version: 66.06
glider: 139
mission: 7
dive: 346
start: 5 23 110 11 1 4
data:
$ID,139
$MISSION,7
$DIVE,346
$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,-2133307
$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
$GPS1,105301,2100.654,-15745.915,93,1.4,93,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-60.7
$GPS2,110013,2100.097,-15746.532,16,1.4,33,9.8
$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,-7588.8,130.6,-411.5,22383.1,848.4
$KALMAN_Y,28107.1,-24.3,-140.0,-40553.9,541.9
$MHEAD_RNG_PITCHd_Wd,226.3,7030,-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,17,-1.40,-77.9,0.0,0.0,0,124,0.00,0.00,-104.85,0.000,2,0.000,0.000,422,1882,3256,0,0,0,0,0,0
$GC,127,-1.40,-77.9,3.5,-5.6,20,145,10.70,2.45,-2.22,0.000,4,0.138,0.054,2401,463,3368,0,0,0,0,0,0
$GC,286,-1.16,-77.9,35.8,-16.6,50,291,0.28,2.35,0.00,0.000,6,0.093,0.019,2457,1924,3370,0,0,0,0,0,0
$GC,548,-1.16,-77.9,76.0,-14.3,74,552,0.00,2.50,0.00,0.000,4,0.000,0.044,2457,467,3370,0,0,0,0,0,0
$GC,611,-1.11,-77.9,85.1,-14.3,80,618,0.00,2.28,0.00,0.000,6,0.000,0.019,2456,1879,3370,0,0,0,0,0,0
$GC,874,-1.14,-77.9,114.0,-10.4,105,878,0.00,2.40,0.00,0.000,4,0.000,0.043,2457,469,3371,0,0,0,0,0,0
$GC,936,-1.14,-77.9,122.1,-12.8,111,940,0.00,2.25,0.00,0.000,6,0.000,0.019,2457,1878,3371,0,0,0,0,0,0
$GC,1199,-1.20,-77.9,147.2,-9.3,135,1203,0.00,2.40,0.00,0.000,4,0.000,0.043,2457,468,3371,0,0,0,0,0,0
$GC,1287,-1.26,-77.9,156.2,-8.4,144,1291,0.00,2.25,0.00,0.000,6,0.000,0.019,2457,1879,3372,0,0,0,0,0,0
$GC,1548,-1.34,-77.9,178.0,-8.7,168,1553,0.15,2.42,0.00,0.000,4,0.056,0.044,2408,464,3372,0,0,0,0,0,0
$GC,1601,-1.27,-77.9,183.6,-11.4,173,1606,0.12,2.25,0.00,0.000,6,0.100,0.020,2434,1874,3372,0,0,0,0,0,0
$GC,1873,-1.27,-77.9,212.6,-11.1,193,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1879,3372,0,0,0,0,0,0
$GC,2179,-1.35,-77.9,242.5,-8.6,208,2183,0.00,2.40,0.00,0.000,4,0.000,0.045,2434,465,3372,0,0,0,0,0,0
$GC,2239,-1.42,-77.9,248.1,-9.0,210,2246,0.10,2.28,0.00,0.000,6,0.035,0.021,2392,1874,3372,0,0,0,0,0,0
$GC,2554,-1.42,-77.9,280.1,-10.8,226,2558,0.00,2.42,0.00,0.000,4,0.000,0.047,2392,469,3371,0,0,0,0,0,0
$GC,2646,-1.39,-77.9,291.0,-11.5,230,2650,0.00,2.25,0.00,0.000,6,0.000,0.021,2392,1871,3371,0,0,0,0,0,0
$GC,2987,-1.39,-77.9,325.7,-10.2,241,2991,0.00,2.42,0.00,0.000,4,0.000,0.048,2390,460,3370,0,0,0,0,0,0
$GC,3032,-1.39,-77.9,330.3,-9.2,242,3036,0.00,2.30,0.00,0.000,6,0.000,0.024,2392,1875,3370,0,0,0,0,0,0
