version: 66.06
glider: 139
mission: 9
dive: 12
start: 4 6 111 8 39 49
data:
$ID,139
$MISSION,9
$DIVE,12
$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,-2174818
$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,24
$R_STBD_OVSHOOT,37
$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
$GPS1,083425,2114.152,-15754.264,43,1.1,43,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-74.4
$GPS2,083932,2114.145,-15754.256,14,1.6,14,9.8
$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,221.6,17256,-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,14,begin dive
$GC,17,-1.27,-126.6,0.0,0.0,0,106,0.00,0.00,-84.00,0.000,6,0.000,0.000,429,2101,3152,0,0,0,0,0,0
$GC,109,-1.27,-126.6,2.5,-4.3,16,127,13.27,2.42,0.00,0.000,4,0.140,0.037,2845,681,3153,0,0,0,0,0,0
$GC,229,-1.27,-126.6,30.0,-19.0,42,233,0.00,2.35,0.00,0.000,6,0.000,0.023,2846,2106,3155,0,0,0,0,0,0
$GC,491,-1.27,-126.6,76.0,-16.7,66,495,0.00,2.33,0.00,0.000,4,0.000,0.031,2845,3503,3155,0,0,0,0,0,0
$GC,568,-1.27,-126.6,88.5,-14.5,74,575,0.00,2.40,0.00,0.000,6,0.000,0.031,2846,2094,3155,0,0,0,0,0,0
$GC,832,-1.27,-126.6,124.3,-14.2,99,837,0.00,2.38,0.00,0.000,4,0.000,0.041,2845,682,3156,0,0,0,0,0,0
$GC,904,-1.27,-126.6,136.0,-16.9,106,908,0.00,2.35,0.00,0.000,6,0.000,0.023,2845,2107,3156,0,0,0,0,0,0
$GC,1167,-1.27,-126.6,173.5,-13.0,130,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2111,3156,0,0,0,0,0,0
$GC,1420,-1.27,-126.6,203.3,-11.1,153,1424,0.00,2.33,0.00,0.000,4,0.000,0.035,2846,3497,3157,0,0,0,0,0,0
$GC,1522,-1.27,-126.6,214.7,-11.4,157,1526,0.00,2.35,0.00,0.000,6,0.000,0.030,2846,2098,3157,0,0,0,0,0,0
$GC,1843,-1.27,-126.6,248.7,-10.1,173,1847,0.00,2.35,0.00,0.000,4,0.000,0.036,2846,3496,3157,0,0,0,0,0,0
$GC,1949,-1.27,-126.6,259.2,-10.8,177,1954,0.00,2.35,0.00,0.000,6,0.000,0.032,2846,2102,3157,0,0,0,0,0,0
$GC,2266,-1.27,-126.6,292.9,-10.8,193,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2101,3157,0,0,0,0,0,0
$GC,2591,-1.27,-126.6,324.7,-8.9,203,2595,0.00,2.40,0.00,0.000,4,0.000,0.040,2845,3503,3156,0,0,0,0,0,0
$GC,2624,-1.27,-126.6,327.3,-7.9,203,2628,0.00,2.40,0.00,0.000,6,0.000,0.035,2845,2092,3156,0,0,0,0,0,0
$GC,2955,-1.27,-126.6,357.1,-9.7,211,2959,0.00,2.42,0.00,0.000,4,0.000,0.041,2845,3500,3154,0,0,0,0,0,0
$GC,3077,-1.27,-126.6,370.1,-11.6,213,3081,0.00,2.40,0.00,0.000,6,0.000,0.038,2846,2100,3153,0,0,0,0,0,0
$STATE,3411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3411,begin apogee
$GC,3418,-0.31,0.0,401.1,8.7,222,3524,1.05,0.00,103.15,0.775,6,0.091,0.000,3058,2010,2635,0,0,0,0,0,0
$STATE,3525,end apogee,CONTROL_FINISHED_OK
$STATE,3525,begin climb
$GC,3528,1.27,126.6,403.7,0.0,224,3646,1.58,2.50,108.45,0.758,4,0.060,0.058,3402,627,2116,0,0,0,0,0,0
$GC,3732,1.27,126.6,381.2,15.3,228,3737,0.00,2.40,0.00,0.000,6,0.000,0.031,3402,2019,2107,0,0,0,0,0,0
