version: 66.06
glider: 139
mission: 7
dive: 339
start: 5 22 110 13 55 43
data:
$ID,139
$MISSION,7
$DIVE,339
$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,-2133080.2
$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
$GPS1,134504,2103.106,-15743.894,65,6.2,84,9.8
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.8
$GPS2,135452,2103.177,-15743.769,15,6.0,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.137,-0.123
$KALMAN_X,-13394.7,472.2,28.8,32170.0,264.5
$KALMAN_Y,23046.1,305.8,88.3,-30354.9,195.5
$MHEAD_RNG_PITCHd_Wd,218.4,14347,-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,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-52.75,0.000,2,0.000,0.000,428,1867,3210,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.3,-5.4,10,95,10.55,2.45,-3.12,0.000,4,0.133,0.053,2402,463,3370,0,0,0,0,0,0
$GC,206,-1.19,-77.9,34.7,-18.5,36,213,0.22,2.35,0.00,0.000,6,0.079,0.020,2450,1907,3372,0,0,0,0,0,0
$GC,469,-1.19,-77.9,69.0,-12.0,61,473,0.00,2.50,0.00,0.000,4,0.000,0.044,2452,462,3373,0,0,0,0,0,0
$GC,487,-1.14,-77.9,71.8,-13.3,62,494,0.00,2.30,0.00,0.000,6,0.000,0.020,2446,1885,3373,0,0,0,0,0,0
$GC,749,-1.14,-77.9,103.2,-10.2,87,753,0.00,2.45,0.00,0.000,4,0.000,0.043,2452,464,3373,0,0,0,0,0,0
$GC,819,-1.11,-77.9,111.2,-12.0,94,823,0.00,2.28,0.00,0.000,6,0.000,0.019,2451,1885,3373,0,0,0,0,0,0
$GC,1080,-1.15,-77.9,138.9,-11.5,118,1084,0.00,2.42,0.00,0.000,4,0.000,0.044,2453,464,3374,0,0,0,0,0,0
$GC,1143,-1.15,-77.9,146.7,-11.7,124,1150,0.00,2.28,0.00,0.000,6,0.000,0.020,2453,1872,3374,0,0,0,0,0,0
$GC,1407,-1.22,-77.9,170.6,-7.9,149,1411,0.00,2.42,0.00,0.000,4,0.000,0.043,2453,460,3375,0,0,0,0,0,0
$GC,1434,-1.22,-77.9,173.4,-9.4,151,1439,0.00,2.28,0.00,0.000,6,0.000,0.020,2450,1883,3375,0,0,0,0,0,0
$GC,1695,-1.31,-77.9,196.9,-9.3,176,1700,0.10,2.42,0.00,0.000,4,0.074,0.044,2416,468,3375,0,0,0,0,0,0
$GC,1751,-1.25,-77.9,203.6,-12.8,180,1756,0.12,2.25,0.00,0.000,6,0.100,0.020,2441,1881,3375,0,0,0,0,0,0
$GC,2069,-1.33,-77.9,233.4,-9.0,195,2073,0.00,2.40,0.00,0.000,4,0.000,0.044,2442,467,3375,0,0,0,0,0,0
$GC,2142,-1.41,-77.9,240.7,-9.0,198,2147,0.15,2.25,0.00,0.000,6,0.057,0.021,2393,1871,3375,0,0,0,0,0,0
$GC,2462,-1.41,-77.9,274.3,-10.0,214,2466,0.00,2.42,0.00,0.000,4,0.000,0.045,2394,464,3376,0,0,0,0,0,0
$GC,2498,-1.35,-77.9,278.4,-11.2,215,2505,0.12,2.28,0.00,0.000,6,0.099,0.022,2417,1876,3375,0,0,0,0,0,0
$GC,2834,-1.42,-77.9,307.8,-9.2,230,2838,0.00,2.42,0.00,0.000,4,0.000,0.048,2420,463,3375,0,0,0,0,0,0
$GC,2895,-1.47,-77.9,313.4,-9.1,231,2900,0.12,2.30,0.00,0.000,6,0.064,0.023,2380,1882,3375,0,0,0,0,0,0
$GC,3245,-1.47,-77.9,350.7,-10.8,240,3249,0.00,2.45,0.00,0.000,4,0.000,0.049,2380,471,3373,0,0,0,0,0,0
$GC,3263,-1.42,-77.9,353.1,-12.4,240,3268,0.12,2.28,0.00,0.000,6,0.103,0.025,2405,1878,3373,0,0,0,0,0,0
$GC,3609,-1.48,-77.9,388.0,-9.4,249,3613,0.00,2.45,0.00,0.000,4,0.000,0.051,2405,464,3371,0,0,0,0,0,0
$GC,3673,-1.48,-77.9,394.6,-10.0,250,3677,0.00,2.30,0.00,0.000,6,0.000,0.027,2405,1870,3371,0,0,0,0,0,0
$GC,4024,-1.54,-77.9,423.0,-7.8,259,4026,0.12,0.00,0.00,0.000,6,0.068,0.000,2369,1876,3368,0,0,0,0,0,0
$STATE,4304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4304,begin apogee
$GC,4309,-0.31,0.0,451.1,10.0,266,4377,1.30,0.00,64.53,0.871,6,0.077,0.000,2645,2031,3050,0,0,0,0,0,0
$STATE,4378,end apogee,CONTROL_FINISHED_OK
$STATE,4378,begin climb
$GC,4380,1.40,77.9,452.2,0.0,267,4455,1.62,2.45,64.57,0.848,4,0.032,0.045,3023,3381,2732,0,0,0,0,0,0
