version: 66.06
glider: 139
mission: 9
dive: 63
start: 4 12 111 1 21 4
data:
$ID,139
$MISSION,9
$DIVE,63
$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,-2175897.8
$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,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,40
$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
$GPS1,011029,2103.539,-15804.720,16,2.3,35,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-73.7
$GPS2,012046,2103.481,-15804.785,14,2.2,33,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,17.8,10143,-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,12,begin dive
$GC,15,-1.19,-116.8,0.0,0.0,0,93,0.00,0.00,-70.85,0.000,6,0.000,0.000,428,2067,3112,0,0,0,0,0,0
$GC,97,-1.19,-116.8,3.5,-6.3,14,115,13.35,2.30,0.00,0.000,4,0.140,0.031,2868,698,3113,0,0,0,0,0,0
$GC,123,-1.19,-116.8,12.8,-27.4,18,129,0.00,2.35,0.00,0.000,6,0.000,0.021,2868,2108,3114,0,0,0,0,0,0
$GC,330,-1.19,-116.8,45.8,-14.3,46,336,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2112,3115,0,0,0,0,0,0
$GC,593,-1.19,-116.8,85.7,-15.0,71,597,0.00,2.33,0.00,0.000,4,0.000,0.030,2868,3506,3115,0,0,0,0,0,0
$GC,632,-1.19,-116.8,91.4,-13.5,75,636,0.00,2.33,0.00,0.000,6,0.000,0.027,2868,2104,3115,0,0,0,0,0,0
$GC,896,-1.19,-116.8,121.6,-9.8,99,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2103,3116,0,0,0,0,0,0
$GC,1157,-1.19,-116.8,149.6,-10.6,124,1161,0.00,2.33,0.00,0.000,4,0.000,0.030,2868,3503,3117,0,0,0,0,0,0
$GC,1192,-1.19,-116.8,153.1,-10.0,127,1196,0.00,2.33,0.00,0.000,6,0.000,0.026,2868,2094,3117,0,0,0,0,0,0
$GC,1459,-1.19,-116.8,180.9,-11.0,151,1463,0.00,2.35,0.00,0.000,4,0.000,0.031,2868,3498,3118,0,0,0,0,0,0
$GC,1643,-1.19,-116.8,202.4,-10.7,170,1647,0.00,2.33,0.00,0.000,6,0.000,0.028,2868,2092,3118,0,0,0,0,0,0
$GC,1968,-1.19,-116.8,231.1,-7.9,186,1972,0.00,2.38,0.00,0.000,4,0.000,0.040,2869,685,3118,0,0,0,0,0,0
$GC,2075,-1.19,-116.8,239.9,-8.2,190,2082,0.00,2.33,0.00,0.000,6,0.000,0.022,2868,2098,3117,0,0,0,0,0,0
$GC,2392,-1.19,-116.8,262.9,-7.9,206,2396,0.00,2.33,0.00,0.000,4,0.000,0.034,2868,3497,3116,0,0,0,0,0,0
$GC,2424,-1.19,-116.8,266.0,-8.8,207,2428,0.00,2.33,0.00,0.000,6,0.000,0.029,2869,2095,3117,0,0,0,0,0,0
$GC,2740,-1.19,-116.8,294.3,-8.5,222,2744,0.00,2.35,0.00,0.000,4,0.000,0.035,2868,3495,3116,0,0,0,0,0,0
$GC,2907,-1.19,-116.8,310.8,-8.3,227,2911,0.00,2.33,0.00,0.000,6,0.000,0.030,2868,2098,3115,0,0,0,0,0,0
$GC,3247,-1.19,-116.8,334.1,-6.8,236,3248,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2098,3113,0,0,0,0,0,0
$GC,3572,-1.19,-116.8,356.7,-7.2,244,3577,0.00,2.38,0.00,0.000,4,0.000,0.037,2869,3503,3111,0,0,0,0,0,0
$GC,3665,-1.19,-116.8,364.5,-7.7,246,3670,0.00,2.35,0.00,0.000,6,0.000,0.033,2869,2102,3111,0,0,0,0,0,0
$GC,3989,-1.19,-116.8,388.7,-7.6,254,3993,0.00,2.40,0.00,0.000,4,0.000,0.040,2868,3502,3108,0,0,0,0,0,0
$GC,4059,-1.19,-116.8,394.0,-6.8,255,4063,0.00,2.35,0.00,0.000,6,0.000,0.034,2868,2101,3108,0,0,0,0,0,0
$GC,4400,-1.19,-116.8,415.6,-6.3,264,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2101,3106,0,0,0,0,0,0
$GC,4724,-1.19,-116.8,435.5,-6.6,272,4729,0.00,2.47,0.00,0.000,4,0.000,0.051,2868,690,3104,0,0,0,0,0,0
$GC,4739,-1.19,-116.8,436.6,-6.8,272,4743,0.00,2.35,0.00,0.000,6,0.000,0.029,2868,2095,3103,0,0,0,0,0,0
$STATE,4964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4964,begin apogee
$GC,4971,-0.31,0.0,452.2,6.7,278,5070,0.98,0.00,95.15,0.832,6,0.087,0.000,3068,1809,2635,0,0,0,0,0,0
$STATE,5070,end apogee,CONTROL_FINISHED_OK
$STATE,5071,begin climb
