version: 66.06
glider: 139
mission: 9
dive: 66
start: 4 12 111 9 51 54
data:
$ID,139
$MISSION,9
$DIVE,66
$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,-2175965
$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,19
$R_STBD_OVSHOOT,50
$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
$GPS1,094546,2105.638,-15805.348,10,2.4,29,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-72.2
$GPS2,095136,2105.682,-15805.399,18,1.2,34,9.8
$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,39.7,7571,-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,14,begin dive
$GC,17,-1.19,-116.8,0.0,0.0,0,94,0.00,0.00,-70.62,0.000,6,0.000,0.000,430,2117,3112,0,0,0,0,0,0
$GC,98,-1.19,-116.8,3.0,-4.1,14,116,13.30,2.30,0.00,0.000,4,0.138,0.027,2870,3493,3113,0,0,0,0,0,0
$GC,253,-1.19,-116.8,38.2,-16.8,44,257,0.00,2.38,0.00,0.000,6,0.000,0.028,2870,2085,3115,0,0,0,0,0,0
$GC,515,-1.19,-116.8,77.1,-14.6,68,520,0.00,2.35,0.00,0.000,4,0.000,0.027,2870,3494,3116,0,0,0,0,0,0
$GC,576,-1.19,-116.8,86.3,-14.6,74,580,0.00,2.33,0.00,0.000,6,0.000,0.026,2871,2091,3115,0,0,0,0,0,0
$GC,839,-1.19,-116.8,121.0,-12.9,98,843,0.00,2.35,0.00,0.000,4,0.000,0.038,2870,684,3116,0,0,0,0,0,0
$GC,863,-1.19,-116.8,124.4,-12.4,100,868,0.00,2.28,0.00,0.000,6,0.000,0.021,2870,2094,3116,0,0,0,0,0,0
$GC,1126,-1.19,-116.8,156.2,-11.6,124,1130,0.00,2.30,0.00,0.000,4,0.000,0.029,2870,3496,3117,0,0,0,0,0,0
$GC,1372,-1.19,-116.8,183.3,-11.2,150,1378,0.00,2.35,0.00,0.000,6,0.000,0.026,2870,2099,3117,0,0,0,0,0,0
$GC,1643,-1.19,-116.8,211.3,-10.8,171,1647,0.00,2.35,0.00,0.000,4,0.000,0.039,2870,692,3118,0,0,0,0,0,0
$GC,1663,-1.19,-116.8,213.9,-11.5,172,1667,0.00,2.28,0.00,0.000,6,0.000,0.022,2870,2098,3117,0,0,0,0,0,0
$GC,1994,-1.19,-116.8,245.8,-9.5,188,1998,0.00,2.40,0.00,0.000,4,0.000,0.040,2870,686,3117,0,0,0,0,0,0
$GC,2016,-1.19,-116.8,248.0,-9.9,189,2020,0.00,2.33,0.00,0.000,6,0.000,0.022,2870,2109,3117,0,0,0,0,0,0
$GC,2347,-1.19,-116.8,277.6,-8.2,205,2351,0.00,2.40,0.00,0.000,4,0.000,0.041,2870,686,3117,0,0,0,0,0,0
$GC,2412,-1.19,-116.8,283.0,-8.4,208,2416,0.00,2.33,0.00,0.000,6,0.000,0.023,2871,2106,3117,0,0,0,0,0,0
$GC,2761,-1.19,-116.8,306.1,-6.1,223,2764,0.00,2.35,0.00,0.000,4,0.000,0.036,2870,3503,3117,0,0,0,0,0,0
$GC,2830,-1.19,-116.8,310.9,-6.7,224,2834,0.00,2.35,0.00,0.000,6,0.000,0.030,2870,2101,3117,0,0,0,0,0,0
$GC,3175,-1.19,-116.8,338.5,-8.6,233,3179,0.00,2.38,0.00,0.000,4,0.000,0.037,2870,3494,3115,0,0,0,0,0,0
$GC,3191,-1.19,-116.8,339.8,-8.5,233,3195,0.00,2.33,0.00,0.000,6,0.000,0.031,2871,2100,3115,0,0,0,0,0,0
$GC,3505,-1.19,-116.8,366.4,-8.1,241,3509,0.00,2.40,0.00,0.000,4,0.000,0.047,2870,692,3113,0,0,0,0,0,0
$GC,3633,-1.19,-116.8,375.6,-7.2,243,3638,0.00,2.33,0.00,0.000,6,0.000,0.027,2870,2106,3112,0,0,0,0,0,0
$GC,3965,-1.19,-116.8,393.9,-5.6,251,3969,0.00,2.42,0.00,0.000,4,0.000,0.047,2870,693,3110,0,0,0,0,0,0
$GC,4078,-1.19,-116.8,403.1,-8.4,253,4082,0.00,2.35,0.00,0.000,6,0.000,0.028,2870,2106,3109,0,0,0,0,0,0
$GC,4423,-1.19,-116.8,432.6,-8.7,262,4427,0.00,2.38,0.00,0.000,4,0.000,0.042,2870,3496,3107,0,0,0,0,0,0
$GC,4446,-1.19,-116.8,434.7,-8.9,262,4451,0.00,2.38,0.00,0.000,6,0.000,0.035,2870,2102,3107,0,0,0,0,0,0
$STATE,4662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4662,begin apogee
$GC,4669,-0.31,0.0,452.7,8.2,268,4768,0.95,0.00,95.35,0.823,6,0.087,0.000,3065,1798,2635,0,0,0,0,0,0
$STATE,4769,end apogee,CONTROL_FINISHED_OK
$STATE,4769,begin climb
$GC,4771,1.19,116.8,454.9,0.0,270,4877,1.55,0.00,101.85,0.804,6,0.060,0.000,3398,1798,2158,0,0,0,0,0,0
