version: 66.06
glider: 139
mission: 7
dive: 335
start: 5 22 110 1 19 1
data:
$ID,139
$MISSION,7
$DIVE,335
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,550
$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,80
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,51995
$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,300
$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,-2132988.2
$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,2714
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,1875
$C_ROLL_CLIMB,2010
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,3050
$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,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,-6.8056469e+38
$FG_AHR_24V,-6.8056469e+38
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.231706
$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,0.0043401681
$SEABIRD_T_H,0.00063043466
$SEABIRD_T_I,2.4021314e-05
$SEABIRD_T_J,2.5358199e-06
$SEABIRD_C_G,-9.8272314
$SEABIRD_C_H,1.0932546
$SEABIRD_C_I,-0.0012359815
$SEABIRD_C_J,0.00017717193
$GPS1,005846,2105.705,-15743.501,520,2.8,539,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.5
$GPS2,011808,2105.902,-15743.338,16,1.5,16,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.092,-0.159
$KALMAN_X,-14222.1,78.1,-15.5,34188.0,-201.2
$KALMAN_Y,20827.3,-158.2,172.6,-22708.9,166.0
$MHEAD_RNG_PITCHd_Wd,200.3,18597,-20.8,-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,15,-1.40,-77.9,0.0,0.0,0,70,0.00,0.00,-52.08,0.000,2,0.000,0.000,423,1865,3204,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.4,-6.1,10,94,10.55,2.47,-3.25,0.000,4,0.133,0.059,2401,463,3370,0,0,0,0,0,0
$GC,232,-1.17,-77.9,40.6,-18.3,38,239,0.22,2.35,0.00,0.000,6,0.077,0.020,2451,1907,3372,0,0,0,0,0,0
$GC,495,-1.17,-77.9,75.3,-12.2,63,500,0.00,2.47,0.00,0.000,4,0.000,0.044,2453,463,3372,0,0,0,0,0,0
$GC,520,-1.11,-77.9,78.9,-12.8,65,525,0.00,2.28,0.00,0.000,6,0.000,0.019,2451,1886,3372,0,0,0,0,0,0
$GC,784,-1.15,-77.9,107.9,-11.0,89,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1891,3373,0,0,0,0,0,0
$GC,1038,-1.21,-77.9,135.9,-10.3,113,1042,0.00,2.45,0.00,0.000,4,0.000,0.044,2452,466,3373,0,0,0,0,0,0
$GC,1118,-1.21,-77.9,146.0,-11.4,121,1124,0.00,2.25,0.00,0.000,6,0.000,0.020,2452,1878,3373,0,0,0,0,0,0
$GC,1380,-1.27,-77.9,170.4,-10.1,146,1384,0.00,2.42,0.00,0.000,4,0.000,0.043,2452,466,3373,0,0,0,0,0,0
$GC,1451,-1.30,-77.9,177.3,-9.9,153,1455,0.00,2.25,0.00,0.000,6,0.000,0.020,2452,1878,3373,0,0,0,0,0,0
$GC,1714,-1.39,-77.9,199.4,-9.0,177,1721,0.17,2.40,0.00,0.000,4,0.051,0.044,2397,469,3374,0,0,0,0,0,0
$GC,1736,-1.36,-77.9,202.1,-10.4,178,1743,0.05,2.28,0.00,0.000,6,0.087,0.020,2412,1880,3373,0,0,0,0,0,0
