version: 66.06
glider: 139
mission: 9
dive: 322
start: 5 12 111 7 27 49
data:
$ID,139
$MISSION,9
$DIVE,322
$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,-2182619.2
$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,17
$R_STBD_OVSHOOT,87
$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
$GPS1,072136,2057.648,-15748.436,36,0.9,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-75.4
$GPS2,072656,2057.625,-15748.332,14,1.4,14,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.165,0.148
$KALMAN_X,-214383.3,265.5,271.5,217828.3,497.2
$KALMAN_Y,-21590.2,279.4,205.7,-3202.6,-1393.3
$MHEAD_RNG_PITCHd_Wd,302.2,2699,-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,13,begin dive
$GC,16,-1.19,-116.8,0.0,0.0,0,88,0.00,0.00,-69.62,0.000,6,0.000,0.000,425,2148,3112,0,0,0,0,0,0
$GC,91,-1.19,-116.8,3.7,-4.9,13,110,13.15,2.62,0.00,0.000,4,0.135,0.038,2872,681,3115,0,0,0,0,0,0
$GC,239,-1.19,-116.8,38.1,-15.8,40,243,0.00,2.35,0.00,0.000,6,0.000,0.020,2872,2055,3116,0,0,0,0,0,0
$GC,506,-1.19,-116.8,79.4,-14.0,65,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2059,3118,0,0,0,0,0,0
$GC,761,-1.19,-116.8,109.2,-10.9,89,766,0.00,2.47,0.00,0.000,4,0.000,0.041,2871,672,3118,0,0,0,0,0,0
$GC,843,-1.19,-116.8,118.1,-12.4,97,849,0.00,2.42,0.00,0.000,6,0.000,0.021,2872,2100,3118,0,0,0,0,0,0
$GC,1107,-1.19,-116.8,145.5,-11.0,122,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2103,3119,0,0,0,0,0,0
$GC,1359,-1.19,-116.8,172.4,-11.5,146,1363,0.00,2.47,0.00,0.000,4,0.000,0.038,2872,3495,3120,0,0,0,0,0,0
$GC,1438,-1.19,-116.8,180.8,-10.2,154,1442,0.00,2.47,0.00,0.000,6,0.000,0.036,2872,2088,3120,0,0,0,0,0,0
$GC,1700,-1.19,-116.8,205.0,-10.1,176,1704,0.00,2.53,0.00,0.000,4,0.000,0.044,2872,687,3120,0,0,0,0,0,0
$GC,1806,-1.19,-116.8,216.9,-11.1,180,1813,0.00,2.42,0.00,0.000,6,0.000,0.022,2872,2091,3120,0,0,0,0,0,0
$GC,2121,-1.19,-116.8,244.8,-8.4,196,2126,0.00,2.50,0.00,0.000,4,0.000,0.044,2872,691,3120,0,0,0,0,0,0
$GC,2190,-1.19,-116.8,250.8,-8.6,199,2195,0.00,2.42,0.00,0.000,6,0.000,0.023,2872,2108,3120,0,0,0,0,0,0
$GC,2516,-1.19,-116.8,276.4,-8.2,215,2521,0.00,2.50,0.00,0.000,4,0.000,0.044,2872,3499,3119,0,0,0,0,0,0
$GC,2574,-1.19,-116.8,281.6,-8.5,217,2578,0.00,2.47,0.00,0.000,6,0.000,0.038,2872,2100,3119,0,0,0,0,0,0
$GC,2889,-1.19,-116.8,307.0,-7.8,230,2893,0.00,2.55,0.00,0.000,4,0.000,0.049,2871,692,3118,0,0,0,0,0,0
