version: 66.06
glider: 139
mission: 7
dive: 344
start: 5 23 110 5 4 12
data:
$ID,139
$MISSION,7
$DIVE,344
$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,-2133237.2
$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
$GPS1,045608,2101.377,-15745.312,146,2.0,150,9.8
$_CALLS,1
$_XMS_NAKs,29
$_XMS_TOUTs,3
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-68.2
$GPS2,050321,2101.390,-15745.281,18,2.0,37,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.120,-0.139
$KALMAN_X,-8870.6,121.1,314.7,25109.3,959.3
$KALMAN_Y,27479.5,-169.5,-36.4,-37494.2,1246.9
$MHEAD_RNG_PITCHd_Wd,211.0,10202,-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,-77.9,0.0,0.0,0,68,0.00,0.00,-49.33,0.000,2,0.000,0.000,428,1867,3134,0,0,0,0,0,0
$GC,70,-1.40,-77.9,3.3,-5.4,9,92,10.57,2.42,-4.57,0.000,4,0.134,0.055,2403,469,3369,0,0,0,0,0,0
$GC,223,-1.19,-77.9,38.2,-17.6,37,230,0.20,2.33,0.00,0.000,6,0.084,0.020,2456,1899,3371,0,0,0,0,0,0
$GC,486,-1.14,-77.9,76.2,-15.6,62,490,0.00,2.45,0.00,0.000,4,0.000,0.044,2455,467,3371,0,0,0,0,0,0
$GC,513,-1.06,-77.9,81.1,-16.7,64,521,0.10,2.28,0.00,0.000,6,0.078,0.020,2480,1879,3371,0,0,0,0,0,0
$GC,776,-1.13,-77.9,109.4,-10.3,89,780,0.00,2.40,0.00,0.000,4,0.000,0.042,2480,468,3373,0,0,0,0,0,0
$GC,809,-1.16,-77.9,113.2,-11.3,92,813,0.00,2.25,0.00,0.000,6,0.000,0.019,2480,1882,3372,0,0,0,0,0,0
$GC,1071,-1.27,-77.9,138.0,-8.9,116,1076,0.20,2.42,0.00,0.000,4,0.048,0.042,2419,463,3373,0,0,0,0,0,0
$GC,1137,-1.21,-77.9,145.3,-11.5,122,1144,0.10,2.25,0.00,0.000,6,0.073,0.020,2445,1865,3373,0,0,0,0,0,0
$GC,1399,-1.28,-77.9,170.0,-10.4,147,1403,0.00,2.40,0.00,0.000,4,0.000,0.044,2445,466,3374,0,0,0,0,0,0
$GC,1463,-1.34,-77.9,177.0,-10.3,153,1469,0.10,2.22,0.00,0.000,6,0.073,0.020,2408,1871,3374,0,0,0,0,0,0
$GC,1734,-1.34,-77.9,205.0,-9.6,177,1738,0.00,2.28,0.00,0.000,4,0.000,0.026,2409,3265,3374,0,0,0,0,0,0
$GC,1761,-1.37,-77.9,207.8,-9.4,178,1765,0.00,2.30,0.00,0.000,6,0.000,0.028,2408,1870,3374,0,0,0,0,0,0
$GC,2081,-1.37,-77.9,240.6,-10.9,194,2085,0.00,2.38,0.00,0.000,4,0.000,0.044,2407,474,3375,0,0,0,0,0,0
$GC,2163,-1.33,-77.9,250.3,-11.8,197,2169,0.00,2.25,0.00,0.000,6,0.000,0.021,2408,1880,3375,0,0,0,0,0,0
$GC,2479,-1.33,-77.9,278.8,-8.2,213,2484,0.00,2.42,0.00,0.000,4,0.000,0.046,2408,474,3374,0,0,0,0,0,0
$GC,2626,-1.33,-77.9,293.2,-8.8,219,2630,0.00,2.25,0.00,0.000,6,0.000,0.022,2408,1869,3373,0,0,0,0,0,0
$GC,2959,-1.37,-77.9,321.0,-8.1,229,2963,0.00,2.42,0.00,0.000,4,0.000,0.048,2407,467,3372,0,0,0,0,0,0
