version: 66.06
glider: 139
mission: 9
dive: 321
start: 5 12 111 4 49 37
data:
$ID,139
$MISSION,9
$DIVE,321
$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,-2182603.8
$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,19
$R_STBD_OVSHOOT,42
$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
$GPS1,044320,2058.742,-15747.739,11,1.9,11,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-74.8
$GPS2,044844,2058.764,-15747.664,16,1.5,16,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.204,-0.087
$KALMAN_X,-215653.4,547.8,129.5,220107.3,482.0
$KALMAN_Y,-20560.3,440.0,120.8,-2208.5,233.4
$MHEAD_RNG_PITCHd_Wd,237.0,4109,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,84,0.00,0.00,-64.70,0.000,2,0.000,0.000,427,2107,2950,0,0,0,0,0,0
$GC,87,-1.19,-116.8,3.0,-3.7,12,111,13.07,2.62,-3.42,0.000,4,0.133,0.055,2869,680,3114,0,0,0,0,0,0
$GC,227,-1.19,-116.8,33.4,-21.8,41,231,0.00,2.45,0.00,0.000,6,0.000,0.021,2870,2100,3115,0,0,0,0,0,0
$GC,489,-1.19,-116.8,79.6,-15.3,65,493,0.00,2.50,0.00,0.000,4,0.000,0.035,2869,3509,3117,0,0,0,0,0,0
$GC,519,-1.19,-116.8,84.4,-16.6,67,524,0.00,2.50,0.00,0.000,6,0.000,0.034,2869,2093,3117,0,0,0,0,0,0
$GC,782,-1.19,-116.8,124.4,-14.0,92,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2093,3118,0,0,0,0,0,0
$GC,1035,-1.19,-116.8,151.8,-11.4,116,1039,0.00,2.53,0.00,0.000,4,0.000,0.043,2869,688,3118,0,0,0,0,0,0
$GC,1100,-1.19,-116.8,160.1,-13.0,122,1106,0.00,2.42,0.00,0.000,6,0.000,0.021,2869,2095,3118,0,0,0,0,0,0
$GC,1366,-1.19,-116.8,187.1,-10.3,147,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2095,3118,0,0,0,0,0,0
$GC,1637,-1.19,-116.8,211.0,-8.5,167,1641,0.00,2.53,0.00,0.000,4,0.000,0.044,2869,687,3119,0,0,0,0,0,0
$GC,1665,-1.19,-116.8,214.3,-11.0,168,1669,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2101,3119,0,0,0,0,0,0
$GC,1987,-1.19,-116.8,246.8,-9.5,184,1991,0.00,2.50,0.00,0.000,4,0.000,0.043,2869,693,3120,0,0,0,0,0,0
$GC,2038,-1.19,-116.8,252.0,-10.3,186,2042,0.00,2.42,0.00,0.000,6,0.000,0.023,2869,2107,3119,0,0,0,0,0,0
$GC,2359,-1.19,-116.8,282.1,-10.2,202,2363,0.00,2.55,0.00,0.000,4,0.000,0.046,2869,693,3119,0,0,0,0,0,0
$GC,2405,-1.19,-116.8,287.6,-11.8,204,2409,0.00,2.40,0.00,0.000,6,0.000,0.023,2869,2099,3118,0,0,0,0,0,0
$GC,2747,-1.19,-116.8,316.8,-7.8,216,2752,0.00,2.55,0.00,0.000,4,0.000,0.045,2869,3495,3118,0,0,0,0,0,0
$GC,2782,-1.19,-116.8,319.8,-9.0,216,2787,0.00,2.47,0.00,0.000,6,0.000,0.039,2869,2100,3117,0,0,0,0,0,0
$GC,3118,-1.19,-116.8,350.2,-9.1,225,3122,0.00,2.55,0.00,0.000,4,0.000,0.045,2869,3494,3117,0,0,0,0,0,0
$GC,3341,-1.19,-116.8,368.7,-9.1,229,3346,0.00,2.53,0.00,0.000,6,0.000,0.042,2869,2091,3116,0,0,0,0,0,0
$GC,3672,-1.19,-116.8,392.8,-7.6,238,3677,0.00,2.58,0.00,0.000,4,0.000,0.053,2869,690,3113,0,0,0,0,0,0
$GC,3696,-1.19,-116.8,395.0,-9.2,238,3701,0.00,2.45,0.00,0.000,6,0.000,0.028,2869,2094,3112,0,0,0,0,0,0
$GC,4042,-1.19,-116.8,419.0,-6.7,247,4046,0.00,2.58,0.00,0.000,4,0.000,0.053,2869,693,3110,0,0,0,0,0,0
$GC,4116,-1.19,-116.8,424.5,-7.1,248,4120,0.00,2.47,0.00,0.000,6,0.000,0.029,2869,2104,3109,0,0,0,0,0,0
$STATE,4373,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4373,begin apogee
$GC,4380,-0.31,0.0,442.4,7.0,255,4479,0.95,0.00,95.30,0.806,6,0.081,0.000,3066,1794,2635,0,0,0,0,0,0
$STATE,4479,end apogee,CONTROL_FINISHED_OK
$STATE,4480,begin climb
$GC,4482,1.19,116.8,444.6,0.0,257,4588,1.50,0.00,101.30,0.786,6,0.054,0.000,3396,1795,2157,0,0,0,0,0,0
$GC,4896,1.19,116.8,396.7,12.8,268,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1794,2146,0,0,0,0,0,0
