version: 66.06
glider: 139
mission: 9
dive: 320
start: 5 12 111 2 14 19
data:
$ID,139
$MISSION,9
$DIVE,320
$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,-2182586.5
$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
$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,17
$R_STBD_OVSHOOT,45
$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
$GPS1,020800,2059.373,-15747.198,40,0.9,45,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-76.2
$GPS2,021326,2059.424,-15747.154,16,0.9,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.160,-0.154
$KALMAN_X,-216568.2,586.3,111.3,221881.8,1.7
$KALMAN_Y,-20658.0,379.0,-224.1,-483.0,650.1
$MHEAD_RNG_PITCHd_Wd,216.4,5449,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,88,0.00,0.00,-69.85,0.000,2,0.000,0.000,429,2085,3102,0,0,0,0,0,0
$GC,92,-1.19,-116.8,3.4,-4.0,13,110,13.02,2.53,0.00,0.000,4,0.133,0.039,2866,679,3104,0,0,0,0,0,0
$GC,185,-1.19,-116.8,27.5,-21.5,33,191,0.00,2.45,0.00,0.000,6,0.000,0.021,2866,2089,3105,0,0,0,0,0,0
$GC,391,-1.19,-116.8,65.4,-17.6,53,395,0.00,2.50,0.00,0.000,4,0.000,0.035,2866,3498,3106,0,0,0,0,0,0
$GC,408,-1.19,-116.8,68.4,-17.0,54,412,0.00,2.47,0.00,0.000,6,0.000,0.031,2866,2082,3106,0,0,0,0,0,0
$GC,671,-1.19,-116.8,110.2,-15.3,78,675,0.00,2.53,0.00,0.000,4,0.000,0.034,2866,3507,3107,0,0,0,0,0,0
$GC,742,-1.19,-116.8,120.2,-13.6,85,746,0.00,2.50,0.00,0.000,6,0.000,0.033,2866,2092,3107,0,0,0,0,0,0
$GC,1007,-1.19,-116.8,153.2,-11.8,109,1011,0.00,2.50,0.00,0.000,4,0.000,0.035,2866,3498,3108,0,0,0,0,0,0
$GC,1126,-1.19,-116.8,166.9,-10.9,121,1130,0.00,2.47,0.00,0.000,6,0.000,0.032,2865,2092,3109,0,0,0,0,0,0
$GC,1390,-1.19,-116.8,195.6,-11.4,145,1394,0.00,2.50,0.00,0.000,4,0.000,0.044,2866,693,3109,0,0,0,0,0,0
$GC,1434,-1.19,-116.8,200.8,-11.0,149,1439,0.00,2.38,0.00,0.000,6,0.000,0.020,2866,2106,3110,0,0,0,0,0,0
$GC,1771,-1.19,-116.8,235.1,-11.0,165,1775,0.00,2.53,0.00,0.000,4,0.000,0.044,2866,686,3109,0,0,0,0,0,0
$GC,1850,-1.19,-116.8,244.7,-11.4,168,1855,0.00,2.42,0.00,0.000,6,0.000,0.022,2866,2100,3109,0,0,0,0,0,0
$GC,2168,-1.19,-116.8,273.1,-8.3,183,2172,0.00,2.53,0.00,0.000,4,0.000,0.043,2866,3501,3109,0,0,0,0,0,0
$GC,2435,-1.19,-116.8,296.4,-8.7,194,2441,0.00,2.50,0.00,0.000,6,0.000,0.039,2865,2110,3109,0,0,0,0,0,0
$GC,2766,-1.19,-116.8,326.0,-8.9,204,2771,0.00,2.53,0.00,0.000,4,0.000,0.044,2866,3505,3108,0,0,0,0,0,0
$GC,2781,-1.19,-116.8,327.4,-8.7,204,2785,0.00,2.53,0.00,0.000,6,0.000,0.041,2866,2096,3108,0,0,0,0,0,0
$GC,3131,-1.19,-116.8,355.9,-7.6,213,3135,0.00,2.55,0.00,0.000,4,0.000,0.045,2866,3500,3105,0,0,0,0,0,0
$GC,3220,-1.19,-116.8,364.5,-9.7,215,3225,0.00,2.53,0.00,0.000,6,0.000,0.043,2866,2099,3105,0,0,0,0,0,0
$GC,3548,-1.19,-116.8,394.7,-9.1,223,3553,0.00,2.60,0.00,0.000,4,0.000,0.054,2865,687,3102,0,0,0,0,0,0
$GC,3646,-1.19,-116.8,404.0,-9.3,225,3650,0.00,2.47,0.00,0.000,6,0.000,0.028,2866,2101,3102,0,0,0,0,0,0
$GC,3965,-1.19,-116.8,425.1,-6.3,233,3969,0.00,2.58,0.00,0.000,4,0.000,0.053,2866,688,3100,0,0,0,0,0,0
$GC,3989,-1.19,-116.8,426.8,-6.9,233,3993,0.00,2.47,0.00,0.000,6,0.000,0.028,2866,2107,3100,0,0,0,0,0,0
$STATE,4164,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4164,begin apogee
$GC,4171,-0.31,0.0,438.5,6.6,238,4268,0.98,0.00,93.50,0.802,6,0.082,0.000,3068,1793,2635,0,0,0,0,0,0
$STATE,4269,end apogee,CONTROL_FINISHED_OK
$STATE,4269,begin climb
$GC,4272,1.19,116.8,440.1,0.0,240,4384,1.48,2.65,100.35,0.782,4,0.054,0.045,3396,3202,2158,0,0,0,0,0,0
