version: 66.06
glider: 139
mission: 7
dive: 340
start: 5 22 110 17 7 48
data:
$ID,139
$MISSION,7
$DIVE,340
$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,637.77997
$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,-2133094.2
$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
$GPS1,164725,2102.969,-15744.177,152,1.5,152,9.8
$_CALLS,5
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-69.8
$GPS2,170656,2102.970,-15744.106,13,1.4,13,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.087,-0.162
$KALMAN_X,-12638.7,144.8,557.6,30632.7,-393.7
$KALMAN_Y,24180.9,204.0,42.0,-31728.9,523.9
$MHEAD_RNG_PITCHd_Wd,198.5,13659,-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,-77.9,0.0,0.0,0,76,0.00,0.00,-57.85,0.000,6,0.000,0.000,425,1861,3368,0,0,0,0,0,0
$GC,79,-1.40,-77.9,4.1,-7.3,11,95,10.60,2.38,0.00,0.000,4,0.134,0.035,2401,465,3370,0,0,0,0,0,0
$GC,132,-1.02,-77.9,23.9,-27.4,22,139,0.38,2.35,0.00,0.000,6,0.083,0.020,2490,1903,3372,0,0,0,0,0,0
$GC,335,-1.08,-77.9,49.1,-10.9,44,336,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1907,3372,0,0,0,0,0,0
$GC,588,-1.18,-77.9,75.1,-9.0,68,592,0.15,2.47,0.00,0.000,4,0.056,0.044,2440,470,3372,0,0,0,0,0,0
$GC,696,-1.14,-77.9,88.6,-13.0,79,701,0.12,2.28,0.00,0.000,6,0.098,0.019,2467,1888,3372,0,0,0,0,0,0
$GC,958,-1.19,-77.9,115.1,-9.8,103,962,0.00,2.45,0.00,0.000,4,0.000,0.042,2466,463,3372,0,0,0,0,0,0
$GC,1002,-1.24,-77.9,119.7,-10.5,107,1009,0.00,2.25,0.00,0.000,6,0.000,0.019,2467,1886,3372,0,0,0,0,0,0
$GC,1270,-1.32,-77.9,144.0,-8.5,132,1275,0.17,2.45,0.00,0.000,4,0.051,0.044,2410,468,3373,0,0,0,0,0,0
$GC,1332,-1.25,-77.9,151.4,-13.7,138,1337,0.15,2.25,0.00,0.000,6,0.093,0.020,2442,1875,3373,0,0,0,0,0,0
$GC,1593,-1.29,-77.9,178.3,-10.6,162,1597,0.00,2.40,0.00,0.000,4,0.000,0.044,2442,464,3373,0,0,0,0,0,0
$GC,1616,-1.29,-77.9,180.9,-12.0,164,1620,0.00,2.28,0.00,0.000,6,0.000,0.020,2442,1890,3373,0,0,0,0,0,0
$GC,1889,-1.36,-77.9,209.1,-9.9,185,1894,0.12,2.47,0.00,0.000,4,0.064,0.044,2399,463,3373,0,0,0,0,0,0
$GC,1955,-1.30,-77.9,217.6,-12.6,188,1960,0.15,2.25,0.00,0.000,6,0.094,0.021,2428,1872,3373,0,0,0,0,0,0
$GC,2287,-1.38,-77.9,244.3,-7.7,204,2292,0.00,2.42,0.00,0.000,4,0.000,0.044,2430,462,3373,0,0,0,0,0,0
$GC,2370,-1.42,-77.9,252.2,-10.0,207,2376,0.12,2.25,0.00,0.000,6,0.064,0.021,2389,1881,3373,0,0,0,0,0,0
$GC,2686,-1.42,-77.9,283.2,-10.4,223,2690,0.00,2.42,0.00,0.000,4,0.000,0.047,2389,466,3372,0,0,0,0,0,0
