version: 66.06
glider: 139
mission: 9
dive: 47
start: 4 10 111 4 0 40
data:
$ID,139
$MISSION,9
$DIVE,47
$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,-2175520
$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,70
$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
$GPS1,035428,2101.914,-15802.726,15,5.5,34,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-75.2
$GPS2,040022,2101.933,-15802.791,14,2.2,33,9.8
$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,68.4,35083,-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,-71.40,0.000,6,0.000,0.000,430,2111,3112,0,0,0,0,0,0
$GC,98,-1.19,-116.8,3.2,-5.2,14,117,13.30,2.28,0.00,0.000,4,0.138,0.025,2869,3478,3114,0,0,0,0,0,0
$GC,352,-0.91,-116.8,51.0,-16.1,56,359,0.28,2.35,0.00,0.000,6,0.082,0.029,2937,2093,3116,0,0,0,0,0,0
$GC,618,-0.76,-116.8,87.4,-13.2,81,623,0.17,0.00,0.00,0.000,6,0.099,0.000,2970,2092,3116,0,0,0,0,0,0
$GC,882,-0.71,-116.8,108.4,-7.2,106,886,0.00,2.35,0.00,0.000,4,0.000,0.040,2970,690,3117,0,0,0,0,0,0
$GC,961,-0.64,-116.8,115.0,-9.4,114,966,0.12,2.25,0.00,0.000,6,0.105,0.020,2995,2085,3117,0,0,0,0,0,0
$GC,1223,-0.68,-116.8,136.0,-7.5,138,1227,0.00,2.38,0.00,0.000,4,0.000,0.040,2994,689,3117,0,0,0,0,0,0
$GC,1288,-0.68,-116.8,140.3,-6.5,144,1294,0.00,2.33,0.00,0.000,6,0.000,0.020,2995,2106,3117,0,0,0,0,0,0
$GC,1553,-0.72,-116.8,153.3,-6.2,169,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2109,3118,0,0,0,0,0,0
$GC,1816,-0.77,-116.8,175.7,-8.1,194,1818,0.12,0.00,0.00,0.000,6,0.064,0.000,2954,2110,3118,0,0,0,0,0,0
$GC,2072,-0.73,-116.8,193.1,-5.5,218,2077,0.10,2.42,0.00,0.000,4,0.107,0.041,2975,681,3119,0,0,0,0,0,0
$GC,2156,-0.73,-116.8,197.1,-4.0,226,2162,0.00,2.33,0.00,0.000,6,0.000,0.022,2975,2096,3119,0,0,0,0,0,0
$GC,2412,-0.73,-116.8,210.3,-5.7,242,2416,0.00,2.38,0.00,0.000,4,0.000,0.041,2975,691,3119,0,0,0,0,0,0
$GC,2458,-0.73,-116.8,213.5,-6.6,244,2463,0.00,2.30,0.00,0.000,6,0.000,0.022,2975,2112,3118,0,0,0,0,0,0
$GC,2784,-0.73,-116.8,230.3,-4.5,260,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2116,3118,0,0,0,0,0,0
$GC,3094,-0.73,-116.8,247.3,-6.8,275,3098,0.00,2.40,0.00,0.000,4,0.000,0.043,2975,692,3118,0,0,0,0,0,0
$GC,3140,-0.73,-116.8,250.8,-8.4,277,3144,0.00,2.33,0.00,0.000,6,0.000,0.024,2975,2107,3118,0,0,0,0,0,0
$GC,3473,-0.78,-116.8,269.2,-4.1,293,3477,0.00,2.35,0.00,0.000,4,0.000,0.037,2975,3498,3117,0,0,0,0,0,0
$GC,3494,-0.84,-116.8,270.2,-4.1,294,3498,0.00,2.35,0.00,0.000,6,0.000,0.030,2974,2092,3117,0,0,0,0,0,0
$GC,3830,-0.88,-116.8,288.5,-6.2,310,3835,0.15,2.40,0.00,0.000,4,0.060,0.046,2930,688,3116,0,0,0,0,0,0
$GC,3906,-0.79,-116.8,294.5,-8.5,313,3911,0.17,2.30,0.00,0.000,6,0.091,0.025,2966,2098,3115,0,0,0,0,0,0
$GC,4244,-0.79,-116.8,314.3,-5.3,324,4248,0.00,2.40,0.00,0.000,4,0.000,0.046,2966,692,3114,0,0,0,0,0,0
$GC,4325,-0.79,-116.8,317.9,-4.1,325,4329,0.00,2.33,0.00,0.000,6,0.000,0.026,2966,2110,3114,0,0,0,0,0,0
$GC,4657,-0.82,-116.8,330.0,-3.9,333,4661,0.00,2.42,0.00,0.000,4,0.000,0.047,2966,693,3112,0,0,0,0,0,0
$GC,4784,-0.82,-116.8,337.4,-6.7,335,4788,0.00,2.33,0.00,0.000,6,0.000,0.027,2966,2098,3111,0,0,0,0,0,0
$GC,5121,-0.86,-116.8,357.3,-6.0,344,5125,0.00,2.45,0.00,0.000,4,0.000,0.048,2966,694,3109,0,0,0,0,0,0
$GC,5187,-0.86,-116.8,361.2,-5.7,345,5191,0.00,2.33,0.00,0.000,6,0.000,0.028,2966,2104,3110,0,0,0,0,0,0
$GC,5537,-0.91,-116.8,373.1,-2.7,354,5539,0.12,0.00,0.00,0.000,6,0.070,0.000,2930,2106,3107,0,0,0,0,0,0