$GC,4719,1.20,102.6,440.5,6.3,274,4748,0.25,2.38,21.38,0.821,6,0.109,0.038,2980,2003,2631,0,0,0,0,0,0
$GC,5071,1.11,123.4,417.4,6.6,283,5097,0.12,2.50,18.17,0.811,4,0.123,0.043,2957,3386,2546,0,0,0,0,0,0
$GC,5352,1.08,132.4,397.7,7.4,289,5368,0.00,2.38,8.57,0.730,6,0.000,0.038,2958,2006,2510,0,0,0,0,0,0
$GC,5678,1.06,149.6,375.3,6.8,297,5699,0.00,2.55,15.73,0.795,4,0.000,0.054,2956,599,2439,0,0,0,0,0,0
$GC,5783,0.95,149.6,367.1,8.6,299,5788,0.20,2.35,0.00,0.000,6,0.111,0.031,2921,1992,2436,0,0,0,0,0,0
$GC,6133,1.05,181.3,346.5,5.8,308,6165,0.00,0.00,28.25,0.811,6,0.000,0.000,2921,1997,2310,0,0,0,0,0,0
$GC,6502,1.15,201.1,322.3,6.7,317,6527,0.20,2.55,17.98,0.772,4,0.063,0.052,2968,607,2229,0,0,0,0,0,0
$GC,6679,1.08,201.1,301.7,12.4,320,6685,0.00,2.38,0.00,0.000,6,0.000,0.029,2969,2014,2223,0,0,0,0,0,0
$GC,6996,1.08,201.1,269.0,10.6,335,6997,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2018,2223,0,0,0,0,0,0
$GC,7303,1.08,201.1,240.4,9.3,350,7307,0.00,2.47,0.00,0.000,4,0.000,0.049,2969,602,2222,0,0,0,0,0,0
$GC,7417,1.03,201.1,228.5,10.1,355,7422,0.15,2.35,0.00,0.000,6,0.116,0.027,2941,2018,2220,0,0,0,0,0,0
$GC,7749,1.12,208.9,201.1,7.5,371,7757,0.00,0.00,6.60,0.584,6,0.000,0.000,2941,2022,2198,0,0,0,0,0,0
$GC,8065,1.21,208.9,176.6,8.5,400,8070,0.17,2.47,0.00,0.000,4,0.061,0.048,2986,598,2197,0,0,0,0,0,0
$GC,8226,1.14,208.9,157.8,12.5,417,8231,0.12,2.33,0.00,0.000,6,0.117,0.025,2964,2015,2195,0,0,0,0,0,0
$GC,8488,1.19,208.9,132.5,9.1,441,8492,0.00,2.30,0.00,0.000,4,0.000,0.030,2964,3401,2195,0,0,0,0,0,0
$GC,8506,1.26,208.9,130.6,9.0,442,8513,0.08,2.38,0.00,0.000,6,0.044,0.029,2993,2004,2195,0,0,0,0,0,0
$GC,8768,1.26,208.9,106.2,9.3,467,8773,0.00,2.40,0.00,0.000,4,0.000,0.044,2994,603,2195,0,0,0,0,0,0
$GC,8912,1.20,208.9,91.1,9.2,482,8916,0.00,2.30,0.00,0.000,6,0.000,0.021,2993,2019,2195,0,0,0,0,0,0
$GC,9174,1.20,208.9,69.8,8.8,506,9178,0.00,2.42,0.00,0.000,4,0.000,0.042,2993,604,2195,0,0,0,0,0,0
$GC,9216,1.16,208.9,66.0,8.8,510,9221,0.12,2.28,0.00,0.000,6,0.108,0.021,2970,2021,2195,0,0,0,0,0,0
$GC,9478,1.27,230.1,48.5,6.6,534,9508,0.00,2.45,20.12,0.543,4,0.000,0.041,2970,605,2109,0,0,0,0,0,0
$GC,9590,1.30,230.1,38.8,8.4,546,9595,0.12,2.28,0.00,0.000,6,0.067,0.021,3007,2011,2106,0,0,0,0,0,0
$GC,9859,1.34,230.1,14.2,9.1,585,9864,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2015,2106,0,0,0,0,0,0
$STATE,10016,end climb,SURFACE_DEPTH_REACHED
$STATE,10017,begin surface coast
$FINISH,0.5,1.023408
$STATE,10057,end surface coast,CONTROL_FINISHED_OK
$STATE,10057,begin surface
$SM_CCo,10076,36.80,0.509,0,0,1826,300.00
$SM_GC,1.41,0.00,0.00,36.80,0.000,0.000,0.509,426,1862,1826,-10.52,-0.40,300.00
$IRIDIUM_FIX,2057.14,-15743.60,160899,131348
$TT8_MAMPS,0.029146
$HUMID,47.28
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,420.0,59.9
$24V_AH,23.4,30.115
$10V_AH,10.0,28.664
$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,27.175,100.325,265.900,36.800,0.000,62.640,80.021,252.956,4.500,0.000,35.730,1221.075,6636.330,362.819,1907.489,574.595,33.376,1180.279,0.000,1855.864,0.000,30.704,0.000
$DEVICE_MAMPS,132.691,54.457,870.545,508.521,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.765,392.198,777.814,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,34955,621
$CAP_FILE_SIZE,118978,0
$CFSIZE,260165632,239071232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220510,164725,2102.969,-15744.177,152,1.5,152,9.8