version: 66.06
glider: 139
mission: 9
dive: 40
start: 4 9 111 6 44 44
data:
$ID,139
$MISSION,9
$DIVE,40
$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,-2175364.2
$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,24
$R_STBD_OVSHOOT,87
$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
$GPS1,063907,2102.164,-15759.477,31,1.0,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-75.1
$GPS2,064425,2102.201,-15759.523,11,1.6,11,9.8
$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,67.1,29461,-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,15,begin dive
$GC,18,-1.19,-116.8,0.0,0.0,0,95,0.00,0.00,-71.50,0.000,6,0.000,0.000,431,2144,3112,0,0,0,0,0,0
$GC,99,-1.19,-116.8,2.9,-4.5,14,117,13.35,2.22,0.00,0.000,4,0.140,0.031,2868,3462,3114,0,0,0,0,0,0
$GC,370,-0.91,-116.8,51.7,-15.5,59,376,0.35,2.30,0.00,0.000,6,0.089,0.029,2938,2094,3115,0,0,0,0,0,0
$GC,635,-0.74,-116.8,85.5,-11.5,83,640,0.17,2.30,0.00,0.000,4,0.097,0.029,2973,3464,3116,0,0,0,0,0,0
$GC,651,-0.61,-116.8,87.3,-9.8,84,656,0.15,2.30,0.00,0.000,6,0.093,0.028,3003,2092,3116,0,0,0,0,0,0
$GC,913,-0.61,-116.8,101.3,-5.4,108,917,0.00,2.35,0.00,0.000,4,0.000,0.041,3003,693,3117,0,0,0,0,0,0
$GC,991,-0.61,-116.8,106.9,-8.2,116,995,0.00,2.22,0.00,0.000,6,0.000,0.020,3003,2061,3117,0,0,0,0,0,0
$GC,1255,-0.66,-116.8,126.3,-7.8,140,1259,0.00,2.33,0.00,0.000,4,0.000,0.039,3003,692,3117,0,0,0,0,0,0
$GC,1291,-0.71,-116.8,129.4,-8.0,143,1295,0.00,2.28,0.00,0.000,6,0.000,0.021,3004,2101,3117,0,0,0,0,0,0
$GC,1556,-0.78,-116.8,146.7,-6.4,167,1561,0.17,0.00,0.00,0.000,6,0.049,0.000,2947,2105,3118,0,0,0,0,0,0
$GC,1820,-0.72,-116.8,167.5,-6.7,192,1825,0.15,2.42,0.00,0.000,4,0.091,0.041,2978,690,3119,0,0,0,0,0,0
$GC,1856,-0.72,-116.8,169.9,-6.7,195,1860,0.00,2.28,0.00,0.000,6,0.000,0.021,2978,2100,3119,0,0,0,0,0,0
$GC,2122,-0.72,-116.8,183.5,-4.7,219,2126,0.00,2.38,0.00,0.000,4,0.000,0.041,2977,692,3119,0,0,0,0,0,0
$GC,2141,-0.72,-116.8,184.7,-5.2,220,2148,0.00,2.33,0.00,0.000,6,0.000,0.022,2978,2101,3118,0,0,0,0,0,0
$GC,2406,-0.72,-116.8,198.5,-6.1,245,2410,0.00,2.35,0.00,0.000,4,0.000,0.034,2978,3500,3118,0,0,0,0,0,0
$GC,2425,-0.77,-116.8,200.0,-6.5,246,2435,0.00,2.38,0.00,0.000,6,0.000,0.029,2978,2098,3119,0,0,0,0,0,0
$GC,2681,-0.80,-116.8,212.2,-3.7,259,2685,0.00,2.38,0.00,0.000,4,0.000,0.044,2977,690,3118,0,0,0,0,0,0
$GC,2814,-0.80,-116.8,216.8,-3.2,264,2821,0.00,2.33,0.00,0.000,6,0.000,0.023,2978,2094,3118,0,0,0,0,0,0
