version: 66.06
glider: 139
mission: 9
dive: 68
start: 4 12 111 15 21 10
data:
$ID,139
$MISSION,9
$DIVE,68
$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,-2176012.2
$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,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,81
$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
$GPS1,151522,2106.466,-15805.164,11,3.5,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-71.9
$GPS2,152052,2106.467,-15805.209,13,5.3,32,9.8
$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,47.7,6439,-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,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,93,0.00,0.00,-70.90,0.000,6,0.000,0.000,427,2144,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.3,-5.1,14,115,13.35,2.22,0.00,0.000,4,0.140,0.028,2869,3471,3114,0,0,0,0,0,0
$GC,367,-1.19,-116.8,53.2,-14.1,57,371,0.00,2.30,0.00,0.000,6,0.000,0.027,2869,2087,3115,0,0,0,0,0,0
$GC,629,-1.19,-116.8,88.7,-11.9,81,633,0.00,2.28,0.00,0.000,4,0.000,0.028,2869,3461,3116,0,0,0,0,0,0
$GC,720,-1.19,-116.8,99.5,-11.6,90,727,0.00,2.30,0.00,0.000,6,0.000,0.027,2869,2095,3116,0,0,0,0,0,0
$GC,984,-1.19,-116.8,126.5,-11.0,115,988,0.00,2.28,0.00,0.000,4,0.000,0.028,2869,3465,3117,0,0,0,0,0,0
$GC,1035,-1.19,-116.8,132.5,-11.5,120,1040,0.00,2.28,0.00,0.000,6,0.000,0.027,2869,2090,3117,0,0,0,0,0,0
$GC,1299,-1.19,-116.8,160.3,-10.4,144,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2089,3118,0,0,0,0,0,0
$GC,1551,-1.19,-116.8,187.6,-10.4,168,1555,0.00,2.35,0.00,0.000,4,0.000,0.039,2869,685,3119,0,0,0,0,0,0
$GC,1598,-1.19,-116.8,192.8,-11.2,172,1605,0.00,2.28,0.00,0.000,6,0.000,0.021,2869,2062,3118,0,0,0,0,0,0
$GC,1866,-1.19,-116.8,218.9,-9.7,189,1870,0.00,2.38,0.00,0.000,4,0.000,0.032,2869,3496,3118,0,0,0,0,0,0
$GC,1949,-1.19,-116.8,227.1,-9.0,192,1955,0.00,2.35,0.00,0.000,6,0.000,0.027,2869,2096,3119,0,0,0,0,0,0
$GC,2265,-1.19,-116.8,254.1,-7.8,208,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2096,3118,0,0,0,0,0,0
$GC,2576,-1.19,-116.8,276.3,-7.6,223,2581,0.00,2.38,0.00,0.000,4,0.000,0.042,2869,685,3118,0,0,0,0,0,0
$GC,2660,-1.19,-116.8,284.3,-9.3,226,2666,0.00,2.35,0.00,0.000,6,0.000,0.024,2869,2099,3118,0,0,0,0,0,0
$GC,2994,-1.19,-116.8,311.0,-7.9,240,2998,0.00,2.38,0.00,0.000,4,0.000,0.037,2869,3503,3116,0,0,0,0,0,0
$GC,3129,-1.19,-116.8,321.6,-7.9,243,3133,0.00,2.35,0.00,0.000,6,0.000,0.031,2869,2098,3116,0,0,0,0,0,0
$GC,3458,-1.19,-116.8,346.4,-7.9,251,3462,0.00,2.42,0.00,0.000,4,0.000,0.046,2869,685,3115,0,0,0,0,0,0
$GC,3472,-1.19,-116.8,347.9,-8.1,251,3476,0.00,2.33,0.00,0.000,6,0.000,0.026,2869,2099,3115,0,0,0,0,0,0
$GC,3822,-1.19,-116.8,373.9,-7.2,260,3826,0.00,2.45,0.00,0.000,4,0.000,0.048,2869,689,3112,0,0,0,0,0,0
$GC,3887,-1.19,-116.8,378.7,-7.7,261,3891,0.00,2.35,0.00,0.000,6,0.000,0.027,2869,2100,3111,0,0,0,0,0,0
$GC,4238,-1.19,-116.8,400.6,-6.3,270,4242,0.00,2.45,0.00,0.000,4,0.000,0.048,2868,689,3109,0,0,0,0,0,0
$GC,4262,-1.19,-116.8,402.5,-7.3,270,4266,0.00,2.35,0.00,0.000,6,0.000,0.028,2869,2099,3109,0,0,0,0,0,0
$GC,4602,-1.19,-116.8,426.2,-6.8,279,4606,0.00,2.38,0.00,0.000,4,0.000,0.042,2869,3499,3107,0,0,0,0,0,0
$GC,4618,-1.19,-116.8,427.4,-6.8,279,4623,0.00,2.38,0.00,0.000,6,0.000,0.035,2869,2101,3107,0,0,0,0,0,0
$STATE,4966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4966,begin apogee
$GC,4973,-0.31,0.0,450.3,6.6,288,5071,0.98,0.00,95.45,0.834,6,0.087,0.000,3068,1797,2635,0,0,0,0,0,0
$STATE,5072,end apogee,CONTROL_FINISHED_OK
$STATE,5072,begin climb
$GC,5075,1.19,116.8,451.1,0.0,290,5187,1.50,2.58,101.53,0.812,4,0.060,0.060,3394,389,2156,0,0,0,0,0,0
