version: 66.06
glider: 139
mission: 9
dive: 15
start: 4 6 111 15 11 5
data:
$ID,139
$MISSION,9
$DIVE,15
$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,-2174869.8
$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,25
$R_STBD_OVSHOOT,54
$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
$GPS1,150526,2113.420,-15756.494,11,1.9,11,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-74.9
$GPS2,151049,2113.438,-15756.516,15,1.5,20,9.8
$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,215.6,13462,-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,-84.22,0.000,6,0.000,0.000,428,2116,3153,0,0,0,0,0,0
$GC,109,-1.27,-126.6,2.5,-4.2,16,128,13.30,2.45,0.00,0.000,4,0.141,0.036,2846,679,3155,0,0,0,0,0,0
$GC,240,-1.27,-126.6,34.5,-19.9,43,247,0.00,2.35,0.00,0.000,6,0.000,0.023,2846,2089,3155,0,0,0,0,0,0
$GC,501,-1.27,-126.6,84.1,-19.3,68,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2092,3157,0,0,0,0,0,0
$GC,756,-1.27,-126.6,128.4,-13.7,92,760,0.00,2.38,0.00,0.000,4,0.000,0.040,2846,688,3157,0,0,0,0,0,0
$GC,847,-1.27,-126.6,141.8,-15.7,101,852,0.00,2.33,0.00,0.000,6,0.000,0.023,2846,2102,3157,0,0,0,0,0,0
$GC,1109,-1.27,-126.6,174.7,-13.8,126,1114,0.00,2.35,0.00,0.000,4,0.000,0.034,2847,3500,3158,0,0,0,0,0,0
$GC,1137,-1.27,-126.6,179.0,-14.6,128,1144,0.00,2.38,0.00,0.000,6,0.000,0.030,2846,2101,3158,0,0,0,0,0,0
$GC,1399,-1.27,-126.6,211.8,-12.8,149,1403,0.00,2.38,0.00,0.000,4,0.000,0.035,2846,3500,3159,0,0,0,0,0,0
$GC,1569,-1.27,-126.6,233.3,-10.7,156,1573,0.00,2.38,0.00,0.000,6,0.000,0.031,2846,2093,3159,0,0,0,0,0,0
$GC,1885,-1.27,-126.6,264.9,-10.9,171,1890,0.00,2.40,0.00,0.000,4,0.000,0.038,2846,3499,3159,0,0,0,0,0,0
$GC,2015,-1.27,-126.6,280.7,-12.4,176,2022,0.00,2.40,0.00,0.000,6,0.000,0.035,2846,2105,3159,0,0,0,0,0,0
$GC,2330,-1.27,-126.6,315.0,-10.8,189,2335,0.00,2.45,0.00,0.000,4,0.000,0.048,2846,682,3159,0,0,0,0,0,0
$GC,2358,-1.27,-126.6,318.8,-12.6,189,2363,0.00,2.35,0.00,0.000,6,0.000,0.028,2846,2097,3159,0,0,0,0,0,0
$GC,2699,-1.27,-126.6,356.2,-10.8,198,2703,0.00,2.45,0.00,0.000,4,0.000,0.050,2846,691,3157,0,0,0,0,0,0
$GC,2763,-1.27,-126.6,363.8,-11.5,199,2767,0.00,2.38,0.00,0.000,6,0.000,0.030,2846,2106,3157,0,0,0,0,0,0
$GC,3108,-1.27,-126.6,396.3,-8.8,208,3113,0.00,2.47,0.00,0.000,4,0.000,0.051,2846,685,3155,0,0,0,0,0,0
$GC,3142,-1.27,-126.6,399.1,-8.9,208,3146,0.00,2.38,0.00,0.000,6,0.000,0.031,2846,2096,3154,0,0,0,0,0,0
$STATE,3187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3187,begin apogee
$GC,3194,-0.31,0.0,402.8,8.1,209,3301,1.05,0.00,103.75,0.777,6,0.091,0.000,3058,1998,2635,0,0,0,0,0,0
$STATE,3302,end apogee,CONTROL_FINISHED_OK
$STATE,3302,begin climb
$GC,3304,1.27,126.6,404.2,0.0,211,3423,1.60,2.55,108.57,0.756,4,0.061,0.058,3405,628,2117,0,0,0,0,0,0
$GC,3447,1.27,126.6,389.1,14.6,215,3451,0.00,2.40,0.00,0.000,6,0.000,0.031,3405,2023,2112,0,0,0,0,0,0
