version: 66.06
glider: 139
mission: 9
dive: 70
start: 4 12 111 21 5 20
data:
$ID,139
$MISSION,9
$DIVE,70
$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,-2176048.2
$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,85
$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
$GPS1,205946,2107.610,-15804.770,14,2.1,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-74.0
$GPS2,210501,2107.638,-15804.812,15,2.0,15,9.8
$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,65.0,4916,-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,-71.25,0.000,6,0.000,0.000,430,2163,3112,0,0,0,0,0,0
$GC,97,-1.19,-116.8,2.9,-4.0,14,116,13.30,2.50,0.00,0.000,4,0.139,0.031,2867,678,3113,0,0,0,0,0,0
$GC,244,-1.19,-116.8,36.1,-16.7,43,251,0.00,2.28,0.00,0.000,6,0.000,0.020,2867,2058,3115,0,0,0,0,0,0
$GC,506,-1.19,-116.8,76.6,-13.7,68,510,0.00,2.40,0.00,0.000,4,0.000,0.029,2867,3499,3116,0,0,0,0,0,0
$GC,644,-1.19,-116.8,93.5,-12.6,82,650,0.00,2.38,0.00,0.000,6,0.000,0.027,2867,2090,3116,0,0,0,0,0,0
$GC,908,-1.19,-116.8,128.9,-12.8,107,912,0.00,2.35,0.00,0.000,4,0.000,0.039,2866,690,3117,0,0,0,0,0,0
$GC,923,-1.19,-116.8,131.2,-12.4,108,928,0.00,2.28,0.00,0.000,6,0.000,0.020,2867,2102,3116,0,0,0,0,0,0
$GC,1184,-1.19,-116.8,163.7,-12.1,132,1188,0.00,2.30,0.00,0.000,4,0.000,0.029,2867,3496,3117,0,0,0,0,0,0
$GC,1274,-1.19,-116.8,173.3,-10.6,141,1278,0.00,2.33,0.00,0.000,6,0.000,0.027,2866,2092,3118,0,0,0,0,0,0
$GC,1536,-1.19,-116.8,202.4,-10.7,164,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2091,3118,0,0,0,0,0,0
$GC,1845,-1.19,-116.8,234.5,-9.5,179,1849,0.00,2.35,0.00,0.000,4,0.000,0.031,2867,3499,3119,0,0,0,0,0,0
$GC,1883,-1.19,-116.8,238.3,-9.9,180,1889,0.00,2.38,0.00,0.000,6,0.000,0.028,2867,2095,3119,0,0,0,0,0,0
$GC,2198,-1.19,-116.8,268.4,-8.9,196,2202,0.00,2.38,0.00,0.000,4,0.000,0.041,2867,693,3119,0,0,0,0,0,0
$GC,2219,-1.19,-116.8,270.1,-8.5,197,2224,0.00,2.28,0.00,0.000,6,0.000,0.023,2867,2095,3118,0,0,0,0,0,0
$GC,2550,-1.19,-116.8,298.7,-8.5,213,2551,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2098,3118,0,0,0,0,0,0
$GC,2854,-1.19,-116.8,324.0,-8.5,221,2858,0.00,2.38,0.00,0.000,4,0.000,0.042,2867,693,3117,0,0,0,0,0,0
$GC,2892,-1.19,-116.8,327.7,-10.4,221,2897,0.00,2.30,0.00,0.000,6,0.000,0.025,2867,2098,3116,0,0,0,0,0,0
$GC,3223,-1.19,-116.8,358.0,-8.4,230,3227,0.00,2.38,0.00,0.000,4,0.000,0.038,2867,3501,3115,0,0,0,0,0,0
$GC,3454,-1.19,-116.8,373.5,-5.9,235,3458,0.00,2.35,0.00,0.000,6,0.000,0.032,2867,2097,3114,0,0,0,0,0,0
$GC,3781,-1.19,-116.8,395.8,-7.2,243,3785,0.00,2.40,0.00,0.000,4,0.000,0.048,2867,692,3112,0,0,0,0,0,0
$GC,3796,-1.19,-116.8,397.0,-7.6,243,3800,0.00,2.33,0.00,0.000,6,0.000,0.028,2867,2103,3112,0,0,0,0,0,0
$GC,4146,-1.19,-116.8,425.0,-7.8,252,4150,0.00,2.40,0.00,0.000,4,0.000,0.041,2866,3507,3110,0,0,0,0,0,0
$GC,4202,-1.19,-116.8,429.2,-7.6,253,4206,0.00,2.40,0.00,0.000,6,0.000,0.035,2866,2098,3109,0,0,0,0,0,0
$GC,4516,-1.19,-116.8,448.9,-5.8,261,4520,0.00,2.45,0.00,0.000,4,0.000,0.051,2867,685,3107,0,0,0,0,0,0
$STATE,4532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4532,begin apogee
$GC,4541,-0.31,0.0,450.2,6.5,261,4643,0.95,0.00,95.85,0.820,6,0.090,0.000,3063,1818,2634,0,0,0,0,0,0
$STATE,4644,end apogee,CONTROL_FINISHED_OK
$STATE,4644,begin climb
$GC,4647,1.19,116.8,450.5,0.0,264,4753,1.55,0.00,102.15,0.800,6,0.058,0.000,3398,1819,2158,0,0,0,0,0,0
