version: 66.06
glider: 139
mission: 9
dive: 67
start: 4 12 111 12 36 44
data:
$ID,139
$MISSION,9
$DIVE,67
$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,-2175978
$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,83
$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
$GPS1,123107,2106.102,-15805.284,62,1.0,62,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-73.4
$GPS2,123625,2106.117,-15805.303,12,1.1,12,9.8
$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,43.9,6938,-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,-116.8,0.0,0.0,0,94,0.00,0.00,-70.88,0.000,6,0.000,0.000,429,2141,3113,0,0,0,0,0,0
$GC,97,-1.19,-116.8,3.4,-5.7,14,115,13.30,0.00,0.00,0.000,6,0.138,0.000,2871,2141,3115,0,0,0,0,0,0
$GC,317,-1.19,-116.8,46.8,-14.5,44,321,0.00,2.17,0.00,0.000,4,0.000,0.027,2871,3459,3116,0,0,0,0,0,0
$GC,463,-1.19,-116.8,69.0,-14.8,60,467,0.00,2.28,0.00,0.000,6,0.000,0.027,2871,2082,3117,0,0,0,0,0,0
$GC,726,-1.19,-116.8,110.3,-14.9,84,730,0.00,2.30,0.00,0.000,4,0.000,0.028,2871,3458,3117,0,0,0,0,0,0
$GC,742,-1.19,-116.8,112.8,-14.7,85,746,0.00,2.28,0.00,0.000,6,0.000,0.025,2871,2090,3117,0,0,0,0,0,0
$GC,1006,-1.19,-116.8,149.1,-12.0,109,1011,0.00,2.33,0.00,0.000,4,0.000,0.038,2871,694,3117,0,0,0,0,0,0
$GC,1016,-1.19,-116.8,150.8,-12.1,109,1022,0.00,2.20,0.00,0.000,6,0.000,0.021,2871,2066,3118,0,0,0,0,0,0
$GC,1279,-1.19,-116.8,178.9,-9.5,134,1283,0.00,2.35,0.00,0.000,4,0.000,0.031,2871,3490,3118,0,0,0,0,0,0
$GC,1497,-1.19,-116.8,202.0,-10.4,157,1501,0.00,2.33,0.00,0.000,6,0.000,0.027,2871,2095,3119,0,0,0,0,0,0
$GC,1813,-1.19,-116.8,232.4,-8.4,172,1817,0.00,2.33,0.00,0.000,4,0.000,0.031,2871,3491,3119,0,0,0,0,0,0
$GC,1896,-1.19,-116.8,239.5,-7.8,175,1900,0.00,2.30,0.00,0.000,6,0.000,0.027,2871,2094,3119,0,0,0,0,0,0
$GC,2211,-1.19,-116.8,265.6,-8.2,190,2215,0.00,2.38,0.00,0.000,4,0.000,0.041,2871,690,3119,0,0,0,0,0,0
$GC,2225,-1.19,-116.8,266.9,-8.1,190,2232,0.00,2.30,0.00,0.000,6,0.000,0.023,2871,2086,3118,0,0,0,0,0,0
$GC,2541,-1.19,-116.8,291.6,-8.5,206,2545,0.00,2.35,0.00,0.000,4,0.000,0.041,2871,695,3118,0,0,0,0,0,0
$GC,2597,-1.19,-116.8,297.0,-10.0,208,2601,0.00,2.33,0.00,0.000,6,0.000,0.024,2871,2109,3118,0,0,0,0,0,0
$GC,2929,-1.19,-116.8,320.4,-6.8,217,2933,0.00,2.33,0.00,0.000,4,0.000,0.036,2871,3499,3117,0,0,0,0,0,0
$GC,2967,-1.19,-116.8,323.3,-7.5,217,2973,0.00,2.33,0.00,0.000,6,0.000,0.031,2871,2104,3117,0,0,0,0,0,0
$GC,3299,-1.19,-116.8,348.5,-7.8,226,3300,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2103,3115,0,0,0,0,0,0
$GC,3623,-1.19,-116.8,372.5,-7.3,234,3627,0.00,2.42,0.00,0.000,4,0.000,0.046,2871,689,3113,0,0,0,0,0,0
$GC,3651,-1.19,-116.8,374.9,-8.4,234,3655,0.00,2.33,0.00,0.000,6,0.000,0.027,2871,2103,3113,0,0,0,0,0,0
$GC,3994,-1.19,-116.8,400.9,-7.7,243,3998,0.00,2.42,0.00,0.000,4,0.000,0.047,2871,691,3111,0,0,0,0,0,0
$GC,4092,-1.19,-116.8,409.2,-8.0,245,4096,0.00,2.33,0.00,0.000,6,0.000,0.028,2871,2106,3110,0,0,0,0,0,0
$GC,4411,-1.19,-116.8,430.1,-6.2,253,4415,0.00,2.45,0.00,0.000,4,0.000,0.048,2870,695,3108,0,0,0,0,0,0
$GC,4500,-1.19,-116.8,436.1,-6.4,255,4504,0.00,2.33,0.00,0.000,6,0.000,0.028,2871,2101,3108,0,0,0,0,0,0
$STATE,4743,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4744,begin apogee
$GC,4751,-0.31,0.0,450.4,5.8,261,4850,0.95,0.00,95.60,0.828,6,0.089,0.000,3064,1803,2635,0,0,0,0,0,0
$STATE,4850,end apogee,CONTROL_FINISHED_OK
$STATE,4851,begin climb
$GC,4853,1.19,116.8,451.7,0.0,263,4965,1.50,2.58,101.25,0.806,4,0.058,0.058,3391,393,2156,0,0,0,0,0,0
$GC,4981,1.19,116.8,439.4,13.5,266,4985,0.00,2.40,0.00,0.000,6,0.000,0.028,3392,1799,2152,0,0,0,0,0,0
