version: 66.06
glider: 139
mission: 9
dive: 64
start: 4 12 111 4 14 53
data:
$ID,139
$MISSION,9
$DIVE,64
$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,-2175915.5
$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,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,51
$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
$GPS1,040537,2104.110,-15805.023,33,1.3,33,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-70.6
$GPS2,041432,2104.122,-15805.092,16,1.3,16,9.8
$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,24.0,9391,-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,13,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,-70.95,0.000,6,0.000,0.000,428,2118,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,2.9,-4.3,14,114,13.38,0.00,0.00,0.000,6,0.140,0.000,2871,2117,3114,0,0,0,0,0,0
$GC,311,-1.19,-116.8,44.8,-14.1,44,315,0.00,2.30,0.00,0.000,4,0.000,0.028,2871,3497,3115,0,0,0,0,0,0
$GC,384,-1.19,-116.8,55.6,-13.4,52,388,0.00,2.38,0.00,0.000,6,0.000,0.027,2871,2079,3115,0,0,0,0,0,0
$GC,645,-1.19,-116.8,95.8,-15.7,76,649,0.00,2.38,0.00,0.000,4,0.000,0.029,2871,3490,3116,0,0,0,0,0,0
$GC,700,-1.19,-116.8,104.1,-14.1,81,705,0.00,2.33,0.00,0.000,6,0.000,0.027,2871,2096,3116,0,0,0,0,0,0
$GC,961,-1.19,-116.8,139.4,-13.2,106,968,0.00,2.35,0.00,0.000,4,0.000,0.039,2871,693,3117,0,0,0,0,0,0
$GC,987,-1.19,-116.8,142.6,-11.8,108,993,0.00,2.30,0.00,0.000,6,0.000,0.021,2871,2091,3117,0,0,0,0,0,0
$GC,1251,-1.19,-116.8,170.1,-10.3,133,1255,0.00,2.33,0.00,0.000,4,0.000,0.030,2871,3500,3117,0,0,0,0,0,0
$GC,1285,-1.19,-116.8,174.0,-9.9,136,1289,0.00,2.33,0.00,0.000,6,0.000,0.026,2871,2091,3117,0,0,0,0,0,0
$GC,1548,-1.19,-116.8,202.3,-10.5,159,1552,0.00,2.38,0.00,0.000,4,0.000,0.031,2871,3507,3117,0,0,0,0,0,0
$GC,1711,-1.19,-116.8,218.3,-9.3,166,1715,0.00,2.33,0.00,0.000,6,0.000,0.028,2871,2099,3118,0,0,0,0,0,0
$GC,2036,-1.19,-116.8,244.8,-8.2,182,2040,0.00,2.33,0.00,0.000,4,0.000,0.033,2871,3496,3118,0,0,0,0,0,0
$GC,2091,-1.19,-116.8,249.5,-8.1,184,2095,0.00,2.30,0.00,0.000,6,0.000,0.028,2871,2100,3117,0,0,0,0,0,0
$GC,2408,-1.19,-116.8,275.3,-8.8,199,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2099,3116,0,0,0,0,0,0
$GC,2715,-1.19,-116.8,304.9,-9.1,213,2719,0.00,2.38,0.00,0.000,4,0.000,0.043,2871,692,3116,0,0,0,0,0,0
$GC,2766,-1.19,-116.8,309.4,-9.1,214,2771,0.00,2.30,0.00,0.000,6,0.000,0.025,2871,2107,3116,0,0,0,0,0,0
$GC,3085,-1.19,-116.8,332.0,-7.0,222,3089,0.00,2.35,0.00,0.000,4,0.000,0.038,2871,3503,3115,0,0,0,0,0,0
$GC,3160,-1.19,-116.8,337.3,-7.5,223,3164,0.00,2.35,0.00,0.000,6,0.000,0.031,2871,2099,3114,0,0,0,0,0,0
$GC,3500,-1.19,-116.8,359.9,-6.9,232,3505,0.00,2.40,0.00,0.000,4,0.000,0.047,2871,681,3112,0,0,0,0,0,0
$GC,3520,-1.19,-116.8,361.5,-7.5,232,3524,0.00,2.35,0.00,0.000,6,0.000,0.027,2871,2105,3111,0,0,0,0,0,0
$GC,3870,-1.19,-116.8,386.1,-6.5,241,3874,0.00,2.35,0.00,0.000,4,0.000,0.040,2871,3499,3109,0,0,0,0,0,0
$GC,3932,-1.19,-116.8,390.1,-6.4,242,3937,0.00,2.35,0.00,0.000,6,0.000,0.034,2871,2101,3108,0,0,0,0,0,0
$GC,4282,-1.19,-116.8,413.3,-7.1,251,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2100,3107,0,0,0,0,0,0
$GC,4608,-1.19,-116.8,438.5,-7.9,259,4612,0.00,2.42,0.00,0.000,4,0.000,0.051,2871,692,3104,0,0,0,0,0,0
$GC,4645,-1.19,-116.8,442.1,-9.5,259,4651,0.00,2.35,0.00,0.000,6,0.000,0.029,2871,2098,3104,0,0,0,0,0,0
$STATE,4770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4771,begin apogee
$GC,4777,-0.31,0.0,452.2,8.0,263,4876,0.95,0.00,95.25,0.834,6,0.087,0.000,3065,1801,2635,0,0,0,0,0,0
