version: 66.06
glider: 139
mission: 9
dive: 60
start: 4 11 111 16 51 33
data:
$ID,139
$MISSION,9
$DIVE,60
$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,-2175833.2
$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,1830
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,71
$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
$GPS1,164554,2102.224,-15803.872,29,1.5,46,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-73.8
$GPS2,165114,2102.229,-15803.918,16,1.6,16,9.8
$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,69.8,36887,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.19,-116.8,0.0,0.0,0,95,0.00,0.00,-70.70,0.000,6,0.000,0.000,426,2127,3113,0,0,0,0,0,0
$GC,98,-1.19,-116.8,3.2,-5.4,14,116,13.38,0.00,0.00,0.000,6,0.140,0.000,2869,2127,3114,0,0,0,0,0,0
$GC,318,-1.19,-116.8,46.3,-16.6,45,322,0.00,2.22,0.00,0.000,4,0.000,0.028,2869,3469,3116,0,0,0,0,0,0
$GC,556,-1.19,-116.8,83.5,-17.0,71,560,0.00,2.33,0.00,0.000,6,0.000,0.028,2868,2089,3117,0,0,0,0,0,0
$GC,820,-1.19,-116.8,122.7,-11.5,95,824,0.00,2.30,0.00,0.000,4,0.000,0.029,2869,3473,3117,0,0,0,0,0,0
$GC,839,-1.19,-116.8,125.1,-10.9,96,846,0.00,2.30,0.00,0.000,6,0.000,0.026,2869,2101,3117,0,0,0,0,0,0
$GC,1104,-1.19,-116.8,153.7,-9.4,121,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2101,3118,0,0,0,0,0,0
$GC,1365,-1.19,-116.8,182.5,-11.5,146,1369,0.00,2.28,0.00,0.000,4,0.000,0.030,2869,3472,3118,0,0,0,0,0,0
$GC,1465,-1.19,-116.8,193.6,-10.4,156,1472,0.00,2.30,0.00,0.000,6,0.000,0.027,2869,2103,3119,0,0,0,0,0,0
$GC,1721,-1.19,-116.8,219.1,-10.2,172,1725,0.00,2.30,0.00,0.000,4,0.000,0.031,2869,3469,3119,0,0,0,0,0,0
$GC,1799,-1.19,-116.8,226.6,-8.2,175,1803,0.00,2.30,0.00,0.000,6,0.000,0.028,2869,2090,3119,0,0,0,0,0,0
$GC,2114,-1.19,-116.8,254.8,-9.1,190,2118,0.00,2.38,0.00,0.000,4,0.000,0.041,2868,690,3119,0,0,0,0,0,0
$GC,2136,-1.19,-116.8,256.6,-8.9,191,2140,0.00,2.28,0.00,0.000,6,0.000,0.023,2869,2075,3118,0,0,0,0,0,0
$GC,2468,-1.19,-116.8,282.7,-6.7,207,2473,0.00,2.38,0.00,0.000,4,0.000,0.043,2869,689,3117,0,0,0,0,0,0
$GC,2583,-1.19,-116.8,291.3,-7.1,212,2587,0.00,2.30,0.00,0.000,6,0.000,0.025,2869,2098,3117,0,0,0,0,0,0
$GC,2909,-1.19,-116.8,316.8,-7.7,223,2913,0.00,2.40,0.00,0.000,4,0.000,0.038,2869,3499,3116,0,0,0,0,0,0
$GC,3052,-1.19,-116.8,329.2,-7.8,226,3057,0.00,2.35,0.00,0.000,6,0.000,0.032,2869,2096,3116,0,0,0,0,0,0
$GC,3371,-1.19,-116.8,352.2,-6.7,234,3375,0.00,2.40,0.00,0.000,4,0.000,0.047,2869,688,3114,0,0,0,0,0,0
$GC,3506,-1.19,-116.8,362.9,-7.9,237,3510,0.00,2.33,0.00,0.000,6,0.000,0.027,2869,2101,3113,0,0,0,0,0,0
$GC,3835,-1.19,-116.8,382.4,-5.6,245,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2105,3111,0,0,0,0,0,0
$GC,4159,-1.19,-116.8,403.3,-7.0,253,4163,0.00,2.38,0.00,0.000,4,0.000,0.041,2869,3499,3109,0,0,0,0,0,0
$GC,4277,-1.19,-116.8,412.2,-7.1,255,4281,0.00,2.38,0.00,0.000,6,0.000,0.035,2869,2101,3108,0,0,0,0,0,0
$GC,4622,-1.19,-116.8,435.3,-6.8,264,4627,0.00,2.42,0.00,0.000,4,0.000,0.051,2868,693,3106,0,0,0,0,0,0
$GC,4720,-1.19,-116.8,442.1,-6.8,266,4724,0.00,2.35,0.00,0.000,6,0.000,0.030,2869,2096,3105,0,0,0,0,0,0
$STATE,4873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4873,begin apogee
$GC,4880,-0.31,0.0,451.7,6.2,270,4979,0.98,0.00,95.68,0.834,6,0.089,0.000,3067,1831,2635,0,0,0,0,0,0
$STATE,4980,end apogee,CONTROL_FINISHED_OK
$STATE,4980,begin climb
$GC,4983,1.19,116.8,453.0,0.0,272,5095,1.50,2.55,101.82,0.811,4,0.061,0.058,3392,433,2156,0,0,0,0,0,0
$GC,5101,1.19,116.8,441.9,13.3,274,5105,0.00,2.40,0.00,0.000,6,0.000,0.028,3393,1848,2154,0,0,0,0,0,0
