version: 66.06
glider: 139
mission: 9
dive: 48
start: 4 10 111 6 59 51
data:
$ID,139
$MISSION,9
$DIVE,48
$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,-2175535.5
$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,26
$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
$GPS1,065401,2102.187,-15803.141,45,0.8,45,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-75.6
$GPS2,065932,2102.246,-15803.174,14,1.6,14,9.8
$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,69.5,35618,-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,-70.90,0.000,6,0.000,0.000,425,2132,3113,0,0,0,0,0,0
$GC,98,-1.19,-116.8,3.2,-5.7,14,116,13.38,0.00,0.00,0.000,6,0.140,0.000,2867,2132,3114,0,0,0,0,0,0
$GC,312,-0.86,-116.8,47.1,-17.4,44,317,0.38,2.22,0.00,0.000,4,0.097,0.028,2944,3464,3116,0,0,0,0,0,0
$GC,555,-0.75,-116.8,79.3,-13.0,70,560,0.15,2.28,0.00,0.000,6,0.100,0.029,2973,2098,3116,0,0,0,0,0,0
$GC,817,-0.70,-116.8,101.9,-7.1,94,821,0.00,2.38,0.00,0.000,4,0.000,0.040,2973,684,3118,0,0,0,0,0,0
$GC,860,-0.63,-116.8,104.9,-6.8,98,864,0.12,2.22,0.00,0.000,6,0.107,0.021,2997,2064,3117,0,0,0,0,0,0
$GC,1128,-0.68,-116.8,121.4,-7.3,123,1132,0.00,2.33,0.00,0.000,4,0.000,0.040,2997,690,3118,0,0,0,0,0,0
$GC,1160,-0.68,-116.8,124.1,-8.3,126,1167,0.00,2.33,0.00,0.000,6,0.000,0.021,2997,2101,3118,0,0,0,0,0,0
$GC,1427,-0.72,-116.8,142.1,-6.0,151,1431,0.00,2.40,0.00,0.000,4,0.000,0.040,2997,690,3119,0,0,0,0,0,0
$GC,1473,-0.72,-116.8,145.4,-7.1,155,1479,0.00,2.28,0.00,0.000,6,0.000,0.021,2997,2107,3119,0,0,0,0,0,0
$GC,1737,-0.77,-116.8,161.6,-5.6,180,1742,0.15,2.33,0.00,0.000,4,0.058,0.033,2949,3499,3119,0,0,0,0,0,0
$GC,1775,-0.77,-116.8,164.5,-7.4,183,1780,0.00,2.35,0.00,0.000,6,0.000,0.028,2949,2092,3119,0,0,0,0,0,0
$GC,2038,-0.72,-116.8,179.9,-4.4,208,2044,0.15,2.40,0.00,0.000,4,0.092,0.041,2979,684,3118,0,0,0,0,0,0
$GC,2089,-0.72,-116.8,182.1,-3.9,213,2093,0.00,2.30,0.00,0.000,6,0.000,0.021,2979,2107,3119,0,0,0,0,0,0
$GC,2353,-0.72,-116.8,194.7,-5.7,237,2357,0.00,2.40,0.00,0.000,4,0.000,0.041,2979,686,3119,0,0,0,0,0,0
$GC,2392,-0.72,-116.8,197.3,-7.5,240,2399,0.00,2.33,0.00,0.000,6,0.000,0.022,2980,2092,3120,0,0,0,0,0,0
$GC,2658,-0.72,-116.8,210.8,-4.8,256,2662,0.00,2.40,0.00,0.000,4,0.000,0.041,2979,685,3120,0,0,0,0,0,0
$GC,2676,-0.72,-116.8,211.8,-5.1,256,2683,0.00,2.35,0.00,0.000,6,0.000,0.023,2979,2103,3119,0,0,0,0,0,0
$GC,2993,-0.77,-116.8,227.3,-5.0,272,2997,0.00,2.40,0.00,0.000,4,0.000,0.042,2980,686,3119,0,0,0,0,0,0
$GC,3110,-0.77,-116.8,234.0,-5.9,277,3115,0.00,2.30,0.00,0.000,6,0.000,0.023,2980,2104,3119,0,0,0,0,0,0
