version: 66.06
glider: 139
mission: 9
dive: 22
start: 4 7 111 6 56 1
data:
$ID,139
$MISSION,9
$DIVE,22
$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,-2175021.2
$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,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,24
$R_STBD_OVSHOOT,85
$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
$GPS1,065026,2110.725,-15801.220,13,1.5,13,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-74.0
$GPS2,065543,2110.709,-15801.208,12,1.6,17,9.8
$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,188.8,4640,-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,12,begin dive
$GC,15,-1.23,-116.8,0.0,0.0,0,93,0.00,0.00,-74.25,0.000,6,0.000,0.000,428,2143,3112,0,0,0,0,0,0
$GC,97,-1.23,-116.8,2.5,-4.0,14,115,13.45,2.22,0.00,0.000,4,0.143,0.031,2860,3462,3114,0,0,0,0,0,0
$GC,365,-1.23,-116.8,51.2,-15.1,60,369,0.00,2.33,0.00,0.000,6,0.000,0.030,2859,2091,3116,0,0,0,0,0,0
$GC,626,-1.23,-116.8,92.5,-14.5,84,630,0.00,2.30,0.00,0.000,4,0.000,0.030,2860,3454,3116,0,0,0,0,0,0
$GC,852,-1.23,-116.8,129.1,-15.5,108,859,0.00,2.30,0.00,0.000,6,0.000,0.031,2860,2103,3116,0,0,0,0,0,0
$GC,1117,-1.23,-116.8,164.6,-12.4,133,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2102,3117,0,0,0,0,0,0
$GC,1378,-1.23,-116.8,195.7,-11.0,158,1382,0.00,2.28,0.00,0.000,4,0.000,0.033,2860,3463,3117,0,0,0,0,0,0
$GC,1402,-1.23,-116.8,198.4,-10.8,160,1406,0.00,2.30,0.00,0.000,6,0.000,0.029,2859,2095,3117,0,0,0,0,0,0
$GC,1668,-1.23,-116.8,228.1,-11.4,173,1672,0.00,2.40,0.00,0.000,4,0.000,0.042,2859,684,3117,0,0,0,0,0,0
$GC,1682,-1.23,-116.8,230.0,-11.5,173,1688,0.00,2.25,0.00,0.000,6,0.000,0.024,2859,2057,3117,0,0,0,0,0,0
$GC,1999,-1.23,-116.8,265.6,-11.2,189,2003,0.00,2.35,0.00,0.000,4,0.000,0.044,2859,685,3117,0,0,0,0,0,0
$GC,2018,-1.23,-116.8,267.9,-10.8,189,2023,0.00,2.33,0.00,0.000,6,0.000,0.025,2859,2098,3117,0,0,0,0,0,0
$GC,2335,-1.23,-116.8,296.3,-8.3,205,2339,0.00,2.35,0.00,0.000,4,0.000,0.037,2860,3500,3117,0,0,0,0,0,0
$GC,2350,-1.23,-116.8,297.6,-7.5,205,2355,0.00,2.35,0.00,0.000,6,0.000,0.031,2859,2095,3117,0,0,0,0,0,0
$GC,2683,-1.23,-116.8,321.5,-8.0,215,2687,0.00,2.42,0.00,0.000,4,0.000,0.048,2859,686,3116,0,0,0,0,0,0
$GC,2827,-1.23,-116.8,332.8,-6.7,218,2831,0.00,2.33,0.00,0.000,6,0.000,0.027,2859,2101,3116,0,0,0,0,0,0
$GC,3145,-1.23,-116.8,356.3,-8.5,226,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2105,3115,0,0,0,0,0,0
$GC,3470,-1.23,-116.8,385.0,-9.3,234,3474,0.00,2.40,0.00,0.000,4,0.000,0.043,2859,3502,3113,0,0,0,0,0,0
$GC,3599,-1.23,-116.8,395.7,-8.0,236,3603,0.00,2.38,0.00,0.000,6,0.000,0.036,2859,2098,3112,0,0,0,0,0,0
$STATE,3684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3685,begin apogee
$GC,3692,-0.31,0.0,401.8,6.8,238,3790,1.00,0.00,95.28,0.771,6,0.091,0.000,3062,1896,2635,0,0,0,0,0,0
$STATE,3791,end apogee,CONTROL_FINISHED_OK
$STATE,3791,begin climb
$GC,3794,1.23,116.8,402.9,0.0,240,3906,1.55,2.55,99.70,0.755,4,0.062,0.057,3398,501,2156,0,0,0,0,0,0
$GC,3925,1.23,116.8,389.0,14.0,243,3929,0.00,2.38,0.00,0.000,6,0.000,0.030,3399,1903,2152,0,0,0,0,0,0
