version: 66.06
glider: 139
mission: 9
dive: 25
start: 4 7 111 13 59 10
data:
$ID,139
$MISSION,9
$DIVE,25
$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,-2175074.8
$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,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,21
$R_STBD_OVSHOOT,79
$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
$GPS1,134646,2109.116,-15801.197,13,2.4,32,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-73.5
$GPS2,135850,2109.133,-15801.308,17,1.7,17,9.8
$SPEED_LIMITS,0.144,0.224
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$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,91.1,32363,-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,-75.45,0.000,6,0.000,0.000,431,2146,3113,0,0,0,0,0,0
$GC,97,-1.23,-116.8,2.0,-2.2,14,115,13.32,2.22,0.00,0.000,4,0.140,0.030,2860,3465,3114,0,0,0,0,0,0
$GC,152,-1.23,-116.8,15.1,-18.4,25,159,0.00,2.35,0.00,0.000,6,0.000,0.030,2860,2093,3116,0,0,0,0,0,0
$GC,354,-1.23,-116.8,47.5,-16.1,52,358,0.00,2.33,0.00,0.000,4,0.000,0.030,2860,3468,3116,0,0,0,0,0,0
$GC,405,-1.23,-116.8,55.9,-16.1,57,409,0.00,2.30,0.00,0.000,6,0.000,0.029,2860,2098,3116,0,0,0,0,0,0
$GC,671,-1.23,-116.8,97.1,-14.3,82,675,0.00,2.28,0.00,0.000,4,0.000,0.030,2860,3461,3116,0,0,0,0,0,0
$GC,868,-1.23,-116.8,120.0,-11.8,103,872,0.00,2.28,0.00,0.000,6,0.000,0.028,2860,2095,3116,0,0,0,0,0,0
$GC,1132,-1.23,-116.8,153.3,-11.7,127,1136,0.00,2.40,0.00,0.000,4,0.000,0.041,2860,682,3117,0,0,0,0,0,0
$GC,1250,-1.23,-116.8,169.4,-13.0,139,1254,0.00,2.25,0.00,0.000,6,0.000,0.023,2860,2065,3117,0,0,0,0,0,0
$GC,1515,-1.23,-116.8,197.9,-8.7,163,1519,0.00,2.40,0.00,0.000,4,0.000,0.034,2860,3506,3118,0,0,0,0,0,0
$GC,1662,-1.23,-116.8,210.2,-7.7,170,1666,0.00,2.33,0.00,0.000,6,0.000,0.029,2860,2098,3118,0,0,0,0,0,0
$GC,1979,-1.23,-116.8,234.7,-8.3,185,1983,0.00,2.40,0.00,0.000,4,0.000,0.043,2860,689,3118,0,0,0,0,0,0
$GC,2017,-1.23,-116.8,238.6,-9.6,186,2023,0.00,2.35,0.00,0.000,6,0.000,0.025,2860,2104,3118,0,0,0,0,0,0
$GC,2332,-1.23,-116.8,271.1,-10.3,202,2336,0.00,2.40,0.00,0.000,4,0.000,0.044,2861,693,3118,0,0,0,0,0,0
$GC,2364,-1.23,-116.8,274.3,-10.1,203,2368,0.00,2.33,0.00,0.000,6,0.000,0.026,2860,2101,3117,0,0,0,0,0,0
$GC,2680,-1.23,-116.8,298.2,-6.8,218,2684,0.00,2.38,0.00,0.000,4,0.000,0.039,2860,3509,3116,0,0,0,0,0,0
$GC,2829,-1.23,-116.8,309.7,-7.6,222,2834,0.00,2.38,0.00,0.000,6,0.000,0.033,2860,2095,3116,0,0,0,0,0,0
$GC,3148,-1.23,-116.8,333.4,-7.3,230,3152,0.00,2.40,0.00,0.000,4,0.000,0.048,2859,693,3114,0,0,0,0,0,0
$GC,3218,-1.23,-116.8,340.0,-9.6,231,3222,0.00,2.33,0.00,0.000,6,0.000,0.028,2860,2102,3113,0,0,0,0,0,0
$GC,3563,-1.23,-116.8,372.1,-9.2,240,3567,0.00,2.45,0.00,0.000,4,0.000,0.049,2859,684,3112,0,0,0,0,0,0
$GC,3596,-1.23,-116.8,375.0,-9.1,240,3600,0.00,2.35,0.00,0.000,6,0.000,0.029,2859,2102,3111,0,0,0,0,0,0
$GC,3927,-1.23,-116.8,399.0,-7.5,248,3932,0.00,2.40,0.00,0.000,4,0.000,0.044,2860,3500,3110,0,0,0,0,0,0
$STATE,3940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3940,begin apogee
$GC,3950,-0.31,0.0,400.3,7.8,248,4048,0.98,0.00,94.97,0.777,6,0.091,0.000,3060,1898,2635,0,0,0,0,0,0
$STATE,4049,end apogee,CONTROL_FINISHED_OK
$STATE,4049,begin climb
