version: 66.06
glider: 139
mission: 7
dive: 337
start: 5 22 110 7 53 6
data:
$ID,139
$MISSION,7
$DIVE,337
$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,-2133025.8
$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
$GPS1,073309,2104.345,-15743.371,148,1.7,148,9.8
$_CALLS,5
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.7
$GPS2,075214,2104.525,-15743.496,16,1.8,16,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.005,-0.184
$KALMAN_X,-14446.7,649.2,331.6,33207.3,-1250.6
$KALMAN_Y,21993.6,167.8,-34.0,-26550.4,727.8
$MHEAD_RNG_PITCHd_Wd,168.7,16458,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-53.40,0.000,2,0.000,0.000,425,1902,3241,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.4,-5.8,10,96,10.60,2.50,-2.47,0.000,4,0.134,0.051,2402,466,3370,0,0,0,0,0,0
$GC,214,-1.19,-77.9,34.8,-15.9,37,219,0.25,2.30,0.00,0.000,6,0.091,0.020,2452,1906,3371,0,0,0,0,0,0
$GC,476,-1.19,-77.9,67.6,-11.6,61,480,0.00,2.50,0.00,0.000,4,0.000,0.044,2452,463,3371,0,0,0,0,0,0
$GC,540,-1.12,-77.9,77.0,-14.2,67,546,0.00,2.30,0.00,0.000,6,0.000,0.020,2452,1882,3371,0,0,0,0,0,0
$GC,800,-1.12,-77.9,109.5,-10.5,92,804,0.00,2.45,0.00,0.000,4,0.000,0.044,2452,461,3371,0,0,0,0,0,0
$GC,842,-1.12,-77.9,114.2,-10.7,96,846,0.00,2.28,0.00,0.000,6,0.000,0.019,2452,1876,3372,0,0,0,0,0,0
$GC,1103,-1.16,-77.9,139.5,-10.3,120,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1881,3372,0,0,0,0,0,0
$GC,1359,-1.25,-77.9,160.8,-7.2,144,1363,0.00,2.42,0.00,0.000,4,0.000,0.043,2452,464,3373,0,0,0,0,0,0
$GC,1392,-1.25,-77.9,163.6,-8.6,147,1397,0.00,2.25,0.00,0.000,6,0.000,0.020,2452,1883,3373,0,0,0,0,0,0
$GC,1657,-1.33,-77.9,185.4,-9.3,171,1662,0.12,0.00,0.00,0.000,6,0.063,0.000,2409,1887,3373,0,0,0,0,0,0
$GC,1914,-1.33,-77.9,214.6,-11.3,190,1918,0.00,2.42,0.00,0.000,4,0.000,0.044,2408,462,3373,0,0,0,0,0,0
$GC,1945,-1.25,-77.9,218.5,-11.9,191,1950,0.15,2.25,0.00,0.000,6,0.094,0.021,2439,1882,3373,0,0,0,0,0,0
$GC,2262,-1.34,-77.9,245.2,-7.5,206,2266,0.00,2.42,0.00,0.000,4,0.000,0.042,2440,463,3373,0,0,0,0,0,0
$GC,2368,-1.38,-77.9,254.2,-8.8,210,2375,0.08,2.30,0.00,0.000,6,0.041,0.021,2403,1879,3373,0,0,0,0,0,0
$GC,2683,-1.38,-77.9,283.9,-9.0,226,2687,0.00,2.40,0.00,0.000,4,0.000,0.046,2403,470,3372,0,0,0,0,0,0
$GC,2798,-1.38,-77.9,295.0,-10.1,231,2803,0.00,2.25,0.00,0.000,6,0.000,0.022,2403,1871,3372,0,0,0,0,0,0