$GC,3440,-0.80,-116.8,248.4,-4.8,293,3444,0.00,2.40,0.00,0.000,4,0.000,0.044,2980,692,3118,0,0,0,0,0,0
$GC,3468,-0.80,-116.8,250.3,-6.3,294,3472,0.00,2.28,0.00,0.000,6,0.000,0.024,2980,2100,3118,0,0,0,0,0,0
$GC,3789,-0.85,-116.8,264.6,-4.4,310,3794,0.12,2.42,0.00,0.000,4,0.067,0.044,2940,685,3117,0,0,0,0,0,0
$GC,3812,-0.81,-116.8,265.7,-5.0,311,3816,0.00,2.30,0.00,0.000,6,0.000,0.025,2940,2096,3117,0,0,0,0,0,0
$GC,4146,-0.77,-116.8,283.6,-5.4,327,4151,0.12,2.40,0.00,0.000,4,0.100,0.038,2965,3503,3116,0,0,0,0,0,0
$GC,4217,-0.82,-116.8,287.1,-4.6,330,4221,0.00,2.38,0.00,0.000,6,0.000,0.031,2965,2094,3116,0,0,0,0,0,0
$GC,4541,-0.85,-116.8,305.7,-6.4,344,4545,0.00,2.40,0.00,0.000,4,0.000,0.047,2965,684,3114,0,0,0,0,0,0
$GC,4588,-0.85,-116.8,309.3,-7.4,345,4592,0.00,2.35,0.00,0.000,6,0.000,0.026,2965,2105,3114,0,0,0,0,0,0
$GC,4913,-0.85,-116.8,330.9,-6.3,353,4917,0.00,2.42,0.00,0.000,4,0.000,0.047,2965,691,3112,0,0,0,0,0,0
$GC,5011,-0.85,-116.8,336.9,-5.4,355,5015,0.00,2.33,0.00,0.000,6,0.000,0.027,2965,2105,3112,0,0,0,0,0,0
$GC,5330,-0.89,-116.8,352.2,-4.3,363,5334,0.00,2.42,0.00,0.000,4,0.000,0.048,2966,693,3111,0,0,0,0,0,0
$GC,5491,-0.89,-116.8,359.8,-4.8,366,5498,0.00,2.33,0.00,0.000,6,0.000,0.028,2965,2105,3110,0,0,0,0,0,0
$GC,5839,-0.93,-116.8,377.6,-5.7,375,5844,0.15,2.47,0.00,0.000,4,0.063,0.049,2923,691,3108,0,0,0,0,0,0
$GC,5935,-0.84,-116.8,385.7,-9.6,377,5939,0.15,2.35,0.00,0.000,6,0.099,0.028,2953,2100,3107,0,0,0,0,0,0
$STATE,6012,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6012,begin apogee
$GC,6018,-0.31,0.0,392.1,7.5,379,6117,0.55,0.00,95.07,0.775,6,0.076,0.000,3069,1824,2635,0,0,0,0,0,0
$STATE,6117,end apogee,CONTROL_FINISHED_OK
$STATE,6117,begin climb
$GC,6120,1.19,116.8,395.6,0.0,381,6232,1.50,2.53,100.55,0.756,4,0.059,0.056,3395,434,2156,0,0,0,0,0,0
$GC,6249,1.03,116.8,386.8,11.9,384,6254,0.17,2.35,0.00,0.000,6,0.097,0.027,3361,1840,2152,0,0,0,0,0,0
$GC,6577,1.03,116.8,352.2,10.5,392,6581,0.00,2.55,0.00,0.000,4,0.000,0.057,3361,426,2146,0,0,0,0,0,0
$GC,6624,0.98,116.8,346.4,12.7,393,6628,0.00,2.35,0.00,0.000,6,0.000,0.028,3361,1833,2143,0,0,0,0,0,0
$GC,6947,0.98,116.8,312.6,9.9,401,6951,0.00,2.53,0.00,0.000,4,0.000,0.057,3361,424,2141,0,0,0,0,0,0
$GC,7026,0.94,116.8,303.9,10.9,402,7030,0.00,2.35,0.00,0.000,6,0.000,0.028,3361,1826,2139,0,0,0,0,0,0
$GC,7341,0.94,116.8,276.2,8.9,416,7345,0.00,2.38,0.00,0.000,4,0.000,0.035,3361,3222,2138,0,0,0,0,0,0
$GC,7369,0.94,116.8,273.8,8.7,417,7373,0.00,2.38,0.00,0.000,6,0.000,0.038,3361,1836,2138,0,0,0,0,0,0