$GC,4052,1.23,116.8,403.1,0.0,250,4164,1.55,2.58,99.85,0.761,4,0.061,0.056,3397,483,2157,0,0,0,0,0,0
$GC,4197,1.23,116.8,392.9,11.3,253,4201,0.00,2.42,0.00,0.000,6,0.000,0.030,3397,1900,2151,0,0,0,0,0,0
$GC,4547,1.23,116.8,354.4,11.2,262,4551,0.00,2.55,0.00,0.000,4,0.000,0.058,3397,494,2145,0,0,0,0,0,0
$GC,4616,1.23,116.8,345.1,13.1,263,4621,0.00,2.40,0.00,0.000,6,0.000,0.031,3397,1908,2142,0,0,0,0,0,0
$GC,4957,1.23,116.8,307.4,10.9,272,4961,0.00,2.53,0.00,0.000,4,0.000,0.057,3396,493,2140,0,0,0,0,0,0
$GC,5054,1.23,116.8,295.3,12.1,274,5058,0.00,2.40,0.00,0.000,6,0.000,0.031,3397,1905,2138,0,0,0,0,0,0
$GC,5374,1.23,116.8,256.7,12.4,290,5378,0.00,2.53,0.00,0.000,4,0.000,0.056,3397,484,2138,0,0,0,0,0,0
$GC,5443,1.23,116.8,248.5,12.5,293,5447,0.00,2.38,0.00,0.000,6,0.000,0.029,3397,1906,2136,0,0,0,0,0,0
$GC,5773,1.23,116.8,216.2,10.1,309,5778,0.00,2.53,0.00,0.000,4,0.000,0.055,3397,490,2136,0,0,0,0,0,0
$GC,5847,1.23,116.8,207.8,10.6,312,5852,0.00,2.35,0.00,0.000,6,0.000,0.028,3397,1902,2134,0,0,0,0,0,0
$GC,6178,1.23,116.8,176.9,10.4,339,6182,0.00,2.38,0.00,0.000,4,0.000,0.036,3398,3304,2134,0,0,0,0,0,0
$GC,6222,1.23,116.8,172.2,9.9,343,6226,0.00,2.40,0.00,0.000,6,0.000,0.037,3397,1897,2134,0,0,0,0,0,0
$GC,6486,1.23,116.8,145.2,10.8,367,6490,0.00,2.42,0.00,0.000,4,0.000,0.050,3398,492,2134,0,0,0,0,0,0
$GC,6559,1.23,116.8,137.5,10.5,374,6566,0.00,2.38,0.00,0.000,6,0.000,0.025,3397,1907,2132,0,0,0,0,0,0
$GC,6824,1.24,120.8,113.0,8.1,399,6828,0.00,2.47,0.00,0.000,4,0.000,0.048,3397,490,2132,0,0,0,0,0,0
$GC,6862,1.24,120.8,109.1,10.0,402,6869,0.00,2.35,0.00,0.000,6,0.000,0.024,3398,1906,2132,0,0,0,0,0,0
$GC,7127,1.30,177.1,90.2,5.7,427,7181,0.00,0.00,48.20,0.551,6,0.000,0.000,3398,1912,1912,0,0,0,0,0,0
$GC,7437,1.30,177.1,61.6,9.5,457,7441,0.00,2.47,0.00,0.000,4,0.000,0.048,3397,489,1908,0,0,0,0,0,0
$GC,7553,1.30,177.1,49.6,10.1,469,7557,0.00,2.30,0.00,0.000,6,0.000,0.021,3397,1906,1904,0,0,0,0,0,0
$GC,7816,1.30,177.1,24.5,10.1,497,7823,0.00,2.50,0.00,0.000,4,0.000,0.047,3397,489,1904,0,0,0,0,0,0
$GC,7898,1.30,177.1,15.4,11.3,515,7905,0.00,2.33,0.00,0.000,6,0.000,0.021,3397,1898,1903,0,0,0,0,0,0
$STATE,8022,end climb,SURFACE_DEPTH_REACHED
$STATE,8022,begin surface coast
$FINISH,0.3,0.997845
$STATE,8056,end surface coast,CONTROL_FINISHED_OK
$STATE,8057,begin surface
$SM_CCo,8080,87.55,0.466,0,0,1208,350.04
$SM_GC,1.14,0.00,0.00,87.55,0.000,0.000,0.466,427,2159,1208,-12.46,1.67,350.04
$IRIDIUM_FIX,2101.76,-15803.33,010700,141411
$TT8_MAMPS,0.029146
$HUMID,53.62
$INTERNAL_PRESSURE,9.58675
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,2.265
$10V_AH,10.6,1.838
$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,28.675,101.025,243.025,87.550,0.000,83.113,159.705,234.752,4.000,0.000,17.246,1025.670,5125.521,399.830,1642.532,704.090,0.000,1108.651,0.000,1628.110,0.000,26.121,0.000
$DEVICE_MAMPS,140.361,58.292,776.971,465.569,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,368.175,363.787,832.455,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,28623,544
$CAP_FILE_SIZE,96609,0
$CFSIZE,260165632,255459328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070411,161637,2108.799,-15801.234,40,1.2,40,9.8