$GC,5073,1.19,116.8,454.1,0.0,280,5185,1.50,2.45,101.32,0.811,4,0.060,0.037,3393,3205,2157,0,0,0,0,0,0
$GC,5201,1.19,116.8,442.5,12.0,283,5206,0.00,2.50,0.00,0.000,6,0.000,0.043,3394,1807,2156,0,0,0,0,0,0
$GC,5529,1.19,116.8,400.8,12.8,291,5533,0.00,2.58,0.00,0.000,4,0.000,0.060,3392,380,2146,0,0,0,0,0,0
$GC,5562,1.19,116.8,396.2,14.3,291,5566,0.00,2.40,0.00,0.000,6,0.000,0.029,3394,1814,2143,0,0,0,0,0,0
$GC,5893,1.19,116.8,355.7,12.2,299,5897,0.00,2.58,0.00,0.000,4,0.000,0.059,3393,386,2142,0,0,0,0,0,0
$GC,5921,1.19,116.8,351.6,15.1,299,5925,0.00,2.40,0.00,0.000,6,0.000,0.029,3393,1810,2139,0,0,0,0,0,0
$GC,6257,1.19,116.8,311.3,11.5,308,6261,0.00,2.58,0.00,0.000,4,0.000,0.058,3392,378,2138,0,0,0,0,0,0
$GC,6275,1.19,116.8,308.6,13.4,308,6280,0.00,2.38,0.00,0.000,6,0.000,0.028,3393,1802,2138,0,0,0,0,0,0
$GC,6603,1.19,116.8,268.7,11.9,322,6608,0.00,2.50,0.00,0.000,4,0.000,0.056,3393,384,2136,0,0,0,0,0,0
$GC,6636,1.19,116.8,264.7,12.6,323,6641,0.00,2.38,0.00,0.000,6,0.000,0.028,3393,1798,2135,0,0,0,0,0,0
$GC,6952,1.20,122.2,235.6,7.8,338,6953,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1803,2135,0,0,0,0,0,0
$GC,7262,1.20,122.2,207.9,9.6,353,7266,0.00,2.50,0.00,0.000,4,0.000,0.053,3393,383,2134,0,0,0,0,0,0
$GC,7328,1.20,122.2,200.2,12.2,356,7332,0.00,2.35,0.00,0.000,6,0.000,0.027,3393,1811,2132,0,0,0,0,0,0
$GC,7656,1.20,122.2,166.3,10.2,386,7657,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1816,2132,0,0,0,0,0,0
$GC,7911,1.20,122.2,142.0,8.4,410,7915,0.00,2.33,0.00,0.000,4,0.000,0.030,3393,3211,2132,0,0,0,0,0,0
$GC,7938,1.20,122.2,139.7,8.2,412,7945,0.00,2.45,0.00,0.000,6,0.000,0.035,3393,1795,2132,0,0,0,0,0,0
$GC,8203,1.21,126.9,120.1,7.8,437,8214,0.00,2.35,5.30,0.441,4,0.000,0.027,3393,3205,2116,0,0,0,0,0,0
$GC,8234,1.21,132.7,117.3,7.8,440,8248,0.00,2.38,7.28,0.489,6,0.000,0.031,3393,1797,2092,0,0,0,0,0,0
$GC,8509,1.21,132.7,93.2,9.0,466,8513,0.00,2.42,0.00,0.000,4,0.000,0.047,3393,382,2090,0,0,0,0,0,0
$GC,8610,1.21,132.7,83.7,9.0,476,8616,0.00,2.35,0.00,0.000,6,0.000,0.021,3393,1815,2088,0,0,0,0,0,0
$GC,8874,1.25,161.4,64.4,6.7,501,8907,0.00,2.58,25.80,0.518,4,0.000,0.047,3393,387,1975,0,0,0,0,0,0
$GC,8941,1.25,161.4,58.8,8.7,508,8945,0.00,2.33,0.00,0.000,6,0.000,0.020,3393,1811,1972,0,0,0,0,0,0
$GC,9210,1.25,163.3,36.7,7.9,533,9215,0.00,2.45,0.00,0.000,4,0.000,0.045,3393,386,1972,0,0,0,0,0,0
$GC,9246,1.25,163.3,33.0,9.5,536,9253,0.00,2.30,0.00,0.000,6,0.000,0.019,3393,1781,1970,0,0,0,0,0,0
$GC,9511,1.26,171.4,13.9,7.6,582,9523,0.00,0.00,9.30,0.424,6,0.000,0.000,3393,1786,1935,0,0,0,0,0,0
$STATE,9646,end climb,SURFACE_DEPTH_REACHED
$STATE,9646,begin surface coast
$FINISH,0.6,1.023387
$STATE,9693,end surface coast,CONTROL_FINISHED_OK
$STATE,9693,begin surface
$SM_CCo,9717,83.70,0.466,0,0,1288,330.17
$SM_GC,1.04,0.00,0.00,83.70,0.000,0.000,0.466,429,2116,1288,-12.46,0.45,330.17
$IRIDIUM_FIX,2054.83,-15807.20,060700,010108
$TT8_MAMPS,0.029146
$HUMID,53.18
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.3,5.242
$10V_AH,10.5,4.873
$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,28.500,101.450,244.150,83.700,0.000,58.869,77.057,269.896,4.500,0.000,34.274,1131.700,6481.237,402.174,1750.042,654.193,0.000,1142.929,0.000,1718.920,0.000,31.319,0.000
$DEVICE_MAMPS,139.594,59.826,832.195,466.336,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.945,400.493,914.991,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,35019,615
$CAP_FILE_SIZE,103438,0
$CFSIZE,260165632,253456384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120411,040537,2104.110,-15805.023,33,1.3,33,9.8