$GC,2050,-1.36,-77.9,235.7,-10.5,194,2055,0.00,2.40,0.00,0.000,4,0.000,0.044,2412,466,3373,0,0,0,0,0,0
$GC,2073,-1.32,-77.9,237.9,-11.7,195,2077,0.00,2.25,0.00,0.000,6,0.000,0.021,2412,1878,3373,0,0,0,0,0,0
$GC,2404,-1.32,-77.9,272.1,-9.9,211,2408,0.00,2.40,0.00,0.000,4,0.000,0.045,2413,468,3373,0,0,0,0,0,0
$GC,2427,-1.32,-77.9,274.6,-10.5,212,2431,0.00,2.25,0.00,0.000,6,0.000,0.021,2411,1877,3372,0,0,0,0,0,0
$GC,2772,-1.36,-77.9,305.1,-8.6,228,2776,0.00,2.42,0.00,0.000,4,0.000,0.047,2412,470,3372,0,0,0,0,0,0
$GC,2814,-1.36,-77.9,309.3,-9.5,229,2818,0.00,2.25,0.00,0.000,6,0.000,0.023,2412,1866,3372,0,0,0,0,0,0
$GC,3141,-1.41,-77.9,337.5,-8.8,237,3146,0.00,2.42,0.00,0.000,4,0.000,0.049,2412,468,3371,0,0,0,0,0,0
$GC,3239,-1.46,-77.9,347.3,-10.4,239,3243,0.00,2.25,0.00,0.000,6,0.000,0.024,2413,1868,3370,0,0,0,0,0,0
$GC,3562,-1.53,-77.9,375.8,-8.8,247,3567,0.15,2.45,0.00,0.000,4,0.060,0.051,2369,471,3368,0,0,0,0,0,0
$GC,3644,-1.45,-77.9,385.4,-12.8,248,3649,0.12,2.30,0.00,0.000,6,0.100,0.026,2395,1878,3368,0,0,0,0,0,0
$GC,3976,-1.49,-77.9,414.1,-8.3,256,3980,0.00,2.47,0.00,0.000,4,0.000,0.052,2394,466,3365,0,0,0,0,0,0
$GC,4115,-1.49,-77.9,427.2,-9.5,259,4119,0.00,2.33,0.00,0.000,6,0.000,0.028,2395,1876,3364,0,0,0,0,0,0
$STATE,4394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4394,begin apogee
$GC,4400,-0.31,0.0,452.4,9.2,266,4467,1.15,0.00,63.72,0.871,6,0.072,0.000,2643,2035,3050,0,0,0,0,0,0
$STATE,4468,end apogee,CONTROL_FINISHED_OK
$STATE,4468,begin climb
$GC,4470,1.40,77.9,453.5,0.0,267,4545,1.65,2.42,64.90,0.848,4,0.034,0.045,3023,3378,2732,0,0,0,0,0,0
$GC,4629,1.23,130.0,452.4,4.4,270,4679,0.25,2.35,44.33,0.839,6,0.112,0.037,2982,2010,2520,0,0,0,0,0,0
$GC,5011,1.12,130.0,418.9,9.3,280,5015,0.12,2.42,0.00,0.000,4,0.123,0.042,2959,3388,2512,0,0,0,0,0,0
$GC,5025,1.02,130.0,417.4,9.3,280,5030,0.12,2.40,0.00,0.000,6,0.116,0.037,2937,2005,2512,0,0,0,0,0,0
$GC,5375,1.03,136.4,390.7,7.6,289,5387,0.00,2.53,5.55,0.637,4,0.000,0.054,2935,609,2492,0,0,0,0,0,0
$GC,5503,0.97,140.0,380.2,7.8,291,5513,0.00,2.30,4.20,0.548,6,0.000,0.031,2937,1994,2479,0,0,0,0,0,0
$GC,5837,0.98,146.6,355.3,7.6,300,5850,0.00,2.50,7.03,0.689,4,0.000,0.053,2936,601,2452,0,0,0,0,0,0
$GC,5896,0.93,146.6,349.9,8.9,301,5901,0.00,2.35,0.00,0.000,6,0.000,0.031,2937,2006,2451,0,0,0,0,0,0
$GC,6214,0.97,179.0,328.9,5.8,309,6250,0.00,2.55,29.17,0.802,4,0.000,0.050,2936,598,2319,0,0,0,0,0,0
$GC,6305,0.97,179.0,322.1,8.6,311,6309,0.00,2.40,0.00,0.000,6,0.000,0.030,2937,2015,2315,0,0,0,0,0,0
$GC,6633,1.02,179.0,293.9,8.8,320,6637,0.00,2.38,0.00,0.000,4,0.000,0.038,2936,3403,2313,0,0,0,0,0,0
$GC,6683,1.09,179.0,289.5,8.8,322,6687,0.00,2.40,0.00,0.000,6,0.000,0.037,2937,2011,2313,0,0,0,0,0,0
