version: 66.06
glider: 139
mission: 9
dive: 86
start: 4 14 111 16 52 46
data:
$ID,139
$MISSION,9
$DIVE,86
$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,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,-2176407.2
$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,20
$R_STBD_OVSHOOT,77
$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
$GPS1,164640,2105.047,-15757.089,12,3.9,31,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-74.9
$GPS2,165228,2105.041,-15757.020,15,2.3,34,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$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,76.8,24408,-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,-70.53,0.000,6,0.000,0.000,428,2144,3111,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.7,-6.5,14,115,13.23,2.22,0.00,0.000,4,0.137,0.028,2869,3469,3113,0,0,0,0,0,0
$GC,367,-1.19,-116.8,53.3,-17.3,59,371,0.00,2.30,0.00,0.000,6,0.000,0.028,2869,2088,3115,0,0,0,0,0,0
$GC,629,-1.19,-116.8,94.5,-13.9,83,633,0.00,2.38,0.00,0.000,4,0.000,0.040,2869,690,3115,0,0,0,0,0,0
$GC,720,-1.19,-116.8,108.6,-13.3,92,727,0.00,2.25,0.00,0.000,6,0.000,0.019,2869,2066,3116,0,0,0,0,0,0
$GC,984,-1.19,-116.8,142.3,-12.3,117,989,0.00,2.38,0.00,0.000,4,0.000,0.029,2869,3493,3116,0,0,0,0,0,0
$GC,1114,-1.19,-116.8,156.9,-10.2,130,1120,0.00,2.35,0.00,0.000,6,0.000,0.028,2869,2101,3116,0,0,0,0,0,0
$GC,1378,-1.19,-116.8,181.9,-9.7,155,1382,0.00,2.38,0.00,0.000,4,0.000,0.039,2869,691,3117,0,0,0,0,0,0
$GC,1397,-1.19,-116.8,184.2,-9.4,156,1404,0.00,2.30,0.00,0.000,6,0.000,0.021,2869,2090,3117,0,0,0,0,0,0
$GC,1667,-1.19,-116.8,210.0,-9.4,177,1671,0.00,2.33,0.00,0.000,4,0.000,0.031,2869,3497,3118,0,0,0,0,0,0
$GC,1711,-1.19,-116.8,214.3,-9.4,179,1715,0.00,2.33,0.00,0.000,6,0.000,0.028,2869,2099,3117,0,0,0,0,0,0
$GC,2046,-1.19,-116.8,243.1,-9.7,195,2050,0.00,2.35,0.00,0.000,4,0.000,0.040,2869,692,3118,0,0,0,0,0,0
$GC,2168,-1.19,-116.8,257.2,-11.9,200,2172,0.00,2.30,0.00,0.000,6,0.000,0.022,2869,2098,3117,0,0,0,0,0,0
$GC,2488,-1.19,-116.8,288.6,-8.6,216,2492,0.00,2.35,0.00,0.000,4,0.000,0.035,2869,3495,3117,0,0,0,0,0,0
$GC,2757,-1.19,-116.8,312.2,-8.8,224,2762,0.00,2.35,0.00,0.000,6,0.000,0.030,2869,2097,3116,0,0,0,0,0,0
$GC,3089,-1.19,-116.8,342.8,-9.6,233,3093,0.00,2.35,0.00,0.000,4,0.000,0.036,2869,3495,3115,0,0,0,0,0,0
$GC,3178,-1.19,-116.8,352.1,-10.2,235,3182,0.00,2.33,0.00,0.000,6,0.000,0.031,2869,2101,3114,0,0,0,0,0,0
$GC,3506,-1.19,-116.8,386.7,-9.9,243,3510,0.00,2.42,0.00,0.000,4,0.000,0.048,2869,693,3112,0,0,0,0,0,0
$GC,3571,-1.19,-116.8,392.4,-8.7,244,3575,0.00,2.33,0.00,0.000,6,0.000,0.027,2869,2096,3112,0,0,0,0,0,0
$GC,3916,-1.19,-116.8,418.3,-7.0,253,3920,0.00,2.38,0.00,0.000,4,0.000,0.041,2868,3499,3109,0,0,0,0,0,0
$GC,3969,-1.19,-116.8,422.1,-6.8,254,3974,0.00,2.38,0.00,0.000,6,0.000,0.035,2869,2103,3109,0,0,0,0,0,0
$GC,4292,-1.19,-116.8,441.5,-6.0,262,4293,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2103,3107,0,0,0,0,0,0
$STATE,4449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4449,begin apogee
$GC,4456,-0.31,0.0,452.6,6.9,266,4555,0.98,0.00,95.35,0.823,6,0.087,0.000,3068,1800,2635,0,0,0,0,0,0
$STATE,4555,end apogee,CONTROL_FINISHED_OK
$STATE,4555,begin climb
$GC,4558,1.19,116.8,454.6,0.0,268,4670,1.48,2.58,101.15,0.803,4,0.058,0.059,3390,391,2156,0,0,0,0,0,0
