version: 66.06
glider: 139
mission: 9
dive: 45
start: 4 9 111 22 7 2
data:
$ID,139
$MISSION,9
$DIVE,45
$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,-2175464.8
$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,21
$R_STBD_OVSHOOT,86
$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
$GPS1,220106,2102.167,-15802.076,42,1.4,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-72.8
$GPS2,220643,2102.156,-15802.095,11,1.8,16,9.8
$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,68.6,33820,-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,15,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,-70.62,0.000,6,0.000,0.000,425,2129,3112,0,0,0,0,0,0
$GC,99,-1.19,-116.8,3.4,-6.2,14,117,13.35,2.22,0.00,0.000,4,0.139,0.028,2869,3455,3114,0,0,0,0,0,0
$GC,262,-0.92,-116.8,35.6,-15.4,46,267,0.32,2.30,0.00,0.000,6,0.091,0.029,2934,2092,3115,0,0,0,0,0,0
$GC,529,-0.73,-116.8,67.1,-10.6,70,533,0.20,2.40,0.00,0.000,4,0.097,0.039,2972,687,3116,0,0,0,0,0,0
$GC,546,-0.55,-116.8,69.3,-10.3,71,551,0.20,2.22,0.00,0.000,6,0.094,0.021,3012,2062,3116,0,0,0,0,0,0
$GC,811,-0.55,-116.8,86.6,-6.0,95,815,0.00,2.38,0.00,0.000,4,0.000,0.031,3012,3497,3117,0,0,0,0,0,0
$GC,837,-0.62,-116.8,88.2,-5.4,97,842,0.00,2.35,0.00,0.000,6,0.000,0.026,3012,2090,3117,0,0,0,0,0,0
$GC,1102,-0.68,-116.8,104.9,-5.9,121,1107,0.12,2.38,0.00,0.000,4,0.063,0.041,2970,687,3117,0,0,0,0,0,0
$GC,1158,-0.62,-116.8,109.9,-9.5,126,1166,0.12,2.33,0.00,0.000,6,0.071,0.021,3001,2098,3117,0,0,0,0,0,0
$GC,1422,-0.66,-116.8,127.0,-5.4,151,1426,0.00,2.38,0.00,0.000,4,0.000,0.040,3000,688,3118,0,0,0,0,0,0
$GC,1448,-0.66,-116.8,128.4,-5.4,153,1452,0.00,2.28,0.00,0.000,6,0.000,0.021,3000,2102,3118,0,0,0,0,0,0
$GC,1713,-0.71,-116.8,140.8,-6.1,177,1717,0.00,2.40,0.00,0.000,4,0.000,0.040,3000,689,3118,0,0,0,0,0,0
$GC,1798,-0.71,-116.8,147.4,-7.3,186,1802,0.00,2.28,0.00,0.000,6,0.000,0.021,3000,2099,3118,0,0,0,0,0,0
$GC,2062,-0.78,-116.8,163.1,-4.9,210,2069,0.15,0.00,0.00,0.000,6,0.058,0.000,2953,2102,3119,0,0,0,0,0,0
$GC,2328,-0.74,-116.8,177.5,-5.5,235,2333,0.10,0.00,0.00,0.000,6,0.107,0.000,2974,2102,3119,0,0,0,0,0,0
$GC,2591,-0.74,-116.8,190.6,-5.0,260,2595,0.00,2.38,0.00,0.000,4,0.000,0.041,2973,694,3119,0,0,0,0,0,0
$GC,2770,-0.74,-116.8,202.0,-6.9,278,2777,0.00,2.33,0.00,0.000,6,0.000,0.023,2973,2101,3119,0,0,0,0,0,0
$GC,3086,-0.74,-116.8,219.2,-4.9,294,3090,0.00,2.35,0.00,0.000,4,0.000,0.035,2973,3506,3118,0,0,0,0,0,0
$GC,3114,-0.80,-116.8,220.4,-5.1,295,3118,0.00,2.35,0.00,0.000,6,0.000,0.028,2973,2098,3118,0,0,0,0,0,0
