version: 66.06
glider: 139
mission: 9
dive: 42
start: 4 9 111 12 53 15
data:
$ID,139
$MISSION,9
$DIVE,42
$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,-2175395.2
$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,74
$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
$GPS1,124337,2101.664,-15800.247,36,1.0,36,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-70.7
$GPS2,125256,2101.688,-15800.308,13,1.3,13,9.8
$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,65.9,31003,-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,-116.8,0.0,0.0,0,94,0.00,0.00,-70.57,0.000,6,0.000,0.000,429,2123,3111,0,0,0,0,0,0
$GC,98,-1.19,-116.8,3.2,-5.9,14,116,13.38,2.28,0.00,0.000,4,0.140,0.030,2870,3474,3113,0,0,0,0,0,0
$GC,206,-0.91,-116.8,28.4,-16.7,37,213,0.28,2.35,0.00,0.000,6,0.082,0.028,2937,2097,3113,0,0,0,0,0,0
$GC,415,-0.73,-116.8,57.9,-14.2,57,420,0.20,2.30,0.00,0.000,4,0.098,0.028,2976,3471,3114,0,0,0,0,0,0
$GC,450,-0.73,-116.8,62.4,-10.4,60,454,0.00,2.30,0.00,0.000,6,0.000,0.028,2976,2097,3114,0,0,0,0,0,0
$GC,719,-0.67,-116.8,89.3,-10.8,85,723,0.00,2.40,0.00,0.000,4,0.000,0.040,2976,684,3115,0,0,0,0,0,0
$GC,748,-0.59,-116.8,92.9,-10.7,87,754,0.15,2.25,0.00,0.000,6,0.097,0.021,3006,2080,3115,0,0,0,0,0,0
$GC,1011,-0.59,-116.8,112.4,-6.6,112,1015,0.00,2.35,0.00,0.000,4,0.000,0.031,3006,3497,3116,0,0,0,0,0,0
$GC,1040,-0.65,-116.8,114.5,-7.1,114,1046,0.00,2.35,0.00,0.000,6,0.000,0.026,3006,2103,3116,0,0,0,0,0,0
$GC,1305,-0.68,-116.8,127.2,-4.3,139,1309,0.00,2.38,0.00,0.000,4,0.000,0.039,3005,685,3116,0,0,0,0,0,0
$GC,1360,-0.68,-116.8,130.7,-5.9,144,1367,0.00,2.33,0.00,0.000,6,0.000,0.021,3006,2102,3116,0,0,0,0,0,0
$GC,1625,-0.76,-116.8,149.2,-7.8,169,1630,0.17,2.40,0.00,0.000,4,0.052,0.041,2951,689,3117,0,0,0,0,0,0
$GC,1682,-0.68,-116.8,154.4,-7.6,174,1690,0.15,2.30,0.00,0.000,6,0.071,0.021,2987,2094,3117,0,0,0,0,0,0
$GC,1945,-0.72,-116.8,169.6,-5.2,199,1950,0.00,2.38,0.00,0.000,4,0.000,0.041,2987,687,3117,0,0,0,0,0,0
$GC,2038,-0.72,-116.8,173.9,-4.3,208,2044,0.00,2.33,0.00,0.000,6,0.000,0.022,2987,2095,3117,0,0,0,0,0,0
$GC,2303,-0.77,-116.8,188.5,-5.9,233,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2096,3117,0,0,0,0,0,0
$GC,2574,-0.81,-116.8,206.2,-6.8,255,2579,0.12,2.35,0.00,0.000,4,0.066,0.035,2946,3498,3117,0,0,0,0,0,0
$GC,2595,-0.81,-116.8,208.1,-8.1,256,2599,0.00,2.35,0.00,0.000,6,0.000,0.028,2946,2093,3117,0,0,0,0,0,0
$GC,2925,-0.78,-116.8,233.9,-8.1,272,2930,0.10,2.38,0.00,0.000,4,0.108,0.043,2966,692,3117,0,0,0,0,0,0
$GC,3005,-0.78,-116.8,240.2,-7.1,275,3009,0.00,2.30,0.00,0.000,6,0.000,0.023,2966,2110,3116,0,0,0,0,0,0
$GC,3321,-0.78,-116.8,257.3,-4.3,290,3325,0.00,2.42,0.00,0.000,4,0.000,0.044,2966,683,3115,0,0,0,0,0,0