$STATE,4877,end apogee,CONTROL_FINISHED_OK
$STATE,4877,begin climb
$GC,4880,1.19,116.8,454.2,0.0,265,4992,1.50,2.58,101.75,0.811,4,0.061,0.059,3391,393,2156,0,0,0,0,0,0
$GC,5016,1.19,116.8,441.6,14.2,268,5020,0.00,2.42,0.00,0.000,6,0.000,0.028,3391,1814,2151,0,0,0,0,0,0
$GC,5335,1.19,116.8,401.8,12.2,276,5339,0.00,2.58,0.00,0.000,4,0.000,0.060,3391,384,2145,0,0,0,0,0,0
$GC,5378,1.19,116.8,395.9,14.0,277,5382,0.00,2.38,0.00,0.000,6,0.000,0.029,3391,1792,2143,0,0,0,0,0,0
$GC,5705,1.19,116.8,360.4,10.2,285,5706,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1796,2140,0,0,0,0,0,0
$GC,6030,1.19,116.8,326.2,10.1,293,6035,0.00,2.53,0.00,0.000,4,0.000,0.058,3391,385,2139,0,0,0,0,0,0
$GC,6068,1.19,116.8,321.6,12.2,293,6073,0.00,2.38,0.00,0.000,6,0.000,0.029,3391,1814,2137,0,0,0,0,0,0
$GC,6380,1.19,116.8,287.4,10.3,304,6384,0.00,2.55,0.00,0.000,4,0.000,0.058,3391,389,2136,0,0,0,0,0,0
$GC,6448,1.19,116.8,279.7,11.9,307,6453,0.00,2.35,0.00,0.000,6,0.000,0.028,3391,1804,2135,0,0,0,0,0,0
$GC,6779,1.19,116.8,245.4,9.8,323,6780,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1810,2134,0,0,0,0,0,0
$GC,7087,1.19,116.8,213.6,10.6,338,7092,0.00,2.50,0.00,0.000,4,0.000,0.054,3391,386,2133,0,0,0,0,0,0
$GC,7176,1.19,116.8,203.9,10.6,342,7180,0.00,2.35,0.00,0.000,6,0.000,0.026,3392,1802,2131,0,0,0,0,0,0
$GC,7502,1.19,116.8,174.1,8.8,370,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1808,2131,0,0,0,0,0,0
$GC,7757,1.19,116.8,150.7,9.6,394,7761,0.00,2.33,0.00,0.000,4,0.000,0.030,3392,3204,2132,0,0,0,0,0,0
$GC,7835,1.19,116.8,143.7,8.7,402,7840,0.00,2.40,0.00,0.000,6,0.000,0.034,3391,1800,2131,0,0,0,0,0,0
$GC,8098,1.19,116.8,117.3,10.3,426,8102,0.00,2.33,0.00,0.000,4,0.000,0.028,3392,3205,2131,0,0,0,0,0,0
$GC,8136,1.19,116.8,113.4,9.5,430,8140,0.00,2.38,0.00,0.000,6,0.000,0.033,3391,1795,2132,0,0,0,0,0,0
$GC,8399,1.21,126.9,91.3,7.6,454,8410,0.00,2.42,5.22,0.416,4,0.000,0.047,3391,386,2116,0,0,0,0,0,0
$GC,8551,1.21,127.9,79.2,8.0,470,8555,0.00,2.28,0.00,0.000,6,0.000,0.021,3391,1815,2115,0,0,0,0,0,0
$GC,8815,1.25,162.7,62.3,6.4,494,8853,0.00,0.00,32.75,0.518,6,0.000,0.000,3392,1820,1970,0,0,0,0,0,0
$GC,9110,1.25,162.7,38.3,9.1,522,9115,0.00,2.45,0.00,0.000,4,0.000,0.045,3391,388,1967,0,0,0,0,0,0
$GC,9188,1.25,162.7,30.0,10.1,530,9192,0.00,2.28,0.00,0.000,6,0.000,0.019,3391,1801,1964,0,0,0,0,0,0
$GC,9458,1.25,164.1,8.7,8.0,579,9464,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1807,1964,0,0,0,0,0,0
$STATE,9530,end climb,SURFACE_DEPTH_REACHED
$STATE,9530,begin surface coast
$FINISH,0.6,1.007785
$STATE,9578,end surface coast,CONTROL_FINISHED_OK
$STATE,9578,begin surface
$SM_CCo,9602,85.50,0.464,0,0,1288,330.17
$SM_GC,1.09,0.00,0.00,85.50,0.000,0.000,0.464,432,2142,1288,-12.44,1.19,330.17
$IRIDIUM_FIX,2054.83,-15804.20,060700,040411
$TT8_MAMPS,0.028379
$HUMID,53.30
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.3,5.323
$10V_AH,10.6,4.952
$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,28.550,96.025,234.975,85.500,0.000,55.417,72.685,212.852,4.500,0.000,17.038,1118.985,6409.473,397.822,1719.010,581.484,0.000,1124.352,0.000,1697.342,0.000,29.264,0.000
$DEVICE_MAMPS,140.361,59.826,834.496,464.035,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.778,386.892,890.350,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,31755,601
$CAP_FILE_SIZE,100113,0
$CFSIZE,260165632,253411328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120411,065736,2104.898,-15805.371,36,1.0,36,9.8