version: 66.06
glider: 139
mission: 7
dive: 343
start: 5 23 110 2 27 48
data:
$ID,139
$MISSION,7
$DIVE,343
$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,-2133198.5
$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
$GPS1,021232,2101.464,-15745.123,101,1.6,108,9.8
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-67.4
$GPS2,022656,2101.525,-15745.062,44,2.0,56,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.153,-0.102
$KALMAN_X,-9615.7,-80.9,-76.7,26826.2,1517.0
$KALMAN_Y,26724.5,-186.3,-156.5,-36352.4,980.5
$MHEAD_RNG_PITCHd_Wd,226.6,10655,-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,-77.9,0.0,0.0,0,66,0.00,0.00,-48.58,0.000,2,0.000,0.000,424,1888,3116,0,0,0,0,0,0
$GC,69,-1.40,-77.9,3.2,-6.1,9,90,10.60,2.35,-5.00,0.000,4,0.134,0.038,2403,3299,3369,0,0,0,0,0,0
$GC,245,-1.40,-77.9,37.0,-16.6,43,252,0.00,2.45,0.00,0.000,6,0.000,0.033,2403,1874,3370,0,0,0,0,0,0
$GC,509,-1.28,-77.9,78.5,-15.1,68,513,0.15,2.42,0.00,0.000,4,0.104,0.043,2433,467,3370,0,0,0,0,0,0
$GC,526,-1.17,-77.9,80.8,-12.6,69,531,0.12,2.33,0.00,0.000,6,0.105,0.019,2458,1921,3371,0,0,0,0,0,0
$GC,787,-1.23,-77.9,105.1,-8.5,93,792,0.00,2.50,0.00,0.000,4,0.000,0.042,2458,469,3371,0,0,0,0,0,0
$GC,805,-1.23,-77.9,106.9,-8.6,94,812,0.00,2.28,0.00,0.000,6,0.000,0.019,2457,1882,3371,0,0,0,0,0,0
$GC,1069,-1.29,-77.9,127.1,-8.0,119,1074,0.12,2.45,0.00,0.000,4,0.064,0.044,2415,460,3372,0,0,0,0,0,0
$GC,1142,-1.20,-77.9,136.1,-11.6,126,1149,0.12,2.28,0.00,0.000,6,0.073,0.020,2447,1869,3372,0,0,0,0,0,0
$GC,1404,-1.26,-77.9,161.0,-9.6,151,1408,0.00,2.40,0.00,0.000,4,0.000,0.044,2447,459,3373,0,0,0,0,0,0
$GC,1477,-1.31,-77.9,168.4,-8.4,158,1484,0.00,2.30,0.00,0.000,6,0.000,0.020,2448,1879,3372,0,0,0,0,0,0
$GC,1740,-1.40,-77.9,191.1,-9.0,183,1745,0.17,2.42,0.00,0.000,4,0.051,0.044,2392,466,3373,0,0,0,0,0,0
$GC,1794,-1.31,-77.9,197.4,-12.5,188,1799,0.17,2.25,0.00,0.000,6,0.091,0.021,2429,1878,3373,0,0,0,0,0,0
$GC,2052,-1.34,-77.9,220.7,-8.7,201,2056,0.00,2.42,0.00,0.000,4,0.000,0.047,2429,460,3373,0,0,0,0,0,0
$GC,2152,-1.34,-77.9,232.0,-9.8,205,2156,0.00,2.28,0.00,0.000,6,0.000,0.021,2429,1883,3373,0,0,0,0,0,0
$GC,2469,-1.42,-77.9,262.1,-9.8,220,2473,0.10,2.45,0.00,0.000,4,0.075,0.047,2394,465,3372,0,0,0,0,0,0
$GC,2529,-1.36,-77.9,269.2,-11.9,222,2536,0.08,2.28,0.00,0.000,6,0.075,0.022,2414,1867,3372,0,0,0,0,0,0
$GC,2845,-1.40,-77.9,296.0,-8.3,238,2849,0.00,2.40,0.00,0.000,4,0.000,0.048,2414,468,3372,0,0,0,0,0,0
$GC,2927,-1.40,-77.9,303.7,-9.5,241,2933,0.00,2.28,0.00,0.000,6,0.000,0.023,2414,1871,3372,0,0,0,0,0,0
$GC,3258,-1.46,-77.9,332.4,-8.5,250,3262,0.00,2.45,0.00,0.000,4,0.000,0.048,2414,461,3370,0,0,0,0,0,0
$GC,3319,-1.46,-77.9,338.3,-9.6,251,3324,0.00,2.30,0.00,0.000,6,0.000,0.025,2414,1869,3370,0,0,0,0,0,0
$GC,3670,-1.52,-77.9,366.9,-8.3,260,3675,0.15,2.47,0.00,0.000,4,0.061,0.051,2371,463,3368,0,0,0,0,0,0
$GC,3754,-1.45,-77.9,376.6,-12.0,261,3760,0.12,2.33,0.00,0.000,6,0.101,0.026,2396,1878,3367,0,0,0,0,0,0
$STATE,3799,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3799,begin apogee
$GC,3804,-0.31,0.0,381.3,10.5,263,3871,1.15,0.00,64.03,0.798,6,0.071,0.000,2644,2031,3049,0,0,0,0,0,0
$STATE,3872,end apogee,CONTROL_FINISHED_OK
$STATE,3872,begin climb
$GC,3874,1.40,77.9,382.6,0.0,264,3949,1.65,2.42,63.92,0.780,4,0.033,0.041,3027,3386,2732,0,0,0,0,0,0
$GC,4000,1.22,117.9,380.2,5.3,266,4042,0.25,2.38,34.10,0.763,6,0.110,0.033,2983,2005,2568,0,0,0,0,0,0
