version: 66.06
glider: 139
mission: 7
dive: 338
start: 5 22 110 10 54 0
data:
$ID,139
$MISSION,7
$DIVE,338
$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,-2133043.8
$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
$GPS1,104645,2103.695,-15743.646,127,2.2,146,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-68.7
$GPS2,105307,2103.794,-15743.633,17,1.7,17,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.098,-0.155
$KALMAN_X,-14109.3,661.0,-310.4,33270.3,-201.6
$KALMAN_Y,22442.8,316.9,82.9,-28612.3,422.8
$MHEAD_RNG_PITCHd_Wd,202.5,15310,-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,-53.47,0.000,2,0.000,0.000,425,1876,3252,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.9,-7.3,10,92,10.60,2.50,-2.17,0.000,4,0.134,0.054,2403,462,3370,0,0,0,0,0,0
$GC,205,-1.20,-77.9,38.2,-19.1,34,210,0.22,2.33,0.00,0.000,6,0.095,0.021,2449,1895,3372,0,0,0,0,0,0
$GC,468,-1.20,-77.9,76.2,-12.5,58,472,0.00,2.47,0.00,0.000,4,0.000,0.046,2449,470,3372,0,0,0,0,0,0
$GC,510,-1.11,-77.9,82.6,-14.1,62,515,0.10,2.28,0.00,0.000,6,0.114,0.020,2469,1886,3373,0,0,0,0,0,0
$GC,770,-1.15,-77.9,113.2,-11.3,86,774,0.00,2.45,0.00,0.000,4,0.000,0.044,2469,467,3374,0,0,0,0,0,0
$GC,888,-1.15,-77.9,127.6,-11.2,98,895,0.00,2.28,0.00,0.000,6,0.000,0.019,2469,1880,3374,0,0,0,0,0,0
$GC,1151,-1.22,-77.9,153.0,-9.7,123,1155,0.00,2.40,0.00,0.000,4,0.000,0.044,2469,469,3375,0,0,0,0,0,0
$GC,1178,-1.22,-77.9,156.3,-10.7,125,1184,0.00,2.25,0.00,0.000,6,0.000,0.019,2469,1883,3375,0,0,0,0,0,0
$GC,1441,-1.32,-77.9,178.1,-7.7,150,1446,0.20,2.42,0.00,0.000,4,0.048,0.041,2408,469,3376,0,0,0,0,0,0
$GC,1465,-1.28,-77.9,180.7,-11.0,152,1469,0.12,2.25,0.00,0.000,6,0.099,0.020,2434,1878,3376,0,0,0,0,0,0
$GC,1724,-1.33,-77.9,206.5,-9.4,173,1729,0.00,2.40,0.00,0.000,4,0.000,0.043,2434,466,3376,0,0,0,0,0,0
$GC,1747,-1.33,-77.9,209.3,-10.9,174,1751,0.00,2.25,0.00,0.000,6,0.000,0.020,2434,1876,3376,0,0,0,0,0,0
$GC,2071,-1.40,-77.9,239.7,-9.2,190,2076,0.12,2.42,0.00,0.000,4,0.064,0.045,2392,466,3377,0,0,0,0,0,0
$GC,2132,-1.32,-77.9,247.1,-12.6,192,2137,0.15,2.28,0.00,0.000,6,0.094,0.021,2423,1882,3376,0,0,0,0,0,0
$GC,2450,-1.40,-77.9,276.9,-7.8,207,2454,0.00,2.45,0.00,0.000,4,0.000,0.047,2423,463,3376,0,0,0,0,0,0
$GC,2596,-1.45,-77.9,291.4,-9.8,213,2601,0.12,2.28,0.00,0.000,6,0.064,0.022,2383,1878,3376,0,0,0,0,0,0
$GC,2928,-1.45,-77.9,325.4,-10.2,223,2929,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1882,3375,0,0,0,0,0,0
$GC,3254,-1.45,-77.9,356.6,-9.8,231,3258,0.00,2.45,0.00,0.000,4,0.000,0.050,2382,471,3374,0,0,0,0,0,0
$GC,3318,-1.45,-77.9,364.1,-11.9,232,3322,0.00,2.30,0.00,0.000,6,0.000,0.026,2383,1872,3373,0,0,0,0,0,0
$GC,3665,-1.45,-77.9,400.6,-10.4,241,3669,0.00,2.45,0.00,0.000,4,0.000,0.052,2382,462,3371,0,0,0,0,0,0
$GC,3702,-1.41,-77.9,405.0,-10.6,241,3708,0.12,2.33,0.00,0.000,6,0.103,0.028,2408,1871,3371,0,0,0,0,0,0
$GC,4034,-1.48,-77.9,433.4,-8.4,250,4039,0.00,2.47,0.00,0.000,4,0.000,0.054,2408,466,3369,0,0,0,0,0,0
$GC,4127,-1.53,-77.9,442.5,-9.8,252,4132,0.12,2.35,0.00,0.000,6,0.069,0.029,2371,1879,3368,0,0,0,0,0,0
$STATE,4245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4245,begin apogee
$GC,4250,-0.31,0.0,453.9,9.7,255,4319,1.27,0.00,65.00,0.881,6,0.075,0.000,2643,2037,3050,0,0,0,0,0,0
$STATE,4319,end apogee,CONTROL_FINISHED_OK
$STATE,4320,begin climb
$GC,4322,1.40,77.9,455.0,0.0,256,4396,1.65,2.45,64.68,0.858,4,0.032,0.048,3027,3382,2732,0,0,0,0,0,0
$GC,4660,1.22,120.5,443.4,5.1,264,4704,0.25,2.38,36.50,0.848,6,0.113,0.038,2982,2010,2557,0,0,0,0,0,0
