version: 66.06
glider: 139
mission: 9
dive: 319
start: 5 11 111 23 28 49
data:
$ID,139
$MISSION,9
$DIVE,319
$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,1
$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,-2182569.2
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,77
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.30000001
$ROLL_ADJ_DBAND,1
$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
$GPS1,232106,2100.179,-15746.649,13,1.0,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-75.3
$GPS2,232756,2100.185,-15746.611,13,1.1,13,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.151,-0.162
$KALMAN_X,-217143.9,425.3,111.8,223551.9,-146.4
$KALMAN_Y,-20829.0,146.9,-236.7,1338.2,441.0
$MHEAD_RNG_PITCHd_Wd,213.1,7015,-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,-116.8,0.0,0.0,0,90,0.00,0.00,-69.85,0.000,2,0.000,0.000,424,2162,3105,0,0,0,0,0,0
$GC,94,-1.19,-116.8,3.3,-4.0,13,112,13.12,2.67,0.00,0.000,4,0.134,0.041,2868,684,3108,0,0,0,0,0,0
$GC,162,-1.19,-116.8,21.8,-19.6,27,169,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,2063,3109,0,0,0,0,0,0
$GC,369,-1.19,-116.8,56.2,-13.5,50,373,0.00,2.55,0.00,0.000,4,0.000,0.032,2867,3507,3110,0,0,0,0,0,0
$GC,495,-1.19,-116.8,73.0,-13.7,63,500,0.00,2.53,0.00,0.000,6,0.000,0.034,2868,2086,3110,0,0,0,0,0,0
$GC,761,-1.19,-116.8,108.7,-13.7,87,765,0.00,2.50,0.00,0.000,4,0.000,0.042,2867,686,3112,0,0,0,0,0,0
$GC,853,-1.19,-116.8,121.8,-13.7,96,860,0.00,2.45,0.00,0.000,6,0.000,0.021,2868,2104,3112,0,0,0,0,0,0
$GC,1117,-1.19,-116.8,148.7,-9.4,121,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2105,3112,0,0,0,0,0,0
$GC,1379,-1.19,-116.8,173.7,-8.6,146,1383,0.00,2.53,0.00,0.000,4,0.000,0.043,2868,686,3113,0,0,0,0,0,0
$GC,1425,-1.19,-116.8,178.1,-9.1,150,1432,0.00,2.45,0.00,0.000,6,0.000,0.021,2868,2101,3113,0,0,0,0,0,0
$GC,1690,-1.19,-116.8,204.8,-11.0,173,1694,0.00,2.50,0.00,0.000,4,0.000,0.039,2868,3499,3113,0,0,0,0,0,0
$GC,1734,-1.19,-116.8,210.3,-10.9,175,1739,0.00,2.50,0.00,0.000,6,0.000,0.036,2868,2093,3113,0,0,0,0,0,0
$GC,2065,-1.19,-116.8,243.7,-9.2,191,2070,0.00,2.53,0.00,0.000,4,0.000,0.045,2868,686,3113,0,0,0,0,0,0
$GC,2110,-1.19,-116.8,247.7,-8.5,193,2114,0.00,2.45,0.00,0.000,6,0.000,0.023,2868,2109,3112,0,0,0,0,0,0
$GC,2441,-1.19,-116.8,274.8,-7.8,209,2445,0.00,2.50,0.00,0.000,4,0.000,0.044,2868,3503,3112,0,0,0,0,0,0
$GC,2550,-1.19,-116.8,283.5,-7.5,213,2556,0.00,2.50,0.00,0.000,6,0.000,0.038,2868,2096,3112,0,0,0,0,0,0
$GC,2885,-1.19,-116.8,306.9,-7.6,228,2890,0.00,2.53,0.00,0.000,4,0.000,0.048,2867,693,3111,0,0,0,0,0,0
$GC,2914,-1.19,-116.8,309.4,-8.7,228,2918,0.00,2.45,0.00,0.000,6,0.000,0.025,2868,2107,3110,0,0,0,0,0,0
$GC,3250,-1.19,-116.8,335.1,-7.9,237,3254,0.00,2.55,0.00,0.000,4,0.000,0.048,2868,3501,3109,0,0,0,0,0,0
$GC,3459,-1.19,-116.8,352.9,-7.8,241,3463,0.00,2.53,0.00,0.000,6,0.000,0.042,2867,2101,3107,0,0,0,0,0,0
$GC,3800,-1.19,-116.8,378.9,-7.5,250,3804,0.00,2.60,0.00,0.000,4,0.000,0.053,2868,687,3104,0,0,0,0,0,0
$GC,3893,-1.19,-116.8,387.6,-8.7,252,3898,0.00,2.47,0.00,0.000,6,0.000,0.028,2868,2102,3104,0,0,0,0,0,0
$GC,4217,-1.19,-116.8,411.1,-7.0,260,4221,0.00,2.58,0.00,0.000,4,0.000,0.052,2867,688,3102,0,0,0,0,0,0
$GC,4349,-1.19,-116.8,420.4,-8.0,262,4353,0.00,2.47,0.00,0.000,6,0.000,0.029,2868,2106,3101,0,0,0,0,0,0
$STATE,4641,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4641,begin apogee
$GC,4648,-0.31,0.0,440.5,6.7,269,4746,0.95,0.00,94.07,0.815,6,0.082,0.000,3065,1794,2635,0,0,0,0,0,0
$STATE,4746,end apogee,CONTROL_FINISHED_OK
$STATE,4747,begin climb
