version: 66.06
glider: 139
mission: 7
dive: 336
start: 5 22 110 4 28 28
data:
$ID,139
$MISSION,7
$DIVE,336
$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,-2133006.8
$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,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
$GPS1,041106,2105.088,-15743.618,137,1.9,137,9.8
$_CALLS,4
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.1
$GPS2,042737,2105.091,-15743.714,11,1.9,16,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.003,-0.184
$KALMAN_X,-14860.0,385.0,691.3,33159.5,-1466.3
$KALMAN_Y,21167.7,-62.7,18.8,-24493.2,272.2
$MHEAD_RNG_PITCHd_Wd,169.2,17013,-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,-77.9,0.0,0.0,0,71,0.00,0.00,-53.03,0.000,2,0.000,0.000,425,1860,3196,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.0,-4.4,10,95,10.57,2.42,-3.47,0.000,4,0.133,0.040,2404,3295,3370,0,0,0,0,0,0
$GC,103,-0.28,-77.9,12.7,-29.8,15,109,1.17,2.40,0.00,0.000,6,0.082,0.028,2648,1868,3370,0,0,0,0,0,0
$GC,308,-0.75,-77.9,20.7,-2.6,52,316,0.43,2.40,0.00,0.000,4,0.043,0.025,2537,3295,3372,0,0,0,0,0,0
$GC,354,-1.00,-77.9,23.4,-6.9,61,361,0.17,2.38,0.00,0.000,6,0.048,0.027,2480,1871,3372,0,0,0,0,0,0
$GC,562,-1.05,-77.9,44.8,-11.6,87,566,0.00,2.38,0.00,0.000,4,0.000,0.042,2479,470,3372,0,0,0,0,0,0
$GC,631,-1.09,-77.9,53.0,-12.5,94,635,0.00,2.28,0.00,0.000,6,0.000,0.019,2479,1906,3372,0,0,0,0,0,0
$GC,892,-1.16,-77.9,83.0,-10.8,118,897,0.00,2.47,0.00,0.000,4,0.000,0.044,2479,471,3373,0,0,0,0,0,0
$GC,965,-1.21,-77.9,92.2,-11.0,125,971,0.12,2.25,0.00,0.000,6,0.061,0.019,2435,1885,3373,0,0,0,0,0,0
$GC,1225,-1.21,-77.9,123.4,-11.0,150,1229,0.00,2.42,0.00,0.000,4,0.000,0.043,2435,472,3373,0,0,0,0,0,0
$GC,1277,-1.21,-77.9,129.6,-11.6,155,1281,0.00,2.22,0.00,0.000,6,0.000,0.019,2435,1877,3374,0,0,0,0,0,0
$GC,1540,-1.25,-77.9,153.5,-9.1,179,1544,0.00,2.40,0.00,0.000,4,0.000,0.043,2435,464,3374,0,0,0,0,0,0
$GC,1594,-1.28,-77.9,159.4,-10.0,184,1601,0.00,2.28,0.00,0.000,6,0.000,0.020,2435,1875,3374,0,0,0,0,0,0
$GC,1858,-1.33,-77.9,184.9,-9.2,209,1862,0.00,2.40,0.00,0.000,4,0.000,0.044,2435,473,3374,0,0,0,0,0,0
$GC,1912,-1.33,-77.9,190.5,-9.3,214,1919,0.00,2.28,0.00,0.000,6,0.000,0.021,2435,1881,3374,0,0,0,0,0,0
$GC,2180,-1.39,-77.9,213.6,-9.7,233,2185,0.12,2.45,0.00,0.000,4,0.063,0.045,2391,466,3374,0,0,0,0,0,0
$GC,2201,-1.35,-77.9,216.0,-11.2,234,2206,0.15,2.25,0.00,0.000,6,0.097,0.021,2419,1885,3374,0,0,0,0,0,0
$GC,2531,-1.39,-77.9,248.7,-9.6,250,2536,0.00,2.42,0.00,0.000,4,0.000,0.046,2422,466,3373,0,0,0,0,0,0