$GC,3139,-1.42,-77.9,325.5,-9.0,241,3143,0.00,2.42,0.00,0.000,4,0.000,0.048,2404,471,3371,0,0,0,0,0,0
$GC,3207,-1.42,-77.9,331.9,-8.6,242,3211,0.00,2.30,0.00,0.000,6,0.000,0.025,2403,1883,3371,0,0,0,0,0,0
$GC,3547,-1.46,-77.9,358.6,-8.0,251,3552,0.00,2.47,0.00,0.000,4,0.000,0.050,2403,464,3368,0,0,0,0,0,0
$GC,3584,-1.46,-77.9,361.6,-7.8,251,3590,0.00,2.28,0.00,0.000,6,0.000,0.026,2403,1871,3368,0,0,0,0,0,0
$GC,3915,-1.52,-77.9,388.8,-8.5,260,3919,0.00,2.45,0.00,0.000,4,0.000,0.051,2402,471,3366,0,0,0,0,0,0
$GC,4021,-1.52,-77.9,399.1,-9.3,262,4025,0.00,2.30,0.00,0.000,6,0.000,0.028,2404,1878,3365,0,0,0,0,0,0
$GC,4370,-1.58,-77.9,427.7,-7.7,271,4375,0.15,2.50,0.00,0.000,4,0.063,0.054,2362,467,3362,0,0,0,0,0,0
$GC,4436,-1.50,-77.9,434.7,-11.1,272,4441,0.12,2.35,0.00,0.000,6,0.107,0.028,2387,1880,3362,0,0,0,0,0,0
$STATE,4617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4617,begin apogee
$GC,4622,-0.31,0.0,450.6,8.5,277,4689,1.20,0.00,63.45,0.878,6,0.075,0.000,2644,2039,3050,0,0,0,0,0,0
$STATE,4690,end apogee,CONTROL_FINISHED_OK
$STATE,4690,begin climb
$GC,4692,1.40,77.9,451.4,0.0,278,4766,1.62,2.45,64.97,0.855,4,0.033,0.048,3022,3384,2732,0,0,0,0,0,0
$GC,5030,1.21,103.8,437.4,6.2,285,5059,0.22,2.38,22.70,0.828,6,0.113,0.038,2982,2009,2625,0,0,0,0,0,0
$GC,5382,1.09,103.8,409.9,8.1,294,5387,0.15,2.40,0.00,0.000,4,0.118,0.042,2954,3387,2620,0,0,0,0,0,0
$GC,5461,1.05,117.9,403.8,7.1,295,5478,0.00,2.40,12.02,0.779,6,0.000,0.038,2955,2003,2569,0,0,0,0,0,0
$GC,5798,1.01,125.3,378.8,7.5,304,5810,0.00,2.45,7.43,0.711,4,0.000,0.043,2955,3384,2539,0,0,0,0,0,0
$GC,5839,0.99,142.4,375.7,6.8,304,5861,0.12,2.40,16.45,0.799,6,0.118,0.039,2932,2003,2469,0,0,0,0,0,0
$GC,6171,1.03,174.4,355.2,5.8,313,6207,0.00,2.55,28.62,0.821,4,0.000,0.055,2930,604,2336,0,0,0,0,0,0
$GC,6383,1.03,174.4,334.3,12.9,317,6387,0.00,2.33,0.00,0.000,6,0.000,0.031,2932,1992,2330,0,0,0,0,0,0
$GC,6718,1.08,174.4,302.2,9.2,326,6722,0.00,2.45,0.00,0.000,4,0.000,0.054,2930,602,2329,0,0,0,0,0,0
$GC,6754,1.08,174.4,298.5,9.9,326,6760,0.00,2.38,0.00,0.000,6,0.000,0.031,2931,2009,2327,0,0,0,0,0,0
$GC,7070,1.14,183.0,271.9,7.4,342,7083,0.12,2.55,6.70,0.650,4,0.077,0.052,2961,602,2304,0,0,0,0,0,0
$GC,7141,1.08,183.0,265.7,8.7,345,7146,0.00,2.35,0.00,0.000,6,0.000,0.030,2963,2011,2301,0,0,0,0,0,0
$GC,7472,1.08,187.3,240.3,7.7,361,7484,0.00,2.50,5.43,0.585,4,0.000,0.048,2962,604,2285,0,0,0,0,0,0