$GC,5203,1.19,116.8,437.9,13.7,293,5207,0.00,2.40,0.00,0.000,6,0.000,0.028,3394,1807,2152,0,0,0,0,0,0
$GC,5530,1.19,116.8,394.4,12.7,301,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1812,2145,0,0,0,0,0,0
$GC,5855,1.19,116.8,357.4,11.0,309,5860,0.00,2.55,0.00,0.000,4,0.000,0.058,3394,391,2142,0,0,0,0,0,0
$GC,5920,1.19,116.8,349.0,12.8,310,5925,0.00,2.38,0.00,0.000,6,0.000,0.029,3394,1795,2139,0,0,0,0,0,0
$GC,6266,1.19,116.8,310.5,10.9,319,6267,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1800,2138,0,0,0,0,0,0
$GC,6574,1.19,116.8,279.4,9.9,331,6579,0.00,2.40,0.00,0.000,4,0.000,0.035,3395,3207,2137,0,0,0,0,0,0
$GC,6588,1.19,116.8,277.7,10.0,331,6594,0.00,2.45,0.00,0.000,6,0.000,0.038,3394,1799,2137,0,0,0,0,0,0
$GC,6906,1.19,116.8,246.1,9.1,347,6910,0.00,2.38,0.00,0.000,4,0.000,0.034,3395,3206,2135,0,0,0,0,0,0
$GC,6929,1.19,116.8,243.6,10.6,348,6933,0.00,2.45,0.00,0.000,6,0.000,0.038,3394,1794,2135,0,0,0,0,0,0
$GC,7253,1.19,116.8,214.0,8.8,364,7258,0.00,2.45,0.00,0.000,4,0.000,0.053,3394,383,2134,0,0,0,0,0,0
$GC,7327,1.19,116.8,206.8,9.9,367,7332,0.00,2.35,0.00,0.000,6,0.000,0.025,3395,1823,2132,0,0,0,0,0,0
$GC,7656,1.19,116.8,176.5,9.3,394,7660,0.00,2.50,0.00,0.000,4,0.000,0.051,3394,385,2132,0,0,0,0,0,0
$GC,7717,1.19,116.8,170.0,10.9,400,7721,0.00,2.33,0.00,0.000,6,0.000,0.024,3395,1796,2131,0,0,0,0,0,0
$GC,7979,1.19,116.8,146.1,9.3,424,7984,0.00,2.45,0.00,0.000,4,0.000,0.048,3394,379,2131,0,0,0,0,0,0
$GC,8026,1.19,116.8,141.3,9.7,428,8032,0.00,2.35,0.00,0.000,6,0.000,0.023,3395,1794,2131,0,0,0,0,0,0
$GC,8290,1.19,116.8,118.4,9.1,453,8294,0.00,2.35,0.00,0.000,4,0.000,0.028,3395,3214,2131,0,0,0,0,0,0
$GC,8334,1.19,116.8,113.9,11.0,457,8338,0.00,2.40,0.00,0.000,6,0.000,0.033,3394,1791,2132,0,0,0,0,0,0
$GC,8598,1.19,116.8,89.0,8.9,481,8602,0.00,2.42,0.00,0.000,4,0.000,0.048,3394,383,2132,0,0,0,0,0,0
$GC,8616,1.19,116.8,86.8,10.0,482,8623,0.00,2.33,0.00,0.000,6,0.000,0.021,3395,1805,2131,0,0,0,0,0,0
$GC,8881,1.20,119.4,65.0,7.9,507,8885,0.00,2.42,0.00,0.000,4,0.000,0.046,3394,386,2132,0,0,0,0,0,0
$GC,8941,1.20,119.4,59.2,9.7,513,8945,0.00,2.28,0.00,0.000,6,0.000,0.020,3395,1794,2132,0,0,0,0,0,0
$GC,9210,1.26,170.5,40.1,5.7,538,9260,0.00,2.38,42.55,0.505,4,0.000,0.025,3395,3212,1938,0,0,0,0,0,0
$GC,9294,1.28,184.7,34.4,7.4,546,9313,0.00,2.45,13.60,0.465,6,0.000,0.031,3395,1797,1881,0,0,0,0,0,0
$GC,9580,1.30,202.8,10.7,7.2,594,9605,0.10,2.50,16.00,0.453,4,0.073,0.047,3432,387,1807,0,0,0,0,0,0
$GC,9634,1.30,202.8,4.5,13.7,604,9640,0.00,2.35,0.00,0.000,6,0.000,0.019,3433,1816,1803,0,0,0,0,0,0
$STATE,9645,end climb,SURFACE_DEPTH_REACHED
$STATE,9645,begin surface coast
$FINISH,0.5,1.013548
$STATE,9669,end surface coast,CONTROL_FINISHED_OK
$STATE,9669,begin surface
$SM_CCo,9693,66.78,0.468,0,0,1289,330.17
$SM_GC,1.25,0.00,0.00,66.78,0.000,0.000,0.468,431,2127,1289,-12.45,0.76,330.17
$IRIDIUM_FIX,2057.14,-15804.20,060700,121242
$TT8_MAMPS,0.029146
$HUMID,53.18
$INTERNAL_PRESSURE,9.57698
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.3,5.628
$10V_AH,10.5,5.263
$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,28.950,110.375,269.125,66.775,0.000,23.881,33.544,137.577,4.500,0.000,33.435,1128.683,6388.047,402.231,1749.861,422.426,0.000,1157.797,0.000,1710.612,0.000,31.294,0.000
$DEVICE_MAMPS,139.594,59.826,833.729,467.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.981,392.444,900.286,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,34984,610
$CAP_FILE_SIZE,101122,0
$CFSIZE,260165632,253210624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120411,180507,2106.910,-15805.018,38,0.9,38,9.8