$GC,4408,1.19,116.8,427.4,12.1,243,4413,0.00,2.65,0.00,0.000,6,0.000,0.054,3395,1810,2157,0,0,0,0,0,0
$GC,4727,1.19,116.8,385.8,13.5,251,4728,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1810,2148,0,0,0,0,0,0
$GC,5052,1.19,116.8,347.6,11.0,259,5056,0.00,2.67,0.00,0.000,4,0.000,0.061,3395,393,2144,0,0,0,0,0,0
$GC,5076,1.19,116.8,344.5,12.5,259,5080,0.00,2.47,0.00,0.000,6,0.000,0.028,3395,1801,2140,0,0,0,0,0,0
$GC,5417,1.19,116.8,310.2,9.5,268,5421,0.00,2.55,0.00,0.000,4,0.000,0.044,3395,3206,2139,0,0,0,0,0,0
$GC,5463,1.19,116.8,305.5,9.6,269,5468,0.00,2.62,0.00,0.000,6,0.000,0.050,3395,1797,2139,0,0,0,0,0,0
$GC,5792,1.19,116.8,272.2,9.2,283,5796,0.00,2.58,0.00,0.000,4,0.000,0.044,3395,3204,2137,0,0,0,0,0,0
$GC,5816,1.22,133.7,270.2,7.2,284,5835,0.00,2.60,12.57,0.653,6,0.000,0.047,3395,1796,2089,0,0,0,0,0,0
$GC,6145,1.22,133.7,237.3,10.6,300,6149,0.00,2.55,0.00,0.000,4,0.000,0.040,3395,3204,2085,0,0,0,0,0,0
$GC,6160,1.22,133.7,235.6,10.2,300,6166,0.00,2.62,0.00,0.000,6,0.000,0.045,3395,1798,2085,0,0,0,0,0,0
$GC,6475,1.22,133.7,201.7,11.8,316,6480,0.00,2.62,0.00,0.000,4,0.000,0.057,3395,386,2083,0,0,0,0,0,0
$GC,6497,1.22,133.7,199.1,13.4,317,6502,0.00,2.47,0.00,0.000,6,0.000,0.025,3395,1807,2082,0,0,0,0,0,0
$GC,6760,1.22,133.7,175.1,9.2,342,6764,0.00,2.67,0.00,0.000,4,0.000,0.056,3395,386,2081,0,0,0,0,0,0
$GC,6821,1.22,133.7,168.2,11.3,348,6825,0.00,2.47,0.00,0.000,6,0.000,0.024,3395,1803,2079,0,0,0,0,0,0
$GC,7084,1.22,133.7,147.0,8.4,372,7088,0.00,2.47,0.00,0.000,4,0.000,0.035,3395,3213,2079,0,0,0,0,0,0
$GC,7144,1.22,133.7,141.6,8.8,378,7149,0.00,2.58,0.00,0.000,6,0.000,0.041,3395,1800,2079,0,0,0,0,0,0
$GC,7408,1.25,165.4,122.3,6.6,402,7444,0.00,2.62,27.50,0.562,4,0.000,0.050,3395,390,1958,0,0,0,0,0,0
$GC,7549,1.25,165.4,110.6,8.8,417,7554,0.00,2.45,0.00,0.000,6,0.000,0.021,3396,1806,1953,0,0,0,0,0,0
$GC,7812,1.25,165.4,88.1,9.6,442,7813,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1811,1953,0,0,0,0,0,0
$GC,8066,1.29,196.8,69.0,6.6,466,8099,0.10,2.50,27.40,0.505,4,0.072,0.030,3435,3201,1831,0,0,0,0,0,0
$GC,8162,1.30,205.1,61.3,7.6,476,8176,0.00,2.55,8.77,0.442,6,0.000,0.037,3435,1798,1798,0,0,0,0,0,0
$GC,8439,1.30,205.1,34.7,10.0,502,8443,0.00,2.50,0.00,0.000,4,0.000,0.028,3434,3205,1795,0,0,0,0,0,0
$GC,8466,1.30,205.1,31.8,9.8,504,8473,0.00,2.55,0.00,0.000,6,0.000,0.035,3434,1803,1795,0,0,0,0,0,0
$GC,8733,1.30,205.1,7.1,8.4,551,8739,0.00,2.60,0.00,0.000,4,0.000,0.049,3434,395,1794,0,0,0,0,0,0
$STATE,8769,end climb,SURFACE_DEPTH_REACHED
$STATE,8769,begin surface coast
$FINISH,1.0,1.022873
$STATE,8800,end surface coast,CONTROL_FINISHED_OK
$STATE,8801,begin surface
$SM_CCo,8827,62.90,0.452,0,0,1288,330.17
$SM_GC,1.71,0.00,0.00,62.90,0.000,0.000,0.452,427,2104,1288,-12.47,0.08,330.17
$IRIDIUM_FIX,2052.52,-15744.48,040800,232341
$TT8_MAMPS,0.029146
$HUMID,55.59
$INTERNAL_PRESSURE,9.63558
$TCM_TEMP,22.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,422.6,45.5
$24V_AH,23.5,26.107
$10V_AH,10.5,24.818
$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,28.375,117.625,270.100,62.900,0.000,28.330,34.980,139.168,4.500,0.000,16.487,1062.770,5641.854,402.510,1667.641,443.395,33.372,1133.205,0.000,1647.047,0.000,30.668,0.000
$DEVICE_MAMPS,132.691,61.360,801.515,451.763,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,382.609,375.239,832.134,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,31819,566
$CAP_FILE_SIZE,97851,0
$CFSIZE,260165632,240967680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120511,044320,2058.742,-15747.739,11,1.9,11,9.8