version: 66.06
glider: 139
mission: 9
dive: 16
start: 4 6 111 17 20 14
data:
$ID,139
$MISSION,9
$DIVE,16
$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,-2174887.2
$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,36
$R_STBD_OVSHOOT,47
$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
$GPS1,171455,2113.014,-15757.593,43,1.7,43,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-74.7
$GPS2,171956,2112.999,-15757.607,16,1.4,16,9.8
$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,211.9,11572,-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,-126.6,0.0,0.0,0,105,0.00,0.00,-84.28,0.000,6,0.000,0.000,432,2106,3152,0,0,0,0,0,0
$GC,108,-1.27,-126.6,2.4,-3.5,16,126,13.32,2.35,0.00,0.000,4,0.143,0.031,2843,3498,3154,0,0,0,0,0,0
$GC,376,-1.27,-126.6,56.5,-17.3,60,381,0.00,2.33,0.00,0.000,6,0.000,0.030,2843,2107,3155,0,0,0,0,0,0
$GC,640,-1.27,-126.6,101.5,-16.5,84,644,0.00,2.33,0.00,0.000,4,0.000,0.030,2843,3501,3155,0,0,0,0,0,0
$GC,812,-1.27,-126.6,128.3,-14.8,102,819,0.00,2.38,0.00,0.000,6,0.000,0.029,2843,2101,3156,0,0,0,0,0,0
$GC,1076,-1.27,-126.6,168.9,-12.7,127,1080,0.00,2.35,0.00,0.000,4,0.000,0.031,2843,3497,3156,0,0,0,0,0,0
$GC,1202,-1.27,-126.6,185.2,-12.6,140,1209,0.00,2.38,0.00,0.000,6,0.000,0.030,2843,2101,3157,0,0,0,0,0,0
$GC,1470,-1.27,-126.6,219.9,-13.2,159,1477,0.00,2.38,0.00,0.000,4,0.000,0.034,2843,3492,3157,0,0,0,0,0,0
$GC,1704,-1.27,-126.6,252.4,-14.2,169,1709,0.00,2.35,0.00,0.000,6,0.000,0.031,2843,2097,3157,0,0,0,0,0,0
$GC,2037,-1.27,-126.6,290.4,-9.0,185,2041,0.00,2.40,0.00,0.000,4,0.000,0.044,2843,693,3157,0,0,0,0,0,0
$GC,2151,-1.27,-126.6,302.0,-9.9,190,2155,0.00,2.30,0.00,0.000,6,0.000,0.025,2843,2091,3157,0,0,0,0,0,0
$GC,2496,-1.27,-126.6,337.0,-11.1,199,2500,0.00,2.38,0.00,0.000,4,0.000,0.039,2843,3500,3157,0,0,0,0,0,0
$GC,2533,-1.27,-126.6,342.0,-12.9,199,2537,0.00,2.38,0.00,0.000,6,0.000,0.034,2843,2094,3157,0,0,0,0,0,0
$GC,2870,-1.27,-126.6,379.8,-10.8,208,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2094,3155,0,0,0,0,0,0
$STATE,3070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3070,begin apogee
$GC,3077,-0.31,0.0,400.2,9.9,213,3184,1.05,0.00,103.82,0.753,6,0.089,0.000,3057,2001,2635,0,0,0,0,0,0
$STATE,3185,end apogee,CONTROL_FINISHED_OK
$STATE,3185,begin climb
$GC,3188,1.27,126.6,402.5,0.0,215,3307,1.60,2.53,108.62,0.739,4,0.060,0.054,3404,627,2117,0,0,0,0,0,0
$GC,3317,1.27,126.6,390.2,12.8,218,3321,0.00,2.38,0.00,0.000,6,0.000,0.028,3405,2020,2113,0,0,0,0,0,0
