version: 66.06
glider: 139
mission: 9
dive: 17
start: 4 6 111 19 17 45
data:
$ID,139
$MISSION,9
$DIVE,17
$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,160
$T_MISSION,180
$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,350
$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,-2174904
$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,3132
$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,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,61
$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
$GPS1,191204,2113.092,-15758.358,12,2.1,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-73.7
$GPS2,191726,2113.083,-15758.357,15,1.1,15,9.8
$SPEED_LIMITS,0.144,0.233
$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,206.3,10880,-16.7,-8.333
$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,-1.20,-126.6,0.0,0.0,0,104,0.00,0.00,-84.32,0.000,6,0.000,0.000,427,2121,3153,0,0,0,0,0,0
$GC,107,-1.20,-126.6,2.5,-2.8,16,126,13.45,2.42,0.00,0.000,4,0.143,0.036,2861,697,3154,0,0,0,0,0,0
$GC,247,-1.20,-126.6,34.7,-18.6,44,254,0.00,2.30,0.00,0.000,6,0.000,0.022,2862,2080,3155,0,0,0,0,0,0
$GC,510,-1.20,-126.6,81.5,-18.8,69,514,0.00,2.38,0.00,0.000,4,0.000,0.031,2862,3502,3156,0,0,0,0,0,0
$GC,620,-1.20,-126.6,100.3,-16.6,80,627,0.00,2.38,0.00,0.000,6,0.000,0.030,2862,2106,3156,0,0,0,0,0,0
$GC,884,-1.20,-126.6,138.4,-13.6,105,888,0.00,2.35,0.00,0.000,4,0.000,0.031,2862,3500,3157,0,0,0,0,0,0
$GC,903,-1.20,-126.6,141.7,-14.8,106,909,0.00,2.40,0.00,0.000,6,0.000,0.031,2862,2095,3157,0,0,0,0,0,0
$GC,1167,-1.20,-126.6,178.2,-12.6,131,1171,0.00,2.35,0.00,0.000,4,0.000,0.029,2862,3499,3157,0,0,0,0,0,0
$GC,1210,-1.20,-126.6,183.7,-12.3,135,1215,0.00,2.35,0.00,0.000,6,0.000,0.029,2862,2098,3157,0,0,0,0,0,0
$GC,1478,-1.20,-126.6,214.7,-11.7,154,1482,0.00,2.38,0.00,0.000,4,0.000,0.035,2862,3502,3158,0,0,0,0,0,0
$GC,1561,-1.20,-126.6,224.5,-12.1,157,1566,0.00,2.38,0.00,0.000,6,0.000,0.030,2861,2091,3157,0,0,0,0,0,0
$GC,1877,-1.20,-126.6,256.0,-10.3,173,1882,0.00,2.35,0.00,0.000,4,0.000,0.043,2862,693,3158,0,0,0,0,0,0
$GC,1897,-1.20,-126.6,258.3,-11.0,174,1902,0.00,2.33,0.00,0.000,6,0.000,0.025,2862,2105,3158,0,0,0,0,0,0
$GC,2229,-1.20,-126.6,292.5,-10.5,190,2233,0.00,2.40,0.00,0.000,4,0.000,0.044,2861,694,3158,0,0,0,0,0,0
$GC,2261,-1.20,-126.6,296.4,-11.5,191,2265,0.00,2.33,0.00,0.000,6,0.000,0.026,2861,2099,3158,0,0,0,0,0,0
$GC,2593,-1.20,-126.6,328.6,-9.6,200,2597,0.00,2.38,0.00,0.000,4,0.000,0.038,2862,3500,3157,0,0,0,0,0,0
$GC,2644,-1.20,-126.6,333.3,-8.4,201,2648,0.00,2.35,0.00,0.000,6,0.000,0.034,2862,2103,3157,0,0,0,0,0,0
$GC,2967,-1.20,-126.6,358.4,-7.5,209,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2102,3156,0,0,0,0,0,0
$GC,3293,-1.20,-126.6,388.1,-9.7,217,3297,0.00,2.40,0.00,0.000,4,0.000,0.041,2861,3498,3154,0,0,0,0,0,0
$GC,3382,-1.20,-126.6,397.3,-9.4,219,3386,0.00,2.38,0.00,0.000,6,0.000,0.036,2862,2101,3153,0,0,0,0,0,0
$STATE,3408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3408,begin apogee
$GC,3415,-0.31,0.0,400.1,9.4,219,3522,0.95,0.00,103.47,0.761,6,0.088,0.000,3058,1937,2635,0,0,0,0,0,0
$STATE,3523,end apogee,CONTROL_FINISHED_OK
$STATE,3523,begin climb
$GC,3526,1.20,126.6,403.6,0.0,222,3644,1.52,2.50,108.25,0.746,4,0.061,0.057,3390,561,2116,0,0,0,0,0,0
