version: 66.06
glider: 139
mission: 9
dive: 20
start: 4 7 111 2 23 20
data:
$ID,139
$MISSION,9
$DIVE,20
$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,120
$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,-2174957.5
$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,3135
$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,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,65
$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
$GPS1,021736,2111.477,-15759.520,40,1.1,45,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-75.0
$GPS2,022302,2111.488,-15759.529,16,1.5,16,9.8
$SPEED_LIMITS,0.144,0.224
$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,207.1,7300,-17.4,-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,14,begin dive
$GC,17,-1.23,-116.8,0.0,0.0,0,100,0.00,0.00,-75.62,0.000,6,0.000,0.000,428,2130,3111,0,0,0,0,0,0
$GC,103,-1.23,-116.8,2.8,-4.0,15,122,13.43,2.28,0.00,0.000,4,0.143,0.029,2858,3482,3113,0,0,0,0,0,0
$GC,374,-1.23,-116.8,52.1,-16.8,60,378,0.00,2.35,0.00,0.000,6,0.000,0.031,2857,2091,3114,0,0,0,0,0,0
$GC,635,-1.23,-116.8,90.4,-12.4,84,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2091,3115,0,0,0,0,0,0
$GC,890,-1.23,-116.8,124.0,-13.2,108,893,0.00,2.33,0.00,0.000,4,0.000,0.031,2857,3474,3116,0,0,0,0,0,0
$GC,909,-1.23,-116.8,126.5,-13.4,110,913,0.00,2.30,0.00,0.000,6,0.000,0.029,2857,2092,3115,0,0,0,0,0,0
$GC,1171,-1.23,-116.8,153.9,-11.1,134,1175,0.00,2.33,0.00,0.000,4,0.000,0.032,2857,3478,3117,0,0,0,0,0,0
$GC,1249,-1.23,-116.8,163.3,-11.5,142,1256,0.00,2.33,0.00,0.000,6,0.000,0.028,2858,2106,3116,0,0,0,0,0,0
$GC,1514,-1.23,-116.8,194.8,-11.7,167,1518,0.00,2.33,0.00,0.000,4,0.000,0.034,2857,3479,3117,0,0,0,0,0,0
$GC,1651,-1.23,-116.8,208.0,-8.9,176,1655,0.00,2.30,0.00,0.000,6,0.000,0.029,2857,2096,3117,0,0,0,0,0,0
$GC,1976,-1.23,-116.8,232.6,-8.0,192,1980,0.00,2.33,0.00,0.000,4,0.000,0.035,2857,3479,3117,0,0,0,0,0,0
$GC,2054,-1.23,-116.8,239.8,-9.4,195,2059,0.00,2.33,0.00,0.000,6,0.000,0.031,2857,2099,3117,0,0,0,0,0,0
$GC,2376,-1.23,-116.8,271.9,-9.9,211,2380,0.00,2.35,0.00,0.000,4,0.000,0.037,2857,3480,3116,0,0,0,0,0,0
$GC,2477,-1.23,-116.8,282.6,-10.1,215,2481,0.00,2.35,0.00,0.000,6,0.000,0.034,2857,2095,3116,0,0,0,0,0,0
$GC,2810,-1.23,-116.8,317.0,-10.5,227,2812,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2095,3115,0,0,0,0,0,0
$GC,3137,-1.23,-116.8,340.3,-6.5,235,3141,0.00,2.38,0.00,0.000,4,0.000,0.041,2858,3477,3113,0,0,0,0,0,0
$GC,3234,-1.23,-116.8,347.9,-7.5,237,3239,0.00,2.33,0.00,0.000,6,0.000,0.036,2857,2101,3114,0,0,0,0,0,0
$GC,3553,-1.23,-116.8,371.9,-7.7,245,3557,0.00,2.47,0.00,0.000,4,0.000,0.054,2857,694,3112,0,0,0,0,0,0
$GC,3637,-1.23,-116.8,380.5,-10.6,246,3643,0.00,2.30,0.00,0.000,6,0.000,0.029,2857,2070,3111,0,0,0,0,0,0
$STATE,3846,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3846,begin apogee
$GC,3853,-0.31,0.0,401.7,9.9,252,3952,1.02,0.00,95.45,0.782,6,0.090,0.000,3065,1891,2634,0,0,0,0,0,0
$STATE,3953,end apogee,CONTROL_FINISHED_OK
$STATE,3953,begin climb
$GC,3955,1.23,116.8,405.0,0.0,254,4067,1.55,2.53,99.93,0.763,4,0.061,0.040,3402,3294,2158,0,0,0,0,0,0