$GC,5013,1.10,120.5,414.7,8.7,273,5018,0.15,2.42,0.00,0.000,4,0.117,0.043,2952,3391,2551,0,0,0,0,0,0
$GC,5107,1.05,120.5,406.7,9.2,275,5111,0.00,2.38,0.00,0.000,6,0.000,0.039,2956,2013,2551,0,0,0,0,0,0
$GC,5435,1.00,120.5,378.9,8.4,283,5439,0.12,2.40,0.00,0.000,4,0.122,0.043,2934,3386,2548,0,0,0,0,0,0
$GC,5564,1.03,140.2,369.4,6.7,285,5586,0.00,2.38,16.23,0.804,6,0.000,0.038,2934,2009,2478,0,0,0,0,0,0
$GC,5896,1.06,165.8,347.3,6.3,294,5924,0.00,2.58,23.10,0.812,4,0.000,0.056,2933,594,2372,0,0,0,0,0,0
$GC,6184,1.06,165.8,319.5,9.1,300,6188,0.00,2.38,0.00,0.000,6,0.000,0.031,2934,1996,2366,0,0,0,0,0,0
$GC,6500,1.10,167.7,294.9,7.9,309,6501,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2000,2365,0,0,0,0,0,0
$GC,6808,1.17,185.9,273.4,6.8,324,6833,0.15,2.45,17.42,0.757,4,0.072,0.039,2971,3406,2291,0,0,0,0,0,0
$GC,6865,1.17,185.9,268.6,9.2,326,6869,0.00,2.42,0.00,0.000,6,0.000,0.037,2971,2009,2291,0,0,0,0,0,0
$GC,7185,1.18,192.3,242.8,7.6,342,7197,0.00,2.53,6.43,0.615,4,0.000,0.051,2970,604,2266,0,0,0,0,0,0
$GC,7323,1.13,192.3,231.1,9.3,348,7327,0.00,2.35,0.00,0.000,6,0.000,0.028,2970,2019,2262,0,0,0,0,0,0
$GC,7652,1.14,198.9,205.5,7.6,364,7661,0.00,0.00,7.03,0.603,6,0.000,0.000,2971,2024,2239,0,0,0,0,0,0
$GC,7968,1.14,198.9,179.1,9.1,390,7972,0.00,2.47,0.00,0.000,4,0.000,0.046,2971,597,2237,0,0,0,0,0,0
$GC,7992,1.11,198.9,176.7,9.9,392,7996,0.00,2.33,0.00,0.000,6,0.000,0.025,2970,2019,2236,0,0,0,0,0,0
$GC,8254,1.15,204.1,152.8,7.7,416,8265,0.00,2.33,6.07,0.534,4,0.000,0.030,2970,3402,2217,0,0,0,0,0,0
$GC,8406,1.21,204.1,140.2,8.3,432,8413,0.00,2.38,0.00,0.000,6,0.000,0.030,2970,2004,2217,0,0,0,0,0,0
$GC,8669,1.25,204.1,119.1,8.4,457,8673,0.00,2.33,0.00,0.000,4,0.000,0.029,2970,3408,2217,0,0,0,0,0,0
$GC,8684,1.30,204.1,117.7,8.5,458,8689,0.12,2.35,0.00,0.000,6,0.067,0.028,3002,2006,2217,0,0,0,0,0,0
$GC,8944,1.30,204.1,96.1,8.8,482,8948,0.00,2.40,0.00,0.000,4,0.000,0.043,3006,601,2218,0,0,0,0,0,0
$GC,9130,1.22,205.8,79.6,7.9,502,9135,0.15,2.28,0.00,0.000,6,0.104,0.021,2978,2024,2216,0,0,0,0,0,0
$GC,9393,1.29,205.8,59.3,8.2,526,9397,0.00,2.25,0.00,0.000,4,0.000,0.028,2978,3399,2216,0,0,0,0,0,0
$GC,9461,1.37,217.4,53.9,7.2,533,9482,0.15,2.33,13.55,0.528,6,0.059,0.026,3021,2000,2162,0,0,0,0,0,0
$GC,9736,1.38,228.2,31.7,7.3,559,9757,0.00,2.33,10.80,0.494,4,0.000,0.026,3020,3395,2118,0,0,0,0,0,0
$GC,9911,1.38,228.2,16.6,9.2,594,9918,0.00,2.33,0.00,0.000,6,0.000,0.026,3017,2016,2118,0,0,0,0,0,0
$STATE,10051,end climb,SURFACE_DEPTH_REACHED
$STATE,10052,begin surface coast
$FINISH,0.5,1.019150
$STATE,10088,end surface coast,CONTROL_FINISHED_OK
$STATE,10088,begin surface
$SM_CCo,10107,36.35,0.507,0,0,1826,300.00
$SM_GC,1.66,0.00,0.00,36.35,0.000,0.000,0.507,428,1868,1826,-10.52,-0.20,300.00
$IRIDIUM_FIX,2057.14,-15741.46,160899,070715
$TT8_MAMPS,0.029146
$HUMID,46.85
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.60
$XPDR_PINGS,1
$24V_AH,23.4,30.028
$10V_AH,10.0,28.583
$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,27.100,109.650,266.800,36.350,0.000,28.000,50.691,194.693,4.750,0.000,17.241,1245.083,6511.973,360.844,1945.411,464.837,33.372,1208.691,0.000,1922.697,0.000,30.125,0.000
$DEVICE_MAMPS,134.225,55.991,880.516,506.987,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,422.417,401.409,785.337,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,34946,625
$CAP_FILE_SIZE,118455,0
$CFSIZE,260165632,239132672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220510,134504,2103.106,-15743.894,65,6.2,84,9.8