version: 66.06
glider: 139
mission: 9
dive: 39
start: 4 9 111 3 41 34
data:
$ID,139
$MISSION,9
$DIVE,39
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,500
$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,187
$T_MISSION,200
$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,330
$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,-2175352.2
$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,3137
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,1830
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,91
$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
$GPS1,033516,2102.409,-15758.801,10,2.3,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-74.8
$GPS2,034116,2102.422,-15758.854,16,3.1,35,9.8
$SPEED_LIMITS,0.139,0.222
$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,67.3,28244,-16.8,-8.021
$D_GRID,450
$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,-1.19,-116.8,0.0,0.0,0,95,0.00,0.00,-71.78,0.000,6,0.000,0.000,430,2144,3113,0,0,0,0,0,0
$GC,99,-1.19,-116.8,2.9,-4.1,14,117,13.43,2.20,0.00,0.000,4,0.141,0.031,2870,3449,3114,0,0,0,0,0,0
$GC,263,-0.91,-116.8,35.2,-16.5,47,268,0.32,2.28,0.00,0.000,6,0.091,0.028,2935,2097,3116,0,0,0,0,0,0
$GC,529,-0.73,-116.8,69.2,-13.2,71,534,0.20,2.38,0.00,0.000,4,0.096,0.039,2974,692,3116,0,0,0,0,0,0
$GC,555,-0.59,-116.8,73.1,-12.6,73,560,0.15,2.20,0.00,0.000,6,0.098,0.021,3005,2055,3116,0,0,0,0,0,0
$GC,820,-0.59,-116.8,94.9,-7.8,97,825,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2060,3117,0,0,0,0,0,0
$GC,1081,-0.62,-116.8,116.8,-8.8,122,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2060,3118,0,0,0,0,0,0
$GC,1339,-0.66,-116.8,135.0,-4.6,146,1342,0.00,2.33,0.00,0.000,4,0.000,0.041,3004,690,3118,0,0,0,0,0,0
$GC,1369,-0.70,-116.8,136.4,-4.8,149,1373,0.00,2.28,0.00,0.000,6,0.000,0.021,3004,2098,3118,0,0,0,0,0,0
$GC,1634,-0.78,-116.8,148.5,-4.9,173,1640,0.17,0.00,0.00,0.000,6,0.051,0.000,2951,2102,3119,0,0,0,0,0,0
$GC,1898,-0.73,-116.8,168.6,-8.4,198,1903,0.12,2.40,0.00,0.000,4,0.097,0.041,2976,687,3119,0,0,0,0,0,0
$GC,1959,-0.73,-116.8,173.7,-8.3,204,1963,0.00,2.33,0.00,0.000,6,0.000,0.022,2976,2110,3119,0,0,0,0,0,0
$GC,2222,-0.73,-116.8,187.8,-4.7,228,2226,0.00,2.42,0.00,0.000,4,0.000,0.042,2976,684,3119,0,0,0,0,0,0
$GC,2268,-0.73,-116.8,190.5,-5.8,232,2275,0.00,2.33,0.00,0.000,6,0.000,0.023,2976,2091,3120,0,0,0,0,0,0
$GC,2532,-0.73,-116.8,204.4,-5.2,253,2536,0.00,2.38,0.00,0.000,4,0.000,0.043,2976,691,3120,0,0,0,0,0,0
$GC,2615,-0.73,-116.8,209.3,-6.0,256,2621,0.00,2.33,0.00,0.000,6,0.000,0.023,2976,2099,3120,0,0,0,0,0,0
$GC,2931,-0.77,-116.8,227.0,-5.4,272,2935,0.00,2.40,0.00,0.000,4,0.000,0.043,2976,685,3119,0,0,0,0,0,0