$GC,4373,1.11,117.9,345.5,9.0,276,4378,0.15,2.47,0.00,0.000,4,0.117,0.051,2956,606,2563,0,0,0,0,0,0
$GC,4401,0.99,117.9,343.1,9.0,276,4406,0.12,2.33,0.00,0.000,6,0.125,0.028,2935,1995,2561,0,0,0,0,0,0
$GC,4737,1.07,181.7,327.6,3.6,285,4793,0.00,0.00,54.20,0.774,6,0.000,0.000,2935,2000,2309,0,0,0,0,0,0
$GC,5102,1.12,181.7,300.7,8.3,294,5107,0.10,2.47,0.00,0.000,4,0.084,0.051,2960,603,2301,0,0,0,0,0,0
$GC,5227,1.06,181.7,288.5,8.8,298,5231,0.00,2.38,0.00,0.000,6,0.000,0.028,2961,2016,2297,0,0,0,0,0,0
$GC,5543,1.06,181.7,263.0,8.2,313,5547,0.00,2.38,0.00,0.000,4,0.000,0.037,2959,3411,2296,0,0,0,0,0,0
$GC,5556,1.06,181.7,261.6,8.9,313,5561,0.00,2.40,0.00,0.000,6,0.000,0.034,2961,2006,2297,0,0,0,0,0,0
$GC,5874,1.06,181.7,234.3,8.1,329,5878,0.00,2.45,0.00,0.000,4,0.000,0.049,2960,599,2295,0,0,0,0,0,0
$GC,5906,0.99,183.0,231.4,7.9,330,5911,0.15,2.35,0.00,0.000,6,0.117,0.027,2933,2013,2294,0,0,0,0,0,0
$GC,6224,1.09,212.1,211.4,6.0,345,6251,0.00,0.00,25.17,0.692,6,0.000,0.000,2933,2018,2185,0,0,0,0,0,0
$GC,6558,1.19,212.1,184.9,8.7,369,6563,0.17,2.50,0.00,0.000,4,0.061,0.048,2978,598,2180,0,0,0,0,0,0
$GC,6732,1.14,212.1,164.2,12.1,387,6738,0.00,2.35,0.00,0.000,6,0.000,0.025,2978,2019,2177,0,0,0,0,0,0
$GC,6993,1.14,212.1,139.3,8.7,412,6997,0.00,2.45,0.00,0.000,4,0.000,0.045,2978,605,2177,0,0,0,0,0,0
$GC,7225,1.14,212.1,117.8,8.9,437,7230,0.00,2.30,0.00,0.000,6,0.000,0.023,2978,2018,2176,0,0,0,0,0,0
$GC,7489,1.21,236.8,98.7,6.3,461,7517,0.00,2.35,21.50,0.585,4,0.000,0.030,2979,3404,2083,0,0,0,0,0,0
$GC,7628,1.32,236.8,87.4,8.8,476,7633,0.10,2.35,0.00,0.000,6,0.077,0.029,3009,2008,2083,0,0,0,0,0,0
$GC,7890,1.32,236.8,65.7,8.3,500,7894,0.00,2.30,0.00,0.000,4,0.000,0.028,3010,3401,2082,0,0,0,0,0,0
$GC,7958,1.32,239.6,60.3,7.8,507,7970,0.00,2.30,3.80,0.359,6,0.000,0.026,3009,2005,2072,0,0,0,0,0,0
$GC,8224,1.32,239.6,39.3,9.5,532,8228,0.00,2.38,0.00,0.000,4,0.000,0.040,3009,605,2072,0,0,0,0,0,0
$GC,8380,1.30,259.5,23.9,6.7,556,8405,0.00,2.30,18.15,0.510,6,0.000,0.020,3009,2030,1991,0,0,0,0,0,0
$GC,8606,1.36,259.5,7.9,10.0,597,8612,0.00,2.42,0.00,0.000,4,0.000,0.041,3009,611,1990,0,0,0,0,0,0
$GC,8639,1.36,259.5,3.6,13.0,604,8645,0.00,2.25,0.00,0.000,6,0.000,0.020,3009,2005,1988,0,0,0,0,0,0
$STATE,8649,end climb,SURFACE_DEPTH_REACHED
$STATE,8649,begin surface coast
$FINISH,0.6,1.023409
$STATE,8673,end surface coast,CONTROL_FINISHED_OK
$STATE,8673,begin surface
$SM_CCo,8693,21.35,0.493,0,0,1827,300.00
$SM_GC,1.55,0.00,0.00,21.35,0.000,0.000,0.493,429,1867,1827,-10.51,-0.25,300.00
$IRIDIUM_FIX,2054.83,-15744.48,170899,020200
$TT8_MAMPS,0.029146
$HUMID,47.44
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,23.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,340.0,68.3
$24V_AH,23.5,30.538
$10V_AH,10.1,29.008
$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,26.875,104.725,284.875,21.350,0.000,77.778,106.404,383.870,3.500,0.000,56.399,1156.811,5521.517,385.718,1746.912,769.255,33.370,1111.405,0.000,1688.776,0.000,24.450,0.000
$DEVICE_MAMPS,134.225,55.991,797.680,493.181,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,410.662,406.617,802.791,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,34934,610
$CAP_FILE_SIZE,115077,0
$CFSIZE,260165632,238837760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230510,045608,2101.377,-15745.312,146,2.0,150,9.8