$GC,3640,1.27,126.6,346.1,14.0,226,3644,0.00,2.50,0.00,0.000,4,0.000,0.055,3404,627,2107,0,0,0,0,0,0
$GC,3777,1.27,126.6,325.1,16.3,229,3782,0.00,2.38,0.00,0.000,6,0.000,0.030,3405,2022,2102,0,0,0,0,0,0
$GC,4107,1.27,126.6,276.8,13.6,240,4111,0.00,2.47,0.00,0.000,4,0.000,0.054,3404,627,2100,0,0,0,0,0,0
$GC,4220,1.27,126.6,262.4,11.8,245,4224,0.00,2.38,0.00,0.000,6,0.000,0.029,3404,2031,2098,0,0,0,0,0,0
$GC,4550,1.27,126.6,227.9,10.5,261,4555,0.00,2.47,0.00,0.000,4,0.000,0.051,3404,624,2098,0,0,0,0,0,0
$GC,4633,1.27,126.6,218.4,10.6,264,4640,0.00,2.38,0.00,0.000,6,0.000,0.028,3404,2024,2096,0,0,0,0,0,0
$GC,4953,1.27,126.6,185.3,10.5,286,4957,0.00,2.45,0.00,0.000,4,0.000,0.049,3404,623,2096,0,0,0,0,0,0
$GC,5073,1.27,126.6,172.8,10.1,298,5080,0.00,2.35,0.00,0.000,6,0.000,0.025,3404,2022,2094,0,0,0,0,0,0
$GC,5338,1.38,211.3,156.4,5.0,323,5417,0.12,2.53,69.65,0.593,4,0.065,0.048,3442,629,1772,0,0,0,0,0,0
$GC,5496,1.38,211.3,139.8,14.4,340,5500,0.00,2.33,0.00,0.000,6,0.000,0.024,3442,2024,1765,0,0,0,0,0,0
$GC,5759,1.38,211.3,101.0,14.5,364,5763,0.00,2.47,0.00,0.000,4,0.000,0.048,3443,616,1765,0,0,0,0,0,0
$GC,5879,1.38,211.3,81.1,16.1,376,5886,0.00,2.35,0.00,0.000,6,0.000,0.024,3443,2015,1761,0,0,0,0,0,0
$GC,6143,1.38,211.3,47.6,11.3,401,6147,0.00,2.42,0.00,0.000,4,0.000,0.047,3442,620,1761,0,0,0,0,0,0
$GC,6204,1.38,211.3,39.6,12.9,407,6209,0.00,2.33,0.00,0.000,6,0.000,0.021,3443,2037,1760,0,0,0,0,0,0
$GC,6470,1.38,211.3,6.6,13.3,447,6477,0.00,2.47,0.00,0.000,4,0.000,0.045,3443,626,1760,0,0,0,0,0,0
$STATE,6495,end climb,SURFACE_DEPTH_REACHED
$STATE,6495,begin surface coast
$FINISH,0.6,1.023557
$STATE,6518,end surface coast,CONTROL_FINISHED_OK
$STATE,6518,begin surface
$SM_CCo,6544,94.80,0.461,0,0,1003,400.08
$SM_GC,1.03,0.00,0.00,94.80,0.000,0.000,0.461,427,2121,1003,-12.43,0.59,400.08
$IRIDIUM_FIX,2106.38,-15758.18,300600,151558
$TT8_MAMPS,0.028379
$HUMID,53.97
$INTERNAL_PRESSURE,9.58675
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,1.578
$10V_AH,10.6,1.188
$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,29.100,72.025,282.100,94.800,0.000,23.413,35.343,128.117,4.000,0.000,16.865,855.726,3834.884,436.316,1436.594,379.516,0.000,1057.731,0.000,1417.817,0.000,26.126,0.000
$DEVICE_MAMPS,142.662,78.234,753.194,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,307.706,305.106,704.927,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,25441,457
$CAP_FILE_SIZE,76385,0
$CFSIZE,260165632,255881216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060411,191204,2113.092,-15758.358,12,2.1,31,9.8