$GC,5432,1.19,116.8,400.6,12.1,282,5436,0.00,2.55,0.00,0.000,4,0.000,0.058,3392,430,2145,0,0,0,0,0,0
$GC,5511,1.19,116.8,388.9,14.5,283,5515,0.00,2.35,0.00,0.000,6,0.000,0.030,3393,1833,2142,0,0,0,0,0,0
$GC,5842,1.19,116.8,350.2,11.0,291,5846,0.00,2.38,0.00,0.000,4,0.000,0.037,3393,3223,2140,0,0,0,0,0,0
$GC,5858,1.19,116.8,348.4,11.0,291,5862,0.00,2.42,0.00,0.000,6,0.000,0.041,3393,1840,2140,0,0,0,0,0,0
$GC,6207,1.19,116.8,307.3,11.5,300,6212,0.00,2.50,0.00,0.000,4,0.000,0.058,3392,423,2138,0,0,0,0,0,0
$GC,6254,1.19,116.8,301.8,11.5,301,6258,0.00,2.38,0.00,0.000,6,0.000,0.029,3393,1840,2136,0,0,0,0,0,0
$GC,6581,1.19,116.8,268.8,9.4,316,6585,0.00,2.55,0.00,0.000,4,0.000,0.056,3393,413,2135,0,0,0,0,0,0
$GC,6641,1.19,116.8,261.6,12.0,318,6648,0.00,2.38,0.00,0.000,6,0.000,0.028,3393,1822,2134,0,0,0,0,0,0
$GC,6957,1.19,116.8,230.3,9.6,334,6961,0.00,2.47,0.00,0.000,4,0.000,0.053,3393,422,2134,0,0,0,0,0,0
$GC,7025,1.19,116.8,223.1,11.7,337,7029,0.00,2.35,0.00,0.000,6,0.000,0.027,3393,1841,2132,0,0,0,0,0,0
$GC,7346,1.19,116.8,192.4,10.3,356,7350,0.00,2.47,0.00,0.000,4,0.000,0.052,3392,421,2133,0,0,0,0,0,0
$GC,7370,1.19,116.8,189.7,12.1,358,7375,0.00,2.33,0.00,0.000,6,0.000,0.025,3393,1839,2132,0,0,0,0,0,0
$GC,7634,1.19,116.8,163.8,10.9,382,7635,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1843,2131,0,0,0,0,0,0
$GC,7887,1.20,117.8,139.6,8.0,406,7888,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1843,2133,0,0,0,0,0,0
$GC,8141,1.20,117.8,117.9,8.7,430,8145,0.00,2.28,0.00,0.000,4,0.000,0.029,3393,3221,2132,0,0,0,0,0,0
$GC,8196,1.20,123.5,113.3,7.8,435,8202,0.00,2.35,0.00,0.000,6,0.000,0.033,3393,1824,2132,0,0,0,0,0,0
$GC,8459,1.21,127.5,93.0,7.8,460,8471,0.00,2.42,5.88,0.437,4,0.000,0.046,3392,418,2114,0,0,0,0,0,0
$GC,8521,1.21,127.5,86.9,9.6,466,8528,0.00,2.30,0.00,0.000,6,0.000,0.021,3393,1834,2112,0,0,0,0,0,0
$GC,8786,1.23,147.9,66.6,7.1,491,8807,0.00,0.00,19.15,0.507,6,0.000,0.000,3393,1839,2032,0,0,0,0,0,0
$GC,9061,1.24,154.7,46.3,7.7,517,9075,0.00,2.53,7.32,0.425,4,0.000,0.045,3393,420,2004,0,0,0,0,0,0
$GC,9102,1.24,154.7,42.7,8.4,521,9109,0.00,2.30,0.00,0.000,6,0.000,0.020,3393,1827,2001,0,0,0,0,0,0
$GC,9367,1.26,171.6,24.4,7.2,553,9391,0.00,2.35,15.90,0.460,4,0.000,0.026,3393,3212,1934,0,0,0,0,0,0
$GC,9403,1.27,179.4,21.7,7.7,559,9421,0.00,2.38,8.68,0.420,6,0.000,0.029,3393,1830,1902,0,0,0,0,0,0
$GC,9618,1.28,187.9,4.1,7.6,598,9637,0.10,2.50,8.38,0.406,4,0.073,0.046,3431,423,1866,0,0,0,0,0,0
$STATE,9642,end climb,SURFACE_DEPTH_REACHED
$STATE,9642,begin surface coast
$FINISH,0.4,1.023341
$STATE,9680,end surface coast,CONTROL_FINISHED_OK
$STATE,9680,begin surface
$SM_CCo,9706,73.00,0.463,0,0,1288,330.17
$SM_GC,1.23,0.00,0.00,73.00,0.000,0.000,0.463,428,2102,1288,-12.46,0.03,330.17
$IRIDIUM_FIX,2054.83,-15802.06,050700,141418
$TT8_MAMPS,0.028379
$HUMID,51.92
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.3,4.998
$10V_AH,10.5,4.633
$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,28.875,105.350,262.800,73.000,0.000,30.326,34.712,138.465,4.500,0.000,16.621,1141.990,6281.514,411.722,1822.131,444.199,0.000,1199.448,0.000,1802.621,0.000,29.236,0.000
$DEVICE_MAMPS,139.594,58.292,834.496,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.672,398.703,912.819,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,34888,610
$CAP_FILE_SIZE,104062,0
$CFSIZE,260165632,253603840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110411,193554,2102.341,-15803.943,34,1.1,43,9.8