$GC,3130,-0.83,-116.8,227.1,-4.7,280,3134,0.00,2.35,0.00,0.000,4,0.000,0.035,2978,3504,3118,0,0,0,0,0,0
$GC,3145,-0.88,-116.8,228.1,-5.5,280,3152,0.12,2.38,0.00,0.000,6,0.034,0.029,2932,2102,3117,0,0,0,0,0,0
$GC,3463,-0.83,-116.8,255.2,-9.0,296,3468,0.12,2.42,0.00,0.000,4,0.097,0.044,2957,686,3117,0,0,0,0,0,0
$GC,3615,-0.83,-116.8,269.1,-8.7,302,3622,0.00,2.35,0.00,0.000,6,0.000,0.025,2957,2098,3116,0,0,0,0,0,0
$GC,3931,-0.83,-116.8,287.8,-5.1,318,3935,0.00,2.42,0.00,0.000,4,0.000,0.044,2957,689,3115,0,0,0,0,0,0
$GC,3982,-0.83,-116.8,290.9,-6.3,320,3986,0.00,2.33,0.00,0.000,6,0.000,0.026,2957,2110,3115,0,0,0,0,0,0
$GC,4300,-0.83,-116.8,311.3,-6.4,332,4304,0.00,2.42,0.00,0.000,4,0.000,0.046,2957,692,3113,0,0,0,0,0,0
$GC,4347,-0.83,-116.8,314.5,-6.5,333,4351,0.00,2.33,0.00,0.000,6,0.000,0.026,2957,2109,3113,0,0,0,0,0,0
$GC,4670,-0.83,-116.8,328.4,-3.5,341,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2110,3111,0,0,0,0,0,0
$GC,4996,-0.83,-116.8,340.3,-3.9,349,5000,0.00,2.42,0.00,0.000,4,0.000,0.048,2957,695,3110,0,0,0,0,0,0
$GC,5067,-0.83,-116.8,344.2,-5.7,350,5071,0.00,2.30,0.00,0.000,6,0.000,0.028,2957,2099,3110,0,0,0,0,0,0
$GC,5408,-0.83,-116.8,368.1,-7.6,359,5412,0.00,2.42,0.00,0.000,4,0.000,0.049,2956,692,3108,0,0,0,0,0,0
$GC,5436,-0.83,-116.8,370.7,-8.6,359,5440,0.00,2.33,0.00,0.000,6,0.000,0.028,2957,2099,3108,0,0,0,0,0,0
$GC,5777,-0.83,-116.8,392.4,-5.7,368,5781,0.00,2.42,0.00,0.000,4,0.000,0.050,2957,694,3106,0,0,0,0,0,0
$GC,5953,-0.83,-116.8,401.0,-4.5,371,5958,0.00,2.35,0.00,0.000,6,0.000,0.029,2957,2102,3105,0,0,0,0,0,0
$STATE,6037,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6037,begin apogee
$GC,6044,-0.31,0.0,404.3,3.8,374,6142,0.52,0.00,94.82,0.790,6,0.074,0.000,3067,1827,2635,0,0,0,0,0,0
$STATE,6143,end apogee,CONTROL_FINISHED_OK
$STATE,6143,begin climb
$GC,6146,1.19,116.8,405.4,0.0,376,6252,1.52,0.00,101.80,0.770,6,0.056,0.000,3398,1827,2158,0,0,0,0,0,0
$GC,6566,1.09,116.8,365.0,10.8,387,6571,0.12,2.50,0.00,0.000,4,0.107,0.058,3374,431,2146,0,0,0,0,0,0
$GC,6637,1.00,116.8,356.7,12.2,388,6641,0.00,2.38,0.00,0.000,6,0.000,0.029,3374,1840,2143,0,0,0,0,0,0
$GC,6978,0.96,116.8,320.1,10.7,397,6983,0.15,2.55,0.00,0.000,4,0.098,0.058,3344,425,2142,0,0,0,0,0,0
$GC,7016,0.96,116.8,315.9,11.2,397,7022,0.00,2.35,0.00,0.000,6,0.000,0.029,3344,1839,2139,0,0,0,0,0,0
$GC,7329,1.01,160.1,293.4,6.0,408,7372,0.00,2.62,36.03,0.713,4,0.000,0.058,3344,427,1982,0,0,0,0,0,0
