version: 66.06
glider: 139
mission: 9
dive: 23
start: 4 7 111 9 15 49
data:
$ID,139
$MISSION,9
$DIVE,23
$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,-2175039
$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,53
$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
$GPS1,091006,2110.140,-15801.418,25,1.6,25,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-73.6
$GPS2,091531,2110.129,-15801.444,11,1.6,16,9.8
$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,188.1,3493,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.23,-116.8,0.0,0.0,0,95,0.00,0.00,-74.28,0.000,6,0.000,0.000,431,2118,3113,0,0,0,0,0,0
$GC,98,-1.23,-116.8,2.4,-3.3,14,117,13.40,2.45,0.00,0.000,4,0.143,0.038,2858,687,3115,0,0,0,0,0,0
$GC,220,-1.23,-116.8,31.7,-20.9,40,227,0.00,2.33,0.00,0.000,6,0.000,0.021,2858,2085,3115,0,0,0,0,0,0
$GC,483,-1.23,-116.8,79.9,-15.6,65,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2088,3116,0,0,0,0,0,0
$GC,738,-1.23,-116.8,112.9,-11.7,89,742,0.00,2.35,0.00,0.000,4,0.000,0.031,2859,3495,3116,0,0,0,0,0,0
$GC,792,-1.23,-116.8,119.6,-11.2,94,800,0.00,2.38,0.00,0.000,6,0.000,0.029,2859,2094,3116,0,0,0,0,0,0
$GC,1057,-1.23,-116.8,149.6,-11.9,119,1061,0.00,2.33,0.00,0.000,4,0.000,0.031,2859,3495,3117,0,0,0,0,0,0
$GC,1320,-1.23,-116.8,180.2,-9.6,147,1325,0.00,2.33,0.00,0.000,6,0.000,0.028,2859,2097,3117,0,0,0,0,0,0
$GC,1594,-1.23,-116.8,201.8,-7.5,172,1598,0.00,2.35,0.00,0.000,4,0.000,0.033,2858,3495,3117,0,0,0,0,0,0
$GC,1668,-1.23,-116.8,209.3,-9.6,175,1672,0.00,2.33,0.00,0.000,6,0.000,0.029,2859,2096,3117,0,0,0,0,0,0
$GC,1989,-1.23,-116.8,243.7,-11.9,191,1993,0.00,2.38,0.00,0.000,4,0.000,0.042,2858,685,3117,0,0,0,0,0,0
$GC,2022,-1.23,-116.8,248.1,-12.5,192,2026,0.00,2.33,0.00,0.000,6,0.000,0.024,2858,2106,3118,0,0,0,0,0,0
$GC,2340,-1.23,-116.8,281.2,-10.6,207,2344,0.00,2.35,0.00,0.000,4,0.000,0.037,2859,3498,3118,0,0,0,0,0,0
$GC,2360,-1.23,-116.8,283.0,-8.0,208,2364,0.00,2.35,0.00,0.000,6,0.000,0.031,2859,2092,3118,0,0,0,0,0,0
$GC,2714,-1.23,-116.8,316.1,-9.8,221,2718,0.00,2.40,0.00,0.000,4,0.000,0.038,2859,3496,3117,0,0,0,0,0,0
$GC,2746,-1.23,-116.8,319.9,-10.6,221,2751,0.00,2.35,0.00,0.000,6,0.000,0.033,2859,2101,3117,0,0,0,0,0,0
$GC,3083,-1.23,-116.8,349.7,-8.4,230,3087,0.00,2.45,0.00,0.000,4,0.000,0.049,2858,685,3115,0,0,0,0,0,0
$GC,3098,-1.23,-116.8,350.9,-7.7,230,3102,0.00,2.33,0.00,0.000,6,0.000,0.028,2858,2094,3115,0,0,0,0,0,0
$GC,3448,-1.23,-116.8,379.5,-8.3,239,3452,0.00,2.42,0.00,0.000,4,0.000,0.043,2859,3508,3113,0,0,0,0,0,0
$GC,3592,-1.23,-116.8,390.1,-6.5,242,3596,0.00,2.40,0.00,0.000,6,0.000,0.037,2858,2102,3112,0,0,0,0,0,0
$STATE,3752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3752,begin apogee
$GC,3758,-0.31,0.0,400.2,6.3,246,3857,1.00,0.00,95.15,0.777,6,0.089,0.000,3062,1887,2635,0,0,0,0,0,0
$STATE,3858,end apogee,CONTROL_FINISHED_OK
$STATE,3858,begin climb
$GC,3861,1.23,116.8,401.1,0.0,248,3966,1.58,0.00,101.03,0.755,6,0.061,0.000,3401,1887,2158,0,0,0,0,0,0
