version: 66.06
glider: 139
mission: 9
dive: 43
start: 4 9 111 15 57 40
data:
$ID,139
$MISSION,9
$DIVE,43
$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,-2175430.5
$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,19
$R_STBD_OVSHOOT,69
$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
$GPS1,155122,2101.804,-15800.900,11,4.6,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-74.0
$GPS2,155722,2101.843,-15800.950,14,4.1,33,9.8
$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,66.9,32014,-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,-71.22,0.000,6,0.000,0.000,430,2109,3111,0,0,0,0,0,0
$GC,98,-1.19,-116.8,3.2,-5.3,14,117,13.32,2.30,0.00,0.000,4,0.139,0.033,2869,3469,3114,0,0,0,0,0,0
$GC,188,-0.91,-116.8,24.1,-17.2,33,195,0.28,2.35,0.00,0.000,6,0.083,0.028,2936,2092,3115,0,0,0,0,0,0
$GC,393,-0.73,-116.8,51.2,-12.4,55,399,0.20,0.00,0.00,0.000,6,0.096,0.000,2975,2091,3115,0,0,0,0,0,0
$GC,655,-0.65,-116.8,79.0,-10.2,80,660,0.00,2.38,0.00,0.000,4,0.000,0.040,2975,682,3116,0,0,0,0,0,0
$GC,745,-0.57,-116.8,89.2,-11.1,89,750,0.17,2.28,0.00,0.000,6,0.093,0.021,3010,2078,3116,0,0,0,0,0,0
$GC,1009,-0.60,-116.8,106.1,-4.4,113,1013,0.00,2.35,0.00,0.000,4,0.000,0.031,3010,3499,3117,0,0,0,0,0,0
$GC,1038,-0.68,-116.8,107.4,-4.4,115,1044,0.00,2.33,0.00,0.000,6,0.000,0.026,3010,2085,3116,0,0,0,0,0,0
$GC,1302,-0.74,-116.8,117.1,-4.5,140,1307,0.15,2.38,0.00,0.000,4,0.057,0.040,2962,685,3117,0,0,0,0,0,0
$GC,1364,-0.64,-116.8,121.4,-7.4,146,1369,0.15,2.33,0.00,0.000,6,0.096,0.020,2993,2113,3118,0,0,0,0,0,0
$GC,1626,-0.68,-116.8,139.0,-7.1,170,1630,0.00,2.42,0.00,0.000,4,0.000,0.040,2992,686,3118,0,0,0,0,0,0
$GC,1704,-0.68,-116.8,145.1,-7.4,178,1711,0.00,2.33,0.00,0.000,6,0.000,0.021,2993,2097,3118,0,0,0,0,0,0
$GC,1969,-0.72,-116.8,159.0,-4.5,203,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2101,3119,0,0,0,0,0,0
$GC,2233,-0.76,-116.8,170.6,-4.8,228,2237,0.00,2.40,0.00,0.000,4,0.000,0.041,2992,688,3119,0,0,0,0,0,0
$GC,2277,-0.76,-116.8,173.1,-6.2,232,2281,0.00,2.28,0.00,0.000,6,0.000,0.021,2993,2099,3119,0,0,0,0,0,0
$GC,2541,-0.80,-116.8,188.3,-5.5,256,2546,0.15,2.42,0.00,0.000,4,0.058,0.041,2945,690,3119,0,0,0,0,0,0
$GC,2561,-0.76,-116.8,189.9,-6.6,257,2567,0.12,2.30,0.00,0.000,6,0.101,0.022,2971,2096,3119,0,0,0,0,0,0
$GC,2834,-0.76,-116.8,209.2,-7.2,277,2838,0.00,2.40,0.00,0.000,4,0.000,0.041,2970,690,3119,0,0,0,0,0,0
$GC,2881,-0.76,-116.8,213.1,-7.6,279,2885,0.00,2.30,0.00,0.000,6,0.000,0.022,2970,2109,3119,0,0,0,0,0,0
