version: 66.06
glider: 139
mission: 7
dive: 348
start: 5 23 110 16 56 7
data:
$ID,139
$MISSION,7
$DIVE,348
$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,-2133430.5
$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
$GPS1,164936,2059.697,-15747.947,185,1.6,185,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-70.7
$GPS2,165516,2059.717,-15747.951,12,3.2,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.110,-0.147
$KALMAN_X,-6928.5,-359.8,238.7,19113.2,512.0
$KALMAN_Y,29537.2,8.9,164.1,-43034.6,930.7
$MHEAD_RNG_PITCHd_Wd,206.8,4691,-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,16,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-52.88,0.000,2,0.000,0.000,426,1889,3224,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.6,-6.2,10,95,10.65,2.50,-2.78,0.000,4,0.136,0.054,2404,467,3371,0,0,0,0,0,0
$GC,132,-1.11,-77.9,21.4,-22.1,22,139,0.28,2.35,0.00,0.000,6,0.087,0.020,2470,1905,3372,0,0,0,0,0,0
$GC,335,-1.11,-77.9,49.6,-11.7,45,339,0.00,2.50,0.00,0.000,4,0.000,0.043,2470,460,3373,0,0,0,0,0,0
$GC,396,-1.11,-77.9,56.8,-12.3,51,400,0.00,2.28,0.00,0.000,6,0.000,0.020,2471,1876,3373,0,0,0,0,0,0
$GC,657,-1.11,-77.9,86.4,-10.8,75,661,0.00,2.40,0.00,0.000,4,0.000,0.042,2470,468,3374,0,0,0,0,0,0
$GC,690,-1.11,-77.9,89.8,-10.7,78,694,0.00,2.28,0.00,0.000,6,0.000,0.019,2471,1884,3374,0,0,0,0,0,0
$GC,951,-1.21,-77.9,113.8,-10.2,102,955,0.00,2.45,0.00,0.000,4,0.000,0.043,2471,459,3375,0,0,0,0,0,0
$GC,1030,-1.26,-77.9,122.1,-10.6,110,1035,0.15,2.28,0.00,0.000,6,0.056,0.019,2421,1877,3376,0,0,0,0,0,0
$GC,1290,-1.26,-77.9,149.1,-9.4,134,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,1882,3376,0,0,0,0,0,0
$GC,1546,-1.26,-77.9,175.0,-10.4,158,1550,0.00,2.40,0.00,0.000,4,0.000,0.044,2421,468,3377,0,0,0,0,0,0
$GC,1564,-1.22,-77.9,177.4,-12.6,159,1570,0.12,2.28,0.00,0.000,6,0.101,0.021,2446,1893,3377,0,0,0,0,0,0
$GC,1834,-1.29,-77.9,202.8,-9.7,184,1839,0.00,2.45,0.00,0.000,4,0.000,0.044,2446,470,3377,0,0,0,0,0,0
$GC,1969,-1.33,-77.9,216.7,-9.8,190,1974,0.00,2.25,0.00,0.000,6,0.000,0.021,2446,1876,3377,0,0,0,0,0,0
$GC,2300,-1.43,-77.9,247.8,-10.6,206,2305,0.20,2.40,0.00,0.000,4,0.048,0.043,2385,468,3377,0,0,0,0,0,0
$GC,2332,-1.39,-77.9,251.4,-11.1,207,2337,0.12,2.25,0.00,0.000,6,0.097,0.021,2412,1871,3377,0,0,0,0,0,0
$GC,2649,-1.44,-77.9,280.9,-8.6,222,2653,0.00,2.42,0.00,0.000,4,0.000,0.046,2412,466,3377,0,0,0,0,0,0
