version: 66.06
glider: 139
mission: 9
dive: 21
start: 4 7 111 4 44 54
data:
$ID,139
$MISSION,9
$DIVE,21
$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,-2175003
$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,23
$R_STBD_OVSHOOT,44
$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
$GPS1,043858,2111.083,-15800.671,15,2.7,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-74.9
$GPS2,044437,2111.078,-15800.726,44,1.1,44,9.8
$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,194.7,5583,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.23,-116.8,0.0,0.0,0,99,0.00,0.00,-75.12,0.000,6,0.000,0.000,431,2103,3112,0,0,0,0,0,0
$GC,103,-1.23,-116.8,3.0,-4.6,15,122,13.35,2.42,0.00,0.000,4,0.141,0.037,2857,684,3113,0,0,0,0,0,0
$GC,312,-1.23,-116.8,47.6,-17.7,51,316,0.00,2.33,0.00,0.000,6,0.000,0.022,2857,2099,3114,0,0,0,0,0,0
$GC,574,-1.23,-116.8,88.4,-12.5,75,578,0.00,2.42,0.00,0.000,4,0.000,0.041,2857,677,3115,0,0,0,0,0,0
$GC,620,-1.23,-116.8,95.3,-14.8,79,625,0.00,2.33,0.00,0.000,6,0.000,0.022,2857,2107,3115,0,0,0,0,0,0
$GC,883,-1.23,-116.8,134.2,-15.6,104,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2111,3115,0,0,0,0,0,0
$GC,1135,-1.23,-116.8,167.3,-11.9,128,1139,0.00,2.33,0.00,0.000,4,0.000,0.033,2858,3496,3116,0,0,0,0,0,0
$GC,1233,-1.23,-116.8,178.8,-11.8,138,1238,0.00,2.35,0.00,0.000,6,0.000,0.029,2858,2084,3116,0,0,0,0,0,0
$GC,1505,-1.23,-116.8,210.8,-12.0,159,1510,0.00,2.40,0.00,0.000,4,0.000,0.033,2858,3504,3116,0,0,0,0,0,0
$GC,1589,-1.23,-116.8,222.0,-11.9,162,1595,0.00,2.38,0.00,0.000,6,0.000,0.030,2857,2101,3116,0,0,0,0,0,0
$GC,1904,-1.23,-116.8,250.5,-8.0,178,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2100,3116,0,0,0,0,0,0
$GC,2215,-1.23,-116.8,276.8,-9.2,193,2219,0.00,2.40,0.00,0.000,4,0.000,0.036,2858,3501,3116,0,0,0,0,0,0
$GC,2252,-1.23,-116.8,280.7,-9.8,194,2259,0.00,2.40,0.00,0.000,6,0.000,0.032,2858,2097,3116,0,0,0,0,0,0
$GC,2586,-1.23,-116.8,314.8,-11.5,208,2590,0.00,2.40,0.00,0.000,4,0.000,0.047,2857,690,3115,0,0,0,0,0,0
$GC,2798,-1.23,-116.8,341.2,-14.8,212,2802,0.00,2.33,0.00,0.000,6,0.000,0.028,2857,2105,3115,0,0,0,0,0,0
$GC,3135,-1.23,-116.8,382.4,-11.8,221,3139,0.00,2.40,0.00,0.000,4,0.000,0.042,2858,3506,3113,0,0,0,0,0,0
$GC,3284,-1.23,-116.8,398.8,-10.3,224,3288,0.00,2.40,0.00,0.000,6,0.000,0.036,2858,2100,3112,0,0,0,0,0,0
$STATE,3297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3297,begin apogee
$GC,3304,-0.31,0.0,400.2,9.5,224,3403,0.98,0.00,95.60,0.759,6,0.090,0.000,3059,1895,2635,0,0,0,0,0,0
$STATE,3404,end apogee,CONTROL_FINISHED_OK
$STATE,3404,begin climb
$GC,3407,1.23,116.8,404.3,0.0,227,3519,1.58,2.55,99.80,0.747,4,0.062,0.055,3399,497,2156,0,0,0,0,0,0
$GC,3552,1.23,116.8,391.8,14.3,230,3557,0.00,2.40,0.00,0.000,6,0.000,0.030,3398,1900,2150,0,0,0,0,0,0
$GC,3902,1.23,116.8,342.9,14.8,239,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1904,2146,0,0,0,0,0,0
