version: 66.06
glider: 139
mission: 7
dive: 347
start: 5 23 110 14 0 45
data:
$ID,139
$MISSION,7
$DIVE,347
$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,-2133397.2
$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
$GPS1,134926,2059.685,-15747.415,62,4.1,81,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-69.3
$GPS2,135953,2059.726,-15747.409,69,4.0,88,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.141,-0.118
$KALMAN_X,-7279.9,-89.1,-314.4,20685.8,1024.4
$KALMAN_Y,28628.6,-13.8,-217.2,-41700.8,889.4
$MHEAD_RNG_PITCHd_Wd,220.1,5403,-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,-77.9,0.0,0.0,0,70,0.00,0.00,-52.55,0.000,2,0.000,0.000,427,1867,3196,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.1,-4.7,10,94,10.55,2.40,-3.50,0.000,4,0.133,0.037,2401,3301,3370,0,0,0,0,0,0
$GC,301,-1.33,-77.9,46.2,-17.2,49,308,0.08,2.42,0.00,0.000,6,0.084,0.031,2422,1874,3371,0,0,0,0,0,0
$GC,563,-1.26,-77.9,86.1,-13.2,74,567,0.00,2.38,0.00,0.000,4,0.000,0.042,2422,468,3372,0,0,0,0,0,0
$GC,599,-1.15,-77.9,90.9,-12.9,77,605,0.20,2.30,0.00,0.000,6,0.091,0.019,2462,1913,3372,0,0,0,0,0,0
$GC,860,-1.22,-77.9,117.4,-9.1,102,864,0.00,2.50,0.00,0.000,4,0.000,0.043,2462,460,3373,0,0,0,0,0,0
$GC,956,-1.28,-77.9,126.0,-8.7,112,961,0.12,2.28,0.00,0.000,6,0.063,0.019,2420,1880,3373,0,0,0,0,0,0
$GC,1216,-1.28,-77.9,152.4,-10.6,136,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,1885,3374,0,0,0,0,0,0
$GC,1472,-1.28,-77.9,180.2,-11.4,160,1476,0.00,2.42,0.00,0.000,4,0.000,0.044,2419,465,3374,0,0,0,0,0,0
$GC,1526,-1.23,-77.9,187.2,-12.1,165,1532,0.12,2.28,0.00,0.000,6,0.099,0.020,2445,1883,3374,0,0,0,0,0,0
$GC,1784,-1.30,-77.9,212.5,-9.6,184,1788,0.00,2.42,0.00,0.000,4,0.000,0.044,2445,469,3374,0,0,0,0,0,0
$GC,1881,-1.36,-77.9,223.0,-10.7,188,1885,0.12,2.28,0.00,0.000,6,0.063,0.020,2403,1885,3375,0,0,0,0,0,0
$GC,2201,-1.36,-77.9,255.9,-9.8,204,2205,0.00,2.45,0.00,0.000,4,0.000,0.045,2402,459,3375,0,0,0,0,0,0
$GC,2238,-1.32,-77.9,260.1,-11.6,205,2243,0.12,2.28,0.00,0.000,6,0.100,0.021,2428,1878,3375,0,0,0,0,0,0
$GC,2554,-1.41,-77.9,286.9,-7.9,220,2559,0.00,2.42,0.00,0.000,4,0.000,0.046,2428,470,3374,0,0,0,0,0,0
$GC,2668,-1.48,-77.9,295.5,-6.8,225,2673,0.17,2.28,0.00,0.000,6,0.053,0.023,2376,1872,3374,0,0,0,0,0,0
$GC,3018,-1.48,-77.9,326.3,-9.3,235,3019,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1877,3373,0,0,0,0,0,0
$GC,3344,-1.48,-77.9,356.8,-9.4,243,3348,0.00,2.45,0.00,0.000,4,0.000,0.051,2376,468,3371,0,0,0,0,0,0
$GC,3441,-1.43,-77.9,367.6,-11.2,245,3446,0.12,2.30,0.00,0.000,6,0.102,0.026,2401,1869,3370,0,0,0,0,0,0
$GC,3762,-1.47,-77.9,398.1,-9.6,253,3766,0.00,2.47,0.00,0.000,4,0.000,0.052,2400,471,3368,0,0,0,0,0,0
$GC,3850,-1.47,-77.9,407.1,-9.7,255,3855,0.00,2.33,0.00,0.000,6,0.000,0.028,2401,1876,3367,0,0,0,0,0,0
$GC,4179,-1.52,-77.9,437.3,-9.1,263,4183,0.00,2.45,0.00,0.000,4,0.000,0.054,2401,471,3364,0,0,0,0,0,0
$STATE,4242,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4242,begin apogee
$GC,4249,-0.31,0.0,443.4,8.8,264,4317,1.10,0.00,63.80,0.867,6,0.076,0.000,2639,2005,3050,0,0,0,0,0,0
$STATE,4317,end apogee,CONTROL_FINISHED_OK
$STATE,4317,begin climb
$GC,4320,1.40,77.9,444.9,0.0,266,4394,1.65,2.53,64.75,0.844,4,0.035,0.045,3021,3405,2732,0,0,0,0,0,0
$GC,4511,1.22,113.9,441.0,5.5,270,4548,0.22,2.42,31.10,0.825,6,0.114,0.037,2981,2010,2585,0,0,0,0,0,0
$GC,4871,1.12,123.7,414.9,7.4,279,4888,0.12,2.53,8.88,0.728,4,0.126,0.052,2958,604,2544,0,0,0,0,0,0
