version: 66.06
glider: 139
mission: 9
dive: 13
start: 4 6 111 10 51 8
data:
$ID,139
$MISSION,9
$DIVE,13
$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,-2174833.2
$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,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,35
$R_STBD_OVSHOOT,41
$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
$GPS1,104208,2113.817,-15754.635,10,1.1,10,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-74.3
$GPS2,105050,2113.796,-15754.610,12,1.1,12,9.8
$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,222.0,16374,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.27,-126.6,0.0,0.0,0,103,0.00,0.00,-83.68,0.000,6,0.000,0.000,428,2152,3152,0,0,0,0,0,0
$GC,107,-1.27,-126.6,2.4,-3.8,16,126,13.30,2.50,0.00,0.000,4,0.141,0.037,2846,689,3154,0,0,0,0,0,0
$GC,281,-1.27,-126.6,43.1,-21.2,48,286,0.00,2.33,0.00,0.000,6,0.000,0.022,2846,2103,3154,0,0,0,0,0,0
$GC,543,-1.27,-126.6,90.5,-16.5,72,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2107,3155,0,0,0,0,0,0
$GC,798,-1.27,-126.6,129.8,-13.5,96,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2108,3156,0,0,0,0,0,0
$GC,1052,-1.27,-126.6,159.6,-11.4,120,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2108,3156,0,0,0,0,0,0
$GC,1308,-1.27,-126.6,188.1,-12.6,144,1312,0.00,2.35,0.00,0.000,4,0.000,0.034,2846,3503,3157,0,0,0,0,0,0
$GC,1442,-1.27,-126.6,202.9,-10.1,157,1446,0.00,2.35,0.00,0.000,6,0.000,0.030,2846,2096,3157,0,0,0,0,0,0
$GC,1777,-1.27,-126.6,238.6,-9.2,173,1782,0.00,2.38,0.00,0.000,4,0.000,0.036,2846,3496,3157,0,0,0,0,0,0
$GC,1815,-1.27,-126.6,242.0,-8.7,174,1822,0.00,2.38,0.00,0.000,6,0.000,0.032,2846,2105,3156,0,0,0,0,0,0
$GC,2131,-1.27,-126.6,272.0,-10.5,190,2135,0.00,2.38,0.00,0.000,4,0.000,0.038,2846,3496,3156,0,0,0,0,0,0
$GC,2163,-1.27,-126.6,275.7,-10.9,191,2167,0.00,2.38,0.00,0.000,6,0.000,0.034,2846,2099,3156,0,0,0,0,0,0
$GC,2478,-1.27,-126.6,305.1,-9.0,205,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2098,3155,0,0,0,0,0,0
$GC,2803,-1.27,-126.6,334.6,-8.7,213,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2098,3154,0,0,0,0,0,0
$GC,3128,-1.27,-126.6,365.7,-9.8,221,3132,0.00,2.45,0.00,0.000,4,0.000,0.052,2846,691,3152,0,0,0,0,0,0
$GC,3160,-1.27,-126.6,369.1,-10.5,221,3165,0.00,2.35,0.00,0.000,6,0.000,0.031,2846,2092,3151,0,0,0,0,0,0
$STATE,3490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3490,begin apogee
$GC,3497,-0.31,0.0,402.6,10.6,229,3603,1.05,0.00,103.15,0.782,6,0.091,0.000,3059,2007,2634,0,0,0,0,0,0
$STATE,3604,end apogee,CONTROL_FINISHED_OK
$STATE,3604,begin climb
$GC,3607,1.27,126.6,406.6,0.0,231,3725,1.60,2.55,108.53,0.765,4,0.061,0.058,3406,634,2117,0,0,0,0,0,0
$GC,3806,1.27,126.6,386.6,15.9,235,3810,0.00,2.40,0.00,0.000,6,0.000,0.032,3406,2023,2108,0,0,0,0,0,0