$GC,7690,0.94,116.8,244.5,9.6,433,7691,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,1836,2137,0,0,0,0,0,0
$GC,7999,0.97,142.7,219.8,6.8,448,8025,0.00,2.58,19.92,0.645,4,0.000,0.054,3361,423,2052,0,0,0,0,0,0
$GC,8150,0.97,142.7,207.0,9.8,454,8154,0.00,2.33,0.00,0.000,6,0.000,0.025,3361,1840,2047,0,0,0,0,0,0
$GC,8476,1.01,142.7,177.3,10.0,479,8480,0.00,2.50,0.00,0.000,4,0.000,0.051,3360,423,2046,0,0,0,0,0,0
$GC,8574,1.01,142.7,166.1,10.9,489,8578,0.00,2.30,0.00,0.000,6,0.000,0.024,3361,1838,2045,0,0,0,0,0,0
$GC,8839,1.07,145.2,142.2,7.9,513,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,1843,2045,0,0,0,0,0,0
$GC,9101,1.18,183.0,122.8,6.3,538,9147,0.15,2.55,35.28,0.573,4,0.058,0.049,3409,416,1887,0,0,0,0,0,0
$GC,9208,1.13,183.0,112.1,11.4,549,9214,0.12,2.33,0.00,0.000,6,0.101,0.021,3384,1832,1883,0,0,0,0,0,0
$GC,9472,1.18,183.0,87.3,10.0,574,9476,0.00,2.47,0.00,0.000,4,0.000,0.049,3383,413,1882,0,0,0,0,0,0
$GC,9533,1.23,183.0,79.4,12.2,580,9537,0.00,2.30,0.00,0.000,6,0.000,0.021,3384,1831,1880,0,0,0,0,0,0
$GC,9798,1.30,183.0,55.4,8.6,604,9803,0.15,2.42,0.00,0.000,4,0.057,0.047,3431,421,1880,0,0,0,0,0,0
$GC,9835,1.19,183.0,51.4,12.9,607,9840,0.17,2.30,0.00,0.000,6,0.094,0.020,3396,1847,1879,0,0,0,0,0,0
$GC,10098,1.24,183.0,28.3,8.2,632,10105,0.00,2.50,0.00,0.000,4,0.000,0.047,3395,422,1879,0,0,0,0,0,0
$GC,10150,1.24,183.0,23.7,8.8,643,10157,0.00,2.28,0.00,0.000,6,0.000,0.020,3396,1819,1879,0,0,0,0,0,0
$GC,10353,1.29,183.0,7.0,9.4,680,10361,0.10,2.45,0.00,0.000,4,0.072,0.049,3434,422,1879,0,0,0,0,0,0
$STATE,10395,end climb,SURFACE_DEPTH_REACHED
$STATE,10395,begin surface coast
$FINISH,2.3,1.023351
$STATE,10401,end surface coast,CONTROL_FINISHED_OK
$STATE,10401,begin surface
$SM_CCo,10427,75.60,0.463,0,0,1288,330.17
$SM_GC,1.08,0.00,0.00,75.60,0.000,0.000,0.463,431,2102,1288,-12.45,0.06,330.17
$IRIDIUM_FIX,2052.52,-15804.20,040700,040408
$TT8_MAMPS,0.029146
$HUMID,53.34
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,4.036
$10V_AH,10.7,3.699
$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,30.725,129.175,250.825,75.600,0.000,27.078,33.779,151.431,3.750,0.000,14.651,1322.478,6570.677,421.582,2034.766,485.527,0.000,1291.236,0.000,2023.459,0.000,24.557,0.000
$DEVICE_MAMPS,139.594,56.758,774.670,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,467.857,464.599,1010.340,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,38146,690
$CAP_FILE_SIZE,123181,0
$CFSIZE,260165632,254181376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100411,095604,2102.430,-15803.538,11,2.4,30,9.8