version: 66.06
glider: 139
mission: 9
dive: 358
start: 5 15 111 13 24 42
data:
$ID,139
$MISSION,9
$DIVE,358
$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,270
$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,-2183340.5
$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,20
$R_STBD_OVSHOOT,79
$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
$GPS1,131446,2050.809,-15743.053,12,7.5,31,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-74.8
$GPS2,132424,2050.737,-15742.979,44,1.0,48,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,2050.737,-15754.534
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.082,0.206
$KALMAN_X,-197895.0,373.7,194.6,208192.4,10278.9
$KALMAN_Y,-90001.3,-266.9,-292.7,57028.9,-11190.3
$MHEAD_RNG_PITCHd_Wd,260.2,20000,-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,-65.05,0.000,2,0.000,0.000,426,2150,2960,0,0,0,0,0,0
$GC,88,-1.19,-116.8,3.2,-3.6,12,112,13.02,2.38,-3.25,0.000,4,0.134,0.045,2868,3464,3113,0,0,0,0,0,0
$GC,341,-1.19,-116.8,51.5,-15.3,54,346,0.00,2.42,0.00,0.000,6,0.000,0.031,2868,2089,3115,0,0,0,0,0,0
$GC,603,-1.19,-116.8,90.6,-11.1,78,607,0.00,2.40,0.00,0.000,4,0.000,0.032,2868,3467,3115,0,0,0,0,0,0
$GC,676,-1.19,-116.8,98.5,-10.7,85,681,0.00,2.40,0.00,0.000,6,0.000,0.031,2868,2094,3116,0,0,0,0,0,0
$GC,939,-1.19,-116.8,128.8,-11.2,110,943,0.00,2.50,0.00,0.000,4,0.000,0.041,2868,689,3116,0,0,0,0,0,0
$GC,964,-1.19,-116.8,132.1,-13.7,112,968,0.00,2.33,0.00,0.000,6,0.000,0.020,2868,2069,3117,0,0,0,0,0,0
$GC,1225,-1.19,-116.8,161.3,-10.9,136,1229,0.00,2.45,0.00,0.000,4,0.000,0.041,2868,691,3117,0,0,0,0,0,0
$GC,1243,-1.19,-116.8,163.5,-11.3,137,1249,0.00,2.40,0.00,0.000,6,0.000,0.020,2868,2106,3117,0,0,0,0,0,0
$GC,1506,-1.19,-116.8,187.4,-10.2,162,1511,0.00,2.45,0.00,0.000,4,0.000,0.038,2868,3494,3117,0,0,0,0,0,0
$GC,1567,-1.19,-116.8,193.3,-7.8,168,1572,0.00,2.45,0.00,0.000,6,0.000,0.034,2868,2096,3117,0,0,0,0,0,0
$GC,1824,-1.19,-116.8,217.0,-8.4,183,1828,0.00,2.45,0.00,0.000,4,0.000,0.035,2868,3498,3116,0,0,0,0,0,0
$GC,1890,-1.19,-116.8,222.7,-9.3,186,1894,0.00,2.45,0.00,0.000,6,0.000,0.034,2868,2101,3116,0,0,0,0,0,0
$GC,2220,-1.19,-116.8,251.7,-8.5,202,2224,0.00,2.45,0.00,0.000,4,0.000,0.038,2868,3494,3116,0,0,0,0,0,0
$GC,2247,-1.19,-116.8,254.4,-9.1,203,2251,0.00,2.45,0.00,0.000,6,0.000,0.035,2868,2100,3116,0,0,0,0,0,0
$GC,2569,-1.19,-116.8,284.9,-9.0,219,2573,0.00,2.55,0.00,0.000,4,0.000,0.046,2867,694,3115,0,0,0,0,0,0
$GC,2613,-1.19,-116.8,288.7,-8.2,221,2617,0.00,2.40,0.00,0.000,6,0.000,0.024,2868,2099,3115,0,0,0,0,0,0
$GC,2940,-1.19,-116.8,312.3,-7.5,233,2945,0.00,2.55,0.00,0.000,4,0.000,0.046,2868,695,3113,0,0,0,0,0,0
$GC,2997,-1.19,-116.8,316.2,-6.9,234,3001,0.00,2.40,0.00,0.000,6,0.000,0.025,2867,2102,3113,0,0,0,0,0,0
$GC,3312,-1.19,-116.8,340.7,-6.5,242,3313,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2104,3111,0,0,0,0,0,0
$GC,3636,-1.19,-116.8,359.1,-5.9,250,3640,0.00,2.55,0.00,0.000,4,0.000,0.047,2868,690,3108,0,0,0,0,0,0
$GC,3655,-1.19,-116.8,360.4,-6.6,250,3660,0.00,2.42,0.00,0.000,6,0.000,0.026,2868,2106,3108,0,0,0,0,0,0
$GC,4001,-1.19,-116.8,379.6,-5.5,259,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2107,3106,0,0,0,0,0,0
$STATE,4043,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4043,begin apogee
$GC,4050,-0.31,0.0,382.0,5.7,260,4147,0.95,0.00,93.07,0.759,6,0.079,0.000,3067,1791,2634,0,0,0,0,0,0
$STATE,4147,end apogee,CONTROL_FINISHED_OK