$GC,5190,1.19,116.8,402.9,13.6,281,5195,0.00,2.55,0.00,0.000,4,0.000,0.060,3398,385,2147,0,0,0,0,0,0
$GC,5214,1.19,116.8,399.2,15.7,281,5218,0.00,2.38,0.00,0.000,6,0.000,0.028,3398,1808,2144,0,0,0,0,0,0
$GC,5554,1.19,116.8,354.8,13.1,290,5558,0.00,2.55,0.00,0.000,4,0.000,0.058,3397,392,2142,0,0,0,0,0,0
$GC,5610,1.19,116.8,346.7,14.6,291,5614,0.00,2.35,0.00,0.000,6,0.000,0.028,3398,1798,2139,0,0,0,0,0,0
$GC,5924,1.19,116.8,307.4,12.2,299,5928,0.00,2.50,0.00,0.000,4,0.000,0.057,3397,391,2139,0,0,0,0,0,0
$GC,5989,1.19,116.8,298.6,13.6,300,5993,0.00,2.38,0.00,0.000,6,0.000,0.028,3398,1803,2137,0,0,0,0,0,0
$GC,6318,1.19,116.8,265.8,9.7,316,6323,0.00,2.53,0.00,0.000,4,0.000,0.055,3398,384,2137,0,0,0,0,0,0
$GC,6361,1.19,116.8,261.0,12.1,318,6365,0.00,2.38,0.00,0.000,6,0.000,0.027,3398,1810,2135,0,0,0,0,0,0
$GC,6691,1.19,116.8,229.4,9.6,334,6695,0.00,2.53,0.00,0.000,4,0.000,0.054,3398,386,2135,0,0,0,0,0,0
$GC,6723,1.19,116.8,225.6,11.9,335,6727,0.00,2.35,0.00,0.000,6,0.000,0.025,3398,1798,2133,0,0,0,0,0,0
$GC,7039,1.19,116.8,194.2,9.4,352,7041,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1803,2133,0,0,0,0,0,0
$GC,7295,1.19,116.8,170.9,8.2,376,7299,0.00,2.35,0.00,0.000,4,0.000,0.030,3398,3209,2133,0,0,0,0,0,0
$GC,7311,1.19,116.8,169.5,8.7,377,7315,0.00,2.40,0.00,0.000,6,0.000,0.034,3398,1793,2133,0,0,0,0,0,0
$GC,7575,1.19,116.8,147.0,8.7,401,7580,0.00,2.35,0.00,0.000,4,0.000,0.028,3398,3214,2133,0,0,0,0,0,0
$GC,7609,1.19,116.8,143.9,8.3,404,7613,0.00,2.40,0.00,0.000,6,0.000,0.032,3398,1791,2133,0,0,0,0,0,0
$GC,7872,1.19,116.8,121.4,8.4,428,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1791,2132,0,0,0,0,0,0
$GC,8124,1.19,116.8,99.6,8.6,452,8129,0.00,2.38,0.00,0.000,4,0.000,0.045,3398,389,2133,0,0,0,0,0,0
$GC,8252,1.19,116.8,88.9,8.8,465,8256,0.00,2.30,0.00,0.000,6,0.000,0.021,3398,1814,2132,0,0,0,0,0,0
$GC,8516,1.26,171.1,72.0,5.5,489,8565,0.00,2.33,43.08,0.525,4,0.000,0.025,3398,3202,1937,0,0,0,0,0,0
$GC,8590,1.29,192.4,67.7,7.0,496,8616,0.00,2.42,19.45,0.496,6,0.000,0.032,3398,1806,1849,0,0,0,0,0,0
$GC,8871,1.29,192.4,44.4,8.9,523,8876,0.00,2.45,0.00,0.000,4,0.000,0.047,3398,389,1845,0,0,0,0,0,0
$GC,8984,1.29,192.4,32.6,10.5,535,8988,0.00,2.28,0.00,0.000,6,0.000,0.019,3398,1794,1841,0,0,0,0,0,0
$GC,9254,1.29,192.4,10.0,9.1,582,9261,0.00,2.47,0.00,0.000,4,0.000,0.048,3398,388,1841,0,0,0,0,0,0
$GC,9285,1.29,192.4,7.5,8.0,588,9292,0.00,2.33,0.00,0.000,6,0.000,0.019,3398,1816,1841,0,0,0,0,0,0
$STATE,9329,end climb,SURFACE_DEPTH_REACHED
$STATE,9330,begin surface coast
$FINISH,0.4,1.023346
$STATE,9357,end surface coast,CONTROL_FINISHED_OK
$STATE,9357,begin surface
$SM_CCo,9381,70.45,0.461,0,0,1288,330.17
$SM_GC,1.17,0.00,0.00,70.45,0.000,0.000,0.461,430,2141,1288,-12.45,1.16,330.17
$IRIDIUM_FIX,2059.45,-15806.34,060700,070732
$TT8_MAMPS,0.029146
$HUMID,53.03
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.3,5.476
$10V_AH,10.7,5.109
$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,28.600,110.225,259.725,70.450,0.000,29.198,33.324,149.302,4.500,0.000,34.704,1124.619,6085.028,427.463,1726.588,439.240,0.000,1139.295,0.000,1690.796,0.000,29.258,0.000
$DEVICE_MAMPS,138.060,59.826,822.991,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.136,390.784,893.727,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31789,601
$CAP_FILE_SIZE,98451,0
$CFSIZE,260165632,253313024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120411,123107,2106.102,-15805.284,62,1.0,62,9.8