$GC,4142,1.23,116.8,388.9,10.5,258,4147,0.00,2.47,0.00,0.000,6,0.000,0.044,3401,1907,2155,0,0,0,0,0,0
$GC,4456,1.23,116.8,352.9,11.9,266,4460,0.00,2.55,0.00,0.000,4,0.000,0.060,3400,491,2147,0,0,0,0,0,0
$GC,4545,1.23,116.8,341.1,13.6,268,4550,0.00,2.40,0.00,0.000,6,0.000,0.031,3401,1899,2143,0,0,0,0,0,0
$GC,4873,1.23,116.8,305.2,10.8,276,4877,0.00,2.40,0.00,0.000,4,0.000,0.040,3401,3300,2142,0,0,0,0,0,0
$GC,4916,1.23,116.8,299.6,13.0,277,4920,0.00,2.47,0.00,0.000,6,0.000,0.043,3401,1890,2141,0,0,0,0,0,0
$GC,5247,1.23,116.8,255.4,12.9,293,5251,0.00,2.50,0.00,0.000,4,0.000,0.058,3401,488,2139,0,0,0,0,0,0
$GC,5330,1.23,116.8,243.1,14.7,296,5337,0.00,2.40,0.00,0.000,6,0.000,0.030,3401,1896,2137,0,0,0,0,0,0
$GC,5645,1.23,116.8,206.0,9.8,312,5647,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,1899,2137,0,0,0,0,0,0
$GC,5962,1.23,116.8,181.4,9.4,338,5966,0.00,2.38,0.00,0.000,4,0.000,0.036,3401,3308,2136,0,0,0,0,0,0
$GC,5980,1.23,116.8,179.4,10.1,339,5986,0.00,2.42,0.00,0.000,6,0.000,0.035,3401,1896,2136,0,0,0,0,0,0
$GC,6243,1.23,116.8,153.4,10.3,364,6247,0.00,2.45,0.00,0.000,4,0.000,0.051,3401,486,2135,0,0,0,0,0,0
$GC,6262,1.23,116.8,150.9,12.3,365,6267,0.00,2.35,0.00,0.000,6,0.000,0.026,3401,1910,2133,0,0,0,0,0,0
$GC,6524,1.23,116.8,124.4,9.0,390,6529,0.00,2.33,0.00,0.000,4,0.000,0.033,3402,3297,2133,0,0,0,0,0,0
$GC,6559,1.23,116.8,121.2,9.0,393,6563,0.00,2.40,0.00,0.000,6,0.000,0.035,3401,1897,2134,0,0,0,0,0,0
$GC,6824,1.30,176.6,103.3,5.5,417,6879,0.00,2.50,47.92,0.570,4,0.000,0.048,3401,486,1914,0,0,0,0,0,0
$GC,6929,1.30,176.6,95.3,8.8,428,6936,0.00,2.38,0.00,0.000,6,0.000,0.023,3401,1900,1909,0,0,0,0,0,0
$GC,7193,1.30,176.6,73.9,8.4,453,7197,0.00,2.45,0.00,0.000,4,0.000,0.048,3401,491,1908,0,0,0,0,0,0
$GC,7318,1.30,176.6,61.2,9.0,466,7325,0.00,2.35,0.00,0.000,6,0.000,0.021,3401,1907,1905,0,0,0,0,0,0
$GC,7582,1.30,176.6,37.9,9.2,491,7587,0.00,2.47,0.00,0.000,4,0.000,0.047,3401,488,1905,0,0,0,0,0,0
$GC,7652,1.30,176.6,30.2,11.0,498,7656,0.00,2.33,0.00,0.000,6,0.000,0.021,3401,1909,1905,0,0,0,0,0,0
$GC,7918,1.30,176.6,5.5,10.2,546,7925,0.00,2.50,0.00,0.000,4,0.000,0.048,3401,495,1905,0,0,0,0,0,0
$STATE,7943,end climb,SURFACE_DEPTH_REACHED
$STATE,7943,begin surface coast
$FINISH,2.3,1.023539
$STATE,7948,end surface coast,CONTROL_FINISHED_OK
$STATE,7949,begin surface
$SM_CCo,7974,89.40,0.466,0,0,1207,350.04
$SM_GC,0.97,0.00,0.00,89.40,0.000,0.000,0.466,431,2103,1207,-12.44,0.08,350.04
$IRIDIUM_FIX,2104.07,-15753.03,010700,000021
$TT8_MAMPS,0.029146
$HUMID,53.15
$INTERNAL_PRESSURE,9.58675
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.4,1.889
$10V_AH,10.5,1.479
$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,28.875,91.350,243.300,89.400,0.000,29.758,37.027,144.409,4.000,0.000,16.521,1024.150,4907.585,403.264,1635.912,422.329,0.000,1095.745,0.000,1618.178,0.000,26.116,0.000
$DEVICE_MAMPS,143.429,59.826,782.340,466.336,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,373.359,367.943,850.265,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355728
$DATA_FILE_SIZE,31722,552
$CAP_FILE_SIZE,89082,0
$CFSIZE,260165632,255688704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070411,043858,2111.083,-15800.671,15,2.7,34,9.8