$GC,5862,-0.86,-116.8,387.9,-5.3,362,5866,0.00,2.45,0.00,0.000,4,0.000,0.049,2930,693,3106,0,0,0,0,0,0
$GC,5895,-0.78,-116.8,390.2,-7.0,362,5900,0.17,2.33,0.00,0.000,6,0.095,0.028,2965,2100,3106,0,0,0,0,0,0
$STATE,6021,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6021,begin apogee
$GC,6028,-0.31,0.0,397.6,5.7,365,6125,0.50,0.00,94.75,0.791,6,0.077,0.000,3069,1825,2635,0,0,0,0,0,0
$STATE,6126,end apogee,CONTROL_FINISHED_OK
$STATE,6126,begin climb
$GC,6129,1.19,116.8,400.7,0.0,367,6235,1.52,0.00,101.25,0.773,6,0.058,0.000,3399,1825,2158,0,0,0,0,0,0
$GC,6549,1.08,116.8,360.9,10.8,378,6551,0.12,0.00,0.00,0.000,6,0.107,0.000,3375,1825,2147,0,0,0,0,0,0
$GC,6874,1.04,116.8,325.6,10.9,386,6876,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,1825,2143,0,0,0,0,0,0
$GC,7181,1.00,116.8,294.2,9.2,395,7185,0.00,2.50,0.00,0.000,4,0.000,0.058,3375,424,2141,0,0,0,0,0,0
$GC,7289,0.94,116.8,283.6,9.6,399,7296,0.17,2.38,0.00,0.000,6,0.093,0.028,3340,1844,2137,0,0,0,0,0,0
$GC,7607,1.08,190.8,264.4,4.6,415,7673,0.15,0.00,62.53,0.708,6,0.061,0.000,3383,1849,1857,0,0,0,0,0,0
$GC,7976,1.08,190.8,229.4,10.3,433,7980,0.00,2.53,0.00,0.000,4,0.000,0.056,3382,423,1849,0,0,0,0,0,0
$GC,8066,1.08,190.8,218.2,13.2,437,8071,0.00,2.35,0.00,0.000,6,0.000,0.026,3383,1838,1845,0,0,0,0,0,0
$GC,8392,1.08,190.8,180.3,10.8,460,8396,0.00,2.47,0.00,0.000,4,0.000,0.054,3382,429,1845,0,0,0,0,0,0
$GC,8493,1.05,190.8,167.3,12.0,470,8499,0.00,2.33,0.00,0.000,6,0.000,0.025,3383,1830,1843,0,0,0,0,0,0
$GC,8755,1.05,190.8,140.2,10.5,495,8756,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,1836,1843,0,0,0,0,0,0
$GC,9011,1.09,190.8,113.1,11.3,519,9015,0.00,2.45,0.00,0.000,4,0.000,0.050,3383,421,1843,0,0,0,0,0,0
$GC,9110,1.09,190.8,102.5,10.3,529,9114,0.00,2.28,0.00,0.000,6,0.000,0.022,3383,1838,1842,0,0,0,0,0,0
$GC,9375,1.18,204.3,81.9,7.4,553,9395,0.00,2.53,10.62,0.489,4,0.000,0.048,3382,427,1801,0,0,0,0,0,0
$GC,9428,1.23,204.3,77.6,8.2,558,9435,0.00,2.30,0.00,0.000,6,0.000,0.021,3383,1823,1799,0,0,0,0,0,0
$GC,9693,1.30,204.3,56.6,8.5,583,9698,0.17,2.45,0.00,0.000,4,0.051,0.048,3436,426,1799,0,0,0,0,0,0
$GC,9765,1.22,204.3,47.0,13.6,590,9772,0.12,2.30,0.00,0.000,6,0.078,0.021,3407,1834,1798,0,0,0,0,0,0
$GC,10031,1.25,204.3,19.6,9.9,624,10037,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,1840,1798,0,0,0,0,0,0
$STATE,10198,end climb,SURFACE_DEPTH_REACHED
$STATE,10198,begin surface coast
$FINISH,0.5,1.023366
$STATE,10227,end surface coast,CONTROL_FINISHED_OK
$STATE,10227,begin surface
$SM_CCo,10250,66.30,0.466,0,0,1288,330.17
$SM_GC,1.29,0.00,0.00,66.30,0.000,0.000,0.466,425,2131,1288,-12.48,0.88,330.17
$IRIDIUM_FIX,2057.14,-15801.19,040700,010112
$TT8_MAMPS,0.029146
$HUMID,54.01
$INTERNAL_PRESSURE,9.58675
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,3.962
$10V_AH,10.5,3.611
$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,30.250,86.200,269.150,66.300,0.000,28.888,34.443,152.613,3.750,0.000,34.371,1215.988,6738.798,434.303,1813.787,466.509,0.000,1167.736,0.000,1792.497,0.000,24.542,0.000
$DEVICE_MAMPS,138.060,57.525,790.777,465.569,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.482,442.671,957.578,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,34983,660
$CAP_FILE_SIZE,105471,0
$CFSIZE,260165632,254255104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100411,065401,2102.187,-15803.141,45,0.8,45,9.8