$GC,2714,-1.34,-77.9,286.6,-11.5,224,2719,0.15,2.28,0.00,0.000,6,0.093,0.023,2420,1870,3372,0,0,0,0,0,0
$GC,3055,-1.40,-77.9,313.3,-7.7,237,3059,0.00,2.42,0.00,0.000,4,0.000,0.048,2420,471,3371,0,0,0,0,0,0
$GC,3138,-1.40,-77.9,321.1,-9.8,238,3144,0.00,2.28,0.00,0.000,6,0.000,0.024,2420,1882,3370,0,0,0,0,0,0
$GC,3470,-1.48,-77.9,348.8,-8.3,247,3475,0.12,2.45,0.00,0.000,4,0.066,0.050,2381,471,3369,0,0,0,0,0,0
$GC,3633,-1.43,-77.9,367.7,-11.8,250,3638,0.10,2.30,0.00,0.000,6,0.113,0.025,2401,1877,3368,0,0,0,0,0,0
$GC,3974,-1.48,-77.9,394.7,-7.4,259,3978,0.00,2.45,0.00,0.000,4,0.000,0.051,2401,464,3365,0,0,0,0,0,0
$GC,4052,-1.48,-77.9,402.9,-10.6,260,4056,0.00,2.33,0.00,0.000,6,0.000,0.027,2400,1876,3365,0,0,0,0,0,0
$GC,4382,-1.52,-77.9,433.1,-9.4,268,4387,0.00,2.47,0.00,0.000,4,0.000,0.053,2400,467,3362,0,0,0,0,0,0
$GC,4437,-1.52,-77.9,439.1,-9.9,269,4442,0.00,2.33,0.00,0.000,6,0.000,0.028,2401,1870,3362,0,0,0,0,0,0
$STATE,4506,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4506,begin apogee
$GC,4512,-0.31,0.0,445.4,8.8,271,4579,1.12,0.00,63.70,0.862,6,0.073,0.000,2642,2032,3050,0,0,0,0,0,0
$STATE,4580,end apogee,CONTROL_FINISHED_OK
$STATE,4580,begin climb
$GC,4581,1.40,77.9,446.5,0.0,272,4657,1.65,2.45,64.70,0.840,4,0.034,0.044,3025,3388,2732,0,0,0,0,0,0
$GC,4865,1.22,111.4,438.2,5.7,278,4902,0.25,2.40,28.75,0.824,6,0.112,0.038,2980,2008,2595,0,0,0,0,0,0
$GC,5225,1.12,111.6,410.5,8.0,287,5230,0.12,2.42,0.00,0.000,4,0.128,0.041,2958,3391,2590,0,0,0,0,0,0
$GC,5378,1.07,126.6,399.8,7.0,290,5399,0.00,2.38,13.40,0.778,6,0.000,0.038,2958,2003,2533,0,0,0,0,0,0
$GC,5730,1.03,134.7,373.7,7.5,299,5740,0.00,0.00,7.95,0.707,6,0.000,0.000,2958,2004,2499,0,0,0,0,0,0
$GC,6055,1.01,145.2,349.6,7.3,307,6072,0.12,2.55,10.00,0.736,4,0.123,0.054,2935,600,2457,0,0,0,0,0,0
$GC,6134,0.98,153.6,344.2,7.4,308,6149,0.00,2.35,8.90,0.713,6,0.000,0.030,2937,1997,2422,0,0,0,0,0,0
$GC,6473,0.99,163.7,321.2,7.3,317,6490,0.00,2.53,9.88,0.721,4,0.000,0.052,2936,607,2381,0,0,0,0,0,0
$GC,6653,0.99,163.7,303.4,10.8,320,6658,0.00,2.35,0.00,0.000,6,0.000,0.029,2937,2007,2378,0,0,0,0,0,0
$GC,6969,1.03,163.7,276.1,8.8,335,6973,0.00,2.47,0.00,0.000,4,0.000,0.051,2937,604,2378,0,0,0,0,0,0
$GC,7069,1.03,163.7,266.6,8.8,339,7073,0.00,2.35,0.00,0.000,6,0.000,0.028,2937,2010,2376,0,0,0,0,0,0
$GC,7385,1.10,179.3,244.7,7.0,354,7408,0.00,2.55,13.90,0.708,4,0.000,0.049,2936,603,2318,0,0,0,0,0,0