$GC,3336,-0.78,-116.8,257.9,-4.0,290,3342,0.00,2.35,0.00,0.000,6,0.000,0.025,2966,2102,3115,0,0,0,0,0,0
$GC,3652,-0.78,-116.8,272.3,-5.2,306,3656,0.00,2.40,0.00,0.000,4,0.000,0.045,2966,693,3114,0,0,0,0,0,0
$GC,3726,-0.78,-116.8,277.3,-6.9,309,3730,0.00,2.33,0.00,0.000,6,0.000,0.025,2966,2104,3114,0,0,0,0,0,0
$GC,4048,-0.78,-116.8,295.6,-5.0,325,4052,0.00,2.42,0.00,0.000,4,0.000,0.046,2966,685,3112,0,0,0,0,0,0
$GC,4077,-0.78,-116.8,297.1,-5.3,326,4081,0.00,2.33,0.00,0.000,6,0.000,0.026,2966,2100,3113,0,0,0,0,0,0
$GC,4398,-0.81,-116.8,309.3,-3.8,336,4402,0.00,2.42,0.00,0.000,4,0.000,0.047,2966,695,3110,0,0,0,0,0,0
$GC,4441,-0.81,-116.8,310.9,-3.3,337,4446,0.00,2.33,0.00,0.000,6,0.000,0.027,2966,2098,3110,0,0,0,0,0,0
$GC,4771,-0.86,-116.8,324.9,-4.7,345,4776,0.00,2.42,0.00,0.000,4,0.000,0.048,2966,695,3108,0,0,0,0,0,0
$GC,4911,-0.86,-116.8,332.5,-5.4,348,4915,0.00,2.33,0.00,0.000,6,0.000,0.028,2966,2106,3108,0,0,0,0,0,0
$GC,5239,-0.89,-116.8,344.4,-3.1,356,5240,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2109,3106,0,0,0,0,0,0
$GC,5564,-0.93,-116.8,353.1,-3.0,364,5569,0.15,2.45,0.00,0.000,4,0.061,0.050,2923,696,3104,0,0,0,0,0,0
$GC,5641,-0.83,-116.8,358.1,-7.0,365,5646,0.15,2.33,0.00,0.000,6,0.099,0.028,2952,2108,3104,0,0,0,0,0,0
$GC,5979,-0.83,-116.8,381.4,-7.4,374,5983,0.00,2.38,0.00,0.000,4,0.000,0.042,2953,3496,3102,0,0,0,0,0,0
$STATE,6004,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6004,begin apogee
$GC,6014,-0.31,0.0,384.1,8.8,374,6111,0.52,0.00,94.00,0.785,6,0.080,0.000,3065,1839,2634,0,0,0,0,0,0
$STATE,6112,end apogee,CONTROL_FINISHED_OK
$STATE,6112,begin climb
$GC,6115,1.19,116.8,388.4,0.0,377,6227,1.50,2.58,100.55,0.768,4,0.061,0.059,3390,427,2156,0,0,0,0,0,0
$GC,6256,1.04,116.8,378.5,13.0,380,6261,0.15,2.40,0.00,0.000,6,0.100,0.029,3361,1833,2151,0,0,0,0,0,0
$GC,6570,1.04,116.8,348.2,9.1,388,6574,0.00,2.55,0.00,0.000,4,0.000,0.058,3360,425,2146,0,0,0,0,0,0
$GC,6627,0.99,116.8,342.4,10.6,389,6631,0.00,2.38,0.00,0.000,6,0.000,0.029,3362,1837,2142,0,0,0,0,0,0
$GC,6945,0.99,116.8,314.5,8.7,397,6949,0.00,2.55,0.00,0.000,4,0.000,0.059,3361,424,2141,0,0,0,0,0,0
$GC,7015,0.94,116.8,307.8,9.4,398,7019,0.00,2.38,0.00,0.000,6,0.000,0.030,3361,1836,2138,0,0,0,0,0,0
$GC,7339,0.94,116.8,283.1,8.0,411,7344,0.00,2.55,0.00,0.000,4,0.000,0.058,3361,416,2138,0,0,0,0,0,0
$GC,7360,0.89,116.8,281.1,9.1,412,7365,0.15,2.35,0.00,0.000,6,0.098,0.028,3331,1835,2137,0,0,0,0,0,0
$GC,7693,0.97,116.8,254.5,8.1,428,7697,0.00,2.53,0.00,0.000,4,0.000,0.058,3331,425,2136,0,0,0,0,0,0
$GC,7760,1.05,116.8,248.5,9.3,431,7765,0.15,2.35,0.00,0.000,6,0.061,0.028,3374,1832,2136,0,0,0,0,0,0