$GC,3207,-0.76,-116.8,228.8,-4.7,295,3211,0.00,2.40,0.00,0.000,4,0.000,0.042,2970,691,3118,0,0,0,0,0,0
$GC,3254,-0.76,-116.8,231.3,-5.5,297,3258,0.00,2.28,0.00,0.000,6,0.000,0.023,2970,2100,3118,0,0,0,0,0,0
$GC,3580,-0.76,-116.8,244.6,-4.9,313,3584,0.00,2.40,0.00,0.000,4,0.000,0.044,2970,686,3118,0,0,0,0,0,0
$GC,3688,-0.76,-116.8,252.3,-7.1,317,3693,0.00,2.33,0.00,0.000,6,0.000,0.024,2970,2102,3117,0,0,0,0,0,0
$GC,4006,-0.80,-116.8,271.2,-5.5,333,4010,0.00,2.40,0.00,0.000,4,0.000,0.044,2970,691,3116,0,0,0,0,0,0
$GC,4050,-0.80,-116.8,273.5,-5.3,335,4055,0.00,2.33,0.00,0.000,6,0.000,0.025,2970,2102,3116,0,0,0,0,0,0
$GC,4383,-0.84,-116.8,286.8,-4.3,351,4388,0.00,2.40,0.00,0.000,4,0.000,0.046,2970,696,3115,0,0,0,0,0,0
$GC,4412,-0.84,-116.8,288.5,-5.8,352,4416,0.00,2.30,0.00,0.000,6,0.000,0.026,2970,2102,3115,0,0,0,0,0,0
$GC,4752,-0.88,-116.8,308.3,-5.9,366,4757,0.12,2.42,0.00,0.000,4,0.068,0.048,2933,696,3113,0,0,0,0,0,0
$GC,4777,-0.81,-116.8,309.9,-6.8,366,4781,0.12,2.30,0.00,0.000,6,0.103,0.026,2958,2101,3113,0,0,0,0,0,0
$GC,5118,-0.81,-116.8,325.3,-4.2,375,5122,0.00,2.42,0.00,0.000,4,0.000,0.048,2958,697,3111,0,0,0,0,0,0
$GC,5241,-0.81,-116.8,331.4,-5.1,377,5245,0.00,2.33,0.00,0.000,6,0.000,0.028,2958,2102,3111,0,0,0,0,0,0
$GC,5583,-0.81,-116.8,350.4,-6.1,386,5587,0.00,2.42,0.00,0.000,4,0.000,0.049,2957,694,3109,0,0,0,0,0,0
$GC,5611,-0.81,-116.8,352.6,-7.7,386,5615,0.00,2.35,0.00,0.000,6,0.000,0.028,2958,2103,3109,0,0,0,0,0,0
$GC,5952,-0.81,-116.8,373.1,-5.6,395,5956,0.00,2.42,0.00,0.000,4,0.000,0.051,2958,698,3107,0,0,0,0,0,0
$STATE,6005,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6005,begin apogee
$GC,6014,-0.31,0.0,376.5,6.0,396,6111,0.50,0.00,94.32,0.769,6,0.078,0.000,3064,1853,2635,0,0,0,0,0,0
$STATE,6112,end apogee,CONTROL_FINISHED_OK
$STATE,6112,begin climb
$GC,6115,1.19,116.8,379.2,0.0,398,6220,1.50,0.00,100.68,0.750,6,0.057,0.000,3394,1853,2158,0,0,0,0,0,0
$GC,6525,1.09,116.8,344.3,9.6,408,6529,0.00,2.53,0.00,0.000,4,0.000,0.057,3393,436,2146,0,0,0,0,0,0
$GC,6553,0.92,116.8,340.5,12.7,408,6559,0.28,2.33,0.00,0.000,6,0.087,0.028,3338,1824,2144,0,0,0,0,0,0
$GC,6891,0.98,133.0,315.1,7.3,417,6911,0.00,2.53,12.93,0.667,4,0.000,0.057,3338,437,2091,0,0,0,0,0,0
$GC,7013,0.98,133.0,304.5,9.1,419,7017,0.00,2.35,0.00,0.000,6,0.000,0.029,3338,1836,2087,0,0,0,0,0,0
$GC,7337,1.04,133.0,276.6,9.0,434,7342,0.10,2.53,0.00,0.000,4,0.080,0.058,3368,435,2085,0,0,0,0,0,0
$GC,7398,1.04,133.0,269.4,12.3,436,7405,0.00,2.35,0.00,0.000,6,0.000,0.028,3369,1824,2083,0,0,0,0,0,0