$GC,4277,1.23,116.8,350.0,13.0,259,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,1887,2147,0,0,0,0,0,0
$GC,4602,1.23,116.8,307.8,12.0,267,4606,0.00,2.50,0.00,0.000,4,0.000,0.059,3400,496,2143,0,0,0,0,0,0
$GC,4663,1.23,116.8,299.4,12.8,268,4667,0.00,2.38,0.00,0.000,6,0.000,0.031,3401,1905,2140,0,0,0,0,0,0
$GC,4996,1.23,116.8,261.9,12.8,284,5001,0.00,2.53,0.00,0.000,4,0.000,0.056,3401,497,2139,0,0,0,0,0,0
$GC,5110,1.23,116.8,245.4,15.5,289,5114,0.00,2.35,0.00,0.000,6,0.000,0.030,3401,1899,2137,0,0,0,0,0,0
$GC,5440,1.23,116.8,205.7,10.0,305,5445,0.00,2.47,0.00,0.000,4,0.000,0.054,3401,500,2136,0,0,0,0,0,0
$GC,5512,1.23,116.8,198.6,10.3,309,5516,0.00,2.35,0.00,0.000,6,0.000,0.029,3401,1912,2134,0,0,0,0,0,0
$GC,5777,1.23,116.8,177.4,9.2,333,5781,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,1915,2134,0,0,0,0,0,0
$GC,6038,1.23,116.8,148.8,10.3,358,6042,0.00,2.35,0.00,0.000,4,0.000,0.034,3401,3307,2134,0,0,0,0,0,0
$GC,6065,1.23,116.8,145.7,11.4,360,6072,0.00,2.42,0.00,0.000,6,0.000,0.035,3401,1907,2134,0,0,0,0,0,0
$GC,6330,1.26,140.8,125.5,7.2,385,6352,0.00,2.50,17.38,0.562,4,0.000,0.049,3401,493,2060,0,0,0,0,0,0
$GC,6430,1.26,140.8,116.8,9.8,395,6434,0.00,2.33,0.00,0.000,6,0.000,0.024,3401,1904,2057,0,0,0,0,0,0
$GC,6697,1.26,140.8,91.4,10.3,420,6701,0.00,2.33,0.00,0.000,4,0.000,0.031,3401,3308,2057,0,0,0,0,0,0
$GC,6732,1.26,140.8,88.0,9.6,423,6736,0.00,2.42,0.00,0.000,6,0.000,0.034,3401,1889,2056,0,0,0,0,0,0
$GC,6996,1.27,150.5,66.5,7.9,447,7011,0.00,2.45,9.45,0.465,4,0.000,0.048,3401,493,2020,0,0,0,0,0,0
$GC,7076,1.27,150.5,58.2,10.7,455,7080,0.00,2.30,0.00,0.000,6,0.000,0.021,3401,1910,2018,0,0,0,0,0,0
$GC,7340,1.27,150.5,31.3,9.6,479,7344,0.00,2.47,0.00,0.000,4,0.000,0.046,3401,488,2018,0,0,0,0,0,0
$GC,7424,1.27,150.5,22.8,10.0,496,7430,0.00,2.33,0.00,0.000,6,0.000,0.021,3401,1898,2017,0,0,0,0,0,0
$GC,7627,1.31,178.4,6.3,7.0,533,7662,0.00,2.50,25.12,0.463,4,0.000,0.044,3401,494,1906,0,0,0,0,0,0
$STATE,7667,end climb,SURFACE_DEPTH_REACHED
$STATE,7667,begin surface coast
$FINISH,0.4,1.010220
$STATE,7710,end surface coast,CONTROL_FINISHED_OK
$STATE,7710,begin surface
$SM_CCo,7736,87.10,0.463,0,0,1207,350.04
$SM_GC,1.04,0.00,0.00,87.10,0.000,0.000,0.463,433,2115,1207,-12.43,0.42,350.04
$IRIDIUM_FIX,2104.07,-15802.47,010700,070757
$TT8_MAMPS,0.028379
$HUMID,53.42
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,2.105
$10V_AH,10.6,1.692
$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,28.900,86.600,248.125,87.100,0.000,24.330,34.249,150.320,4.000,0.000,17.079,999.962,4778.448,429.929,1529.037,413.867,0.000,1057.012,0.000,1517.716,0.000,26.141,0.000
$DEVICE_MAMPS,142.662,59.059,776.971,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,370.908,367.182,852.456,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355728
$DATA_FILE_SIZE,28662,549
$CAP_FILE_SIZE,85206,0
$CFSIZE,260165632,255561728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070411,112730,2109.356,-15801.799,39,1.6,39,9.8