$GC,4068,1.27,126.6,339.7,12.5,237,4072,0.00,2.50,0.00,0.000,4,0.000,0.058,3402,626,2104,0,0,0,0,0,0
$GC,4119,1.27,126.6,331.7,16.2,238,4123,0.00,2.40,0.00,0.000,6,0.000,0.032,3402,2024,2102,0,0,0,0,0,0
$GC,4439,1.27,126.6,289.0,12.9,248,4443,0.00,2.53,0.00,0.000,4,0.000,0.057,3402,619,2100,0,0,0,0,0,0
$GC,4560,1.27,126.6,272.3,13.5,253,4564,0.00,2.40,0.00,0.000,6,0.000,0.032,3402,2026,2098,0,0,0,0,0,0
$GC,4881,1.27,126.6,234.3,11.6,269,4885,0.00,2.50,0.00,0.000,4,0.000,0.055,3402,625,2097,0,0,0,0,0,0
$GC,4950,1.27,126.6,225.3,13.0,272,4955,0.00,2.38,0.00,0.000,6,0.000,0.030,3402,2029,2095,0,0,0,0,0,0
$GC,5280,1.27,126.6,187.2,10.3,293,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2033,2095,0,0,0,0,0,0
$GC,5535,1.27,126.6,158.2,10.8,317,5539,0.00,2.47,0.00,0.000,4,0.000,0.051,3402,622,2094,0,0,0,0,0,0
$GC,5617,1.27,126.6,148.4,11.9,325,5622,0.00,2.35,0.00,0.000,6,0.000,0.027,3402,2029,2093,0,0,0,0,0,0
$GC,5880,1.27,126.6,121.2,9.4,350,5884,0.00,2.45,0.00,0.000,4,0.000,0.048,3402,622,2092,0,0,0,0,0,0
$GC,5939,1.27,126.6,114.9,11.6,356,5945,0.00,2.35,0.00,0.000,6,0.000,0.026,3403,2022,2092,0,0,0,0,0,0
$GC,6204,1.32,163.0,93.3,7.3,381,6241,0.00,2.53,27.80,0.551,4,0.000,0.048,3402,621,1969,0,0,0,0,0,0
$GC,6364,1.32,163.0,76.1,11.8,398,6370,0.00,2.35,0.00,0.000,6,0.000,0.025,3402,2025,1965,0,0,0,0,0,0
$GC,6626,1.32,163.0,49.7,11.2,423,6630,0.00,2.42,0.00,0.000,4,0.000,0.046,3402,621,1964,0,0,0,0,0,0
$GC,6717,1.32,163.0,40.6,9.9,432,6723,0.00,2.33,0.00,0.000,6,0.000,0.023,3402,2016,1962,0,0,0,0,0,0
$GC,6982,1.34,182.2,18.4,8.1,469,7006,0.00,2.45,17.15,0.463,4,0.000,0.044,3402,615,1890,0,0,0,0,0,0
$GC,7100,1.34,182.2,6.0,10.8,494,7106,0.00,2.35,0.00,0.000,6,0.000,0.022,3402,2024,1886,0,0,0,0,0,0
$STATE,7128,end climb,SURFACE_DEPTH_REACHED
$STATE,7128,begin surface coast
$FINISH,0.3,1.023577
$STATE,7156,end surface coast,CONTROL_FINISHED_OK
$STATE,7156,begin surface
$SM_CCo,7180,109.93,0.467,0,0,1003,400.08
$SM_GC,0.98,0.00,0.00,109.93,0.000,0.000,0.467,428,2151,1003,-12.43,1.44,400.08
$IRIDIUM_FIX,2106.38,-15752.16,300600,060635
$TT8_MAMPS,0.029146
$HUMID,54.21
$INTERNAL_PRESSURE,9.56722
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.4,1.252
$10V_AH,10.6,0.921
$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,28.775,77.100,256.550,109.925,0.000,24.253,39.843,131.989,4.000,0.000,14.316,921.972,4381.596,426.791,1479.548,389.907,0.000,1062.568,0.000,1470.462,0.000,26.116,0.000
$DEVICE_MAMPS,140.361,81.302,775.437,467.103,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,340.189,338.117,794.902,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,28554,504
$CAP_FILE_SIZE,80851,0
$CFSIZE,260165632,256057344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060411,104208,2113.817,-15754.635,10,1.1,10,9.8