version: 66.06
glider: 139
mission: 9
dive: 18
start: 4 6 111 21 43 33
data:
$ID,139
$MISSION,9
$DIVE,18
$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,-2174921.8
$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,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,24
$R_STBD_OVSHOOT,88
$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
$GPS1,212901,2112.679,-15758.402,10,1.4,15,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-75.8
$GPS2,214314,2112.614,-15758.396,16,1.5,16,9.8
$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,208.8,10147,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.20,-126.6,0.0,0.0,0,100,0.00,0.00,-76.68,0.000,6,0.000,0.000,427,2147,3151,0,0,0,0,0,0
$GC,104,-1.20,-126.6,2.8,-4.0,15,122,13.38,2.50,0.00,0.000,4,0.141,0.035,2863,678,3153,0,0,0,0,0,0
$GC,143,-1.20,-126.6,15.0,-30.7,22,149,0.00,2.30,0.00,0.000,6,0.000,0.021,2863,2062,3154,0,0,0,0,0,0
$GC,344,-1.20,-126.6,49.9,-16.5,48,348,0.00,2.40,0.00,0.000,4,0.000,0.031,2863,3492,3154,0,0,0,0,0,0
$GC,498,-1.20,-126.6,72.5,-14.1,64,505,0.00,2.38,0.00,0.000,6,0.000,0.032,2863,2101,3154,0,0,0,0,0,0
$GC,762,-1.20,-126.6,109.9,-14.3,89,766,0.00,2.40,0.00,0.000,4,0.000,0.041,2863,686,3155,0,0,0,0,0,0
$GC,777,-1.20,-126.6,112.6,-15.0,90,781,0.00,2.33,0.00,0.000,6,0.000,0.022,2863,2107,3155,0,0,0,0,0,0
$GC,1040,-1.20,-126.6,152.8,-13.8,114,1044,0.00,2.33,0.00,0.000,4,0.000,0.034,2863,3492,3155,0,0,0,0,0,0
$GC,1175,-1.20,-126.6,170.2,-13.2,128,1182,0.00,2.38,0.00,0.000,6,0.000,0.029,2863,2091,3155,0,0,0,0,0,0
$GC,1440,-1.20,-126.6,196.9,-10.2,153,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2090,3155,0,0,0,0,0,0
$GC,1696,-1.20,-126.6,220.5,-8.7,167,1700,0.00,2.35,0.00,0.000,4,0.000,0.035,2863,3491,3156,0,0,0,0,0,0
$GC,1746,-1.20,-126.6,224.3,-7.7,169,1750,0.00,2.35,0.00,0.000,6,0.000,0.031,2863,2094,3156,0,0,0,0,0,0
$GC,2077,-1.20,-126.6,250.6,-7.3,185,2081,0.00,2.38,0.00,0.000,4,0.000,0.043,2863,685,3155,0,0,0,0,0,0
$GC,2147,-1.20,-126.6,257.7,-10.7,188,2152,0.00,2.33,0.00,0.000,6,0.000,0.025,2863,2096,3156,0,0,0,0,0,0
$GC,2472,-1.20,-126.6,291.3,-9.1,204,2477,0.00,2.38,0.00,0.000,4,0.000,0.038,2863,3502,3154,0,0,0,0,0,0
$GC,2524,-1.20,-126.6,295.8,-7.9,206,2528,0.00,2.38,0.00,0.000,6,0.000,0.033,2863,2098,3154,0,0,0,0,0,0
$GC,2840,-1.20,-126.6,317.9,-7.3,216,2845,0.00,2.40,0.00,0.000,4,0.000,0.039,2862,3502,3153,0,0,0,0,0,0
$GC,3108,-1.20,-126.6,344.3,-9.9,221,3114,0.00,2.40,0.00,0.000,6,0.000,0.035,2863,2093,3151,0,0,0,0,0,0
$GC,3441,-1.20,-126.6,373.1,-8.3,230,3445,0.00,2.42,0.00,0.000,4,0.000,0.041,2863,3502,3149,0,0,0,0,0,0
$GC,3554,-1.20,-126.6,384.3,-10.5,232,3559,0.00,2.40,0.00,0.000,6,0.000,0.038,2863,2099,3149,0,0,0,0,0,0
$STATE,3736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3736,begin apogee
$GC,3743,-0.31,0.0,401.2,9.3,237,3849,0.98,0.00,102.57,0.772,6,0.088,0.000,3061,1937,2635,0,0,0,0,0,0
$STATE,3850,end apogee,CONTROL_FINISHED_OK
$STATE,3850,begin climb
$GC,3853,1.20,126.6,404.3,0.0,239,3970,1.50,2.58,108.78,0.755,4,0.063,0.059,3386,552,2117,0,0,0,0,0,0