$GC,7383,1.05,193.4,290.0,6.5,410,7419,0.00,2.38,30.42,0.698,6,0.000,0.028,3344,1842,1846,0,0,0,0,0,0
$GC,7730,1.11,201.5,263.9,7.7,427,7743,0.15,2.58,7.55,0.582,4,0.059,0.058,3389,427,1813,0,0,0,0,0,0
$GC,7838,1.02,201.5,249.4,14.9,431,7844,0.15,2.33,0.00,0.000,6,0.095,0.028,3358,1819,1809,0,0,0,0,0,0
$GC,8155,1.02,201.5,214.4,11.4,447,8159,0.00,2.50,0.00,0.000,4,0.000,0.056,3358,424,1807,0,0,0,0,0,0
$GC,8238,1.02,201.5,203.4,13.3,450,8245,0.00,2.38,0.00,0.000,6,0.000,0.027,3359,1839,1805,0,0,0,0,0,0
$GC,8565,1.06,201.5,167.4,11.3,479,8570,0.00,2.47,0.00,0.000,4,0.000,0.053,3358,428,1805,0,0,0,0,0,0
$GC,8673,1.10,201.5,154.7,10.8,490,8678,0.00,2.30,0.00,0.000,6,0.000,0.025,3359,1840,1803,0,0,0,0,0,0
$GC,8937,1.17,201.5,130.0,9.3,514,8942,0.15,2.50,0.00,0.000,4,0.057,0.052,3407,421,1804,0,0,0,0,0,0
$GC,9041,1.12,201.5,117.2,10.9,524,9048,0.10,2.33,0.00,0.000,6,0.071,0.024,3382,1832,1803,0,0,0,0,0,0
$GC,9306,1.20,229.3,95.5,6.7,549,9336,0.00,2.55,23.75,0.547,4,0.000,0.050,3381,429,1699,0,0,0,0,0,0
$GC,9436,1.25,229.3,82.0,11.4,563,9441,0.12,2.30,0.00,0.000,6,0.063,0.022,3423,1834,1695,0,0,0,0,0,0
$GC,9698,1.21,229.3,49.0,12.6,587,9700,0.12,0.00,0.00,0.000,6,0.099,0.000,3398,1840,1695,0,0,0,0,0,0
$GC,9958,1.24,229.3,20.6,10.4,618,9964,0.00,2.47,0.00,0.000,4,0.000,0.048,3397,430,1694,0,0,0,0,0,0
$GC,10018,1.24,229.3,13.4,11.2,631,10025,0.00,2.30,0.00,0.000,6,0.000,0.021,3398,1839,1693,0,0,0,0,0,0
$STATE,10121,end climb,SURFACE_DEPTH_REACHED
$STATE,10121,begin surface coast
$FINISH,0.5,1.012633
$STATE,10151,end surface coast,CONTROL_FINISHED_OK
$STATE,10151,begin surface
$SM_CCo,10174,53.72,0.468,0,0,1288,330.17
$SM_GC,1.13,0.00,0.00,53.72,0.000,0.000,0.468,425,2139,1288,-12.48,1.10,330.17
$IRIDIUM_FIX,2057.14,-15759.05,030700,030354
$TT8_MAMPS,0.029146
$HUMID,54.84
$INTERNAL_PRESSURE,9.58675
$TCM_TEMP,21.10
$XPDR_PINGS,0
$24V_AH,23.4,3.395
$10V_AH,10.6,2.994
$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,30.450,115.000,294.375,53.725,0.000,24.639,35.414,144.030,4.000,0.000,11.291,1237.964,6524.516,456.430,1850.923,476.635,0.000,1246.893,0.000,1850.530,0.000,26.124,0.000
$DEVICE_MAMPS,139.594,58.292,790.010,467.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.528,440.372,934.672,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,34867,655
$CAP_FILE_SIZE,114364,0
$CFSIZE,260165632,254676992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090411,093602,2101.976,-15759.754,11,1.7,11,9.8