version: 66.06
glider: 139
mission: 9
dive: 44
start: 4 9 111 19 7 2
data:
$ID,139
$MISSION,9
$DIVE,44
$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,-2175447.8
$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,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,22
$R_STBD_OVSHOOT,92
$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
$GPS1,185301,2102.040,-15801.723,50,1.1,50,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-74.0
$GPS2,190643,2102.111,-15801.832,11,1.2,16,9.8
$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,68.3,33392,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,93,0.00,0.00,-70.75,0.000,6,0.000,0.000,428,2144,3112,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.1,-5.4,14,114,13.35,0.00,0.00,0.000,6,0.139,0.000,2870,2145,3113,0,0,0,0,0,0
$GC,317,-0.86,-116.8,47.6,-18.2,45,321,0.35,2.17,0.00,0.000,4,0.095,0.028,2942,3448,3115,0,0,0,0,0,0
$GC,432,-0.75,-116.8,64.5,-12.5,57,437,0.15,2.28,0.00,0.000,6,0.097,0.028,2972,2088,3115,0,0,0,0,0,0
$GC,697,-0.68,-116.8,93.8,-9.6,81,701,0.00,2.35,0.00,0.000,4,0.000,0.039,2972,691,3115,0,0,0,0,0,0
$GC,796,-0.58,-116.8,103.0,-8.8,91,801,0.17,2.20,0.00,0.000,6,0.095,0.020,3007,2053,3116,0,0,0,0,0,0
$GC,1061,-0.64,-116.8,117.3,-4.3,115,1065,0.00,2.42,0.00,0.000,4,0.000,0.031,3007,3493,3116,0,0,0,0,0,0
$GC,1106,-0.72,-116.8,119.5,-5.0,119,1111,0.12,2.30,0.00,0.000,6,0.064,0.025,2966,2095,3116,0,0,0,0,0,0
$GC,1368,-0.72,-116.8,139.3,-9.0,143,1372,0.00,2.35,0.00,0.000,4,0.000,0.040,2966,692,3116,0,0,0,0,0,0
$GC,1496,-0.67,-116.8,151.8,-9.4,156,1503,0.08,2.33,0.00,0.000,6,0.077,0.021,2986,2102,3117,0,0,0,0,0,0
$GC,1759,-0.67,-116.8,165.4,-3.5,181,1763,0.00,2.33,0.00,0.000,4,0.000,0.033,2986,3493,3118,0,0,0,0,0,0
$GC,1786,-0.70,-116.8,166.1,-2.5,183,1790,0.00,2.30,0.00,0.000,6,0.000,0.026,2986,2095,3117,0,0,0,0,0,0
$GC,2051,-0.70,-116.8,172.2,-3.4,207,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2095,3117,0,0,0,0,0,0
$GC,2315,-0.74,-116.8,185.9,-5.8,232,2319,0.00,2.35,0.00,0.000,4,0.000,0.041,2986,695,3117,0,0,0,0,0,0
$GC,2331,-0.74,-116.8,187.2,-6.7,233,2336,0.00,2.28,0.00,0.000,6,0.000,0.022,2986,2102,3117,0,0,0,0,0,0
$GC,2593,-0.78,-116.8,203.5,-5.6,254,2598,0.00,2.38,0.00,0.000,4,0.000,0.041,2985,695,3117,0,0,0,0,0,0
$GC,2631,-0.78,-116.8,205.6,-5.4,255,2636,0.00,2.30,0.00,0.000,6,0.000,0.022,2986,2105,3116,0,0,0,0,0,0
$GC,2949,-0.83,-116.8,220.3,-4.3,271,2954,0.12,2.40,0.00,0.000,4,0.066,0.042,2945,696,3116,0,0,0,0,0,0