$GC,3996,1.20,126.6,392.4,12.2,243,4000,0.00,2.38,0.00,0.000,6,0.000,0.031,3387,1946,2111,0,0,0,0,0,0
$GC,4309,1.20,126.6,358.9,10.4,251,4314,0.00,2.53,0.00,0.000,4,0.000,0.058,3386,554,2106,0,0,0,0,0,0
$GC,4361,1.20,126.6,352.5,12.8,252,4365,0.00,2.38,0.00,0.000,6,0.000,0.031,3387,1955,2104,0,0,0,0,0,0
$GC,4679,1.20,126.6,311.6,13.7,260,4683,0.00,2.40,0.00,0.000,4,0.000,0.039,3387,3363,2101,0,0,0,0,0,0
$GC,4698,1.20,126.6,308.8,14.3,260,4702,0.00,2.45,0.00,0.000,6,0.000,0.041,3387,1965,2101,0,0,0,0,0,0
$GC,5026,1.20,126.6,270.3,11.7,274,5031,0.00,2.55,0.00,0.000,4,0.000,0.057,3386,533,2099,0,0,0,0,0,0
$GC,5095,1.20,126.6,260.6,13.5,277,5099,0.00,2.40,0.00,0.000,6,0.000,0.030,3386,1953,2097,0,0,0,0,0,0
$GC,5421,1.20,126.6,220.0,11.2,293,5425,0.00,2.53,0.00,0.000,4,0.000,0.056,3386,540,2097,0,0,0,0,0,0
$GC,5575,1.20,126.6,204.3,8.8,299,5581,0.00,2.38,0.00,0.000,6,0.000,0.028,3386,1955,2094,0,0,0,0,0,0
$GC,5902,1.20,126.6,176.1,9.5,327,5906,0.00,2.50,0.00,0.000,4,0.000,0.052,3386,540,2093,0,0,0,0,0,0
$GC,5955,1.20,126.6,170.0,11.5,332,5959,0.00,2.35,0.00,0.000,6,0.000,0.027,3387,1950,2093,0,0,0,0,0,0
$GC,6218,1.20,126.6,142.9,9.5,356,6222,0.00,2.47,0.00,0.000,4,0.000,0.050,3386,537,2093,0,0,0,0,0,0
$GC,6278,1.20,126.6,136.8,8.7,362,6282,0.00,2.35,0.00,0.000,6,0.000,0.025,3386,1953,2092,0,0,0,0,0,0
$GC,6541,1.25,171.0,121.9,6.4,386,6581,0.00,2.55,34.88,0.580,4,0.000,0.050,3386,538,1936,0,0,0,0,0,0
$GC,6605,1.26,181.4,117.3,7.9,392,6621,0.00,2.38,9.98,0.511,6,0.000,0.025,3386,1945,1895,0,0,0,0,0,0
$GC,6876,1.26,181.4,90.0,10.4,418,6880,0.00,2.47,0.00,0.000,4,0.000,0.048,3386,535,1892,0,0,0,0,0,0
$GC,6993,1.26,181.4,75.8,13.0,430,6997,0.00,2.33,0.00,0.000,6,0.000,0.023,3387,1957,1889,0,0,0,0,0,0
$GC,7259,1.26,181.4,49.2,8.4,454,7263,0.00,2.47,0.00,0.000,4,0.000,0.047,3386,539,1889,0,0,0,0,0,0
$GC,7354,1.26,181.4,39.4,10.3,464,7358,0.00,2.33,0.00,0.000,6,0.000,0.022,3386,1954,1888,0,0,0,0,0,0
$GC,7618,1.26,181.4,15.6,8.5,503,7625,0.00,2.50,0.00,0.000,4,0.000,0.047,3386,534,1888,0,0,0,0,0,0
$GC,7687,1.26,181.4,9.1,9.6,518,7694,0.00,2.35,0.00,0.000,6,0.000,0.021,3387,1955,1888,0,0,0,0,0,0
$STATE,7757,end climb,SURFACE_DEPTH_REACHED
$STATE,7757,begin surface coast
$FINISH,0.4,1.012013
$STATE,7798,end surface coast,CONTROL_FINISHED_OK
$STATE,7798,begin surface
$SM_CCo,7822,84.90,0.466,0,0,1207,350.04
$SM_GC,1.07,0.00,0.00,84.90,0.000,0.000,0.466,431,2146,1207,-12.42,1.30,350.04
$IRIDIUM_FIX,2104.07,-15800.33,300600,191936
$TT8_MAMPS,0.029146
$HUMID,53.58
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,1.739
$10V_AH,10.5,1.335
$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,28.625,96.825,256.200,84.900,0.000,161.904,200.236,130.147,4.000,0.000,17.014,1017.261,4968.637,439.466,1624.775,713.601,0.000,1115.872,0.000,1609.926,0.000,26.122,0.000
$DEVICE_MAMPS,141.128,59.059,772.369,465.569,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,363.627,360.131,832.761,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,28605,538
$CAP_FILE_SIZE,92750,0
$CFSIZE,260165632,255778816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060411,235637,2112.130,-15758.675,38,1.5,38,9.8