$STATE,4147,begin climb
$GC,4150,1.19,116.8,382.9,0.0,262,4259,1.50,2.62,98.03,0.739,4,0.051,0.056,3398,408,2158,0,0,0,0,0,0
$GC,4269,1.19,116.8,373.1,11.5,265,4274,0.00,2.45,0.00,0.000,6,0.000,0.024,3398,1808,2153,0,0,0,0,0,0
$GC,4610,1.19,116.8,327.8,13.6,274,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1813,2146,0,0,0,0,0,0
$GC,4916,1.19,116.8,289.8,12.9,283,4921,0.00,2.65,0.00,0.000,4,0.000,0.056,3399,404,2143,0,0,0,0,0,0
$GC,4963,1.19,116.8,284.4,12.0,285,4967,0.00,2.42,0.00,0.000,6,0.000,0.025,3399,1800,2140,0,0,0,0,0,0
$GC,5293,1.19,116.8,253.7,9.3,301,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1803,2140,0,0,0,0,0,0
$GC,5601,1.19,116.8,223.8,10.1,316,5606,0.00,2.58,0.00,0.000,4,0.000,0.055,3398,408,2138,0,0,0,0,0,0
$GC,5631,1.19,116.8,220.7,11.5,317,5635,0.00,2.40,0.00,0.000,6,0.000,0.025,3399,1800,2136,0,0,0,0,0,0
$GC,5954,1.19,116.8,189.7,8.3,338,5955,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1803,2136,0,0,0,0,0,0
$GC,6209,1.19,116.8,167.9,8.1,362,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1803,2135,0,0,0,0,0,0
$GC,6464,1.21,133.3,148.8,7.3,386,6484,0.00,2.65,11.25,0.550,4,0.000,0.052,3398,407,2090,0,0,0,0,0,0
$GC,6504,1.21,133.3,145.5,9.0,390,6508,0.00,2.42,0.00,0.000,6,0.000,0.024,3399,1809,2088,0,0,0,0,0,0
$GC,6767,1.21,133.3,122.8,10.0,414,6771,0.00,2.45,0.00,0.000,4,0.000,0.034,3398,3208,2088,0,0,0,0,0,0
$GC,6795,1.21,133.3,119.7,9.7,416,6801,0.00,2.55,0.00,0.000,6,0.000,0.038,3399,1811,2088,0,0,0,0,0,0
$GC,7060,1.24,153.4,99.2,7.1,441,7087,0.00,2.50,18.30,0.534,4,0.000,0.032,3399,3201,2008,0,0,0,0,0,0
$GC,7228,1.26,168.3,87.3,7.3,459,7251,0.00,2.55,14.32,0.507,6,0.000,0.039,3399,1800,1947,0,0,0,0,0,0
$GC,7508,1.27,181.8,67.7,7.4,486,7528,0.00,2.55,12.48,0.481,4,0.000,0.031,3399,3200,1893,0,0,0,0,0,0
$GC,7541,1.27,181.8,64.9,8.6,489,7545,0.00,2.53,0.00,0.000,6,0.000,0.035,3399,1799,1893,0,0,0,0,0,0
$GC,7806,1.30,200.3,46.1,7.2,513,7829,0.00,2.65,16.83,0.477,4,0.000,0.059,3399,395,1817,0,0,0,0,0,0
$GC,7857,1.30,200.3,41.8,8.4,518,7863,0.00,2.45,0.00,0.000,6,0.000,0.020,3399,1803,1813,0,0,0,0,0,0
$GC,8121,1.34,238.0,23.4,6.3,551,8161,0.12,2.47,32.72,0.474,4,0.060,0.026,3445,3203,1662,0,0,0,0,0,0
$GC,8182,1.34,238.0,18.1,9.8,562,8189,0.00,2.58,0.00,0.000,6,0.000,0.036,3444,1801,1662,0,0,0,0,0,0
$STATE,8345,end climb,SURFACE_DEPTH_REACHED
$STATE,8345,begin surface coast
$FINISH,1.1,1.009032
$STATE,8373,end surface coast,CONTROL_FINISHED_OK
$STATE,8373,begin surface
$SM_CCo,8397,47.20,0.457,0,0,1288,330.17
$SM_GC,1.66,0.00,0.00,47.20,0.000,0.000,0.457,429,2129,1288,-12.46,0.85,330.17
$IRIDIUM_FIX,2043.29,-15743.21,080800,131322
$TT8_MAMPS,0.027612
$HUMID,60.55
$INTERNAL_PRESSURE,9.64535
$TCM_TEMP,20.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,382.0,26.4
$24V_AH,23.6,28.840
$10V_AH,10.5,27.316
$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,28.525,95.375,297.000,47.200,0.000,58.887,64.603,233.534,4.250,0.000,48.631,1057.582,5355.068,393.857,1635.656,585.276,0.000,1078.696,0.000,1583.497,0.000,27.477,0.000
$DEVICE_MAMPS,134.225,59.059,758.563,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.767,413.021,927.801,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355744
$DATA_FILE_SIZE,31786,597
$CAP_FILE_SIZE,95460,0
$CFSIZE,260165632,239374336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150511,154637,2050.667,-15743.933,14,1.8,31,9.8