$GC,2917,-1.19,-116.8,309.3,-7.6,230,2922,0.00,2.42,0.00,0.000,6,0.000,0.025,2871,2097,3118,0,0,0,0,0,0
$GC,3254,-1.19,-116.8,335.1,-7.5,239,3258,0.00,2.53,0.00,0.000,4,0.000,0.047,2871,3502,3116,0,0,0,0,0,0
$GC,3448,-1.19,-116.8,351.3,-8.7,243,3452,0.00,2.53,0.00,0.000,6,0.000,0.041,2871,2093,3116,0,0,0,0,0,0
$GC,3762,-1.19,-116.8,376.0,-7.9,251,3766,0.00,2.58,0.00,0.000,4,0.000,0.052,2872,688,3114,0,0,0,0,0,0
$GC,3786,-1.19,-116.8,378.4,-9.4,251,3790,0.00,2.45,0.00,0.000,6,0.000,0.027,2871,2098,3113,0,0,0,0,0,0
$GC,4127,-1.19,-116.8,403.0,-7.2,260,4131,0.00,2.58,0.00,0.000,4,0.000,0.051,2871,3505,3111,0,0,0,0,0,0
$GC,4313,-1.19,-116.8,416.0,-6.4,264,4317,0.00,2.53,0.00,0.000,6,0.000,0.044,2872,2104,3110,0,0,0,0,0,0
$GC,4637,-1.19,-116.8,436.7,-6.3,272,4641,0.00,2.62,0.00,0.000,4,0.000,0.055,2872,683,3107,0,0,0,0,0,0
$GC,4752,-1.19,-116.8,444.8,-7.5,274,4756,0.00,2.50,0.00,0.000,6,0.000,0.029,2872,2107,3106,0,0,0,0,0,0
$STATE,4851,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4851,begin apogee
$GC,4858,-0.31,0.0,451.8,6.8,277,4957,0.95,0.00,95.38,0.824,6,0.081,0.000,3069,1784,2634,0,0,0,0,0,0
$STATE,4958,end apogee,CONTROL_FINISHED_OK
$STATE,4958,begin climb
$GC,4961,1.19,116.8,453.8,0.0,279,5073,1.48,2.67,100.72,0.805,4,0.054,0.046,3395,3203,2157,0,0,0,0,0,0
$GC,5101,1.19,116.8,441.1,11.5,282,5106,0.00,2.65,0.00,0.000,6,0.000,0.055,3395,1804,2156,0,0,0,0,0,0
$GC,5415,1.19,116.8,402.2,12.4,290,5420,0.00,2.70,0.00,0.000,4,0.000,0.063,3395,386,2146,0,0,0,0,0,0
$GC,5430,1.19,116.8,400.1,12.5,290,5434,0.00,2.53,0.00,0.000,6,0.000,0.027,3395,1804,2144,0,0,0,0,0,0
$GC,5780,1.19,116.8,359.4,11.5,299,5784,0.00,2.55,0.00,0.000,4,0.000,0.046,3395,3203,2142,0,0,0,0,0,0
$GC,5823,1.19,116.8,354.4,11.3,300,5827,0.00,2.62,0.00,0.000,6,0.000,0.051,3395,1798,2142,0,0,0,0,0,0
$GC,6151,1.19,116.8,320.0,10.0,308,6155,0.00,2.58,0.00,0.000,4,0.000,0.044,3395,3202,2139,0,0,0,0,0,0
$GC,6235,1.19,116.8,311.0,11.2,309,6240,0.00,2.62,0.00,0.000,6,0.000,0.051,3395,1798,2139,0,0,0,0,0,0
$GC,6548,1.19,116.8,273.9,11.9,322,6549,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1798,2137,0,0,0,0,0,0
$GC,6859,1.19,116.8,241.1,10.7,337,6863,0.00,2.58,0.00,0.000,4,0.000,0.041,3396,3212,2137,0,0,0,0,0,0
$GC,6883,1.19,116.8,238.2,10.8,338,6887,0.00,2.62,0.00,0.000,6,0.000,0.047,3395,1792,2137,0,0,0,0,0,0
$GC,7208,1.19,116.8,205.4,10.3,354,7212,0.00,2.60,0.00,0.000,4,0.000,0.058,3395,392,2135,0,0,0,0,0,0