$GC,3356,-1.39,-77.9,358.0,-8.4,250,3360,0.00,2.42,0.00,0.000,4,0.000,0.049,2392,469,3368,0,0,0,0,0,0
$GC,3425,-1.35,-77.9,365.4,-10.9,251,3430,0.12,2.30,0.00,0.000,6,0.100,0.026,2418,1879,3367,0,0,0,0,0,0
$GC,3766,-1.43,-77.9,394.5,-8.0,260,3770,0.00,2.47,0.00,0.000,4,0.000,0.051,2417,465,3364,0,0,0,0,0,0
$GC,3869,-1.49,-77.9,401.9,-7.0,262,3874,0.12,2.30,0.00,0.000,6,0.067,0.028,2379,1872,3364,0,0,0,0,0,0
$GC,4183,-1.49,-77.9,429.7,-8.9,270,4187,0.00,2.45,0.00,0.000,4,0.000,0.054,2380,468,3362,0,0,0,0,0,0
$STATE,4255,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4255,begin apogee
$GC,4263,-0.31,0.0,437.0,9.6,271,4330,1.23,0.00,63.30,0.855,6,0.077,0.000,2642,2005,3050,0,0,0,0,0,0
$STATE,4330,end apogee,CONTROL_FINISHED_OK
$STATE,4330,begin climb
$GC,4332,1.40,77.9,438.4,0.0,273,4407,1.65,2.53,64.68,0.834,4,0.034,0.044,3021,3403,2732,0,0,0,0,0,0
$GC,4505,1.23,120.6,434.9,5.1,276,4551,0.22,2.42,36.62,0.825,6,0.117,0.038,2985,2009,2557,0,0,0,0,0,0
$GC,4875,1.11,120.6,403.7,8.6,286,4880,0.15,2.50,0.00,0.000,4,0.120,0.052,2957,602,2550,0,0,0,0,0,0
$GC,4904,0.98,120.6,401.3,8.4,286,4909,0.17,2.38,0.00,0.000,6,0.120,0.029,2927,2016,2549,0,0,0,0,0,0
$GC,5240,1.03,159.3,381.4,5.4,295,5281,0.00,2.58,32.75,0.821,4,0.000,0.051,2926,600,2398,0,0,0,0,0,0
$GC,5355,1.03,159.3,372.3,8.9,297,5359,0.00,2.40,0.00,0.000,6,0.000,0.030,2926,2016,2394,0,0,0,0,0,0
$GC,5695,1.07,159.3,342.4,8.9,306,5699,0.00,2.50,0.00,0.000,4,0.000,0.052,2926,604,2392,0,0,0,0,0,0
$GC,5897,1.07,159.3,323.9,8.3,310,5901,0.00,2.38,0.00,0.000,6,0.000,0.029,2927,2018,2389,0,0,0,0,0,0
$GC,6242,1.13,159.3,298.3,8.2,319,6247,0.15,2.50,0.00,0.000,4,0.071,0.051,2963,601,2388,0,0,0,0,0,0
$GC,6293,1.04,159.3,292.7,11.7,321,6298,0.12,2.38,0.00,0.000,6,0.129,0.030,2942,2015,2386,0,0,0,0,0,0
$GC,6615,1.06,178.5,268.3,6.7,337,6637,0.00,2.55,15.40,0.735,4,0.000,0.051,2940,600,2322,0,0,0,0,0,0
$GC,6713,1.06,178.5,259.6,10.1,341,6717,0.00,2.38,0.00,0.000,6,0.000,0.029,2942,2010,2319,0,0,0,0,0,0
$GC,7038,1.12,179.7,235.3,7.9,357,7042,0.00,2.47,0.00,0.000,4,0.000,0.048,2942,600,2318,0,0,0,0,0,0
$GC,7093,1.13,190.2,230.4,7.3,359,7110,0.00,2.38,11.25,0.679,6,0.000,0.028,2942,2025,2273,0,0,0,0,0,0
$GC,7436,1.22,196.7,205.9,7.6,376,7448,0.17,2.55,6.65,0.588,4,0.062,0.048,2987,604,2247,0,0,0,0,0,0
$GC,7540,1.14,196.7,196.2,9.2,383,7546,0.12,2.33,0.00,0.000,6,0.120,0.026,2966,2009,2245,0,0,0,0,0,0