$GC,3031,-0.75,-116.8,225.9,-6.8,274,3036,0.12,2.30,0.00,0.000,6,0.102,0.023,2970,2099,3116,0,0,0,0,0,0
$GC,3350,-0.75,-116.8,242.8,-4.8,289,3354,0.00,2.38,0.00,0.000,4,0.000,0.042,2970,697,3115,0,0,0,0,0,0
$GC,3424,-0.75,-116.8,246.7,-4.9,292,3428,0.00,2.30,0.00,0.000,6,0.000,0.024,2970,2099,3115,0,0,0,0,0,0
$GC,3751,-0.78,-116.8,265.3,-5.9,308,3756,0.00,2.40,0.00,0.000,4,0.000,0.044,2970,698,3113,0,0,0,0,0,0
$GC,3840,-0.78,-116.8,271.3,-6.2,312,3844,0.00,2.30,0.00,0.000,6,0.000,0.025,2970,2099,3113,0,0,0,0,0,0
$GC,4172,-0.82,-116.8,292.7,-6.5,328,4176,0.00,2.38,0.00,0.000,4,0.000,0.038,2970,3493,3112,0,0,0,0,0,0
$GC,4194,-0.87,-116.8,294.1,-6.3,329,4199,0.00,2.33,0.00,0.000,6,0.000,0.031,2970,2098,3112,0,0,0,0,0,0
$GC,4541,-0.90,-116.8,309.9,-3.7,340,4546,0.15,2.40,0.00,0.000,4,0.061,0.047,2927,695,3110,0,0,0,0,0,0
$GC,4746,-0.79,-116.8,319.5,-5.7,344,4751,0.17,2.30,0.00,0.000,6,0.094,0.026,2961,2099,3110,0,0,0,0,0,0
$GC,5091,-0.79,-116.8,336.3,-5.1,353,5096,0.00,2.42,0.00,0.000,4,0.000,0.047,2962,694,3108,0,0,0,0,0,0
$GC,5129,-0.79,-116.8,338.2,-5.3,353,5135,0.00,2.30,0.00,0.000,6,0.000,0.027,2962,2101,3108,0,0,0,0,0,0
$GC,5461,-0.79,-116.8,353.4,-4.5,362,5465,0.00,2.42,0.00,0.000,4,0.000,0.048,2962,688,3106,0,0,0,0,0,0
$GC,5485,-0.79,-116.8,354.6,-4.8,362,5489,0.00,2.33,0.00,0.000,6,0.000,0.028,2962,2100,3106,0,0,0,0,0,0
$GC,5826,-0.83,-116.8,368.5,-4.0,371,5830,0.00,2.45,0.00,0.000,4,0.000,0.048,2961,689,3105,0,0,0,0,0,0
$GC,5964,-0.83,-116.8,374.9,-5.3,374,5968,0.00,2.35,0.00,0.000,6,0.000,0.028,2962,2099,3104,0,0,0,0,0,0
$STATE,6044,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6045,begin apogee
$GC,6051,-0.31,0.0,379.1,4.9,376,6148,0.50,0.00,94.05,0.765,6,0.076,0.000,3067,1831,2635,0,0,0,0,0,0
$STATE,6149,end apogee,CONTROL_FINISHED_OK
$STATE,6149,begin climb
$GC,6152,1.19,116.8,380.6,0.0,378,6257,1.52,0.00,101.30,0.745,6,0.058,0.000,3397,1832,2157,0,0,0,0,0,0
$GC,6573,1.10,116.8,335.3,12.0,389,6578,0.10,2.50,0.00,0.000,4,0.116,0.057,3377,435,2147,0,0,0,0,0,0
$GC,6658,1.01,116.8,324.1,13.3,390,6664,0.00,2.38,0.00,0.000,6,0.000,0.028,3377,1846,2142,0,0,0,0,0,0
$GC,6972,0.97,116.8,287.3,10.9,401,6978,0.15,2.53,0.00,0.000,4,0.100,0.055,3348,434,2141,0,0,0,0,0,0
$GC,7056,0.97,116.8,279.3,8.3,404,7063,0.00,2.35,0.00,0.000,6,0.000,0.028,3348,1827,2138,0,0,0,0,0,0
$GC,7372,1.04,138.7,256.7,7.0,420,7392,0.00,0.00,17.23,0.657,6,0.000,0.000,3349,1833,2068,0,0,0,0,0,0
$GC,7702,1.09,138.7,228.2,9.0,436,7707,0.12,2.47,0.00,0.000,4,0.068,0.054,3386,432,2064,0,0,0,0,0,0