$GC,7713,1.04,133.0,236.9,10.1,452,7717,0.00,2.35,0.00,0.000,4,0.000,0.035,3369,3224,2083,0,0,0,0,0,0
$GC,7746,1.08,133.0,233.8,9.1,453,7751,0.00,2.38,0.00,0.000,6,0.000,0.039,3369,1842,2083,0,0,0,0,0,0
$GC,8062,1.08,133.0,201.8,9.9,468,8066,0.00,2.50,0.00,0.000,4,0.000,0.056,3369,415,2081,0,0,0,0,0,0
$GC,8199,1.08,133.0,188.1,10.1,482,8205,0.00,2.38,0.00,0.000,6,0.000,0.025,3369,1839,2079,0,0,0,0,0,0
$GC,8463,1.08,133.0,162.0,9.4,507,8468,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,1844,2079,0,0,0,0,0,0
$GC,8725,1.12,133.0,134.2,9.9,532,8729,0.00,2.33,0.00,0.000,4,0.000,0.031,3369,3229,2079,0,0,0,0,0,0
$GC,8796,1.18,133.0,127.7,8.9,539,8801,0.10,2.40,0.00,0.000,6,0.076,0.034,3404,1824,2079,0,0,0,0,0,0
$GC,9058,1.18,133.0,103.5,8.9,563,9063,0.00,2.42,0.00,0.000,4,0.000,0.050,3404,424,2079,0,0,0,0,0,0
$GC,9123,1.15,133.0,97.7,8.4,569,9128,0.00,2.30,0.00,0.000,6,0.000,0.022,3404,1844,2078,0,0,0,0,0,0
$GC,9385,1.15,133.0,75.6,9.5,594,9386,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,1850,2078,0,0,0,0,0,0
$GC,9640,1.15,133.0,53.6,8.1,618,9644,0.00,2.45,0.00,0.000,4,0.000,0.046,3403,416,2078,0,0,0,0,0,0
$GC,9703,1.15,133.0,47.3,10.4,624,9710,0.00,2.30,0.00,0.000,6,0.000,0.021,3404,1833,2078,0,0,0,0,0,0
$GC,9971,1.15,137.8,25.9,7.8,653,9978,0.00,2.45,0.00,0.000,4,0.000,0.045,3404,425,2079,0,0,0,0,0,0
$GC,9999,1.15,137.8,23.2,8.4,658,10005,0.00,2.28,0.00,0.000,6,0.000,0.020,3404,1824,2079,0,0,0,0,0,0
$GC,10204,1.15,137.8,7.4,8.0,695,10210,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,1830,2079,0,0,0,0,0,0
$STATE,10263,end climb,SURFACE_DEPTH_REACHED
$STATE,10264,begin surface coast
$FINISH,0.5,1.023492
$STATE,10308,end surface coast,CONTROL_FINISHED_OK
$STATE,10309,begin surface
$SM_CCo,10332,99.88,0.466,0,0,1288,330.17
$SM_GC,1.09,0.00,0.00,99.88,0.000,0.000,0.466,429,2144,1288,-12.46,1.24,330.17
$IRIDIUM_FIX,2052.52,-15759.05,030700,121224
$TT8_MAMPS,0.028379
$HUMID,52.55
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.4,3.641
$10V_AH,10.6,3.260
$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,29.925,118.475,207.925,99.875,0.000,27.630,32.886,159.823,3.500,0.000,34.461,1320.387,6571.655,430.600,1974.337,493.424,0.000,1229.141,0.000,1955.613,0.000,22.971,0.000
$DEVICE_MAMPS,138.827,58.292,768.534,465.569,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,484.215,490.192,1075.092,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,38091,714
$CAP_FILE_SIZE,116213,0
$CFSIZE,260165632,254484480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090411,185301,2102.040,-15801.723,50,1.1,50,9.8