$GC,7802,1.17,196.7,175.4,8.7,408,7807,0.00,2.45,0.00,0.000,4,0.000,0.046,2965,602,2245,0,0,0,0,0,0
$GC,7836,1.14,196.7,172.1,10.2,411,7841,0.00,2.33,0.00,0.000,6,0.000,0.025,2965,2013,2244,0,0,0,0,0,0
$GC,8100,1.19,205.3,148.8,7.4,435,8118,0.00,2.47,8.93,0.582,4,0.000,0.044,2965,602,2212,0,0,0,0,0,0
$GC,8194,1.19,205.3,140.8,9.0,445,8198,0.00,2.33,0.00,0.000,6,0.000,0.023,2965,2016,2209,0,0,0,0,0,0
$GC,8458,1.26,214.9,119.7,7.4,469,8478,0.10,2.53,9.77,0.561,4,0.080,0.043,2995,597,2172,0,0,0,0,0,0
$GC,8499,1.18,214.9,115.9,8.9,473,8504,0.12,2.33,0.00,0.000,6,0.111,0.022,2973,2012,2170,0,0,0,0,0,0
$GC,8762,1.26,224.2,96.9,7.4,497,8781,0.00,2.45,9.43,0.537,4,0.000,0.042,2972,601,2134,0,0,0,0,0,0
$GC,9002,1.27,230.1,77.9,7.6,523,9014,0.00,2.30,6.25,0.471,6,0.000,0.021,2973,2022,2112,0,0,0,0,0,0
$GC,9268,1.41,258.8,60.3,6.0,548,9301,0.20,2.53,26.48,0.553,4,0.051,0.042,3030,602,1993,0,0,0,0,0,0
$GC,9356,1.34,258.8,51.2,13.5,557,9363,0.10,2.30,0.00,0.000,6,0.081,0.021,3006,2005,1990,0,0,0,0,0,0
$GC,9617,1.38,290.8,33.6,5.8,582,9650,0.00,2.47,27.75,0.527,4,0.000,0.042,3007,602,1863,0,0,0,0,0,0
$GC,9706,1.38,290.8,24.5,10.4,597,9712,0.00,2.30,0.00,0.000,6,0.000,0.020,3006,2012,1859,0,0,0,0,0,0
$GC,9911,1.43,290.8,4.0,9.6,634,9917,0.00,2.45,0.00,0.000,4,0.000,0.038,3006,595,1858,0,0,0,0,0,0
$STATE,9921,end climb,SURFACE_DEPTH_REACHED
$STATE,9922,begin surface coast
$FINISH,0.5,1.023332
$STATE,9957,end surface coast,CONTROL_FINISHED_OK
$STATE,9957,begin surface
$SM_CCo,9978,5.47,0.397,0,0,1827,300.00
$SM_GC,2.54,0.00,0.00,5.47,0.000,0.000,0.397,427,1867,1827,-10.52,-0.23,300.00
$IRIDIUM_FIX,2054.83,-15749.62,170899,080803
$TT8_MAMPS,0.029146
$HUMID,47.51
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,23.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,422.4,44.4
$24V_AH,23.4,30.823
$10V_AH,10.1,29.256
$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,27.275,124.700,319.250,5.475,0.000,28.559,46.742,235.721,4.500,0.000,33.935,1228.710,6347.422,404.370,1948.267,489.431,33.356,1280.446,0.000,1900.668,0.000,30.661,0.000
$DEVICE_MAMPS,138.060,53.690,855.205,396.539,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,432.273,416.041,820.012,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,34933,644
$CAP_FILE_SIZE,122452,0
$CFSIZE,260165632,238661632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230510,134926,2059.685,-15747.415,62,4.1,81,9.8