version: 66.06
glider: 139
mission: 9
dive: 8
start: 4 6 111 0 18 51
data:
$ID,139
$MISSION,9
$DIVE,8
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$D_ABORT,450
$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,120
$T_MISSION,150
$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,100
$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,500
$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,-2174727.8
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,3120
$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,2079
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2630
$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
$GPS1,001125,2114.312,-15751.309,8,1.3,13,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-71.6
$GPS2,001832,2114.341,-15751.323,15,1.3,15,9.8
$SPEED_LIMITS,0.173,0.218
$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,229.3,21633,-22.3,-10.000
$D_GRID,360
$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,12,begin dive
$GC,15,-1.51,-97.4,0.0,0.0,0,114,0.00,0.00,-94.70,0.000,6,0.000,0.000,432,2091,3027,0,0,0,0,0,0
$GC,118,-1.51,-97.4,2.1,-2.4,18,136,12.88,2.33,0.00,0.000,4,0.140,0.031,2785,3475,3028,0,0,0,0,0,0
$GC,384,-1.51,-97.4,51.1,-18.1,65,389,0.00,2.35,0.00,0.000,6,0.000,0.032,2784,2078,3029,0,0,0,0,0,0
$GC,647,-1.51,-97.4,96.4,-16.3,89,651,0.00,2.33,0.00,0.000,4,0.000,0.031,2784,3479,3029,0,0,0,0,0,0
$GC,913,-1.51,-97.4,134.6,-13.0,117,919,0.00,2.35,0.00,0.000,6,0.000,0.030,2784,2071,3029,0,0,0,0,0,0
$GC,1176,-1.51,-97.4,168.2,-12.6,142,1180,0.00,2.35,0.00,0.000,4,0.000,0.031,2785,3476,3030,0,0,0,0,0,0
$GC,1442,-1.51,-97.4,200.7,-9.6,170,1450,0.00,2.38,0.00,0.000,6,0.000,0.031,2784,2074,3030,0,0,0,0,0,0
$GC,1758,-1.51,-97.4,233.3,-10.4,186,1762,0.00,2.33,0.00,0.000,4,0.000,0.034,2784,3474,3030,0,0,0,0,0,0
$GC,2024,-1.51,-97.4,260.4,-12.8,197,2029,0.00,2.35,0.00,0.000,6,0.000,0.032,2784,2077,3029,0,0,0,0,0,0
$GC,2341,-1.51,-97.4,295.3,-9.5,213,2345,0.00,2.35,0.00,0.000,4,0.000,0.038,2784,3478,3029,0,0,0,0,0,0
$GC,2609,-1.51,-97.4,320.7,-9.1,220,2614,0.00,2.38,0.00,0.000,6,0.000,0.035,2784,2080,3027,0,0,0,0,0,0
$GC,2940,-1.51,-97.4,350.3,-8.5,229,2944,0.00,2.38,0.00,0.000,4,0.000,0.040,2784,3470,3026,0,0,0,0,0,0
$STATE,3061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3061,begin apogee
$GC,3070,-0.31,0.0,360.0,7.5,231,3152,1.30,0.00,78.22,0.731,6,0.103,0.000,3047,2070,2630,0,0,0,0,0,0
$STATE,3153,end apogee,CONTROL_FINISHED_OK
$STATE,3153,begin climb
$GC,3156,1.51,97.4,361.6,0.0,233,3250,1.83,2.53,82.55,0.716,4,0.062,0.053,3443,664,2232,0,0,0,0,0,0
$GC,3353,1.51,97.4,336.0,15.6,237,3357,0.00,2.38,0.00,0.000,6,0.000,0.030,3443,2069,2223,0,0,0,0,0,0
$GC,3684,1.51,97.4,292.6,12.9,246,3688,0.00,2.50,0.00,0.000,4,0.000,0.054,3443,669,2220,0,0,0,0,0,0
$GC,3799,1.51,97.4,276.2,12.4,251,3803,0.00,2.40,0.00,0.000,6,0.000,0.031,3443,2084,2217,0,0,0,0,0,0
$GC,4125,1.51,97.4,237.5,11.9,267,4129,0.00,2.50,0.00,0.000,4,0.000,0.054,3443,672,2216,0,0,0,0,0,0
$GC,4279,1.51,97.4,217.2,11.3,273,4284,0.00,2.38,0.00,0.000,6,0.000,0.030,3443,2086,2213,0,0,0,0,0,0
$GC,4599,1.51,97.4,185.2,11.0,295,4603,0.00,2.50,0.00,0.000,4,0.000,0.051,3443,662,2212,0,0,0,0,0,0
$GC,4758,1.51,97.4,163.9,11.7,312,4763,0.00,2.38,0.00,0.000,6,0.000,0.028,3443,2087,2210,0,0,0,0,0,0
$GC,5022,1.52,103.0,139.3,9.6,336,5026,0.00,2.47,0.00,0.000,4,0.000,0.049,3443,668,2210,0,0,0,0,0,0
$GC,5151,1.52,107.6,125.1,9.7,349,5167,0.00,2.35,5.80,0.457,6,0.000,0.026,3443,2086,2191,0,0,0,0,0,0
$GC,5422,1.53,116.2,98.1,9.4,375,5442,0.00,2.47,9.23,0.497,4,0.000,0.046,3443,669,2154,0,0,0,0,0,0
$GC,5539,1.54,116.7,86.4,10.0,387,5545,0.00,2.35,0.00,0.000,6,0.000,0.025,3443,2091,2152,0,0,0,0,0,0
$GC,5804,1.56,137.6,64.0,8.6,412,5834,0.00,2.50,19.75,0.507,4,0.000,0.044,3443,668,2066,0,0,0,0,0,0
$GC,5857,1.56,137.6,58.2,11.7,417,5863,0.00,2.38,0.00,0.000,6,0.000,0.024,3444,2086,2063,0,0,0,0,0,0
$GC,6119,1.56,137.6,30.6,10.5,442,6123,0.00,2.42,0.00,0.000,4,0.000,0.044,3443,668,2063,0,0,0,0,0,0
$GC,6275,1.56,137.6,12.3,10.6,477,6282,0.00,2.35,0.00,0.000,6,0.000,0.023,3443,2092,2061,0,0,0,0,0,0
$STATE,6362,end climb,SURFACE_DEPTH_REACHED
$STATE,6362,begin surface coast
$FINISH,0.3,1.010027
$STATE,6392,end surface coast,CONTROL_FINISHED_OK
$STATE,6393,begin surface
$SM_CCo,6416,182.85,0.469,0,0,590,500.17
$SM_GC,1.02,0.00,0.00,182.85,0.000,0.000,0.469,430,2096,590,-12.37,0.48,500.17
$IRIDIUM_FIX,2106.38,-15750.02,290600,232357
$TT8_MAMPS,0.029146
$HUMID,55.51
$INTERNAL_PRESSURE,9.57698
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.5,0.951
$10V_AH,10.7,0.647
$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,29.050,67.125,195.550,182.850,0.000,22.854,41.450,232.160,3.500,0.000,15.564,931.756,3488.737,459.075,1647.764,507.595,0.000,1142.090,0.000,1632.669,0.000,22.980,0.000
$DEVICE_MAMPS,140.361,54.457,730.951,468.637,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,335.624,345.057,815.274,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,28613,498
$CAP_FILE_SIZE,81486,0
$CFSIZE,260165632,256241664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060411,021007,2114.683,-15752.015,38,1.3,38,9.8