$GC,2991,-1.37,-77.9,323.9,-9.0,229,2995,0.00,2.30,0.00,0.000,6,0.000,0.024,2408,1882,3372,0,0,0,0,0,0
$GC,3322,-1.42,-77.9,350.2,-8.0,237,3326,0.00,2.45,0.00,0.000,4,0.000,0.048,2408,471,3371,0,0,0,0,0,0
$GC,3412,-1.42,-77.9,358.2,-9.5,239,3416,0.00,2.30,0.00,0.000,6,0.000,0.025,2407,1884,3370,0,0,0,0,0,0
$GC,3739,-1.48,-77.9,385.3,-8.2,247,3743,0.00,2.45,0.00,0.000,4,0.000,0.051,2407,468,3368,0,0,0,0,0,0
$GC,3790,-1.52,-77.9,389.9,-8.8,248,3795,0.12,2.30,0.00,0.000,6,0.066,0.026,2369,1874,3368,0,0,0,0,0,0
$GC,4113,-1.52,-77.9,421.7,-10.6,256,4117,0.00,2.45,0.00,0.000,4,0.000,0.052,2369,475,3366,0,0,0,0,0,0
$GC,4122,-1.48,-77.9,423.4,-10.7,256,4127,0.10,2.30,0.00,0.000,6,0.115,0.028,2389,1879,3366,0,0,0,0,0,0
$STATE,4393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4394,begin apogee
$GC,4399,-0.31,0.0,452.0,10.4,263,4466,1.20,0.00,64.10,0.866,6,0.074,0.000,2646,2026,3050,0,0,0,0,0,0
$STATE,4467,end apogee,CONTROL_FINISHED_OK
$STATE,4467,begin climb
$GC,4469,1.40,77.9,453.6,0.0,264,4544,1.62,2.45,64.85,0.846,4,0.031,0.044,3025,3384,2732,0,0,0,0,0,0
$GC,4771,1.19,94.5,446.4,6.9,270,4793,0.28,2.38,15.07,0.792,6,0.111,0.037,2976,2011,2663,0,0,0,0,0,0
$GC,5116,1.11,118.5,424.9,6.4,279,5144,0.00,2.53,20.95,0.818,4,0.000,0.051,2973,602,2565,0,0,0,0,0,0
$GC,5160,0.97,134.5,421.8,6.9,280,5181,0.25,2.35,14.93,0.785,6,0.115,0.029,2931,1995,2500,0,0,0,0,0,0
$GC,5491,0.99,147.5,398.1,7.1,288,5504,0.00,0.00,11.93,0.771,6,0.000,0.000,2931,1994,2448,0,0,0,0,0,0
$GC,5815,0.99,151.3,373.9,7.8,296,5824,0.00,2.47,4.40,0.567,4,0.000,0.052,2928,607,2432,0,0,0,0,0,0
$GC,5889,0.96,151.3,367.1,9.7,297,5894,0.00,2.35,0.00,0.000,6,0.000,0.030,2930,2004,2430,0,0,0,0,0,0
$GC,6225,1.00,151.3,338.3,8.3,306,6229,0.00,2.47,0.00,0.000,4,0.000,0.051,2928,604,2429,0,0,0,0,0,0
$GC,6298,1.00,151.3,331.9,8.4,307,6302,0.00,2.38,0.00,0.000,6,0.000,0.030,2930,2014,2428,0,0,0,0,0,0
$GC,6634,1.07,178.1,311.9,6.2,316,6663,0.00,2.55,24.00,0.788,4,0.000,0.051,2929,605,2323,0,0,0,0,0,0
$GC,6722,1.07,178.1,304.5,9.2,318,6726,0.00,2.38,0.00,0.000,6,0.000,0.029,2931,2013,2319,0,0,0,0,0,0
$GC,7054,1.13,178.1,273.4,9.7,332,7059,0.12,2.50,0.00,0.000,4,0.077,0.051,2960,606,2318,0,0,0,0,0,0
$GC,7082,1.06,178.1,270.1,11.7,333,7086,0.00,2.38,0.00,0.000,6,0.000,0.029,2961,2019,2316,0,0,0,0,0,0
$GC,7403,1.06,178.1,239.2,9.1,349,7407,0.00,2.47,0.00,0.000,4,0.000,0.050,2960,599,2315,0,0,0,0,0,0