$GC,5308,1.19,116.8,400.0,11.6,274,5313,0.00,2.53,0.00,0.000,4,0.000,0.057,3391,389,2145,0,0,0,0,0,0
$GC,5360,1.19,116.8,393.2,12.4,275,5364,0.00,2.38,0.00,0.000,6,0.000,0.028,3391,1804,2143,0,0,0,0,0,0
$GC,5678,1.19,116.8,354.9,12.0,283,5682,0.00,2.53,0.00,0.000,4,0.000,0.058,3391,393,2140,0,0,0,0,0,0
$GC,5725,1.19,116.8,348.1,14.0,284,5729,0.00,2.35,0.00,0.000,6,0.000,0.028,3392,1797,2138,0,0,0,0,0,0
$GC,6048,1.19,116.8,310.1,11.4,292,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1802,2137,0,0,0,0,0,0
$GC,6355,1.19,116.8,277.3,10.3,304,6360,0.00,2.47,0.00,0.000,4,0.000,0.056,3392,391,2136,0,0,0,0,0,0
$GC,6379,1.19,116.8,274.5,12.5,305,6383,0.00,2.38,0.00,0.000,6,0.000,0.028,3392,1819,2135,0,0,0,0,0,0
$GC,6705,1.19,116.8,237.9,11.1,321,6709,0.00,2.50,0.00,0.000,4,0.000,0.054,3392,393,2135,0,0,0,0,0,0
$GC,6779,1.19,116.8,229.5,9.8,324,6783,0.00,2.30,0.00,0.000,6,0.000,0.026,3392,1787,2133,0,0,0,0,0,0
$GC,7099,1.19,116.8,200.4,8.9,340,7103,0.00,2.40,0.00,0.000,4,0.000,0.032,3392,3215,2133,0,0,0,0,0,0
$GC,7123,1.19,116.8,198.3,9.2,342,7128,0.00,2.42,0.00,0.000,6,0.000,0.035,3392,1802,2133,0,0,0,0,0,0
$GC,7386,1.19,116.8,173.5,10.1,366,7391,0.00,2.47,0.00,0.000,4,0.000,0.052,3391,385,2132,0,0,0,0,0,0
$GC,7439,1.19,116.8,167.3,11.8,371,7444,0.00,2.33,0.00,0.000,6,0.000,0.024,3392,1820,2131,0,0,0,0,0,0
$GC,7704,1.19,116.8,140.1,10.2,395,7708,0.00,2.47,0.00,0.000,4,0.000,0.049,3391,388,2130,0,0,0,0,0,0
$GC,7747,1.19,116.8,134.9,11.1,399,7752,0.00,2.30,0.00,0.000,6,0.000,0.022,3392,1791,2130,0,0,0,0,0,0
$GC,8012,1.19,116.8,110.6,8.5,423,8016,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1796,2131,0,0,0,0,0,0
$GC,8273,1.19,116.8,87.3,8.5,448,8277,0.00,2.42,0.00,0.000,4,0.000,0.047,3392,378,2131,0,0,0,0,0,0
$GC,8355,1.19,116.8,79.2,10.4,456,8362,0.00,2.33,0.00,0.000,6,0.000,0.020,3392,1806,2131,0,0,0,0,0,0
$GC,8619,1.24,157.1,60.6,6.2,481,8657,0.00,2.33,31.33,0.518,4,0.000,0.025,3392,3201,1993,0,0,0,0,0,0
$GC,8679,1.27,176.5,56.6,7.1,487,8703,0.00,2.40,18.00,0.494,6,0.000,0.031,3392,1795,1915,0,0,0,0,0,0
$GC,8965,1.27,176.5,33.6,8.3,514,8969,0.00,2.42,0.00,0.000,4,0.000,0.046,3392,390,1911,0,0,0,0,0,0
$GC,9038,1.27,176.5,27.2,8.9,525,9045,0.00,2.33,0.00,0.000,6,0.000,0.019,3392,1806,1908,0,0,0,0,0,0
$GC,9242,1.29,193.6,13.0,7.2,562,9267,0.12,2.53,15.30,0.449,4,0.062,0.046,3435,392,1843,0,0,0,0,0,0
$GC,9287,1.29,193.6,8.4,10.5,570,9294,0.00,2.33,0.00,0.000,6,0.000,0.018,3435,1806,1841,0,0,0,0,0,0
$STATE,9331,end climb,SURFACE_DEPTH_REACHED
$STATE,9331,begin surface coast
$FINISH,0.4,1.010819
$STATE,9353,end surface coast,CONTROL_FINISHED_OK
$STATE,9353,begin surface
$SM_CCo,9377,71.10,0.465,0,0,1289,330.17
$SM_GC,1.22,0.00,0.00,71.10,0.000,0.000,0.465,428,2144,1289,-12.47,1.24,330.17
$IRIDIUM_FIX,2059.45,-15806.34,060700,090922
$TT8_MAMPS,0.029146
$HUMID,52.91
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.80
$XPDR_PINGS,1
$24V_AH,23.3,5.552
$10V_AH,10.5,5.185
$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,28.850,109.975,261.475,71.100,0.000,28.262,35.974,140.082,4.750,0.000,12.263,1089.194,6150.841,403.484,1679.588,445.752,0.000,1143.646,0.000,1669.937,0.000,29.250,0.000
$DEVICE_MAMPS,138.060,58.292,827.593,464.802,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,393.704,375.492,860.274,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31920,582
$CAP_FILE_SIZE,99568,0
$CFSIZE,260165632,253263872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120411,151522,2106.466,-15805.164,11,3.5,30,9.8