$GC,4750,1.19,116.8,442.8,0.0,271,4856,1.52,0.00,101.85,0.796,6,0.054,0.000,3398,1794,2158,0,0,0,0,0,0
$GC,5164,1.19,116.8,396.8,11.8,282,5169,0.00,2.65,0.00,0.000,4,0.000,0.062,3398,405,2146,0,0,0,0,0,0
$GC,5211,1.19,116.8,390.3,13.4,283,5216,0.00,2.50,0.00,0.000,6,0.000,0.028,3398,1806,2143,0,0,0,0,0,0
$GC,5534,1.19,116.8,350.4,12.0,291,5539,0.00,2.67,0.00,0.000,4,0.000,0.062,3398,403,2141,0,0,0,0,0,0
$GC,5586,1.19,116.8,343.3,13.7,292,5590,0.00,2.50,0.00,0.000,6,0.000,0.028,3398,1807,2139,0,0,0,0,0,0
$GC,5904,1.19,116.8,309.0,10.9,300,5908,0.00,2.53,0.00,0.000,4,0.000,0.044,3398,3206,2138,0,0,0,0,0,0
$GC,5970,1.19,116.8,301.4,10.9,301,5974,0.00,2.60,0.00,0.000,6,0.000,0.051,3398,1810,2138,0,0,0,0,0,0
$GC,6301,1.19,116.8,266.3,9.6,317,6302,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1810,2136,0,0,0,0,0,0
$GC,6609,1.19,116.8,239.2,8.8,332,6613,0.00,2.58,0.00,0.000,4,0.000,0.043,3398,3214,2135,0,0,0,0,0,0
$GC,6646,1.19,116.8,235.5,9.9,333,6651,0.00,2.62,0.00,0.000,6,0.000,0.048,3398,1795,2135,0,0,0,0,0,0
$GC,6963,1.19,116.8,205.1,9.4,349,6967,0.00,2.62,0.00,0.000,4,0.000,0.057,3398,388,2134,0,0,0,0,0,0
$GC,7000,1.19,116.8,201.1,9.7,350,7007,0.00,2.50,0.00,0.000,6,0.000,0.025,3399,1799,2131,0,0,0,0,0,0
$GC,7324,1.19,116.8,169.6,9.2,380,7329,0.00,2.50,0.00,0.000,4,0.000,0.036,3399,3210,2132,0,0,0,0,0,0
$GC,7341,1.19,116.8,168.2,9.3,381,7346,0.00,2.58,0.00,0.000,6,0.000,0.040,3398,1797,2132,0,0,0,0,0,0
$GC,7606,1.20,122.1,145.3,7.8,405,7610,0.00,2.53,0.00,0.000,4,0.000,0.034,3398,3204,2132,0,0,0,0,0,0
$GC,7736,1.20,122.1,134.4,8.9,418,7742,0.00,2.58,0.00,0.000,6,0.000,0.039,3398,1800,2132,0,0,0,0,0,0
$GC,7998,1.20,122.1,111.1,9.3,443,8002,0.00,2.53,0.00,0.000,4,0.000,0.032,3399,3206,2131,0,0,0,0,0,0
$GC,8053,1.20,122.1,105.9,8.5,448,8060,0.00,2.58,0.00,0.000,6,0.000,0.039,3399,1799,2132,0,0,0,0,0,0
$GC,8315,1.20,122.1,89.0,8.1,473,8320,0.00,2.55,0.00,0.000,4,0.000,0.050,3398,390,2132,0,0,0,0,0,0
$GC,8407,1.20,122.1,79.7,12.3,482,8414,0.00,2.45,0.00,0.000,6,0.000,0.020,3399,1832,2131,0,0,0,0,0,0
$GC,8672,1.25,161.7,63.7,6.2,507,8709,0.00,0.00,35.08,0.512,6,0.000,0.000,3399,1833,1974,0,0,0,0,0,0
$GC,8967,1.37,260.0,50.7,3.5,535,9058,0.15,2.38,82.43,0.502,4,0.054,0.025,3448,3173,1573,0,0,0,0,0,0
$GC,9079,1.37,260.0,40.4,10.5,546,9084,0.00,2.53,0.00,0.000,6,0.000,0.038,3448,1799,1572,0,0,0,0,0,0
$GC,9344,1.37,260.0,7.5,11.2,586,9351,0.00,2.62,0.00,0.000,4,0.000,0.049,3448,386,1568,0,0,0,0,0,0
$STATE,9381,end climb,SURFACE_DEPTH_REACHED
$STATE,9381,begin surface coast
$FINISH,1.0,1.009886
$STATE,9404,end surface coast,CONTROL_FINISHED_OK
$STATE,9404,begin surface
$SM_CCo,9431,35.30,0.448,0,0,1288,330.17
$SM_GC,1.76,0.00,0.00,35.30,0.000,0.000,0.448,429,2083,1288,-12.46,-0.48,330.17
$IRIDIUM_FIX,2052.52,-15804.20,040800,202040
$TT8_MAMPS,0.029146
$HUMID,55.86
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,22.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,440.5,29.7
$24V_AH,23.5,26.031
$10V_AH,10.5,24.743
$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,28.725,112.325,313.425,35.300,0.000,22.797,33.077,232.705,5.000,0.000,13.845,1111.665,6063.590,437.796,1740.423,524.463,33.361,1179.447,0.000,1718.521,0.000,37.360,0.000
$DEVICE_MAMPS,134.225,62.127,814.554,447.928,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.798,398.485,882.803,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355828
$DATA_FILE_SIZE,34870,599
$CAP_FILE_SIZE,99323,0
$CFSIZE,260165632,241008640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120511,020800,2059.373,-15747.198,40,0.9,45,9.8