version: 66.06
glider: 139
mission: 9
dive: 11
start: 4 6 111 6 34 37
data:
$ID,139
$MISSION,9
$DIVE,11
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$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,148
$T_MISSION,170
$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,130
$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,-2174803
$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,3130
$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,2020
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,43
$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
$GPS1,062902,2114.505,-15753.913,10,1.5,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-73.7
$GPS2,063420,2114.508,-15753.935,14,1.5,14,9.8
$SPEED_LIMITS,0.156,0.239
$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,221.0,18110,-17.9,-9.009
$D_GRID,400
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.27,-126.6,0.0,0.0,0,106,0.00,0.00,-84.12,0.000,6,0.000,0.000,431,2105,3152,0,0,0,0,0,0
$GC,109,-1.27,-126.6,2.4,-3.9,16,128,13.30,2.42,0.00,0.000,4,0.142,0.038,2845,687,3154,0,0,0,0,0,0
$GC,302,-1.27,-126.6,45.9,-19.4,50,308,0.00,2.35,0.00,0.000,6,0.000,0.023,2845,2099,3154,0,0,0,0,0,0
$GC,564,-1.27,-126.6,91.4,-17.3,75,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2102,3154,0,0,0,0,0,0
$GC,819,-1.27,-126.6,137.0,-17.8,99,823,0.00,2.40,0.00,0.000,4,0.000,0.041,2846,685,3155,0,0,0,0,0,0
$GC,838,-1.27,-126.6,141.0,-19.2,100,844,0.00,2.35,0.00,0.000,6,0.000,0.024,2845,2100,3156,0,0,0,0,0,0
$GC,1102,-1.27,-126.6,182.5,-14.0,125,1106,0.00,2.35,0.00,0.000,4,0.000,0.034,2845,3509,3156,0,0,0,0,0,0
$GC,1251,-1.27,-126.6,203.0,-12.2,140,1256,0.00,2.38,0.00,0.000,6,0.000,0.029,2846,2086,3156,0,0,0,0,0,0
$GC,1572,-1.27,-126.6,237.9,-10.3,156,1576,0.00,2.40,0.00,0.000,4,0.000,0.035,2846,3503,3157,0,0,0,0,0,0
$GC,1593,-1.27,-126.6,239.9,-10.0,157,1598,0.00,2.38,0.00,0.000,6,0.000,0.031,2846,2092,3157,0,0,0,0,0,0
$GC,1929,-1.27,-126.6,279.3,-12.0,173,1935,0.00,2.40,0.00,0.000,4,0.000,0.037,2845,3506,3157,0,0,0,0,0,0
$GC,1945,-1.27,-126.6,281.4,-11.1,173,1950,0.00,2.38,0.00,0.000,6,0.000,0.032,2846,2098,3157,0,0,0,0,0,0
$GC,2261,-1.27,-126.6,314.5,-10.4,185,2265,0.00,2.42,0.00,0.000,4,0.000,0.047,2845,687,3156,0,0,0,0,0,0
$GC,2275,-1.27,-126.6,316.4,-10.4,185,2279,0.00,2.35,0.00,0.000,6,0.000,0.028,2845,2107,3156,0,0,0,0,0,0
$GC,2626,-1.27,-126.6,349.8,-9.8,194,2630,0.00,2.45,0.00,0.000,4,0.000,0.048,2845,693,3155,0,0,0,0,0,0
$GC,2635,-1.27,-126.6,351.2,-10.5,194,2639,0.00,2.35,0.00,0.000,6,0.000,0.029,2845,2101,3155,0,0,0,0,0,0
$GC,2950,-1.27,-126.6,382.2,-9.3,202,2954,0.00,2.40,0.00,0.000,4,0.000,0.044,2845,3506,3153,0,0,0,0,0,0
$STATE,3153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3153,begin apogee
$GC,3162,-0.31,0.0,400.2,8.4,206,3269,1.02,0.00,102.88,0.768,6,0.092,0.000,3056,2025,2635,0,0,0,0,0,0
$STATE,3270,end apogee,CONTROL_FINISHED_OK
$STATE,3270,begin climb