$GC,5221,1.19,116.8,361.4,11.0,276,5225,0.00,2.62,0.00,0.000,4,0.000,0.044,3396,3211,2142,0,0,0,0,0,0
$GC,5240,1.19,116.8,359.3,10.4,276,5244,0.00,2.62,0.00,0.000,6,0.000,0.051,3395,1806,2142,0,0,0,0,0,0
$GC,5585,1.19,116.8,321.7,11.2,285,5590,0.00,2.60,0.00,0.000,4,0.000,0.046,3395,3212,2139,0,0,0,0,0,0
$GC,5629,1.19,116.8,316.2,13.3,286,5633,0.00,2.65,0.00,0.000,6,0.000,0.050,3395,1795,2139,0,0,0,0,0,0
$GC,5959,1.19,116.8,277.9,10.0,298,5960,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1796,2137,0,0,0,0,0,0
$GC,6270,1.19,116.8,245.8,10.4,313,6274,0.00,2.58,0.00,0.000,4,0.000,0.041,3395,3207,2135,0,0,0,0,0,0
$GC,6293,1.19,116.8,243.2,10.4,314,6298,0.00,2.60,0.00,0.000,6,0.000,0.045,3396,1797,2136,0,0,0,0,0,0
$GC,6618,1.19,116.8,211.2,10.1,330,6623,0.00,2.60,0.00,0.000,4,0.000,0.057,3395,393,2134,0,0,0,0,0,0
$GC,6648,1.19,116.8,208.0,11.3,331,6653,0.00,2.47,0.00,0.000,6,0.000,0.025,3395,1811,2132,0,0,0,0,0,0
$GC,6975,1.19,116.8,175.4,9.5,358,6979,0.00,2.45,0.00,0.000,4,0.000,0.035,3395,3205,2132,0,0,0,0,0,0
$GC,7047,1.19,116.8,168.6,9.2,365,7051,0.00,2.58,0.00,0.000,6,0.000,0.042,3395,1797,2133,0,0,0,0,0,0
$GC,7311,1.19,116.8,143.2,10.5,389,7315,0.00,2.53,0.00,0.000,4,0.000,0.034,3396,3207,2132,0,0,0,0,0,0
$GC,7363,1.19,116.8,137.9,9.5,394,7367,0.00,2.58,0.00,0.000,6,0.000,0.040,3395,1791,2132,0,0,0,0,0,0
$GC,7626,1.20,123.2,115.9,7.7,418,7630,0.00,2.53,0.00,0.000,4,0.000,0.032,3396,3204,2132,0,0,0,0,0,0
$GC,7644,1.23,146.0,114.7,7.0,419,7672,0.00,2.55,21.60,0.554,6,0.000,0.038,3396,1798,2039,0,0,0,0,0,0
$GC,7927,1.23,146.0,91.7,8.6,446,7931,0.00,2.60,0.00,0.000,4,0.000,0.051,3395,385,2035,0,0,0,0,0,0
$GC,7991,1.23,146.0,85.3,10.3,452,7998,0.00,2.47,0.00,0.000,6,0.000,0.021,3396,1801,2032,0,0,0,0,0,0
$GC,8256,1.26,172.3,64.3,6.8,477,8287,0.00,2.53,23.12,0.505,4,0.000,0.031,3396,3201,1932,0,0,0,0,0,0
$GC,8317,1.30,203.5,60.0,6.6,483,8351,0.10,2.55,27.90,0.502,6,0.070,0.038,3436,1794,1804,0,0,0,0,0,0
$GC,8614,1.30,203.5,31.3,9.8,511,8618,0.00,2.53,0.00,0.000,4,0.000,0.028,3436,3208,1801,0,0,0,0,0,0
$GC,8656,1.30,203.5,27.5,8.7,518,8662,0.00,2.58,0.00,0.000,6,0.000,0.036,3436,1801,1801,0,0,0,0,0,0
$GC,8858,1.30,203.5,9.4,9.6,555,8865,0.00,2.62,0.00,0.000,4,0.000,0.050,3436,386,1800,0,0,0,0,0,0
$GC,8914,1.30,203.5,3.6,9.8,567,8921,0.00,2.45,0.00,0.000,6,0.000,0.019,3436,1804,1797,0,0,0,0,0,0
$STATE,8926,end climb,SURFACE_DEPTH_REACHED
$STATE,8926,begin surface coast
$FINISH,1.0,1.012941
$STATE,8955,end surface coast,CONTROL_FINISHED_OK
$STATE,8956,begin surface
$SM_CCo,8980,63.83,0.456,0,0,1288,330.17
$SM_GC,1.64,0.00,0.00,63.83,0.000,0.000,0.456,426,2145,1288,-12.48,1.27,330.17
$IRIDIUM_FIX,2052.52,-15747.49,050800,020243
$TT8_MAMPS,0.029146
$HUMID,55.59
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,22.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,442.4,27.6
$24V_AH,23.5,26.182
$10V_AH,10.4,24.891
$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,28.425,107.275,269.225,63.825,0.000,24.485,37.309,135.189,5.000,0.000,16.457,1063.111,5880.270,432.029,1551.584,443.348,33.363,1086.957,0.000,1542.173,0.000,35.028,0.000
$DEVICE_MAMPS,133.458,56.758,806.117,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,387.989,384.215,845.253,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355660
$DATA_FILE_SIZE,31822,574
$CAP_FILE_SIZE,92723,0
$CFSIZE,260165632,240922624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120511,072136,2057.648,-15748.436,36,0.9,36,9.8