$GC,2664,-1.39,-77.9,261.5,-9.0,256,2669,0.00,2.28,0.00,0.000,6,0.000,0.022,2421,1882,3373,0,0,0,0,0,0
$GC,2995,-1.46,-77.9,287.2,-7.4,272,3000,0.12,2.45,0.00,0.000,4,0.065,0.048,2381,474,3373,0,0,0,0,0,0
$GC,3032,-1.39,-77.9,291.6,-12.3,273,3038,0.15,2.25,0.00,0.000,6,0.096,0.023,2412,1881,3373,0,0,0,0,0,0
$GC,3366,-1.44,-77.9,322.1,-8.2,284,3370,0.00,2.42,0.00,0.000,4,0.000,0.048,2411,466,3371,0,0,0,0,0,0
$GC,3459,-1.44,-77.9,330.4,-8.2,286,3463,0.00,2.28,0.00,0.000,6,0.000,0.024,2413,1871,3371,0,0,0,0,0,0
$GC,3781,-1.49,-77.9,356.3,-7.6,294,3786,0.12,2.45,0.00,0.000,4,0.067,0.051,2375,473,3369,0,0,0,0,0,0
$GC,3829,-1.42,-77.9,361.4,-11.4,295,3834,0.15,2.30,0.00,0.000,6,0.097,0.025,2404,1881,3369,0,0,0,0,0,0
$GC,4155,-1.47,-77.9,387.0,-7.4,303,4156,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,1884,3367,0,0,0,0,0,0
$GC,4478,-1.53,-77.9,408.1,-6.4,311,4483,0.12,2.47,0.00,0.000,4,0.068,0.054,2367,476,3364,0,0,0,0,0,0
$GC,4640,-1.46,-77.9,423.4,-9.3,314,4645,0.12,2.30,0.00,0.000,6,0.104,0.028,2394,1878,3364,0,0,0,0,0,0
$STATE,4938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4938,begin apogee
$GC,4943,-0.31,0.0,450.5,9.0,322,5010,1.17,0.00,63.65,0.875,6,0.073,0.000,2647,2037,3050,0,0,0,0,0,0
$STATE,5011,end apogee,CONTROL_FINISHED_OK
$STATE,5011,begin climb
$GC,5013,1.40,77.9,451.8,0.0,323,5088,1.62,2.42,64.72,0.851,4,0.033,0.045,3010,3375,2732,0,0,0,0,0,0
$GC,5251,1.21,102.0,445.8,6.4,328,5282,0.22,2.35,21.05,0.818,6,0.114,0.038,2984,2010,2634,0,0,0,0,0,0
$GC,5607,1.08,102.0,419.2,8.1,337,5609,0.17,0.00,0.00,0.000,6,0.117,0.000,2952,2010,2629,0,0,0,0,0,0
$GC,5931,1.06,131.0,397.8,6.0,345,5959,0.00,0.00,24.77,0.828,6,0.000,0.000,2952,2010,2514,0,0,0,0,0,0
$GC,6301,1.05,141.8,371.4,7.3,354,6317,0.00,2.55,9.82,0.744,4,0.000,0.053,2948,604,2471,0,0,0,0,0,0
$GC,6451,0.96,141.9,358.6,8.0,357,6456,0.15,2.35,0.00,0.000,6,0.121,0.030,2924,1995,2469,0,0,0,0,0,0
$GC,6766,1.02,160.6,337.8,6.7,365,6790,0.00,2.50,17.12,0.785,4,0.000,0.050,2921,600,2394,0,0,0,0,0,0
$GC,6841,1.02,160.6,331.5,9.1,366,6844,0.00,2.38,0.00,0.000,6,0.000,0.031,2925,2009,2391,0,0,0,0,0,0
$GC,7181,1.09,162.0,305.4,7.9,375,7186,0.12,2.47,0.00,0.000,4,0.075,0.051,2953,605,2390,0,0,0,0,0,0
$GC,7301,1.01,162.0,294.9,8.9,378,7306,0.00,2.35,0.00,0.000,6,0.000,0.029,2955,2023,2388,0,0,0,0,0,0
$GC,7621,1.01,162.0,268.3,8.2,394,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2027,2388,0,0,0,0,0,0
$GC,7931,1.04,186.2,246.3,6.4,409,7960,0.00,2.58,22.45,0.741,4,0.000,0.049,2955,608,2290,0,0,0,0,0,0