$GC,4147,1.27,126.6,340.8,13.0,244,4151,0.00,2.50,0.00,0.000,4,0.000,0.058,3406,629,2104,0,0,0,0,0,0
$GC,4221,1.27,126.6,329.7,14.5,245,4225,0.00,2.40,0.00,0.000,6,0.000,0.033,3406,2027,2102,0,0,0,0,0,0
$GC,4538,1.27,126.6,286.2,13.4,255,4543,0.00,2.53,0.00,0.000,4,0.000,0.057,3406,626,2100,0,0,0,0,0,0
$GC,4622,1.27,126.6,274.0,14.3,258,4628,0.00,2.40,0.00,0.000,6,0.000,0.032,3406,2018,2098,0,0,0,0,0,0
$GC,4937,1.27,126.6,228.7,14.6,274,4941,0.00,2.50,0.00,0.000,4,0.000,0.057,3406,623,2098,0,0,0,0,0,0
$GC,4988,1.27,126.6,220.6,14.6,276,4993,0.00,2.38,0.00,0.000,6,0.000,0.031,3406,2022,2096,0,0,0,0,0,0
$GC,5314,1.27,126.6,183.6,10.9,298,5318,0.00,2.47,0.00,0.000,4,0.000,0.054,3405,620,2096,0,0,0,0,0,0
$GC,5423,1.27,126.6,170.9,10.2,309,5428,0.00,2.38,0.00,0.000,6,0.000,0.029,3405,2028,2094,0,0,0,0,0,0
$GC,5684,1.27,126.6,144.7,10.1,334,5688,0.00,2.47,0.00,0.000,4,0.000,0.051,3406,623,2094,0,0,0,0,0,0
$GC,5739,1.27,126.6,138.3,11.8,339,5744,0.00,2.35,0.00,0.000,6,0.000,0.027,3406,2031,2092,0,0,0,0,0,0
$GC,6002,1.27,126.6,109.2,10.5,364,6006,0.00,2.47,0.00,0.000,4,0.000,0.049,3405,618,2093,0,0,0,0,0,0
$GC,6080,1.27,126.6,100.2,11.8,372,6084,0.00,2.33,0.00,0.000,6,0.000,0.026,3406,2020,2093,0,0,0,0,0,0
$GC,6344,1.35,194.3,79.8,5.8,396,6405,0.00,2.53,54.38,0.556,4,0.000,0.048,3406,632,1841,0,0,0,0,0,0
$GC,6511,1.35,194.3,65.4,10.5,414,6515,0.00,2.30,0.00,0.000,6,0.000,0.024,3406,2023,1834,0,0,0,0,0,0
$GC,6780,1.35,194.3,37.6,10.5,439,6784,0.00,2.45,0.00,0.000,4,0.000,0.047,3406,625,1834,0,0,0,0,0,0
$GC,6882,1.35,194.3,26.4,10.3,454,6889,0.00,2.33,0.00,0.000,6,0.000,0.023,3406,2018,1832,0,0,0,0,0,0
$GC,7087,1.35,194.3,6.0,10.1,491,7094,0.00,2.45,0.00,0.000,4,0.000,0.047,3406,629,1832,0,0,0,0,0,0
$STATE,7111,end climb,SURFACE_DEPTH_REACHED
$STATE,7112,begin surface coast
$FINISH,0.2,1.014659
$STATE,7138,end surface coast,CONTROL_FINISHED_OK
$STATE,7138,begin surface
$SM_CCo,7164,102.22,0.472,0,0,1004,400.08
$SM_GC,1.04,0.00,0.00,102.22,0.000,0.000,0.472,433,2123,1004,-12.41,0.65,400.08
$IRIDIUM_FIX,2106.38,-15752.16,300600,101036
$TT8_MAMPS,0.028379
$HUMID,54.52
$INTERNAL_PRESSURE,9.55745
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.4,1.338
$10V_AH,10.6,0.988
$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,28.850,72.600,266.050,102.225,0.000,54.930,84.061,196.612,4.000,0.000,14.598,899.450,4525.410,419.149,1411.892,537.285,0.000,1025.575,0.000,1399.615,0.000,26.110,0.000
$DEVICE_MAMPS,141.128,75.166,782.340,472.472,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,339.526,337.331,782.720,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,28682,502
$CAP_FILE_SIZE,80480,0
$CFSIZE,260165632,256008192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060411,125336,2113.525,-15755.435,37,1.0,42,9.8