$GC,2978,-0.77,-116.8,229.7,-5.7,274,2982,0.00,2.30,0.00,0.000,6,0.000,0.024,2976,2105,3119,0,0,0,0,0,0
$GC,3305,-0.80,-116.8,246.4,-5.9,290,3309,0.00,2.42,0.00,0.000,4,0.000,0.044,2976,691,3119,0,0,0,0,0,0
$GC,3342,-0.80,-116.8,249.0,-6.5,291,3348,0.00,2.30,0.00,0.000,6,0.000,0.024,2976,2104,3119,0,0,0,0,0,0
$GC,3660,-0.85,-116.8,267.7,-4.9,307,3665,0.12,2.45,0.00,0.000,4,0.065,0.044,2936,689,3118,0,0,0,0,0,0
$GC,3708,-0.78,-116.8,270.5,-6.0,309,3713,0.15,2.30,0.00,0.000,6,0.097,0.025,2966,2101,3118,0,0,0,0,0,0
$GC,4035,-0.78,-116.8,278.6,-1.7,325,4039,0.00,2.40,0.00,0.000,4,0.000,0.045,2966,694,3117,0,0,0,0,0,0
$GC,4088,-0.78,-116.8,280.5,-3.8,327,4092,0.00,2.33,0.00,0.000,6,0.000,0.026,2966,2108,3117,0,0,0,0,0,0
$GC,4428,-0.81,-116.8,304.0,-9.2,343,4432,0.00,2.42,0.00,0.000,4,0.000,0.047,2966,692,3115,0,0,0,0,0,0
$GC,4456,-0.81,-116.8,306.9,-9.9,343,4461,0.00,2.33,0.00,0.000,6,0.000,0.026,2966,2108,3115,0,0,0,0,0,0
$GC,4793,-0.85,-116.8,333.4,-6.9,352,4797,0.00,2.42,0.00,0.000,4,0.000,0.048,2966,696,3113,0,0,0,0,0,0
$GC,4872,-0.85,-116.8,337.3,-4.2,353,4876,0.00,2.30,0.00,0.000,6,0.000,0.028,2966,2099,3113,0,0,0,0,0,0
$GC,5206,-0.89,-116.8,346.7,-3.0,361,5211,0.10,2.45,0.00,0.000,4,0.079,0.049,2935,688,3112,0,0,0,0,0,0
$GC,5268,-0.82,-116.8,350.4,-6.8,362,5273,0.10,2.35,0.00,0.000,6,0.114,0.028,2956,2098,3111,0,0,0,0,0,0
$GC,5618,-0.82,-116.8,374.9,-7.5,371,5619,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2098,3109,0,0,0,0,0,0
$GC,5943,-0.82,-116.8,392.3,-4.2,379,5944,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2098,3107,0,0,0,0,0,0
$STATE,6023,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6023,begin apogee
$GC,6030,-0.31,0.0,394.6,3.2,381,6128,0.52,0.00,95.00,0.783,6,0.077,0.000,3066,1833,2635,0,0,0,0,0,0
$STATE,6129,end apogee,CONTROL_FINISHED_OK
$STATE,6129,begin climb
$GC,6131,1.19,116.8,394.6,0.0,383,6237,1.52,0.00,101.55,0.762,6,0.058,0.000,3396,1834,2158,0,0,0,0,0,0
$GC,6550,1.09,116.8,349.2,9.8,394,6551,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1834,2147,0,0,0,0,0,0
$GC,6875,1.00,116.8,320.7,8.4,402,6880,0.20,2.53,0.00,0.000,4,0.096,0.058,3355,431,2143,0,0,0,0,0,0
$GC,6931,1.00,116.8,315.2,9.6,403,6936,0.00,2.38,0.00,0.000,6,0.000,0.030,3357,1842,2140,0,0,0,0,0,0
$GC,7247,1.00,116.8,282.1,11.1,414,7251,0.00,2.55,0.00,0.000,4,0.000,0.058,3356,424,2139,0,0,0,0,0,0
$GC,7302,1.00,116.8,274.9,13.7,416,7306,0.00,2.38,0.00,0.000,6,0.000,0.029,3356,1841,2137,0,0,0,0,0,0
$GC,7619,1.00,116.8,244.5,9.2,431,7623,0.00,2.50,0.00,0.000,4,0.000,0.056,3356,429,2137,0,0,0,0,0,0