$GC,4248,1.23,116.8,349.3,11.7,251,4252,0.00,2.55,0.00,0.000,4,0.000,0.059,3398,498,2146,0,0,0,0,0,0
$GC,4272,1.23,116.8,346.0,14.1,251,4276,0.00,2.40,0.00,0.000,6,0.000,0.031,3398,1905,2144,0,0,0,0,0,0
$GC,4612,1.23,116.8,306.6,11.8,260,4616,0.00,2.53,0.00,0.000,4,0.000,0.058,3398,502,2141,0,0,0,0,0,0
$GC,4695,1.23,116.8,293.6,14.7,261,4701,0.00,2.35,0.00,0.000,6,0.000,0.031,3398,1901,2139,0,0,0,0,0,0
$GC,5012,1.23,116.8,254.0,11.9,277,5017,0.00,2.50,0.00,0.000,4,0.000,0.054,3398,500,2138,0,0,0,0,0,0
$GC,5044,1.23,116.8,249.5,13.0,278,5049,0.00,2.38,0.00,0.000,6,0.000,0.030,3398,1908,2136,0,0,0,0,0,0
$GC,5361,1.23,116.8,220.2,8.9,293,5365,0.00,2.50,0.00,0.000,4,0.000,0.054,3398,498,2136,0,0,0,0,0,0
$GC,5476,1.23,116.8,208.1,10.1,298,5481,0.00,2.35,0.00,0.000,6,0.000,0.028,3398,1902,2134,0,0,0,0,0,0
$GC,5809,1.23,116.8,178.3,9.4,325,5814,0.00,2.47,0.00,0.000,4,0.000,0.051,3398,498,2134,0,0,0,0,0,0
$GC,5901,1.23,116.8,168.8,8.6,334,5908,0.00,2.35,0.00,0.000,6,0.000,0.026,3398,1900,2133,0,0,0,0,0,0
$GC,6164,1.23,116.8,148.0,8.4,359,6168,0.00,2.45,0.00,0.000,4,0.000,0.048,3398,499,2132,0,0,0,0,0,0
$GC,6246,1.25,130.5,141.3,7.7,367,6262,0.00,2.33,8.60,0.515,6,0.000,0.025,3399,1915,2101,0,0,0,0,0,0
$GC,6517,1.25,130.5,121.4,8.7,393,6521,0.00,2.30,0.00,0.000,4,0.000,0.031,3399,3299,2100,0,0,0,0,0,0
$GC,6543,1.25,130.5,119.1,9.1,395,6547,0.00,2.35,0.00,0.000,6,0.000,0.032,3399,1907,2101,0,0,0,0,0,0
$GC,6807,1.28,157.0,100.1,7.1,419,6837,0.00,2.53,24.52,0.532,4,0.000,0.048,3398,490,1993,0,0,0,0,0,0
$GC,6864,1.28,157.0,94.7,10.4,425,6868,0.00,2.33,0.00,0.000,6,0.000,0.022,3398,1900,1990,0,0,0,0,0,0
$GC,7128,1.28,157.0,69.4,8.8,449,7132,0.00,2.45,0.00,0.000,4,0.000,0.045,3398,492,1990,0,0,0,0,0,0
$GC,7153,1.28,157.0,66.5,10.8,451,7157,0.00,2.30,0.00,0.000,6,0.000,0.021,3398,1904,1988,0,0,0,0,0,0
$GC,7417,1.28,157.0,40.8,8.9,475,7422,0.00,2.45,0.00,0.000,4,0.000,0.045,3398,491,1988,0,0,0,0,0,0
$GC,7469,1.28,157.0,35.2,10.7,480,7473,0.00,2.28,0.00,0.000,6,0.000,0.021,3398,1902,1988,0,0,0,0,0,0
$GC,7733,1.29,161.4,12.3,8.1,523,7746,0.00,2.50,4.32,0.326,4,0.000,0.045,3398,489,1976,0,0,0,0,0,0
$STATE,7828,end climb,SURFACE_DEPTH_REACHED
$STATE,7828,begin surface coast
$FINISH,0.4,0.999857
$STATE,7859,end surface coast,CONTROL_FINISHED_OK
$STATE,7859,begin surface
$SM_CCo,7885,96.05,0.459,0,0,1208,350.04
$SM_GC,1.10,0.00,0.00,96.05,0.000,0.000,0.459,431,2118,1208,-12.44,0.48,350.04
$IRIDIUM_FIX,2104.07,-15802.47,010700,040430
$TT8_MAMPS,0.028379
$HUMID,52.44
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.4,2.032
$10V_AH,10.6,1.622
$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,28.750,95.825,232.425,96.050,0.000,24.056,39.994,136.771,4.000,0.000,17.484,1018.239,4858.534,407.700,1605.984,410.993,0.000,1081.947,0.000,1590.630,0.000,26.115,0.000
$DEVICE_MAMPS,143.429,59.059,770.835,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,372.309,367.953,857.467,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,28692,551
$CAP_FILE_SIZE,89877,0
$CFSIZE,260165632,255598592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070411,091006,2110.140,-15801.418,25,1.6,25,9.8