$GC,8091,1.05,116.8,216.4,8.9,447,8095,0.00,2.35,0.00,0.000,4,0.000,0.035,3375,3223,2135,0,0,0,0,0,0
$GC,8115,1.05,116.8,214.2,8.9,448,8119,0.00,2.38,0.00,0.000,6,0.000,0.038,3374,1832,2135,0,0,0,0,0,0
$GC,8447,1.05,116.8,187.7,8.1,471,8451,0.00,2.45,0.00,0.000,4,0.000,0.054,3374,422,2134,0,0,0,0,0,0
$GC,8486,1.01,116.8,183.7,9.5,474,8492,0.00,2.35,0.00,0.000,6,0.000,0.025,3374,1833,2133,0,0,0,0,0,0
$GC,8750,1.01,116.8,158.2,10.6,499,8754,0.00,2.47,0.00,0.000,4,0.000,0.052,3374,414,2133,0,0,0,0,0,0
$GC,8812,1.01,116.8,150.6,12.0,505,8816,0.00,2.30,0.00,0.000,6,0.000,0.024,3375,1836,2132,0,0,0,0,0,0
$GC,9076,1.01,116.8,126.5,8.7,529,9081,0.00,2.47,0.00,0.000,4,0.000,0.051,3374,421,2133,0,0,0,0,0,0
$GC,9174,1.01,116.8,117.3,8.9,539,9178,0.00,2.30,0.00,0.000,6,0.000,0.023,3375,1833,2132,0,0,0,0,0,0
$GC,9440,1.11,152.3,99.0,6.4,563,9477,0.00,2.50,27.12,0.554,4,0.000,0.047,3374,416,2012,0,0,0,0,0,0
$GC,9521,1.18,152.3,92.9,8.3,571,9526,0.00,2.33,0.00,0.000,6,0.000,0.021,3374,1836,2009,0,0,0,0,0,0
$GC,9788,1.34,204.8,77.6,5.6,596,9840,0.22,2.55,46.05,0.535,4,0.044,0.050,3439,417,1798,0,0,0,0,0,0
$GC,9852,1.24,204.8,71.4,10.7,602,9860,0.12,2.35,0.00,0.000,6,0.081,0.021,3410,1844,1796,0,0,0,0,0,0
$GC,10118,1.24,204.8,45.3,9.9,627,10122,0.00,2.47,0.00,0.000,4,0.000,0.047,3410,416,1794,0,0,0,0,0,0
$GC,10196,1.24,204.8,36.2,11.8,635,10200,0.00,2.28,0.00,0.000,6,0.000,0.020,3410,1818,1790,0,0,0,0,0,0
$GC,10463,1.24,204.8,7.3,10.4,678,10469,0.00,2.45,0.00,0.000,4,0.000,0.047,3410,425,1790,0,0,0,0,0,0
$GC,10479,1.24,204.8,5.8,10.3,680,10485,0.00,2.30,0.00,0.000,6,0.000,0.020,3410,1846,1790,0,0,0,0,0,0
$STATE,10501,end climb,SURFACE_DEPTH_REACHED
$STATE,10502,begin surface coast
$FINISH,0.4,1.020304
$STATE,10529,end surface coast,CONTROL_FINISHED_OK
$STATE,10529,begin surface
$SM_CCo,10553,63.80,0.463,0,0,1288,330.17
$SM_GC,1.16,0.00,0.00,63.80,0.000,0.000,0.463,430,2107,1288,-12.45,0.23,330.17
$IRIDIUM_FIX,2052.52,-15759.92,030700,121213
$TT8_MAMPS,0.029146
$HUMID,53.22
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.80
$XPDR_PINGS,1
$24V_AH,23.4,3.570
$10V_AH,10.5,3.171
$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,30.525,139.075,267.725,63.800,0.000,51.579,69.980,249.613,4.000,0.000,13.557,1301.277,6845.925,418.922,1943.568,665.515,0.000,1274.806,0.000,1939.554,0.000,24.540,0.000
$DEVICE_MAMPS,139.594,59.059,784.641,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,466.554,460.407,987.265,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,38088,689
$CAP_FILE_SIZE,126934,0
$CFSIZE,260165632,254541824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090411,155122,2101.804,-15800.900,11,4.6,30,9.8