version: 66.06
glider: 139
mission: 7
dive: 341
start: 5 22 110 20 26 2
data:
$ID,139
$MISSION,7
$DIVE,341
$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,-2133126
$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
$GPS1,200736,2102.390,-15744.478,84,2.0,84,9.8
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-61.3
$GPS2,202510,2102.541,-15744.417,11,2.2,30,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.094,-0.158
$KALMAN_X,-11574.0,-166.7,240.7,29658.8,-168.0
$KALMAN_Y,25319.4,8.7,119.0,-33541.5,658.9
$MHEAD_RNG_PITCHd_Wd,201.0,12725,-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,-77.9,0.0,0.0,0,119,0.00,0.00,-100.80,0.000,2,0.000,0.000,424,1853,3171,0,0,0,0,0,0
$GC,122,-1.40,-77.9,3.0,-5.2,19,144,10.60,2.40,-4.00,0.000,4,0.134,0.051,2401,467,3368,0,0,0,0,0,0
$GC,219,-1.20,-77.9,25.0,-19.8,39,226,0.25,2.33,0.00,0.000,6,0.095,0.020,2451,1906,3370,0,0,0,0,0,0
$GC,420,-1.16,-77.9,54.1,-12.6,60,425,0.00,2.47,0.00,0.000,4,0.000,0.044,2451,462,3370,0,0,0,0,0,0
$GC,448,-1.06,-77.9,58.2,-15.1,62,455,0.12,2.30,0.00,0.000,6,0.083,0.019,2481,1884,3370,0,0,0,0,0,0
$GC,711,-1.13,-77.9,86.3,-10.1,87,715,0.00,2.45,0.00,0.000,4,0.000,0.043,2481,466,3370,0,0,0,0,0,0
$GC,780,-1.16,-77.9,94.5,-12.0,94,784,0.00,2.25,0.00,0.000,6,0.000,0.019,2481,1874,3370,0,0,0,0,0,0
$GC,1042,-1.24,-77.9,121.8,-10.9,118,1047,0.17,2.42,0.00,0.000,4,0.051,0.043,2425,461,3370,0,0,0,0,0,0
$GC,1077,-1.15,-77.9,126.4,-14.2,121,1082,0.17,2.25,0.00,0.000,6,0.090,0.019,2462,1872,3370,0,0,0,0,0,0
$GC,1339,-1.24,-77.9,155.5,-10.8,145,1343,0.00,2.40,0.00,0.000,4,0.000,0.043,2461,463,3370,0,0,0,0,0,0
$GC,1383,-1.24,-77.9,160.4,-11.8,149,1387,0.00,2.25,0.00,0.000,6,0.000,0.019,2462,1878,3370,0,0,0,0,0,0
$GC,1646,-1.31,-77.9,185.2,-10.0,173,1651,0.15,2.42,0.00,0.000,4,0.055,0.044,2412,463,3370,0,0,0,0,0,0
$GC,1665,-1.31,-77.9,187.6,-10.9,174,1671,0.00,2.28,0.00,0.000,6,0.000,0.020,2411,1872,3370,0,0,0,0,0,0
$GC,1930,-1.31,-77.9,217.8,-10.7,192,1934,0.00,2.40,0.00,0.000,4,0.000,0.043,2411,459,3370,0,0,0,0,0,0
$GC,1975,-1.31,-77.9,223.1,-11.5,194,1980,0.00,2.28,0.00,0.000,6,0.000,0.020,2412,1881,3369,0,0,0,0,0,0
$GC,2300,-1.35,-77.9,255.6,-9.7,210,2304,0.00,2.42,0.00,0.000,4,0.000,0.044,2412,469,3370,0,0,0,0,0,0
$GC,2350,-1.35,-77.9,260.8,-9.7,212,2354,0.00,2.25,0.00,0.000,6,0.000,0.021,2411,1870,3370,0,0,0,0,0,0
$GC,2670,-1.40,-77.9,290.6,-9.4,228,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1874,3369,0,0,0,0,0,0