$GC,3705,1.20,126.6,386.0,14.6,226,3709,0.00,2.35,0.00,0.000,6,0.000,0.030,3390,1946,2109,0,0,0,0,0,0
$GC,4023,1.20,126.6,347.2,11.5,234,4024,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1951,2104,0,0,0,0,0,0
$GC,4348,1.20,126.6,306.2,12.3,242,4353,0.00,2.50,0.00,0.000,4,0.000,0.056,3390,553,2101,0,0,0,0,0,0
$GC,4446,1.20,126.6,292.8,14.2,244,4450,0.00,2.38,0.00,0.000,6,0.000,0.030,3390,1958,2099,0,0,0,0,0,0
$GC,4770,1.20,126.6,258.4,9.8,260,4775,0.00,2.50,0.00,0.000,4,0.000,0.054,3390,555,2098,0,0,0,0,0,0
$GC,4868,1.20,126.6,248.6,8.8,264,4872,0.00,2.35,0.00,0.000,6,0.000,0.028,3390,1952,2096,0,0,0,0,0,0
$GC,5188,1.20,126.6,220.2,8.8,280,5192,0.00,2.47,0.00,0.000,4,0.000,0.052,3390,556,2096,0,0,0,0,0,0
$GC,5271,1.20,126.6,212.3,9.4,283,5276,0.00,2.33,0.00,0.000,6,0.000,0.027,3390,1952,2094,0,0,0,0,0,0
$GC,5594,1.20,126.6,181.8,8.7,308,5598,0.00,2.45,0.00,0.000,4,0.000,0.050,3390,552,2094,0,0,0,0,0,0
$GC,5639,1.20,126.6,177.1,10.3,312,5646,0.00,2.35,0.00,0.000,6,0.000,0.026,3390,1950,2093,0,0,0,0,0,0
$GC,5902,1.20,126.6,154.5,8.5,337,5906,0.00,2.35,0.00,0.000,4,0.000,0.035,3391,3350,2094,0,0,0,0,0,0
$GC,5927,1.20,126.6,152.3,9.2,339,5932,0.00,2.38,0.00,0.000,6,0.000,0.036,3390,1962,2094,0,0,0,0,0,0
$GC,6192,1.22,147.8,131.0,7.4,363,6212,0.00,2.55,15.20,0.542,4,0.000,0.050,3390,542,2031,0,0,0,0,0,0
$GC,6326,1.22,147.8,118.9,9.9,377,6331,0.00,2.35,0.00,0.000,6,0.000,0.024,3390,1963,2027,0,0,0,0,0,0
$GC,6591,1.23,149.0,96.6,8.3,401,6595,0.00,2.47,0.00,0.000,4,0.000,0.046,3390,541,2027,0,0,0,0,0,0
$GC,6664,1.23,149.0,88.3,11.0,408,6670,0.00,2.33,0.00,0.000,6,0.000,0.022,3390,1950,2026,0,0,0,0,0,0
$GC,6928,1.23,152.3,66.7,8.2,433,6940,0.00,2.45,4.82,0.373,4,0.000,0.045,3390,538,2013,0,0,0,0,0,0
$GC,6998,1.23,152.3,59.8,8.9,440,7004,0.00,2.35,0.00,0.000,6,0.000,0.022,3390,1957,2012,0,0,0,0,0,0
$GC,7262,1.26,175.8,38.9,7.3,465,7293,0.00,2.53,22.00,0.476,4,0.000,0.046,3390,543,1916,0,0,0,0,0,0
$GC,7333,1.26,175.8,32.5,9.0,472,7340,0.00,2.35,0.00,0.000,6,0.000,0.021,3390,1956,1914,0,0,0,0,0,0
$GC,7598,1.26,175.8,10.5,9.1,518,7605,0.00,2.47,0.00,0.000,4,0.000,0.045,3390,546,1913,0,0,0,0,0,0
$GC,7663,1.26,175.8,4.4,9.6,532,7669,0.00,2.33,0.00,0.000,6,0.000,0.021,3390,1954,1912,0,0,0,0,0,0
$STATE,7676,end climb,SURFACE_DEPTH_REACHED
$STATE,7676,begin surface coast
$FINISH,0.3,1.011524
$STATE,7709,end surface coast,CONTROL_FINISHED_OK
$STATE,7709,begin surface
$SM_CCo,7733,88.38,0.456,0,0,1207,350.04
$SM_GC,1.05,0.00,0.00,88.38,0.000,0.000,0.456,427,2147,1207,-12.44,1.33,350.04
$IRIDIUM_FIX,2104.07,-15758.18,300600,171722
$TT8_MAMPS,0.028379
$HUMID,52.00
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.4,1.652
$10V_AH,10.6,1.260
$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,28.675,96.100,253.750,88.375,0.000,22.559,52.526,134.148,4.000,0.000,16.037,991.059,4745.753,412.205,1581.113,419.644,0.000,1101.413,0.000,1568.969,0.000,26.117,0.000
$DEVICE_MAMPS,143.429,56.758,760.864,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,363.910,362.001,852.801,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,28680,540
$CAP_FILE_SIZE,89439,0
$CFSIZE,260165632,255823872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060411,212901,2112.679,-15758.402,10,1.4,15,9.8