$GC,7617,1.04,187.3,226.6,9.2,367,7622,0.12,2.35,0.00,0.000,6,0.121,0.028,2941,2021,2282,0,0,0,0,0,0
$GC,7941,1.13,204.0,203.9,6.9,383,7964,0.00,2.55,15.85,0.692,4,0.000,0.049,2940,598,2217,0,0,0,0,0,0
$GC,8061,1.13,204.0,194.0,8.5,393,8065,0.00,2.38,0.00,0.000,6,0.000,0.026,2940,2022,2214,0,0,0,0,0,0
$GC,8324,1.21,204.0,173.5,8.1,417,8329,0.17,2.35,0.00,0.000,4,0.061,0.032,2986,3411,2214,0,0,0,0,0,0
$GC,8362,1.21,204.0,169.3,10.7,420,8368,0.00,2.40,0.00,0.000,6,0.000,0.032,2985,2013,2213,0,0,0,0,0,0
$GC,8625,1.25,235.3,149.5,5.9,445,8662,0.00,2.42,28.10,0.652,4,0.000,0.031,2986,3401,2090,0,0,0,0,0,0
$GC,8794,1.30,235.3,134.5,10.1,463,8800,0.00,2.35,0.00,0.000,6,0.000,0.030,2986,2004,2089,0,0,0,0,0,0
$GC,9055,1.35,235.3,111.5,8.0,488,9060,0.00,2.42,0.00,0.000,4,0.000,0.044,2985,597,2086,0,0,0,0,0,0
$GC,9170,1.35,235.3,100.7,10.6,500,9175,0.00,2.30,0.00,0.000,6,0.000,0.021,2985,2022,2083,0,0,0,0,0,0
$GC,9434,1.40,235.3,74.9,11.2,524,9439,0.15,2.47,0.00,0.000,4,0.060,0.043,3029,598,2084,0,0,0,0,0,0
$GC,9558,1.31,235.3,60.0,12.2,537,9563,0.15,2.28,0.00,0.000,6,0.100,0.021,3000,2023,2083,0,0,0,0,0,0
$GC,9820,1.35,235.3,37.1,8.4,561,9821,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2028,2084,0,0,0,0,0,0
$GC,10081,1.38,235.3,11.9,11.6,601,10086,0.00,2.42,0.00,0.000,4,0.000,0.041,3000,604,2084,0,0,0,0,0,0
$STATE,10153,end climb,SURFACE_DEPTH_REACHED
$STATE,10153,begin surface coast
$FINISH,0.5,1.023367
$STATE,10177,end surface coast,CONTROL_FINISHED_OK
$STATE,10177,begin surface
$SM_CCo,10198,37.88,0.514,0,0,1827,300.00
$SM_GC,1.06,0.00,0.00,37.88,0.000,0.000,0.514,426,1879,1827,-10.53,0.11,300.00
$IRIDIUM_FIX,2057.14,-15748.75,160899,070747
$TT8_MAMPS,0.029146
$HUMID,47.20
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.4,29.946
$10V_AH,10.0,28.502
$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,26.575,114.650,271.725,37.875,0.000,133.850,220.678,406.378,4.500,0.000,18.367,1235.189,6877.356,375.432,1926.757,966.698,33.370,1218.144,0.000,1891.769,0.000,29.253,0.000
$DEVICE_MAMPS,134.225,55.224,878.215,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,420.056,394.846,764.985,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,34868,622
$CAP_FILE_SIZE,129712,0
$CFSIZE,260165632,239181824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220510,104645,2103.695,-15743.646,127,2.2,146,9.8