$GC,2996,-1.45,-77.9,318.3,-8.6,239,3000,0.00,2.42,0.00,0.000,4,0.000,0.048,2411,471,3367,0,0,0,0,0,0
$GC,3103,-1.49,-77.9,327.2,-8.1,241,3107,0.00,2.28,0.00,0.000,6,0.000,0.025,2412,1870,3367,0,0,0,0,0,0
$GC,3452,-1.56,-77.9,354.5,-8.4,250,3457,0.17,2.47,0.00,0.000,4,0.055,0.051,2362,464,3364,0,0,0,0,0,0
$GC,3532,-1.48,-77.9,363.4,-12.0,251,3537,0.12,2.33,0.00,0.000,6,0.104,0.026,2388,1880,3363,0,0,0,0,0,0
$GC,3862,-1.48,-77.9,396.5,-10.0,259,3867,0.00,2.47,0.00,0.000,4,0.000,0.052,2388,469,3361,0,0,0,0,0,0
$GC,3904,-1.48,-77.9,400.8,-10.6,260,3909,0.00,2.33,0.00,0.000,6,0.000,0.027,2388,1877,3361,0,0,0,0,0,0
$GC,4231,-1.48,-77.9,431.7,-9.1,268,4236,0.00,2.47,0.00,0.000,4,0.000,0.054,2388,471,3357,0,0,0,0,0,0
$GC,4338,-1.48,-77.9,443.2,-10.1,270,4342,0.00,2.33,0.00,0.000,6,0.000,0.029,2388,1872,3357,0,0,0,0,0,0
$STATE,4402,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4402,begin apogee
$GC,4408,-0.31,0.0,449.5,9.8,272,4474,1.20,0.00,62.53,0.871,6,0.074,0.000,2645,2030,3050,0,0,0,0,0,0
$STATE,4475,end apogee,CONTROL_FINISHED_OK
$STATE,4475,begin climb
$GC,4477,1.40,77.9,450.8,0.0,273,4552,1.62,2.45,64.90,0.848,4,0.034,0.045,3021,3384,2732,0,0,0,0,0,0
$GC,4660,1.24,130.8,448.5,4.4,277,4713,0.20,2.40,45.25,0.841,6,0.111,0.037,2987,2001,2516,0,0,0,0,0,0
$GC,5027,1.14,130.8,416.2,9.4,286,5032,0.12,2.47,0.00,0.000,4,0.120,0.054,2963,603,2508,0,0,0,0,0,0
$GC,5055,1.00,130.8,413.4,9.9,286,5060,0.17,2.33,0.00,0.000,6,0.115,0.030,2933,1994,2506,0,0,0,0,0,0
$GC,5391,1.00,130.8,385.5,8.8,295,5395,0.00,2.47,0.00,0.000,4,0.000,0.053,2933,601,2504,0,0,0,0,0,0
$GC,5534,0.94,130.8,370.7,9.4,298,5538,0.00,2.38,0.00,0.000,6,0.000,0.031,2933,2012,2502,0,0,0,0,0,0
$GC,5851,0.96,142.3,346.0,7.2,306,5867,0.00,2.53,8.57,0.719,4,0.000,0.051,2933,602,2468,0,0,0,0,0,0
$GC,5913,0.92,142.3,340.7,8.7,307,5918,0.00,2.35,0.00,0.000,6,0.000,0.030,2933,2009,2468,0,0,0,0,0,0
$GC,6262,0.92,142.3,311.9,8.7,316,6263,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2014,2466,0,0,0,0,0,0
$GC,6569,0.96,174.3,293.1,5.8,326,6603,0.00,2.58,28.23,0.784,4,0.000,0.051,2933,607,2338,0,0,0,0,0,0
$GC,6778,0.96,174.3,274.5,9.6,335,6782,0.00,2.35,0.00,0.000,6,0.000,0.030,2934,2012,2332,0,0,0,0,0,0
$GC,7104,1.03,182.2,250.4,7.5,351,7116,0.00,2.42,6.88,0.634,4,0.000,0.038,2932,3397,2307,0,0,0,0,0,0
$GC,7173,1.12,189.8,245.4,7.5,354,7189,0.10,2.40,8.65,0.663,6,0.082,0.035,2959,2003,2276,0,0,0,0,0,0