$GC,4686,1.19,116.8,443.4,12.9,271,4690,0.00,2.38,0.00,0.000,6,0.000,0.027,3391,1800,2152,0,0,0,0,0,0
$GC,5013,1.19,116.8,402.2,11.8,279,5015,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1805,2145,0,0,0,0,0,0
$GC,5338,1.19,116.8,365.2,10.8,287,5343,0.00,2.50,0.00,0.000,4,0.000,0.056,3390,390,2142,0,0,0,0,0,0
$GC,5376,1.19,116.8,360.3,13.4,287,5382,0.00,2.38,0.00,0.000,6,0.000,0.028,3391,1800,2139,0,0,0,0,0,0
$GC,5707,1.19,116.8,322.7,11.5,296,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1806,2138,0,0,0,0,0,0
$GC,6013,1.19,116.8,288.3,11.2,306,6018,0.00,2.53,0.00,0.000,4,0.000,0.055,3390,382,2137,0,0,0,0,0,0
$GC,6046,1.19,116.8,284.1,13.5,307,6050,0.00,2.38,0.00,0.000,6,0.000,0.028,3390,1802,2135,0,0,0,0,0,0
$GC,6361,1.19,116.8,246.9,11.5,322,6366,0.00,2.38,0.00,0.000,4,0.000,0.034,3391,3208,2135,0,0,0,0,0,0
$GC,6404,1.19,116.8,242.2,11.2,324,6409,0.00,2.45,0.00,0.000,6,0.000,0.038,3391,1796,2135,0,0,0,0,0,0
$GC,6734,1.19,116.8,210.4,8.5,340,6738,0.00,2.47,0.00,0.000,4,0.000,0.054,3390,384,2133,0,0,0,0,0,0
$GC,6817,1.19,116.8,201.6,10.5,343,6822,0.00,2.35,0.00,0.000,6,0.000,0.025,3391,1812,2132,0,0,0,0,0,0
$GC,7142,1.19,116.8,168.1,10.7,373,7144,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1818,2132,0,0,0,0,0,0
$GC,7397,1.19,116.8,144.2,8.5,397,7401,0.00,2.50,0.00,0.000,4,0.000,0.050,3390,379,2132,0,0,0,0,0,0
$GC,7423,1.19,116.8,141.8,10.5,399,7427,0.00,2.33,0.00,0.000,6,0.000,0.022,3391,1803,2131,0,0,0,0,0,0
$GC,7688,1.23,144.8,122.0,6.7,423,7716,0.00,2.38,20.58,0.567,4,0.000,0.028,3391,3198,2044,0,0,0,0,0,0
$GC,7785,1.26,172.6,115.6,6.7,433,7815,0.00,2.40,25.55,0.562,6,0.000,0.033,3390,1798,1931,0,0,0,0,0,0
$GC,8078,1.26,172.6,89.6,10.7,461,8082,0.00,2.42,0.00,0.000,4,0.000,0.048,3390,386,1926,0,0,0,0,0,0
$GC,8160,1.26,172.6,80.2,10.9,469,8166,0.00,2.28,0.00,0.000,6,0.000,0.020,3391,1798,1922,0,0,0,0,0,0
$GC,8424,1.27,174.7,56.6,7.9,494,8429,0.10,2.47,0.00,0.000,4,0.073,0.047,3428,380,1923,0,0,0,0,0,0
$GC,8460,1.27,174.7,52.6,11.9,497,8464,0.00,2.30,0.00,0.000,6,0.000,0.020,3429,1815,1923,0,0,0,0,0,0
$GC,8724,1.27,174.7,22.3,11.0,527,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,1822,1922,0,0,0,0,0,0
$STATE,8913,end climb,SURFACE_DEPTH_REACHED
$STATE,8913,begin surface coast
$FINISH,0.5,1.015650
$STATE,8942,end surface coast,CONTROL_FINISHED_OK
$STATE,8942,begin surface
$SM_CCo,8966,80.65,0.467,0,0,1287,330.17
$SM_GC,1.17,0.00,0.00,80.65,0.000,0.000,0.467,429,2139,1287,-12.46,1.10,330.17
$IRIDIUM_FIX,2054.83,-15759.05,080700,141418
$TT8_MAMPS,0.029146
$HUMID,53.81
$INTERNAL_PRESSURE,9.58675
$TCM_TEMP,21.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,441.5,38.3
$24V_AH,23.4,7.013
$10V_AH,10.6,6.621
$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,28.625,91.100,242.625,80.650,0.000,22.414,40.717,147.164,5.000,0.000,35.349,1059.855,5812.298,393.332,1702.402,427.673,0.000,1110.567,0.000,1659.000,0.000,35.010,0.000
$DEVICE_MAMPS,136.526,59.059,822.991,467.103,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,384.011,366.368,822.746,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31857,567
$CAP_FILE_SIZE,93707,0
$CFSIZE,260165632,252362752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140411,192455,2105.020,-15756.692,43,1.0,43,9.8