$GC,7585,1.02,178.1,220.2,10.0,357,7590,0.12,2.35,0.00,0.000,6,0.122,0.028,2939,2010,2314,0,0,0,0,0,0
$GC,7917,1.11,190.8,198.7,7.2,373,7937,0.00,2.53,10.85,0.653,4,0.000,0.048,2939,608,2271,0,0,0,0,0,0
$GC,8014,1.13,208.0,191.7,6.8,383,8036,0.00,2.33,16.95,0.672,6,0.000,0.026,2939,2025,2200,0,0,0,0,0,0
$GC,8298,1.24,221.8,171.2,7.1,410,8318,0.20,2.35,12.93,0.633,4,0.058,0.031,2989,3398,2144,0,0,0,0,0,0
$GC,8360,1.30,221.8,164.7,11.6,416,8366,0.00,2.40,0.00,0.000,6,0.000,0.033,2989,2014,2144,0,0,0,0,0,0
$GC,8622,1.30,221.8,138.8,8.4,441,8626,0.00,2.45,0.00,0.000,4,0.000,0.045,2990,595,2143,0,0,0,0,0,0
$GC,8746,1.30,221.8,126.6,10.5,454,8750,0.00,2.33,0.00,0.000,6,0.000,0.023,2990,2010,2139,0,0,0,0,0,0
$GC,9008,1.35,221.8,99.8,10.8,478,9009,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2015,2139,0,0,0,0,0,0
$GC,9263,1.40,221.8,79.0,8.3,502,9268,0.12,2.45,0.00,0.000,4,0.067,0.044,3027,599,2139,0,0,0,0,0,0
$GC,9307,1.31,221.8,74.9,9.7,506,9312,0.15,2.30,0.00,0.000,6,0.103,0.021,2998,2014,2139,0,0,0,0,0,0
$GC,9569,1.38,247.5,56.6,6.3,530,9599,0.00,2.50,23.17,0.550,4,0.000,0.041,2997,603,2039,0,0,0,0,0,0
$GC,9717,1.38,247.5,41.9,13.1,546,9724,0.00,2.30,0.00,0.000,6,0.000,0.021,2997,2006,2034,0,0,0,0,0,0
$GC,9985,1.42,247.5,17.0,9.3,585,9991,0.12,2.45,0.00,0.000,4,0.066,0.043,3036,594,2034,0,0,0,0,0,0
$STATE,10111,end climb,SURFACE_DEPTH_REACHED
$STATE,10111,begin surface coast
$FINISH,0.6,1.010293
$STATE,10133,end surface coast,CONTROL_FINISHED_OK
$STATE,10134,begin surface
$SM_CCo,10155,29.15,0.505,0,0,1826,300.00
$SM_GC,0.91,0.00,0.00,29.15,0.000,0.000,0.505,424,1913,1826,-10.53,1.07,300.00
$IRIDIUM_FIX,2052.52,-15744.48,170899,020223
$TT8_MAMPS,0.029146
$HUMID,47.59
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,23.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,421.7,63.3
$24V_AH,23.4,30.624
$10V_AH,10.0,29.088
$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,26.950,118.925,284.125,29.150,0.000,23.100,30.906,253.470,4.500,0.000,37.894,1216.787,6665.662,374.572,1880.294,482.225,33.377,1196.209,0.000,1827.509,0.000,30.711,0.000
$DEVICE_MAMPS,134.225,55.224,865.943,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.877,386.921,762.152,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34949,618
$CAP_FILE_SIZE,120069,0
$CFSIZE,260165632,238776320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230510,075755,2100.764,-15745.729,202,1.8,202,9.8