$GC,7231,1.19,116.8,202.8,11.3,355,7235,0.00,2.45,0.00,0.000,6,0.000,0.025,3395,1804,2133,0,0,0,0,0,0
$GC,7566,1.19,116.8,171.7,8.6,385,7571,0.00,2.65,0.00,0.000,4,0.000,0.056,3395,392,2133,0,0,0,0,0,0
$GC,7629,1.19,116.8,165.6,9.4,391,7633,0.00,2.45,0.00,0.000,6,0.000,0.025,3395,1798,2131,0,0,0,0,0,0
$GC,7894,1.21,125.4,145.9,7.6,415,7898,0.00,2.62,0.00,0.000,4,0.000,0.054,3395,391,2131,0,0,0,0,0,0
$GC,7938,1.21,125.4,141.7,10.1,419,7942,0.00,2.42,0.00,0.000,6,0.000,0.024,3395,1803,2130,0,0,0,0,0,0
$GC,8203,1.21,125.4,119.3,10.6,443,8207,0.00,2.45,0.00,0.000,4,0.000,0.033,3395,3208,2131,0,0,0,0,0,0
$GC,8294,1.27,176.5,112.4,5.7,452,8348,0.00,2.60,47.65,0.575,6,0.000,0.041,3395,1798,1915,0,0,0,0,0,0
$GC,8611,1.28,183.5,88.5,7.7,483,8623,0.00,2.65,6.68,0.446,4,0.000,0.052,3395,393,1886,0,0,0,0,0,0
$GC,8715,1.28,183.5,78.8,9.7,494,8719,0.00,2.42,0.00,0.000,6,0.000,0.021,3395,1803,1882,0,0,0,0,0,0
$GC,8980,1.33,224.6,60.6,6.1,518,9023,0.12,2.53,36.10,0.511,4,0.061,0.028,3440,3199,1718,0,0,0,0,0,0
$GC,9052,1.33,224.6,53.7,9.8,525,9059,0.00,2.58,0.00,0.000,6,0.000,0.039,3440,1803,1718,0,0,0,0,0,0
$GC,9316,1.33,224.6,25.9,11.0,553,9323,0.00,2.62,0.00,0.000,4,0.000,0.051,3440,393,1715,0,0,0,0,0,0
$GC,9382,1.33,224.6,18.1,11.3,567,9388,0.00,2.45,0.00,0.000,6,0.000,0.019,3440,1806,1712,0,0,0,0,0,0
$STATE,9536,end climb,SURFACE_DEPTH_REACHED
$STATE,9536,begin surface coast
$FINISH,1.0,1.021860
$STATE,9571,end surface coast,CONTROL_FINISHED_OK
$STATE,9571,begin surface
$SM_CCo,9595,54.35,0.459,0,0,1288,330.17
$SM_GC,1.83,0.00,0.00,54.35,0.000,0.000,0.459,428,2143,1288,-12.46,1.22,330.17
$IRIDIUM_FIX,2052.52,-15745.35,050800,040459
$TT8_MAMPS,0.029146
$HUMID,56.69
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,440.3,39.1
$24V_AH,23.5,26.260
$10V_AH,10.4,24.969
$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,28.575,117.600,286.525,54.350,0.000,29.584,34.335,135.312,5.500,0.000,14.683,1140.127,6174.404,400.049,1811.797,445.340,33.372,1188.659,0.000,1785.903,0.000,35.059,0.000
$DEVICE_MAMPS,134.992,62.894,823.758,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.087,394.322,862.760,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,34989,601
$CAP_FILE_SIZE,104157,0
$CFSIZE,260165632,240861184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120511,101001,2057.213,-15749.225,43,1.0,43,9.8