$GC,2745,-1.48,-77.9,289.2,-8.2,226,2749,0.00,2.28,0.00,0.000,6,0.000,0.022,2412,1878,3377,0,0,0,0,0,0
$GC,3063,-1.54,-77.9,314.5,-8.1,238,3068,0.15,2.45,0.00,0.000,4,0.060,0.048,2367,464,3376,0,0,0,0,0,0
$GC,3106,-1.44,-77.9,319.2,-11.6,239,3111,0.15,2.28,0.00,0.000,6,0.095,0.025,2398,1874,3375,0,0,0,0,0,0
$GC,3435,-1.48,-77.9,350.6,-9.6,247,3439,0.00,2.42,0.00,0.000,4,0.000,0.051,2398,471,3374,0,0,0,0,0,0
$GC,3523,-1.48,-77.9,359.7,-9.4,249,3528,0.00,2.30,0.00,0.000,6,0.000,0.026,2398,1874,3373,0,0,0,0,0,0
$GC,3856,-1.52,-77.9,389.7,-8.8,257,3860,0.00,2.45,0.00,0.000,4,0.000,0.052,2398,472,3371,0,0,0,0,0,0
$GC,3934,-1.52,-77.9,397.2,-8.9,258,3938,0.00,2.33,0.00,0.000,6,0.000,0.028,2399,1881,3371,0,0,0,0,0,0
$GC,4265,-1.58,-77.9,427.4,-9.7,266,4269,0.12,2.50,0.00,0.000,4,0.070,0.054,2362,472,3368,0,0,0,0,0,0
$GC,4335,-1.53,-77.9,435.3,-11.0,267,4339,0.00,2.33,0.00,0.000,6,0.000,0.028,2364,1873,3368,0,0,0,0,0,0
$STATE,4470,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4470,begin apogee
$GC,4475,-0.31,0.0,449.4,10.4,271,4543,1.33,0.00,64.80,0.875,6,0.078,0.000,2645,2033,3050,0,0,0,0,0,0
$STATE,4544,end apogee,CONTROL_FINISHED_OK
$STATE,4544,begin climb
$GC,4546,1.40,77.9,450.5,0.0,272,4621,1.62,2.45,64.85,0.851,4,0.033,0.046,3022,3382,2732,0,0,0,0,0,0
$GC,4686,1.22,125.0,449.0,4.8,275,4735,0.22,2.40,40.60,0.838,6,0.112,0.038,2983,2007,2540,0,0,0,0,0,0
$GC,5048,1.12,125.0,416.5,9.1,284,5053,0.12,2.47,0.00,0.000,4,0.123,0.054,2960,605,2532,0,0,0,0,0,0
$GC,5072,0.98,125.0,414.3,8.8,284,5077,0.17,2.33,0.00,0.000,6,0.118,0.030,2930,1993,2531,0,0,0,0,0,0
$GC,5412,0.98,125.0,386.4,8.5,293,5416,0.00,2.47,0.00,0.000,4,0.000,0.053,2928,601,2529,0,0,0,0,0,0
$GC,5551,0.93,125.0,374.7,8.5,296,5555,0.00,2.38,0.00,0.000,6,0.000,0.031,2930,2011,2527,0,0,0,0,0,0
$GC,5873,0.98,161.1,354.6,5.5,304,5905,0.00,0.00,30.10,0.818,6,0.000,0.000,2930,2015,2393,0,0,0,0,0,0
$GC,6198,1.02,169.7,331.9,7.4,312,6214,0.00,2.53,8.35,0.706,4,0.000,0.051,2929,597,2357,0,0,0,0,0,0
$GC,6361,1.02,169.7,317.3,8.1,315,6365,0.00,2.38,0.00,0.000,6,0.000,0.031,2930,2012,2353,0,0,0,0,0,0
$GC,6683,1.08,181.9,294.2,7.2,325,6700,0.00,2.45,11.48,0.732,4,0.000,0.041,2930,3413,2308,0,0,0,0,0,0
$GC,6784,1.17,197.5,286.3,6.9,329,6805,0.17,2.42,15.52,0.746,6,0.064,0.037,2973,2007,2244,0,0,0,0,0,0
$GC,7130,1.17,197.5,255.9,9.3,346,7134,0.00,2.47,0.00,0.000,4,0.000,0.053,2973,604,2239,0,0,0,0,0,0
