version: 66.06
glider: 139
mission: 7
dive: 342
start: 5 22 110 23 30 6
data:
$ID,139
$MISSION,7
$DIVE,342
$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,-2133141.2
$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
$GPS1,231813,2101.678,-15744.784,116,1.6,122,9.8
$_CALLS,2
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-66.4
$GPS2,232914,2101.781,-15744.723,14,1.5,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.159,-0.092
$KALMAN_X,-10423.2,-209.9,-344.8,28609.7,1257.2
$KALMAN_Y,25971.5,-140.3,-10.3,-35316.1,611.7
$MHEAD_RNG_PITCHd_Wd,230.0,11408,-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,-52.92,0.000,2,0.000,0.000,424,1852,3209,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.2,-4.9,10,96,10.60,2.40,-3.22,0.000,4,0.134,0.051,2404,467,3370,0,0,0,0,0,0
$GC,257,-1.21,-77.9,42.1,-18.4,43,262,0.22,2.33,0.00,0.000,6,0.094,0.020,2450,1905,3372,0,0,0,0,0,0
$GC,519,-1.21,-77.9,76.9,-13.3,67,524,0.00,2.47,0.00,0.000,4,0.000,0.044,2449,463,3372,0,0,0,0,0,0
$GC,583,-1.13,-77.9,86.4,-13.7,73,589,0.00,2.28,0.00,0.000,6,0.000,0.019,2449,1889,3372,0,0,0,0,0,0
$GC,844,-1.13,-77.9,114.5,-10.7,98,848,0.00,2.42,0.00,0.000,4,0.000,0.042,2449,465,3373,0,0,0,0,0,0
$GC,879,-1.10,-77.9,118.5,-12.4,101,884,0.12,2.25,0.00,0.000,6,0.097,0.019,2475,1873,3373,0,0,0,0,0,0
$GC,1141,-1.21,-77.9,141.3,-7.7,125,1146,0.12,2.42,0.00,0.000,4,0.064,0.043,2430,460,3374,0,0,0,0,0,0
$GC,1196,-1.21,-77.9,146.7,-9.4,130,1203,0.00,2.28,0.00,0.000,6,0.000,0.020,2430,1870,3374,0,0,0,0,0,0
$GC,1459,-1.21,-77.9,175.0,-11.6,155,1463,0.00,2.40,0.00,0.000,4,0.000,0.043,2430,460,3374,0,0,0,0,0,0
$GC,1484,-1.16,-77.9,178.2,-12.7,157,1489,0.15,2.28,0.00,0.000,6,0.093,0.020,2462,1884,3374,0,0,0,0,0,0
$GC,1745,-1.26,-77.9,203.8,-8.9,179,1750,0.10,2.45,0.00,0.000,4,0.073,0.044,2424,468,3374,0,0,0,0,0,0
$GC,1810,-1.26,-77.9,210.5,-9.9,182,1814,0.00,2.25,0.00,0.000,6,0.000,0.020,2424,1881,3375,0,0,0,0,0,0
$GC,2140,-1.32,-77.9,243.9,-8.4,198,2145,0.00,2.42,0.00,0.000,4,0.000,0.044,2424,468,3374,0,0,0,0,0,0
$GC,2247,-1.36,-77.9,254.6,-9.7,202,2254,0.00,2.25,0.00,0.000,6,0.000,0.021,2424,1867,3375,0,0,0,0,0,0
$GC,2563,-1.43,-77.9,281.3,-8.6,218,2567,0.00,2.40,0.00,0.000,4,0.000,0.045,2424,460,3375,0,0,0,0,0,0
$GC,2618,-1.47,-77.9,286.6,-9.7,220,2623,0.15,2.28,0.00,0.000,6,0.057,0.022,2376,1878,3374,0,0,0,0,0,0
$GC,2930,-1.47,-77.9,317.7,-9.9,231,2934,0.00,2.42,0.00,0.000,4,0.000,0.048,2376,464,3374,0,0,0,0,0,0
$GC,3009,-1.41,-77.9,327.1,-11.3,232,3013,0.15,2.30,0.00,0.000,6,0.095,0.023,2408,1881,3373,0,0,0,0,0,0
$GC,3340,-1.46,-77.9,352.8,-7.6,240,3344,0.00,2.45,0.00,0.000,4,0.000,0.051,2407,465,3372,0,0,0,0,0,0
$GC,3382,-1.46,-77.9,356.6,-8.8,241,3386,0.00,2.30,0.00,0.000,6,0.000,0.025,2407,1868,3372,0,0,0,0,0,0
$GC,3711,-1.52,-77.9,386.1,-9.3,249,3716,0.12,2.47,0.00,0.000,4,0.067,0.053,2370,466,3370,0,0,0,0,0,0
$GC,3777,-1.47,-77.9,395.1,-14.6,250,3782,0.10,2.33,0.00,0.000,6,0.112,0.028,2391,1876,3369,0,0,0,0,0,0
$GC,4123,-1.47,-77.9,425.8,-8.4,259,4128,0.00,2.45,0.00,0.000,4,0.000,0.054,2391,471,3366,0,0,0,0,0,0
$GC,4224,-1.47,-77.9,434.9,-8.3,261,4229,0.00,2.33,0.00,0.000,6,0.000,0.029,2391,1870,3365,0,0,0,0,0,0
$STATE,4454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4454,begin apogee
$GC,4460,-0.31,0.0,451.9,7.0,267,4527,1.17,0.00,64.10,0.874,6,0.076,0.000,2643,2024,3050,0,0,0,0,0,0
$STATE,4528,end apogee,CONTROL_FINISHED_OK
$STATE,4528,begin climb