$GC,7759,1.00,116.8,229.3,9.5,437,7763,0.00,2.35,0.00,0.000,6,0.000,0.028,3356,1842,2135,0,0,0,0,0,0
$GC,8085,1.05,127.8,204.5,7.5,453,8098,0.00,2.55,6.45,0.529,4,0.000,0.054,3355,432,2114,0,0,0,0,0,0
$GC,8121,1.05,127.8,201.2,8.5,454,8126,0.00,2.33,0.00,0.000,6,0.000,0.026,3356,1838,2112,0,0,0,0,0,0
$GC,8447,1.10,127.8,169.9,9.8,483,8452,0.00,2.50,0.00,0.000,4,0.000,0.052,3357,421,2113,0,0,0,0,0,0
$GC,8566,1.10,127.8,159.7,8.0,495,8570,0.00,2.30,0.00,0.000,6,0.000,0.025,3356,1836,2110,0,0,0,0,0,0
$GC,8831,1.18,147.0,140.9,7.1,519,8852,0.17,0.00,18.40,0.574,6,0.053,0.000,3408,1841,2035,0,0,0,0,0,0
$GC,9105,1.18,148.1,114.1,8.0,545,9109,0.00,2.47,0.00,0.000,4,0.000,0.048,3408,424,2032,0,0,0,0,0,0
$GC,9139,1.11,148.1,111.0,9.3,548,9144,0.15,2.28,0.00,0.000,6,0.094,0.023,3378,1833,2030,0,0,0,0,0,0
$GC,9401,1.19,155.0,92.6,7.7,572,9414,0.00,2.50,8.00,0.472,4,0.000,0.048,3377,433,2001,0,0,0,0,0,0
$GC,9461,1.25,155.0,87.2,9.0,578,9468,0.10,2.30,0.00,0.000,6,0.035,0.021,3417,1826,1999,0,0,0,0,0,0
$GC,9725,1.25,155.0,63.5,9.8,603,9729,0.00,2.42,0.00,0.000,4,0.000,0.046,3417,419,1999,0,0,0,0,0,0
$GC,9742,1.20,155.0,61.8,9.2,604,9746,0.00,2.30,0.00,0.000,6,0.000,0.021,3417,1844,1999,0,0,0,0,0,0
$GC,10006,1.20,155.0,38.3,8.6,628,10010,0.00,2.25,0.00,0.000,4,0.000,0.027,3417,3212,1999,0,0,0,0,0,0
$GC,10031,1.20,155.0,35.9,8.2,630,10036,0.00,2.33,0.00,0.000,6,0.000,0.031,3417,1824,1999,0,0,0,0,0,0
$GC,10296,1.20,155.0,12.4,8.6,672,10302,0.00,2.42,0.00,0.000,4,0.000,0.046,3417,426,1999,0,0,0,0,0,0
$GC,10314,1.15,155.0,10.7,8.8,675,10321,0.12,2.28,0.00,0.000,6,0.073,0.020,3386,1826,1998,0,0,0,0,0,0
$STATE,10423,end climb,SURFACE_DEPTH_REACHED
$STATE,10425,begin surface coast
$FINISH,0.5,1.010360
$STATE,10470,end surface coast,CONTROL_FINISHED_OK
$STATE,10470,begin surface
$SM_CCo,10494,88.62,0.463,0,0,1288,330.17
$SM_GC,1.03,0.00,0.00,88.62,0.000,0.000,0.463,431,2144,1288,-12.45,1.24,330.17
$IRIDIUM_FIX,2054.83,-15756.91,030700,000009
$TT8_MAMPS,0.029146
$HUMID,52.83
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,3.314
$10V_AH,10.5,2.911
$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,30.375,109.750,229.400,88.625,0.000,30.700,35.251,154.635,3.750,0.000,36.276,1295.855,6852.324,444.414,1883.261,466.796,0.000,1188.456,0.000,1848.340,0.000,24.531,0.000
$DEVICE_MAMPS,141.128,58.292,783.107,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,477.305,474.086,1042.153,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,38035,703
$CAP_FILE_SIZE,113127,0
$CFSIZE,260165632,254734336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090411,063907,2102.164,-15759.477,31,1.0,31,9.8