$GC,5048,1.19,116.8,404.7,12.2,274,5052,0.00,2.58,0.00,0.000,4,0.000,0.058,3398,393,2147,0,0,0,0,0,0
$GC,5076,1.19,116.8,400.9,13.5,274,5081,0.00,2.38,0.00,0.000,6,0.000,0.028,3398,1790,2144,0,0,0,0,0,0
$GC,5412,1.19,116.8,363.8,10.7,283,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1795,2141,0,0,0,0,0,0
$GC,5737,1.19,116.8,323.2,13.3,291,5738,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1796,2139,0,0,0,0,0,0
$GC,6045,1.19,116.8,284.7,11.3,301,6049,0.00,2.47,0.00,0.000,4,0.000,0.055,3397,398,2138,0,0,0,0,0,0
$GC,6089,1.19,116.8,279.4,11.8,303,6094,0.00,2.38,0.00,0.000,6,0.000,0.028,3398,1823,2136,0,0,0,0,0,0
$GC,6420,1.19,116.8,242.9,11.4,319,6421,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1828,2135,0,0,0,0,0,0
$GC,6728,1.19,116.8,210.3,10.3,334,6732,0.00,2.30,0.00,0.000,4,0.000,0.033,3398,3204,2133,0,0,0,0,0,0
$GC,6751,1.19,116.8,207.6,11.0,335,6756,0.00,2.40,0.00,0.000,6,0.000,0.035,3398,1809,2133,0,0,0,0,0,0
$GC,7085,1.19,116.8,175.6,9.5,363,7089,0.00,2.45,0.00,0.000,4,0.000,0.050,3398,386,2133,0,0,0,0,0,0
$GC,7136,1.19,116.8,169.9,11.8,368,7140,0.00,2.33,0.00,0.000,6,0.000,0.023,3398,1800,2131,0,0,0,0,0,0
$GC,7399,1.19,116.8,145.0,8.9,392,7403,0.00,2.33,0.00,0.000,4,0.000,0.029,3398,3204,2132,0,0,0,0,0,0
$GC,7416,1.19,116.8,143.4,9.5,393,7420,0.00,2.38,0.00,0.000,6,0.000,0.031,3398,1794,2132,0,0,0,0,0,0
$GC,7680,1.22,137.1,121.4,7.1,417,7700,0.00,2.45,14.45,0.540,4,0.000,0.046,3398,389,2073,0,0,0,0,0,0
$GC,7740,1.22,137.1,116.3,9.0,423,7744,0.00,2.33,0.00,0.000,6,0.000,0.021,3398,1810,2071,0,0,0,0,0,0
$GC,8004,1.24,151.7,96.6,7.4,447,8021,0.00,0.00,13.70,0.512,6,0.000,0.000,3398,1816,2015,0,0,0,0,0,0
$GC,8279,1.25,163.9,75.2,7.5,473,8300,0.00,2.53,12.02,0.486,4,0.000,0.046,3398,391,1965,0,0,0,0,0,0
$GC,8347,1.25,163.9,69.1,9.1,480,8352,0.00,2.30,0.00,0.000,6,0.000,0.019,3398,1797,1963,0,0,0,0,0,0
$GC,8612,1.26,173.8,48.6,7.6,504,8629,0.00,2.38,9.65,0.447,4,0.000,0.026,3398,3202,1926,0,0,0,0,0,0
$GC,8642,1.28,183.7,46.1,7.6,507,8662,0.00,2.40,10.48,0.449,6,0.000,0.028,3398,1790,1885,0,0,0,0,0,0
$GC,8918,1.28,183.7,24.6,8.3,539,8924,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1790,1883,0,0,0,0,0,0
$GC,9122,1.28,183.7,6.2,9.3,576,9129,0.00,2.42,0.00,0.000,4,0.000,0.045,3398,395,1882,0,0,0,0,0,0
$STATE,9151,end climb,SURFACE_DEPTH_REACHED
$STATE,9151,begin surface coast
$FINISH,0.6,1.023395
$STATE,9182,end surface coast,CONTROL_FINISHED_OK
$STATE,9182,begin surface
$SM_CCo,9209,77.85,0.464,0,0,1288,330.17
$SM_GC,1.19,0.00,0.00,77.85,0.000,0.000,0.464,428,2112,1288,-12.47,0.34,330.17
$IRIDIUM_FIX,2059.45,-15803.33,060700,181844
$TT8_MAMPS,0.028379
$HUMID,52.12
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.3,5.779
$10V_AH,10.6,5.414
$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,28.425,95.050,258.300,77.850,0.000,30.223,34.333,135.072,4.500,0.000,15.229,1069.639,6084.787,440.268,1586.498,423.660,0.000,1102.643,0.000,1573.094,0.000,29.243,0.000
$DEVICE_MAMPS,138.827,58.292,819.923,464.035,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.395,379.119,872.807,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,31744,589
$CAP_FILE_SIZE,91767,0
$CFSIZE,260165632,253124608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120411,234125,2107.932,-15804.263,39,1.5,39,9.8