version: 66.06
glider: 139
mission: 9
dive: 9
start: 4 6 111 2 19 11
data:
$ID,139
$MISSION,9
$DIVE,9
$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,400
$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,-2174741
$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,25
$R_STBD_OVSHOOT,48
$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
$GPS1,021007,2114.683,-15752.015,38,1.3,38,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-73.1
$GPS2,021850,2114.720,-15752.131,12,1.5,12,9.8
$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,225.6,20840,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.51,-97.4,0.0,0.0,0,114,0.00,0.00,-94.62,0.000,6,0.000,0.000,430,2096,3028,0,0,0,0,0,0
$GC,118,-1.51,-97.4,2.2,-3.5,18,136,12.88,2.33,0.00,0.000,4,0.140,0.032,2783,3471,3029,0,0,0,0,0,0
$GC,385,-1.51,-97.4,52.8,-17.3,64,389,0.00,2.38,0.00,0.000,6,0.000,0.031,2783,2068,3030,0,0,0,0,0,0
$GC,646,-1.51,-97.4,98.3,-17.4,88,650,0.00,2.38,0.00,0.000,4,0.000,0.040,2783,665,3031,0,0,0,0,0,0
$GC,909,-1.51,-97.4,141.4,-15.3,116,916,0.00,2.33,0.00,0.000,6,0.000,0.024,2783,2069,3031,0,0,0,0,0,0
$GC,1173,-1.51,-97.4,174.8,-13.4,141,1177,0.00,2.40,0.00,0.000,4,0.000,0.042,2783,665,3031,0,0,0,0,0,0
$GC,1189,-1.51,-97.4,177.4,-13.4,142,1193,0.00,2.33,0.00,0.000,6,0.000,0.025,2783,2082,3031,0,0,0,0,0,0
$GC,1451,-1.51,-97.4,208.3,-12.7,163,1455,0.00,2.33,0.00,0.000,4,0.000,0.034,2783,3478,3032,0,0,0,0,0,0
$GC,1525,-1.51,-97.4,218.9,-13.1,166,1529,0.00,2.35,0.00,0.000,6,0.000,0.032,2783,2080,3032,0,0,0,0,0,0
$GC,1845,-1.51,-97.4,254.4,-10.6,182,1849,0.00,2.42,0.00,0.000,4,0.000,0.044,2783,661,3032,0,0,0,0,0,0
$GC,1859,-1.51,-97.4,256.1,-11.0,182,1863,0.00,2.33,0.00,0.000,6,0.000,0.026,2783,2076,3032,0,0,0,0,0,0
$GC,2176,-1.51,-97.4,286.1,-8.7,197,2180,0.00,2.38,0.00,0.000,4,0.000,0.039,2783,3482,3032,0,0,0,0,0,0
$GC,2236,-1.51,-97.4,292.2,-9.1,199,2241,0.00,2.38,0.00,0.000,6,0.000,0.035,2782,2080,3032,0,0,0,0,0,0
$GC,2569,-1.51,-97.4,320.9,-8.6,210,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2080,3030,0,0,0,0,0,0
$GC,2895,-1.51,-97.4,348.1,-8.1,218,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2080,3028,0,0,0,0,0,0
$STATE,3056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3056,begin apogee
$GC,3062,-0.31,0.0,360.8,7.9,222,3145,1.33,0.00,78.85,0.731,6,0.102,0.000,3047,2080,2630,0,0,0,0,0,0
$STATE,3145,end apogee,CONTROL_FINISHED_OK
$STATE,3145,begin climb
$GC,3148,1.51,97.4,362.2,0.0,224,3243,1.83,2.53,82.70,0.716,4,0.061,0.053,3444,669,2231,0,0,0,0,0,0
$GC,3285,1.51,97.4,345.8,17.0,227,3290,0.00,2.40,0.00,0.000,6,0.000,0.030,3444,2075,2225,0,0,0,0,0,0