$GC,4941,1.00,123.7,409.1,8.9,280,4946,0.15,2.40,0.00,0.000,6,0.123,0.029,2934,2024,2543,0,0,0,0,0,0
$GC,5286,1.02,138.6,385.2,7.0,289,5306,0.00,2.60,13.57,0.782,4,0.000,0.051,2932,604,2483,0,0,0,0,0,0
$GC,5505,0.96,138.6,367.4,8.2,293,5509,0.00,2.38,0.00,0.000,6,0.000,0.030,2934,2012,2480,0,0,0,0,0,0
$GC,5836,0.98,158.2,345.0,6.7,301,5860,0.00,2.58,17.52,0.788,4,0.000,0.052,2932,612,2403,0,0,0,0,0,0
$GC,5919,0.95,158.2,337.8,9.6,302,5923,0.00,2.38,0.00,0.000,6,0.000,0.031,2934,2010,2401,0,0,0,0,0,0
$GC,6249,0.98,158.2,309.3,8.8,310,6253,0.00,2.47,0.00,0.000,4,0.000,0.051,2932,602,2399,0,0,0,0,0,0
$GC,6290,0.98,158.2,305.0,9.9,310,6296,0.00,2.38,0.00,0.000,6,0.000,0.030,2934,2011,2398,0,0,0,0,0,0
$GC,6604,1.04,171.3,280.2,7.1,324,6621,0.00,2.40,11.57,0.723,4,0.000,0.040,2934,3403,2351,0,0,0,0,0,0
$GC,6687,1.11,184.5,274.2,7.1,326,6706,0.00,2.42,13.27,0.724,6,0.000,0.037,2934,2016,2297,0,0,0,0,0,0
$GC,7029,1.19,199.9,250.8,7.0,343,7051,0.17,2.58,14.35,0.716,4,0.066,0.051,2976,598,2234,0,0,0,0,0,0
$GC,7185,1.14,199.9,234.7,10.2,349,7190,0.00,2.38,0.00,0.000,6,0.000,0.028,2976,2015,2229,0,0,0,0,0,0
$GC,7500,1.14,199.9,208.9,9.3,365,7505,0.00,2.47,0.00,0.000,4,0.000,0.048,2977,604,2229,0,0,0,0,0,0
$GC,7612,1.08,199.9,197.6,10.8,371,7618,0.15,2.35,0.00,0.000,6,0.118,0.027,2950,2018,2227,0,0,0,0,0,0
$GC,7874,1.15,204.9,176.1,7.7,396,7885,0.00,2.47,4.82,0.503,4,0.000,0.046,2950,604,2213,0,0,0,0,0,0
$GC,7979,1.15,204.9,166.3,10.6,407,7984,0.00,2.33,0.00,0.000,6,0.000,0.025,2949,2014,2212,0,0,0,0,0,0
$GC,8243,1.23,204.9,143.4,9.1,431,8248,0.15,2.47,0.00,0.000,4,0.064,0.046,2990,601,2212,0,0,0,0,0,0
$GC,8332,1.15,204.9,132.9,11.3,440,8337,0.12,2.33,0.00,0.000,6,0.114,0.023,2968,2020,2211,0,0,0,0,0,0
$GC,8593,1.21,210.3,109.8,7.7,464,8604,0.00,2.30,6.38,0.506,4,0.000,0.028,2968,3399,2192,0,0,0,0,0,0
$GC,8627,1.29,215.2,107.3,7.7,467,8644,0.12,2.35,6.25,0.499,6,0.068,0.029,3003,2004,2171,0,0,0,0,0,0
$GC,8898,1.29,215.2,82.9,11.0,493,8902,0.00,2.40,0.00,0.000,4,0.000,0.044,3002,605,2170,0,0,0,0,0,0
$GC,9159,1.25,215.2,56.4,8.8,521,9165,0.00,2.30,0.00,0.000,6,0.000,0.021,3003,2011,2168,0,0,0,0,0,0
$GC,9422,1.30,227.4,37.7,7.2,546,9443,0.00,2.47,12.00,0.515,4,0.000,0.043,3003,611,2120,0,0,0,0,0,0
$GC,9564,1.30,227.4,23.8,10.0,568,9571,0.00,2.30,0.00,0.000,6,0.000,0.021,3003,2018,2118,0,0,0,0,0,0
$GC,9773,1.38,265.0,8.1,5.4,605,9813,0.00,2.50,33.10,0.518,4,0.000,0.042,3003,608,1967,0,0,0,0,0,0
$STATE,9832,end climb,SURFACE_DEPTH_REACHED
$STATE,9832,begin surface coast
$FINISH,0.5,1.011964
$STATE,9869,end surface coast,CONTROL_FINISHED_OK
$STATE,9869,begin surface
$SM_CCo,9890,18.98,0.494,0,0,1826,300.00
$SM_GC,1.45,0.00,0.00,18.98,0.000,0.000,0.494,426,1888,1826,-10.52,0.37,300.00
$IRIDIUM_FIX,2052.52,-15746.61,170899,141448
$TT8_MAMPS,0.029146
$HUMID,47.59
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,422.6,50.6
$24V_AH,23.4,30.911
$10V_AH,10.0,29.340
$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,26.750,115.250,301.375,18.975,0.000,60.116,60.554,259.698,4.500,0.000,89.534,1221.323,6337.587,364.828,2030.408,583.153,33.367,1231.870,0.000,1929.393,0.000,31.576,0.000
$DEVICE_MAMPS,133.458,53.690,866.710,493.948,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,420.763,398.805,792.640,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355660
$DATA_FILE_SIZE,34897,625
$CAP_FILE_SIZE,123055,0
$CFSIZE,260165632,238596096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230510,164936,2059.697,-15747.947,185,1.6,185,9.8