$GC,3445,-0.80,-116.8,234.1,-4.0,311,3449,0.00,2.38,0.00,0.000,4,0.000,0.044,2973,688,3117,0,0,0,0,0,0
$GC,3576,-0.80,-116.8,240.5,-5.2,316,3582,0.00,2.33,0.00,0.000,6,0.000,0.024,2973,2095,3117,0,0,0,0,0,0
$GC,3892,-0.84,-116.8,256.8,-5.8,332,3896,0.00,2.35,0.00,0.000,4,0.000,0.037,2974,3503,3116,0,0,0,0,0,0
$GC,3930,-0.92,-116.8,259.4,-7.1,333,3935,0.17,2.35,0.00,0.000,6,0.055,0.030,2925,2096,3116,0,0,0,0,0,0
$GC,4248,-0.84,-116.8,283.8,-7.3,348,4253,0.15,2.40,0.00,0.000,4,0.094,0.046,2954,691,3115,0,0,0,0,0,0
$GC,4357,-0.80,-116.8,290.5,-5.2,352,4364,0.00,2.33,0.00,0.000,6,0.000,0.025,2954,2093,3114,0,0,0,0,0,0
$GC,4672,-0.80,-116.8,303.8,-4.1,366,4676,0.00,2.40,0.00,0.000,4,0.000,0.046,2954,689,3113,0,0,0,0,0,0
$GC,4792,-0.80,-116.8,309.8,-5.8,368,4796,0.00,2.35,0.00,0.000,6,0.000,0.026,2954,2106,3113,0,0,0,0,0,0
$GC,5132,-0.80,-116.8,331.2,-6.4,377,5137,0.00,2.35,0.00,0.000,4,0.000,0.040,2954,3502,3111,0,0,0,0,0,0
$GC,5203,-0.80,-116.8,335.5,-5.5,378,5207,0.00,2.35,0.00,0.000,6,0.000,0.033,2954,2102,3110,0,0,0,0,0,0
$GC,5548,-0.80,-116.8,353.5,-5.2,387,5552,0.00,2.42,0.00,0.000,4,0.000,0.048,2954,693,3108,0,0,0,0,0,0
$GC,5682,-0.80,-116.8,359.8,-5.3,389,5688,0.00,2.33,0.00,0.000,6,0.000,0.028,2954,2099,3108,0,0,0,0,0,0
$STATE,6010,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6010,begin apogee
$GC,6017,-0.31,0.0,375.5,5.0,398,6115,0.55,0.00,94.65,0.764,6,0.077,0.000,3069,1824,2634,0,0,0,0,0,0
$STATE,6116,end apogee,CONTROL_FINISHED_OK
$STATE,6116,begin climb
$GC,6119,1.19,116.8,377.6,0.0,400,6230,1.48,2.50,99.97,0.744,4,0.058,0.035,3392,3223,2157,0,0,0,0,0,0
$GC,6260,1.15,116.8,366.8,10.5,403,6264,0.00,2.45,0.00,0.000,6,0.000,0.041,3393,1838,2155,0,0,0,0,0,0
$GC,6574,1.06,116.8,331.7,11.3,411,6579,0.12,2.55,0.00,0.000,4,0.106,0.057,3368,414,2147,0,0,0,0,0,0
$GC,6637,1.00,116.8,323.7,12.5,412,6641,0.00,2.40,0.00,0.000,6,0.000,0.028,3368,1845,2143,0,0,0,0,0,0
$GC,6969,1.00,116.8,289.1,9.7,423,6973,0.00,2.53,0.00,0.000,4,0.000,0.056,3368,422,2142,0,0,0,0,0,0
$GC,7025,0.93,116.8,282.0,12.1,425,7030,0.15,2.38,0.00,0.000,6,0.095,0.028,3338,1841,2139,0,0,0,0,0,0
$GC,7341,1.00,116.8,253.3,8.3,440,7345,0.00,2.53,0.00,0.000,4,0.000,0.056,3338,421,2138,0,0,0,0,0,0
$GC,7420,1.04,116.8,246.4,8.5,443,7424,0.10,2.33,0.00,0.000,6,0.078,0.028,3370,1830,2136,0,0,0,0,0,0
$GC,7735,1.04,116.8,218.0,9.3,458,7739,0.00,2.38,0.00,0.000,4,0.000,0.035,3371,3231,2136,0,0,0,0,0,0