$GC,8051,1.00,190.2,237.4,7.7,414,8067,0.12,2.35,4.38,0.509,6,0.120,0.028,2933,2030,2274,0,0,0,0,0,0
$GC,8374,1.08,190.2,214.0,8.1,430,8379,0.00,2.47,0.00,0.000,4,0.000,0.048,2933,604,2272,0,0,0,0,0,0
$GC,8476,1.08,192.5,205.6,7.9,434,8480,0.00,2.30,0.00,0.000,6,0.000,0.027,2934,2005,2270,0,0,0,0,0,0
$GC,8799,1.21,223.2,182.4,5.9,460,8836,0.20,2.53,29.90,0.685,4,0.058,0.046,2986,595,2139,0,0,0,0,0,0
$GC,8856,1.14,223.2,177.7,9.8,466,8861,0.12,2.35,0.00,0.000,6,0.117,0.026,2965,2013,2136,0,0,0,0,0,0
$GC,9117,1.20,223.2,152.7,9.7,490,9121,0.00,2.47,0.00,0.000,4,0.000,0.048,2964,602,2135,0,0,0,0,0,0
$GC,9151,1.20,223.2,149.3,10.5,493,9155,0.00,2.30,0.00,0.000,6,0.000,0.025,2964,2013,2132,0,0,0,0,0,0
$GC,9414,1.28,223.2,128.4,8.4,517,9419,0.12,2.47,0.00,0.000,4,0.068,0.044,3000,598,2132,0,0,0,0,0,0
$GC,9478,1.21,223.2,121.3,11.2,523,9484,0.12,2.33,0.00,0.000,6,0.108,0.023,2977,2015,2130,0,0,0,0,0,0
$GC,9740,1.27,223.3,97.9,8.0,548,9744,0.00,2.45,0.00,0.000,4,0.000,0.044,2977,595,2131,0,0,0,0,0,0
$GC,9800,1.27,223.3,92.7,8.4,554,9804,0.00,2.30,0.00,0.000,6,0.000,0.022,2977,2021,2131,0,0,0,0,0,0
$GC,10063,1.34,238.2,72.7,7.0,578,10084,0.12,2.50,13.68,0.547,4,0.067,0.042,3015,604,2076,0,0,0,0,0,0
$GC,10123,1.27,238.2,67.2,10.0,584,10128,0.12,2.30,0.00,0.000,6,0.107,0.021,2992,2023,2074,0,0,0,0,0,0
$GC,10384,1.32,238.2,42.8,9.8,608,10386,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2028,2074,0,0,0,0,0,0
$GC,10643,1.37,238.2,20.6,8.8,642,10651,0.10,2.47,0.00,0.000,4,0.077,0.041,3026,602,2074,0,0,0,0,0,0
$STATE,10806,end climb,SURFACE_DEPTH_REACHED
$STATE,10806,begin surface coast
$FINISH,0.7,1.023362
$STATE,10839,end surface coast,CONTROL_FINISHED_OK
$STATE,10840,begin surface
$SM_CCo,10861,36.40,0.512,0,0,1826,300.00
$SM_GC,1.07,0.00,0.00,36.40,0.000,0.000,0.512,425,1904,1826,-10.53,0.82,300.00
$IRIDIUM_FIX,2059.45,-15743.60,160899,040413
$TT8_MAMPS,0.029146
$HUMID,46.69
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,29.839
$10V_AH,10.0,28.414
$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,29.200,119.125,271.550,36.400,0.000,123.307,177.811,385.620,4.500,0.000,17.705,1323.858,7309.336,379.058,1982.376,893.633,33.365,1241.537,0.000,1953.741,0.000,29.256,0.000
$DEVICE_MAMPS,132.691,53.690,875.147,512.356,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,462.560,438.706,852.892,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,38126,685
$CAP_FILE_SIZE,134810,0
$CFSIZE,260165632,239239168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220510,073309,2104.345,-15743.371,148,1.7,148,9.8