$GC,7008,1.15,180.9,263.8,7.9,338,7012,0.12,2.47,0.00,0.000,4,0.076,0.051,2967,605,2311,0,0,0,0,0,0
$GC,7098,1.08,180.9,255.2,9.7,342,7103,0.00,2.33,0.00,0.000,6,0.000,0.028,2969,2012,2309,0,0,0,0,0,0
$GC,7427,1.08,180.9,228.0,8.5,358,7431,0.00,2.47,0.00,0.000,4,0.000,0.048,2968,597,2308,0,0,0,0,0,0
$GC,7450,1.02,180.9,225.8,9.6,359,7454,0.17,2.33,0.00,0.000,6,0.109,0.028,2937,2011,2308,0,0,0,0,0,0
$GC,7777,1.10,182.1,199.8,7.9,375,7778,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2015,2308,0,0,0,0,0,0
$GC,8031,1.20,203.1,181.2,6.6,399,8054,0.17,0.00,20.50,0.666,6,0.061,0.000,2983,2015,2221,0,0,0,0,0,0
$GC,8306,1.20,203.1,154.9,9.9,425,8307,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2015,2218,0,0,0,0,0,0
$GC,8560,1.20,203.1,127.9,11.0,449,8565,0.00,2.45,0.00,0.000,4,0.000,0.045,2983,599,2218,0,0,0,0,0,0
$GC,8737,1.16,203.1,109.5,8.6,468,8742,0.00,2.30,0.00,0.000,6,0.000,0.023,2983,2019,2215,0,0,0,0,0,0
$GC,9000,1.20,206.7,89.1,7.8,492,9004,0.00,2.42,0.00,0.000,4,0.000,0.043,2983,601,2215,0,0,0,0,0,0
$GC,9045,1.20,208.5,85.3,7.9,496,9055,0.00,2.33,5.28,0.454,6,0.000,0.022,2982,2027,2200,0,0,0,0,0,0
$GC,9317,1.25,216.2,66.0,7.5,522,9331,0.00,2.30,8.68,0.505,4,0.000,0.029,2983,3392,2167,0,0,0,0,0,0
$GC,9470,1.32,221.0,52.7,7.7,539,9482,0.00,2.33,5.93,0.450,6,0.000,0.028,2983,2004,2148,0,0,0,0,0,0
$GC,9736,1.41,234.3,34.2,7.1,564,9757,0.17,2.45,12.93,0.512,4,0.054,0.044,3033,608,2093,0,0,0,0,0,0
$GC,9935,1.33,234.3,12.7,10.1,602,9942,0.12,2.28,0.00,0.000,6,0.081,0.020,3004,2006,2089,0,0,0,0,0,0
$STATE,10066,end climb,SURFACE_DEPTH_REACHED
$STATE,10066,begin surface coast
$FINISH,0.6,1.023346
$STATE,10100,end surface coast,CONTROL_FINISHED_OK
$STATE,10100,begin surface
$SM_CCo,10120,32.20,0.505,0,0,1826,300.00
$SM_GC,1.39,0.00,0.00,32.20,0.000,0.000,0.505,426,1860,1826,-10.52,-0.48,300.00
$IRIDIUM_FIX,2059.45,-15743.60,160899,010135
$TT8_MAMPS,0.029146
$HUMID,47.04
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,29.736
$10V_AH,10.0,28.323
$FG_AHR_24Vo,-680564693277057719623408366969033850880.000
$FG_AHR_10Vo,-680564693277057719623408366969033850880.000
$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,26.425,109.700,272.200,32.200,0.000,114.304,170.193,561.679,4.500,0.000,16.993,1226.263,6829.279,359.078,1840.520,1060.702,33.373,1162.279,0.000,1820.341,0.000,29.261,0.000
$DEVICE_MAMPS,132.691,59.059,870.545,505.453,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.342,404.193,800.062,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,34936,631
$CAP_FILE_SIZE,129134,0
$CFSIZE,260165632,239308800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220510,041106,2105.088,-15743.618,137,1.9,137,9.8