$GC,4227,1.23,116.8,299.1,12.2,247,4231,0.00,2.53,0.00,0.000,4,0.000,0.058,3399,502,2142,0,0,0,0,0,0
$GC,4339,1.23,116.8,284.6,12.6,252,4343,0.00,2.38,0.00,0.000,6,0.000,0.031,3399,1901,2139,0,0,0,0,0,0
$GC,4668,1.23,116.8,248.9,11.0,268,4672,0.00,2.47,0.00,0.000,4,0.000,0.056,3399,502,2138,0,0,0,0,0,0
$GC,4741,1.23,116.8,240.2,11.7,271,4746,0.00,2.38,0.00,0.000,6,0.000,0.030,3400,1907,2136,0,0,0,0,0,0
$GC,5063,1.23,116.8,208.6,9.7,287,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1912,2136,0,0,0,0,0,0
$GC,5379,1.23,116.8,170.2,10.8,313,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1912,2135,0,0,0,0,0,0
$GC,5634,1.23,116.8,145.4,9.4,337,5638,0.00,2.33,0.00,0.000,4,0.000,0.035,3400,3305,2134,0,0,0,0,0,0
$GC,5653,1.23,116.8,143.2,10.3,338,5660,0.00,2.42,0.00,0.000,6,0.000,0.035,3400,1905,2134,0,0,0,0,0,0
$GC,5917,1.23,116.8,119.7,8.5,363,5921,0.00,2.45,0.00,0.000,4,0.000,0.047,3399,485,2134,0,0,0,0,0,0
$GC,5961,1.23,116.8,115.6,9.3,367,5965,0.00,2.33,0.00,0.000,6,0.000,0.024,3398,1911,2132,0,0,0,0,0,0
$GC,6225,1.23,116.8,94.8,8.9,391,6229,0.00,2.47,0.00,0.000,4,0.000,0.046,3399,485,2133,0,0,0,0,0,0
$GC,6258,1.23,116.8,91.2,10.3,394,6262,0.00,2.30,0.00,0.000,6,0.000,0.023,3399,1901,2132,0,0,0,0,0,0
$GC,6527,1.26,141.8,69.2,7.1,419,6551,0.00,2.50,18.15,0.502,4,0.000,0.046,3399,497,2056,0,0,0,0,0,0
$GC,6567,1.28,154.6,66.2,7.7,423,6589,0.00,2.33,12.38,0.478,6,0.000,0.023,3399,1916,2004,0,0,0,0,0,0
$GC,6843,1.29,163.5,44.7,7.9,449,6857,0.00,2.53,9.15,0.441,4,0.000,0.047,3399,487,1968,0,0,0,0,0,0
$GC,6935,1.29,163.5,36.0,9.6,459,6940,0.00,2.30,0.00,0.000,6,0.000,0.021,3399,1904,1964,0,0,0,0,0,0
$GC,7201,1.29,163.5,14.4,8.6,500,7208,0.00,2.47,0.00,0.000,4,0.000,0.047,3399,499,1964,0,0,0,0,0,0
$GC,7228,1.29,163.5,11.8,9.6,505,7235,0.00,2.33,0.00,0.000,6,0.000,0.021,3399,1905,1963,0,0,0,0,0,0
$STATE,7325,end climb,SURFACE_DEPTH_REACHED
$STATE,7326,begin surface coast
$FINISH,0.4,1.010776
$STATE,7361,end surface coast,CONTROL_FINISHED_OK
$STATE,7361,begin surface
$SM_CCo,7385,94.12,0.459,0,0,1207,350.04
$SM_GC,1.09,0.00,0.00,94.12,0.000,0.000,0.459,429,2143,1207,-12.45,1.22,350.04
$IRIDIUM_FIX,2104.07,-15758.18,010700,020210
$TT8_MAMPS,0.029146
$HUMID,52.63
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,1.960
$10V_AH,10.6,1.550
$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,28.675,77.325,235.075,94.125,0.000,25.237,35.522,135.675,4.000,0.000,44.727,968.102,4493.560,386.497,1567.634,404.898,0.000,1037.544,0.000,1533.250,0.000,26.112,0.000
$DEVICE_MAMPS,141.128,57.525,758.563,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,357.508,365.503,847.765,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,28652,529
$CAP_FILE_SIZE,83523,0
$CFSIZE,260165632,255651840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070411,065026,2110.725,-15801.220,13,1.5,13,9.8