$GC,3760,1.27,126.6,347.6,13.1,223,3765,0.00,2.53,0.00,0.000,4,0.000,0.058,3405,627,2106,0,0,0,0,0,0
$GC,3876,1.27,126.6,330.6,14.3,225,3881,0.00,2.40,0.00,0.000,6,0.000,0.031,3405,2027,2102,0,0,0,0,0,0
$GC,4199,1.27,126.6,290.3,11.4,235,4203,0.00,2.53,0.00,0.000,4,0.000,0.057,3405,626,2101,0,0,0,0,0,0
$GC,4314,1.27,126.6,275.3,13.3,240,4318,0.00,2.38,0.00,0.000,6,0.000,0.031,3405,2022,2099,0,0,0,0,0,0
$GC,4639,1.27,126.6,243.4,9.6,256,4643,0.00,2.50,0.00,0.000,4,0.000,0.056,3405,626,2098,0,0,0,0,0,0
$GC,4660,1.27,126.6,241.4,9.8,257,4665,0.00,2.38,0.00,0.000,6,0.000,0.031,3405,2027,2097,0,0,0,0,0,0
$GC,4991,1.27,126.6,210.9,10.1,273,4995,0.00,2.50,0.00,0.000,4,0.000,0.054,3405,621,2096,0,0,0,0,0,0
$GC,5081,1.27,126.6,200.1,11.3,277,5085,0.00,2.35,0.00,0.000,6,0.000,0.028,3405,2021,2095,0,0,0,0,0,0
$GC,5410,1.27,126.6,171.2,9.0,307,5415,0.00,2.47,0.00,0.000,4,0.000,0.051,3405,618,2094,0,0,0,0,0,0
$GC,5480,1.27,126.6,163.8,11.4,314,5484,0.00,2.35,0.00,0.000,6,0.000,0.027,3405,2023,2093,0,0,0,0,0,0
$GC,5743,1.30,151.5,139.9,7.8,338,5763,0.00,0.00,18.35,0.573,6,0.000,0.000,3406,2028,2017,0,0,0,0,0,0
$GC,6018,1.30,151.5,112.3,10.4,364,6022,0.00,2.45,0.00,0.000,4,0.000,0.048,3405,623,2014,0,0,0,0,0,0
$GC,6151,1.30,151.5,98.2,10.0,378,6155,0.00,2.33,0.00,0.000,6,0.000,0.024,3406,2027,2012,0,0,0,0,0,0
$GC,6415,1.31,154.7,74.6,8.9,402,6420,0.00,2.42,0.00,0.000,4,0.000,0.045,3405,620,2012,0,0,0,0,0,0
$GC,6521,1.31,154.7,64.0,9.5,413,6525,0.00,2.30,0.00,0.000,6,0.000,0.022,3406,2022,2012,0,0,0,0,0,0
$GC,6785,1.32,165.3,40.6,8.5,437,6806,0.00,2.47,13.10,0.464,4,0.000,0.045,3405,627,1960,0,0,0,0,0,0
$GC,6845,1.32,165.3,34.6,10.3,443,6849,0.00,2.30,0.00,0.000,6,0.000,0.021,3406,2034,1958,0,0,0,0,0,0
$GC,7116,1.32,165.3,10.6,9.8,488,7123,0.00,2.47,0.00,0.000,4,0.000,0.044,3405,621,1958,0,0,0,0,0,0
$STATE,7186,end climb,SURFACE_DEPTH_REACHED
$STATE,7187,begin surface coast
$FINISH,1.4,1.023559
$STATE,7201,end surface coast,CONTROL_FINISHED_OK
$STATE,7203,begin surface
$SM_CCo,7229,118.95,0.463,0,0,1003,400.08
$SM_GC,0.95,0.00,0.00,118.95,0.000,0.000,0.463,433,2106,1003,-12.41,0.14,400.08
$IRIDIUM_FIX,2106.38,-15757.32,300600,131322
$TT8_MAMPS,0.028379
$HUMID,52.63
$INTERNAL_PRESSURE,9.57698
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,1.498
$10V_AH,10.7,1.125
$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,28.775,86.925,243.775,118.950,0.000,27.963,35.604,141.257,4.000,0.000,20.588,945.305,4361.101,434.918,1526.501,404.900,0.000,1083.005,0.000,1507.427,0.000,28.107,0.000
$DEVICE_MAMPS,141.128,66.729,776.971,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,342.910,340.232,797.746,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,28617,507
$CAP_FILE_SIZE,84570,0
$CFSIZE,260165632,255918080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060411,171455,2113.014,-15757.593,43,1.7,43,9.8