$GC,7797,1.03,138.7,216.8,12.5,440,7802,0.12,2.33,0.00,0.000,6,0.100,0.026,3361,1834,2061,0,0,0,0,0,0
$GC,8128,1.03,139.6,189.2,8.0,462,8133,0.00,2.47,0.00,0.000,4,0.000,0.051,3360,423,2061,0,0,0,0,0,0
$GC,8208,1.03,139.6,181.1,10.9,470,8213,0.00,2.30,0.00,0.000,6,0.000,0.025,3361,1837,2059,0,0,0,0,0,0
$GC,8472,1.07,139.6,158.6,8.5,494,8476,0.00,2.30,0.00,0.000,4,0.000,0.031,3361,3218,2059,0,0,0,0,0,0
$GC,8532,1.17,139.6,153.0,9.5,500,8538,0.10,2.40,0.00,0.000,6,0.036,0.035,3401,1833,2059,0,0,0,0,0,0
$GC,8794,1.13,139.6,124.8,10.5,525,8798,0.00,2.42,0.00,0.000,4,0.000,0.050,3401,423,2059,0,0,0,0,0,0
$GC,8846,1.08,139.6,119.1,10.9,530,8851,0.15,2.28,0.00,0.000,6,0.094,0.023,3370,1830,2058,0,0,0,0,0,0
$GC,9110,1.18,177.9,102.4,6.3,554,9150,0.10,2.55,33.67,0.555,4,0.074,0.048,3405,423,1908,0,0,0,0,0,0
$GC,9171,1.13,177.9,97.4,8.7,560,9178,0.08,2.33,0.00,0.000,6,0.074,0.022,3385,1827,1905,0,0,0,0,0,0
$GC,9436,1.19,177.9,75.3,8.4,585,9440,0.00,2.45,0.00,0.000,4,0.000,0.048,3385,413,1904,0,0,0,0,0,0
$GC,9461,1.19,177.9,72.9,8.7,587,9465,0.00,2.30,0.00,0.000,6,0.000,0.021,3385,1835,1902,0,0,0,0,0,0
$GC,9730,1.26,177.9,48.3,8.8,612,9735,0.12,2.47,0.00,0.000,4,0.063,0.047,3428,421,1902,0,0,0,0,0,0
$GC,9775,1.18,177.9,43.4,13.0,616,9780,0.17,2.28,0.00,0.000,6,0.093,0.020,3392,1833,1901,0,0,0,0,0,0
$GC,10042,1.23,177.9,20.0,8.3,650,10048,0.00,2.47,0.00,0.000,4,0.000,0.046,3392,420,1901,0,0,0,0,0,0
$GC,10090,1.23,177.9,15.3,10.1,660,10097,0.00,2.30,0.00,0.000,6,0.000,0.020,3392,1833,1900,0,0,0,0,0,0
$STATE,10226,end climb,SURFACE_DEPTH_REACHED
$STATE,10228,begin surface coast
$FINISH,0.4,1.023351
$STATE,10261,end surface coast,CONTROL_FINISHED_OK
$STATE,10261,begin surface
$SM_CCo,10285,78.22,0.463,0,0,1288,330.17
$SM_GC,1.02,0.00,0.00,78.22,0.000,0.000,0.463,425,2128,1288,-12.48,0.79,330.17
$IRIDIUM_FIX,2054.83,-15759.05,030700,191912
$TT8_MAMPS,0.028379
$HUMID,52.63
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.4,3.731
$10V_AH,10.5,3.352
$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,30.700,118.775,246.250,78.225,0.000,82.117,115.611,346.812,3.500,0.000,16.454,1306.419,6617.240,448.375,1954.317,857.709,0.000,1247.093,0.000,1944.176,0.000,22.976,0.000
$DEVICE_MAMPS,138.827,56.758,764.699,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,468.285,467.187,1010.108,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,37972,691
$CAP_FILE_SIZE,126598,0
$CFSIZE,260165632,254414848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090411,220106,2102.167,-15802.076,42,1.4,42,9.8