$GC,7457,1.10,179.3,239.1,8.7,357,7461,0.00,2.38,0.00,0.000,6,0.000,0.028,2937,2018,2316,0,0,0,0,0,0
$GC,7787,1.20,205.0,215.1,6.3,373,7814,0.17,0.00,23.88,0.708,6,0.064,0.000,2981,2022,2214,0,0,0,0,0,0
$GC,8118,1.20,205.0,188.6,9.3,394,8123,0.00,2.47,0.00,0.000,4,0.000,0.048,2981,604,2210,0,0,0,0,0,0
$GC,8261,1.15,205.0,175.5,8.6,409,8265,0.00,2.35,0.00,0.000,6,0.000,0.025,2981,2021,2206,0,0,0,0,0,0
$GC,8524,1.15,208.3,155.7,7.8,433,8528,0.00,2.45,0.00,0.000,4,0.000,0.045,2981,598,2206,0,0,0,0,0,0
$GC,8676,1.12,208.3,142.3,9.1,449,8681,0.12,2.30,0.00,0.000,6,0.121,0.024,2960,2014,2205,0,0,0,0,0,0
$GC,8938,1.20,216.6,123.1,7.4,473,8958,0.00,2.38,10.20,0.571,4,0.000,0.029,2960,3402,2166,0,0,0,0,0,0
$GC,9055,1.32,216.6,112.9,8.9,485,9061,0.20,2.35,0.00,0.000,6,0.051,0.029,3011,1997,2166,0,0,0,0,0,0
$GC,9316,1.32,216.6,88.7,9.1,510,9317,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1997,2166,0,0,0,0,0,0
$GC,9571,1.32,216.6,68.0,8.5,534,9575,0.00,2.38,0.00,0.000,4,0.000,0.044,3012,604,2166,0,0,0,0,0,0
$GC,9705,1.24,216.6,56.3,9.5,548,9710,0.15,2.28,0.00,0.000,6,0.102,0.021,2985,2027,2165,0,0,0,0,0,0
$GC,9968,1.33,226.3,37.6,7.4,572,9988,0.00,2.45,10.38,0.496,4,0.000,0.041,2984,600,2125,0,0,0,0,0,0
$GC,10191,1.34,234.5,19.8,7.5,611,10207,0.00,2.25,8.60,0.465,6,0.000,0.021,2984,2008,2092,0,0,0,0,0,0
$STATE,10402,end climb,SURFACE_DEPTH_REACHED
$STATE,10402,begin surface coast
$FINISH,0.3,1.014188
$STATE,10440,end surface coast,CONTROL_FINISHED_OK
$STATE,10440,begin surface
$SM_CCo,10460,207.93,0.504,0,0,449,637.78
$SM_GC,1.05,0.00,0.00,207.93,0.000,0.000,0.504,425,1853,449,-10.53,-0.62,637.78
$IRIDIUM_FIX,2054.83,-15742.34,160899,171732
$TT8_MAMPS,0.029146
$HUMID,44.88
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,23.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,440.0,35.3
$24V_AH,23.4,30.246
$10V_AH,10.1,28.758
$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,27.225,109.925,274.225,207.925,0.000,150.691,178.671,459.478,4.750,0.000,13.137,1297.174,6969.829,559.759,2008.014,1007.100,33.378,1416.978,0.000,1976.774,0.000,32.211,0.000
$DEVICE_MAMPS,134.225,54.457,862.108,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.123,419.714,842.547,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,38141,656
$CAP_FILE_SIZE,136308,0
$CFSIZE,260165632,238981120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220510,200736,2102.390,-15744.478,84,2.0,84,9.8