$GC,4530,1.40,77.9,451.7,0.0,268,4604,1.65,2.47,64.80,0.849,4,0.035,0.046,3025,3392,2732,0,0,0,0,0,0
$GC,4615,1.28,158.3,448.7,2.5,270,4694,0.17,2.42,69.15,0.841,6,0.116,0.037,2994,2003,2404,0,0,0,0,0,0
$GC,5025,1.16,158.3,400.6,14.0,280,5030,0.15,2.47,0.00,0.000,4,0.120,0.054,2964,605,2394,0,0,0,0,0,0
$GC,5088,1.04,158.3,392.0,12.9,281,5093,0.15,2.38,0.00,0.000,6,0.120,0.030,2940,2008,2391,0,0,0,0,0,0
$GC,5437,1.04,158.3,361.0,8.6,290,5442,0.00,2.50,0.00,0.000,4,0.000,0.053,2940,602,2388,0,0,0,0,0,0
$GC,5527,0.98,158.3,352.2,10.8,292,5531,0.00,2.38,0.00,0.000,6,0.000,0.031,2940,2012,2387,0,0,0,0,0,0
$GC,5853,0.98,158.3,320.0,9.2,300,5857,0.00,2.50,0.00,0.000,4,0.000,0.051,2940,598,2386,0,0,0,0,0,0
$GC,5961,0.94,158.3,311.2,8.5,302,5965,0.00,2.38,0.00,0.000,6,0.000,0.031,2940,2012,2384,0,0,0,0,0,0
$GC,6294,1.00,170.5,286.0,7.2,315,6307,0.00,2.50,7.90,0.680,4,0.000,0.052,2940,602,2355,0,0,0,0,0,0
$GC,6521,1.01,183.6,269.9,7.1,325,6544,0.00,2.38,12.93,0.723,6,0.000,0.029,2940,2021,2301,0,0,0,0,0,0
$GC,6855,1.07,184.0,245.5,8.0,341,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2022,2297,0,0,0,0,0,0
$GC,7162,1.14,184.0,217.7,9.0,356,7166,0.00,2.45,0.00,0.000,4,0.000,0.048,2940,603,2296,0,0,0,0,0,0
$GC,7193,1.14,184.0,214.8,9.3,357,7197,0.00,2.35,0.00,0.000,6,0.000,0.027,2940,2018,2295,0,0,0,0,0,0
$GC,7512,1.27,228.6,195.3,5.0,376,7559,0.22,2.53,40.10,0.699,4,0.054,0.047,2997,604,2115,0,0,0,0,0,0
$GC,7623,1.18,228.6,183.7,13.0,388,7628,0.15,2.35,0.00,0.000,6,0.110,0.025,2970,2014,2110,0,0,0,0,0,0
$GC,7884,1.22,228.6,156.1,10.9,412,7888,0.00,2.47,0.00,0.000,4,0.000,0.046,2970,598,2109,0,0,0,0,0,0
$GC,8009,1.22,228.6,141.3,12.3,425,8013,0.00,2.33,0.00,0.000,6,0.000,0.024,2969,2017,2107,0,0,0,0,0,0
$GC,8273,1.27,228.6,117.0,8.7,449,8277,0.00,2.45,0.00,0.000,4,0.000,0.044,2970,602,2107,0,0,0,0,0,0
$GC,8442,1.27,228.6,98.1,10.9,467,8446,0.00,2.30,0.00,0.000,6,0.000,0.022,2970,2014,2105,0,0,0,0,0,0
$GC,8705,1.36,230.2,73.1,7.9,491,8710,0.17,2.42,0.00,0.000,4,0.055,0.043,3019,602,2106,0,0,0,0,0,0
$GC,8821,1.28,230.2,62.4,9.8,503,8826,0.12,2.30,0.00,0.000,6,0.106,0.021,2996,2016,2105,0,0,0,0,0,0
$GC,9085,1.33,230.2,40.7,8.2,527,9089,0.00,2.25,0.00,0.000,4,0.000,0.028,2996,3399,2106,0,0,0,0,0,0
$GC,9174,1.40,230.2,32.8,8.1,536,9181,0.08,2.35,0.00,0.000,6,0.041,0.028,3026,2007,2105,0,0,0,0,0,0
$GC,9442,1.41,238.0,9.9,7.5,582,9460,0.00,2.45,7.88,0.452,4,0.000,0.042,3027,601,2078,0,0,0,0,0,0
$STATE,9508,end climb,SURFACE_DEPTH_REACHED
$STATE,9508,begin surface coast
$FINISH,0.4,1.010537
$STATE,9542,end surface coast,CONTROL_FINISHED_OK
$STATE,9542,begin surface
$SM_CCo,9563,38.15,0.512,0,0,1826,300.00
$SM_GC,1.21,0.00,0.00,38.15,0.000,0.000,0.512,426,1886,1826,-10.52,0.31,300.00
$IRIDIUM_FIX,2057.14,-15736.31,160899,232343
$TT8_MAMPS,0.029146
$HUMID,47.24
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,30.444
$10V_AH,10.1,28.926
$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,27.075,114.300,266.850,38.150,0.000,63.015,75.985,352.007,4.500,0.000,14.551,1183.987,6212.062,364.935,1832.325,670.093,33.368,1165.770,0.000,1807.630,0.000,29.255,0.000
$DEVICE_MAMPS,134.225,54.457,873.613,511.589,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.218,386.869,772.524,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355612
$DATA_FILE_SIZE,34885,603
$CAP_FILE_SIZE,119715,0
$CFSIZE,260165632,238891008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230510,021232,2101.464,-15745.123,101,1.6,108,9.8