$GC,7506,1.15,189.8,218.5,8.1,370,7510,0.00,2.45,0.00,0.000,4,0.000,0.050,2957,602,2272,0,0,0,0,0,0
$GC,7597,1.15,189.8,210.4,9.2,374,7601,0.00,2.33,0.00,0.000,6,0.000,0.027,2959,2012,2270,0,0,0,0,0,0
$GC,7928,1.22,210.6,188.2,6.6,398,7957,0.00,2.50,18.90,0.680,4,0.000,0.047,2959,601,2189,0,0,0,0,0,0
$GC,8060,1.22,210.6,174.8,11.5,412,8064,0.00,2.35,0.00,0.000,6,0.000,0.025,2959,2016,2185,0,0,0,0,0,0
$GC,8321,1.28,210.6,150.3,8.6,436,8326,0.15,2.47,0.00,0.000,4,0.063,0.045,2999,602,2185,0,0,0,0,0,0
$GC,8501,1.22,210.6,132.3,10.3,455,8506,0.00,2.30,0.00,0.000,6,0.000,0.023,2999,2018,2184,0,0,0,0,0,0
$GC,8764,1.22,210.6,108.4,9.5,479,8768,0.00,2.30,0.00,0.000,4,0.000,0.029,2999,3405,2183,0,0,0,0,0,0
$GC,8905,1.22,212.6,97.6,7.9,494,8909,0.00,2.35,0.00,0.000,6,0.000,0.028,2998,2003,2183,0,0,0,0,0,0
$GC,9168,1.25,232.9,78.3,6.6,518,9198,0.00,2.42,19.83,0.567,4,0.000,0.041,2998,597,2098,0,0,0,0,0,0
$GC,9274,1.21,232.9,69.8,9.0,529,9281,0.00,2.33,0.00,0.000,6,0.000,0.021,2999,2013,2096,0,0,0,0,0,0
$GC,9538,1.25,232.9,48.4,8.1,554,9539,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2018,2095,0,0,0,0,0,0
$GC,9791,1.30,233.8,27.8,8.0,580,9798,0.00,2.42,0.00,0.000,4,0.000,0.041,2999,611,2095,0,0,0,0,0,0
$GC,9903,1.30,233.8,17.2,10.3,604,9910,0.00,2.28,0.00,0.000,6,0.000,0.020,2999,2016,2095,0,0,0,0,0,0
$STATE,10086,end climb,SURFACE_DEPTH_REACHED
$STATE,10086,begin surface coast
$FINISH,0.5,1.011087
$STATE,10120,end surface coast,CONTROL_FINISHED_OK
$STATE,10120,begin surface
$SM_CCo,10140,33.08,0.502,0,0,1826,300.00
$SM_GC,1.54,0.00,0.00,33.08,0.000,0.000,0.502,424,1852,1826,-10.53,-0.65,300.00
$IRIDIUM_FIX,2057.14,-15744.48,160899,202005
$TT8_MAMPS,0.029146
$HUMID,47.16
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,440.4,35.2
$24V_AH,23.4,30.350
$10V_AH,10.1,28.845
$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,26.350,114.725,263.725,33.075,0.000,119.096,147.092,462.798,5.000,0.000,31.016,1236.715,6727.627,388.144,1935.565,939.216,33.377,1241.797,0.000,1895.885,0.000,35.087,0.000
$DEVICE_MAMPS,134.225,53.690,870.545,501.618,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.392,417.362,817.861,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,34945,643
$CAP_FILE_SIZE,128926,0
$CFSIZE,260165632,238944256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220510,231813,2101.678,-15744.784,116,1.6,122,9.8