$GC,7172,1.12,197.5,251.7,9.3,348,7176,0.00,2.35,0.00,0.000,6,0.000,0.029,2973,2012,2236,0,0,0,0,0,0
$GC,7500,1.12,197.5,225.6,8.7,364,7504,0.00,2.47,0.00,0.000,4,0.000,0.049,2973,595,2236,0,0,0,0,0,0
$GC,7725,1.08,197.5,204.8,9.4,374,7730,0.12,2.38,0.00,0.000,6,0.118,0.027,2952,2025,2233,0,0,0,0,0,0
$GC,8053,1.13,197.5,177.8,8.7,401,8057,0.00,2.47,0.00,0.000,4,0.000,0.046,2951,601,2233,0,0,0,0,0,0
$GC,8107,1.13,197.5,172.3,9.6,406,8114,0.00,2.35,0.00,0.000,6,0.000,0.025,2951,2011,2232,0,0,0,0,0,0
$GC,8370,1.22,209.7,153.8,7.2,431,8383,0.12,0.00,10.25,0.600,6,0.071,0.000,2986,2017,2195,0,0,0,0,0,0
$GC,8633,1.22,209.7,128.9,10.5,456,8637,0.00,2.45,0.00,0.000,4,0.000,0.044,2986,596,2195,0,0,0,0,0,0
$GC,8883,1.22,209.7,104.0,9.3,483,8887,0.00,2.33,0.00,0.000,6,0.000,0.022,2986,2023,2192,0,0,0,0,0,0
$GC,9147,1.27,222.6,82.8,7.1,507,9167,0.00,2.30,12.93,0.549,4,0.000,0.028,2986,3401,2142,0,0,0,0,0,0
$GC,9314,1.34,227.9,69.2,7.7,525,9331,0.08,2.35,6.15,0.460,6,0.042,0.029,3012,2010,2121,0,0,0,0,0,0
$GC,9584,1.37,252.4,48.7,6.3,551,9615,0.00,2.47,22.38,0.541,4,0.000,0.042,3017,605,2019,0,0,0,0,0,0
$GC,9778,1.33,252.4,27.8,12.8,574,9784,0.00,2.30,0.00,0.000,6,0.000,0.021,3017,2004,2015,0,0,0,0,0,0
$GC,9984,1.33,252.4,3.1,11.9,611,9989,0.00,2.40,0.00,0.000,4,0.000,0.039,3018,602,2015,0,0,0,0,0,0
$STATE,9995,end climb,SURFACE_DEPTH_REACHED
$STATE,9995,begin surface coast
$FINISH,0.5,1.023380
$STATE,10014,end surface coast,CONTROL_FINISHED_OK
$STATE,10014,begin surface
$SM_CCo,10035,25.25,0.502,0,0,1826,300.00
$SM_GC,0.97,0.00,0.00,25.25,0.000,0.000,0.502,427,1904,1826,-10.52,0.82,300.00
$IRIDIUM_FIX,2050.21,-15749.62,170899,171747
$TT8_MAMPS,0.029146
$HUMID,47.28
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,441.0,35.8
$24V_AH,23.4,30.991
$10V_AH,10.0,29.422
$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,27.025,114.475,287.400,25.250,0.000,31.299,28.774,153.936,4.750,0.000,32.414,1225.712,6455.626,378.772,1952.025,388.318,33.362,1220.790,0.000,1896.973,0.000,32.216,0.000
$DEVICE_MAMPS,135.759,54.457,875.147,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.749,395.252,787.261,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34903,617
$CAP_FILE_SIZE,118521,0
$CFSIZE,260165632,238542848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230510,194652,2059.316,-15748.414,129,6.1,148,9.8