$GC,3273,1.27,126.6,402.6,0.0,209,3391,1.60,2.55,108.22,0.751,4,0.061,0.057,3404,620,2116,0,0,0,0,0,0
$GC,3419,1.27,126.6,386.6,16.0,212,3424,0.00,2.40,0.00,0.000,6,0.000,0.031,3403,2016,2110,0,0,0,0,0,0
$GC,3764,1.27,126.6,336.3,13.9,221,3769,0.00,2.55,0.00,0.000,4,0.000,0.058,3403,612,2105,0,0,0,0,0,0
$GC,3826,1.27,126.6,327.7,13.2,222,3831,0.00,2.42,0.00,0.000,6,0.000,0.033,3404,2024,2102,0,0,0,0,0,0
$GC,4157,1.27,126.6,289.0,12.7,232,4161,0.00,2.55,0.00,0.000,4,0.000,0.058,3403,611,2100,0,0,0,0,0,0
$GC,4269,1.27,126.6,274.6,11.4,237,4274,0.00,2.40,0.00,0.000,6,0.000,0.032,3404,2022,2098,0,0,0,0,0,0
$GC,4600,1.29,139.4,242.9,8.4,253,4616,0.00,2.53,8.77,0.598,4,0.000,0.054,3403,611,2065,0,0,0,0,0,0
$GC,4668,1.29,139.4,235.8,10.6,256,4672,0.00,2.40,0.00,0.000,6,0.000,0.030,3404,2029,2062,0,0,0,0,0,0
$GC,4998,1.29,139.4,199.5,12.3,272,5002,0.00,2.47,0.00,0.000,4,0.000,0.051,3403,613,2062,0,0,0,0,0,0
$GC,5178,1.29,139.4,172.8,13.2,291,5184,0.00,2.38,0.00,0.000,6,0.000,0.028,3404,2031,2059,0,0,0,0,0,0
$GC,5439,1.29,139.4,145.4,9.4,316,5443,0.00,2.50,0.00,0.000,4,0.000,0.049,3403,605,2059,0,0,0,0,0,0
$GC,5528,1.31,158.7,137.0,8.1,325,5551,0.00,2.35,17.38,0.571,6,0.000,0.026,3404,2031,1987,0,0,0,0,0,0
$GC,5808,1.31,158.7,115.4,9.4,351,5813,0.00,2.50,0.00,0.000,4,0.000,0.048,3403,604,1984,0,0,0,0,0,0
$GC,5934,1.31,158.7,102.8,10.1,364,5939,0.00,2.35,0.00,0.000,6,0.000,0.025,3403,2023,1981,0,0,0,0,0,0
$GC,6199,1.32,169.0,79.0,8.5,388,6213,0.00,2.47,9.60,0.479,4,0.000,0.047,3403,609,1946,0,0,0,0,0,0
$GC,6287,1.32,169.0,70.2,9.9,397,6291,0.00,2.33,0.00,0.000,6,0.000,0.023,3404,2021,1943,0,0,0,0,0,0
$GC,6554,1.32,169.0,42.2,11.1,422,6558,0.00,2.45,0.00,0.000,4,0.000,0.047,3403,612,1943,0,0,0,0,0,0
$GC,6649,1.32,169.0,31.5,11.0,432,6654,0.00,2.33,0.00,0.000,6,0.000,0.022,3403,2029,1941,0,0,0,0,0,0
$GC,6915,1.35,187.4,5.4,8.1,479,6938,0.00,2.47,17.35,0.452,4,0.000,0.044,3404,611,1869,0,0,0,0,0,0
$STATE,6943,end climb,SURFACE_DEPTH_REACHED
$STATE,6943,begin surface coast
$FINISH,0.2,1.019999
$STATE,6975,end surface coast,CONTROL_FINISHED_OK
$STATE,6975,begin surface
$SM_CCo,7001,105.03,0.465,0,0,1003,400.08
$SM_GC,0.96,0.00,0.00,105.03,0.000,0.000,0.465,429,2101,1003,-12.42,0.03,400.08
$IRIDIUM_FIX,2106.38,-15755.17,300600,040417
$TT8_MAMPS,0.028379
$HUMID,54.09
$INTERNAL_PRESSURE,9.58675
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.4,1.173
$10V_AH,10.7,0.853
$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,28.775,87.250,264.200,105.025,0.000,28.936,33.876,138.123,4.000,0.000,15.082,917.083,4203.336,417.270,1495.079,392.842,0.000,1070.589,0.000,1476.207,0.000,28.266,0.000
$DEVICE_MAMPS,141.895,58.292,767.767,464.802,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,331.449,325.783,770.248,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,25471,491
$CAP_FILE_SIZE,82884,0
$CFSIZE,260165632,256098304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060411,083425,2114.152,-15754.264,43,1.1,43,9.8