$GC,3603,1.51,97.4,300.8,13.6,235,3608,0.00,2.50,0.00,0.000,4,0.000,0.054,3444,667,2221,0,0,0,0,0,0
$GC,3740,1.51,97.4,282.1,13.3,240,3744,0.00,2.40,0.00,0.000,6,0.000,0.031,3444,2078,2217,0,0,0,0,0,0
$GC,4069,1.51,97.4,245.7,10.7,256,4073,0.00,2.50,0.00,0.000,4,0.000,0.053,3444,668,2216,0,0,0,0,0,0
$GC,4137,1.51,97.4,237.9,12.3,259,4141,0.00,2.40,0.00,0.000,6,0.000,0.030,3444,2090,2214,0,0,0,0,0,0
$GC,4467,1.51,97.4,202.0,12.2,275,4471,0.00,2.47,0.00,0.000,4,0.000,0.052,3444,673,2213,0,0,0,0,0,0
$GC,4657,1.51,97.4,179.0,11.8,295,4663,0.00,2.35,0.00,0.000,6,0.000,0.028,3444,2083,2210,0,0,0,0,0,0
$GC,4920,1.51,97.4,152.9,10.1,320,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2087,2211,0,0,0,0,0,0
$GC,5173,1.52,107.7,127.9,9.3,344,5184,0.00,2.45,6.28,0.466,4,0.000,0.045,3444,672,2190,0,0,0,0,0,0
$GC,5231,1.52,107.7,121.7,10.4,350,5236,0.00,2.35,0.00,0.000,6,0.000,0.025,3444,2091,2187,0,0,0,0,0,0
$GC,5495,1.52,108.0,97.4,10.0,374,5499,0.00,2.47,0.00,0.000,4,0.000,0.046,3443,662,2188,0,0,0,0,0,0
$GC,5647,1.53,108.5,82.6,10.0,390,5651,0.00,2.35,0.00,0.000,6,0.000,0.024,3444,2091,2187,0,0,0,0,0,0
$GC,5911,1.53,114.2,58.9,9.6,414,5925,0.00,2.53,7.03,0.427,4,0.000,0.044,3444,666,2164,0,0,0,0,0,0
$GC,6037,1.54,120.2,46.3,9.6,428,6049,0.00,2.33,6.60,0.413,6,0.000,0.023,3445,2083,2139,0,0,0,0,0,0
$GC,6306,1.56,138.7,23.3,8.7,459,6328,0.00,2.45,17.60,0.465,4,0.000,0.042,3444,671,2063,0,0,0,0,0,0
$GC,6401,1.56,140.4,13.4,9.9,479,6408,0.00,2.35,0.00,0.000,6,0.000,0.023,3443,2082,2059,0,0,0,0,0,0
$STATE,6500,end climb,SURFACE_DEPTH_REACHED
$STATE,6501,begin surface coast
$FINISH,0.3,1.023580
$STATE,6531,end surface coast,CONTROL_FINISHED_OK
$STATE,6531,begin surface
$SM_CCo,6554,128.45,0.463,0,0,999,400.08
$SM_GC,0.82,0.00,0.00,128.45,0.000,0.000,0.463,430,2086,999,-12.37,0.20,400.08
$IRIDIUM_FIX,2108.69,-15757.32,300600,020240
$TT8_MAMPS,0.029146
$HUMID,53.93
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.5,1.025
$10V_AH,10.6,0.717
$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,29.100,67.125,199.050,128.450,0.000,55.754,74.247,211.257,3.500,0.000,12.572,908.597,3902.613,397.585,1461.781,541.947,0.000,1003.031,0.000,1450.669,0.000,22.979,0.000
$DEVICE_MAMPS,139.594,54.457,730.951,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,338.584,347.393,821.789,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355748
$DATA_FILE_SIZE,28686,502
$CAP_FILE_SIZE,79324,0
$CFSIZE,260165632,256188416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060411,041145,2114.709,-15753.118,12,2.7,31,9.8