,0
$GC,2321,-1.23,-107.1,267.2,-10.3,205,2325,0.00,2.22,0.00,0.000,6,0.000,0.024,2864,2059,3079,0,0,0,0,0,0
$GC,2647,-1.23,-107.1,297.0,-9.1,221,2651,0.00,2.33,0.00,0.000,4,0.000,0.044,2864,690,3079,0,0,0,0,0,0
$GC,2661,-1.23,-107.1,298.6,-9.2,221,2667,0.00,2.30,0.00,0.000,6,0.000,0.025,2864,2100,3078,0,0,0,0,0,0
$GC,2974,-1.23,-107.1,326.7,-9.2,230,2978,0.00,2.35,0.00,0.000,4,0.000,0.038,2864,3499,3078,0,0,0,0,0,0
$GC,3016,-1.23,-107.1,330.9,-9.1,231,3021,0.00,2.38,0.00,0.000,6,0.000,0.032,2864,2097,3077,0,0,0,0,0,0
$GC,3344,-1.23,-107.1,357.4,-7.7,239,3349,0.00,2.38,0.00,0.000,4,0.000,0.038,2864,3497,3076,0,0,0,0,0,0
$GC,3614,-1.23,-107.1,379.6,-7.5,244,3619,0.00,2.38,0.00,0.000,6,0.000,0.034,2864,2098,3075,0,0,0,0,0,0
$GC,3946,-1.23,-107.1,400.0,-6.0,253,3950,0.00,2.40,0.00,0.000,4,0.000,0.041,2865,3495,3073,0,0,0,0,0,0
$GC,4044,-1.23,-107.1,406.7,-7.0,255,4048,0.00,2.35,0.00,0.000,6,0.000,0.036,2864,2101,3072,0,0,0,0,0,0
$GC,4363,-1.23,-107.1,428.4,-7.2,263,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2101,3071,0,0,0,0,0,0
$STATE,4605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4605,begin apogee
$GC,4612,-0.31,0.0,450.3,9.3,269,4703,1.00,0.00,88.40,0.819,6,0.090,0.000,3068,1847,2635,0,0,0,0,0,0
$STATE,4704,end apogee,CONTROL_FINISHED_OK
$STATE,4704,begin climb
$GC,4707,1.23,107.1,454.7,0.0,271,4811,1.55,2.60,93.15,0.805,4,0.060,0.061,3404,452,2197,0,0,0,0,0,0
$GC,4862,1.23,107.1,442.5,12.8,274,4867,0.00,2.38,0.00,0.000,6,0.000,0.030,3405,1850,2190,0,0,0,0,0,0
$GC,5203,1.23,107.1,406.2,11.0,283,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,1855,2184,0,0,0,0,0,0
$GC,5527,1.23,107.1,365.6,13.5,291,5532,0.00,2.53,0.00,0.000,4,0.000,0.058,3404,449,2182,0,0,0,0,0,0
$GC,5551,1.23,107.1,361.6,16.4,291,5555,0.00,2.38,0.00,0.000,6,0.000,0.030,3405,1858,2179,0,0,0,0,0,0
$GC,5891,1.23,107.1,311.3,14.2,300,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,1863,2179,0,0,0,0,0,0
$GC,6199,1.23,107.1,273.7,11.9,312,6203,0.00,2.50,0.00,0.000,4,0.000,0.057,3404,448,2177,0,0,0,0,0,0
$GC,6250,1.23,107.1,267.4,12.3,314,6254,0.00,2.35,0.00,0.000,6,0.000,0.029,3405,1852,2175,0,0,0,0,0,0
$GC,6570,1.23,107.1,238.2,9.2,330,6574,0.00,2.47,0.00,0.000,4,0.000,0.051,3405,446,2175,0,0,0,0,0,0
$GC,6667,1.23,107.1,229.2,8.9,334,6671,0.00,2.33,0.00,0.000,6,0.000,0.028,3405,1854,2173,0,0,0,0,0,0
$GC,6987,1.25,123.9,208.0,7.2,350,7001,0.00,0.00,11.50,0.609,6,0.000,0.000,3405,1860,2130,0,0,0,0,0,0
$GC,7305,1.25,123.9,174.4,12.0,375,7309,0.00,2.35,0.00,0.000,4,0.000,0.033,3405,3249,2128,0,0,0,0,0,0
$GC,7360,1.25,123.9,167.9,10.9,380,7367,0.00,2.42,0.00,0.000,6,0.000,0.037,3405,1856,2128,0,0,0,0,0,0
$GC,7624,1.25,123.9,137.8,10.8,405,7629,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,1855,2127,0,0,0,0,0,0
$GC,7885,1.27,137.0,114.7,7.4,430,7905,0.00,2.50,12.82,0.541,4,0.000,0.050,3405,441,2075,0,0,0,0,0,0
$GC,8071,1.27,137.0,96.5,9.9,450,8075,0.00,2.33,0.00,0.000,6,0.000,0.022,3405,1862,2071,0,0,0,0,0,0
$GC,8337,1.27,137.0,71.8,10.8,474,8341,0.00,2.45,0.00,0.000,4,0.000,0.048,3405,442,2071,0,0,0,0,0,0
$GC,8432,1.27,137.0,61.1,10.5,484,8436,0.00,2.30,0.00,0.000,6,0.000,0.021,3405,1859,2070,0,0,0,0,0,0
$GC,8696,1.28,149.0,40.9,7.4,508,8713,0.00,0.00,11.70,0.466,6,0.000,0.000,3405,1864,2025,0,0,0,0,0,0
$GC,8971,1.28,149.0,18.5,8.5,546,8978,0.00,2.47,0.00,0.000,4,0.000,0.045,3405,444,2025,0,0,0,0,0,0
$GC,8999,1.28,149.0,16.0,9.2,551,9005,0.00,2.30,0.00,0.000,6,0.000,0.021,3405,1856,2023,0,0,0,0,0,0
$STATE,9163,end climb,SURFACE_DEPTH_REACHED
$STATE,9163,begin surface coast
$FINISH,0.4,1.004796
$STATE,9203,end surface coast,CONTROL_FINISHED_OK
$STATE,9203,begin surface
$SM_CCo,9226,90.93,0.466,0,0,1288,330.17
$SM_GC,1.02,0.00,0.00,90.93,0.000,0.000,0.466,432,2118,1288,-12.46,0.51,330.17
$IRIDIUM_FIX,2054.83,-15759.05,020700,191944
$TT8_MAMPS,0.029146
$HUMID,52.08
$INTERNAL_PRESSURE,9.58675
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.3,3.083
$10V_AH,10.6,2.655
$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,28.725,90.275,217.575,90.925,0.000,55.830,115.590,138.451,4.500,0.000,17.620,1095.578,6072.601,388.958,1720.004,529.948,0.000,1104.963,0.000,1700.798,0.000,31.281,0.000
$DEVICE_MAMPS,139.594,60.593,819.156,466.336,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.844,388.375,880.265,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31776,588
$CAP_FILE_SIZE,95306,0
$CFSIZE,260165632,254926848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080411,213503,2103.408,-15758.895,14,2.6,33,9.8