$GC,7786,1.08,116.8,213.1,9.8,460,7791,0.00,2.42,0.00,0.000,6,0.000,0.038,3370,1826,2137,0,0,0,0,0,0
$GC,8113,1.08,116.8,183.8,9.1,484,8117,0.00,2.47,0.00,0.000,4,0.000,0.053,3370,411,2136,0,0,0,0,0,0
$GC,8250,1.08,116.8,170.7,9.4,498,8257,0.00,2.38,0.00,0.000,6,0.000,0.025,3370,1842,2134,0,0,0,0,0,0
$GC,8515,1.14,136.4,151.9,7.1,523,8538,0.00,2.53,14.05,0.570,4,0.000,0.050,3370,420,2077,0,0,0,0,0,0
$GC,8550,1.14,136.4,149.1,8.0,527,8555,0.00,2.33,0.00,0.000,6,0.000,0.023,3370,1834,2076,0,0,0,0,0,0
$GC,8815,1.18,136.4,127.8,8.7,551,8820,0.10,2.50,0.00,0.000,4,0.074,0.049,3405,418,2075,0,0,0,0,0,0
$GC,8879,1.10,136.4,120.7,11.7,557,8884,0.15,2.30,0.00,0.000,6,0.094,0.022,3375,1832,2073,0,0,0,0,0,0
$GC,9142,1.15,144.2,99.1,7.7,581,9154,0.00,2.47,7.68,0.472,4,0.000,0.048,3375,414,2047,0,0,0,0,0,0
$GC,9192,1.20,144.2,94.7,8.4,586,9199,0.08,2.33,0.00,0.000,6,0.039,0.021,3409,1821,2045,0,0,0,0,0,0
$GC,9457,1.24,175.1,75.6,6.6,611,9493,0.00,2.53,28.05,0.522,4,0.000,0.048,3409,416,1920,0,0,0,0,0,0
$GC,9507,1.20,175.1,71.4,8.7,616,9514,0.00,2.35,0.00,0.000,6,0.000,0.021,3409,1846,1918,0,0,0,0,0,0
$GC,9769,1.20,175.1,47.7,10.0,641,9774,0.00,2.47,0.00,0.000,4,0.000,0.046,3408,419,1917,0,0,0,0,0,0
$GC,9833,1.20,175.1,39.9,11.4,647,9839,0.00,2.30,0.00,0.000,6,0.000,0.020,3409,1826,1914,0,0,0,0,0,0
$GC,10097,1.20,175.1,14.3,9.4,687,10103,0.00,2.47,0.00,0.000,4,0.000,0.047,3408,414,1915,0,0,0,0,0,0
$GC,10123,1.20,175.1,11.3,10.8,692,10130,0.00,2.30,0.00,0.000,6,0.000,0.021,3409,1813,1914,0,0,0,0,0,0
$STATE,10201,end climb,SURFACE_DEPTH_REACHED
$STATE,10201,begin surface coast
$FINISH,0.3,1.011037
$STATE,10236,end surface coast,CONTROL_FINISHED_OK
$STATE,10236,begin surface
$SM_CCo,10260,79.18,0.463,0,0,1288,330.17
$SM_GC,1.09,0.00,0.00,79.18,0.000,0.000,0.463,432,2135,1288,-12.45,0.99,330.17
$IRIDIUM_FIX,2052.52,-15804.20,030700,191955
$TT8_MAMPS,0.029146
$HUMID,53.22
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,3.803
$10V_AH,10.6,3.442
$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,30.400,124.700,244.400,79.175,0.000,22.715,39.390,152.143,3.500,0.000,16.220,1332.981,6400.874,418.942,2033.104,489.500,0.000,1280.443,0.000,2021.076,0.000,24.892,0.000
$DEVICE_MAMPS,138.827,56.758,763.932,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,482.212,486.756,1062.222,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,38096,712
$CAP_FILE_SIZE,120228,0
$CFSIZE,260165632,254357504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100411,010031,2101.864,-15802.312,14,1.5,31,9.8