version: 66.06
glider: 139
mission: 7
dive: 244
start: 5 10 110 16 16 27
data:
$ID,139
$MISSION,7
$DIVE,244
$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,-2127665.8
$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,1900
$C_ROLL_CLIMB,2035
$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
$GPS1,161015,2100.036,-15752.939,74,2.1,93,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-71.3
$GPS2,161536,2100.078,-15752.896,14,1.5,30,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.168,0.075
$KALMAN_X,-94032.4,-7.7,-148.3,112324.1,594.5
$KALMAN_Y,44135.3,61.3,43.9,-58492.6,404.3
$MHEAD_RNG_PITCHd_Wd,284.2,22014,-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,-77.9,0.0,0.0,0,74,0.00,0.00,-55.42,0.000,2,0.000,0.000,424,1916,3297,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.6,-6.9,10,95,10.88,2.42,-1.35,0.000,4,0.144,0.050,2404,491,3369,0,0,0,0,0,0
$GC,149,-1.15,-77.9,25.5,-20.6,25,156,0.25,2.35,0.00,0.000,6,0.095,0.020,2458,1924,3370,0,0,0,0,0,0
$GC,354,-1.15,-77.9,55.0,-13.2,46,358,0.00,2.47,0.00,0.000,4,0.000,0.044,2458,493,3371,0,0,0,0,0,0
$GC,397,-1.11,-77.9,60.5,-12.7,50,402,0.00,2.28,0.00,0.000,6,0.000,0.020,2458,1904,3371,0,0,0,0,0,0
$GC,659,-1.15,-77.9,89.9,-10.5,74,663,0.00,2.45,0.00,0.000,4,0.000,0.043,2458,484,3372,0,0,0,0,0,0
$GC,722,-1.15,-77.9,96.6,-10.3,80,729,0.00,2.30,0.00,0.000,6,0.000,0.019,2457,1905,3372,0,0,0,0,0,0
$GC,985,-1.21,-77.9,120.4,-9.1,105,989,0.00,2.42,0.00,0.000,4,0.000,0.044,2457,494,3373,0,0,0,0,0,0
$GC,1050,-1.21,-77.9,127.3,-10.9,112,1054,0.00,2.28,0.00,0.000,6,0.000,0.019,2458,1907,3373,0,0,0,0,0,0
$GC,1311,-1.31,-77.9,151.5,-8.8,136,1316,0.15,2.45,0.00,0.000,4,0.056,0.044,2408,492,3374,0,0,0,0,0,0
$GC,1372,-1.25,-77.9,158.8,-12.8,142,1377,0.17,2.25,0.00,0.000,6,0.099,0.020,2443,1905,3374,0,0,0,0,0,0
$GC,1633,-1.32,-77.9,184.2,-8.9,166,1637,0.00,2.42,0.00,0.000,4,0.000,0.044,2443,494,3375,0,0,0,0,0,0
$GC,1695,-1.37,-77.9,190.0,-9.9,172,1700,0.12,2.28,0.00,0.000,6,0.063,0.021,2399,1904,3375,0,0,0,0,0,0
$GC,1963,-1.37,-77.9,221.0,-11.8,189,1967,0.00,2.42,0.00,0.000,4,0.000,0.044,2398,487,3375,0,0,0,0,0,0
$GC,1981,-1.32,-77.9,223.7,-12.4,189,1988,0.12,2.28,0.00,0.000,6,0.110,0.021,2423,1903,3375,0,0,0,0,0,0
$GC,2299,-1.39,-77.9,254.1,-9.7,205,2304,0.00,2.42,0.00,0.000,4,0.000,0.045,2422,486,3375,0,0,0,0,0,0
$GC,2460,-1.42,-77.9,270.8,-9.7,212,2464,0.00,2.25,0.00,0.000,6,0.000,0.022,2424,1893,3375,0,0,0,0,0,0
$GC,2785,-1.50,-77.9,298.5,-8.0,228,2790,0.15,2.42,0.00,0.000,4,0.058,0.048,2375,495,3375,0,0,0,0,0,0
$GC,2850,-1.43,-77.9,305.4,-10.8,230,2855,0.12,2.28,0.00,0.000,6,0.110,0.024,2400,1901,3375,0,0,0,0,0,0
$GC,3202,-1.47,-77.9,336.7,-9.1,239,3206,0.00,2.45,0.00,0.000,4,0.000,0.049,2400,495,3373,0,0,0,0,0,0
$GC,3229,-1.47,-77.9,339.7,-11.0,239,3236,0.00,2.30,0.00,0.000,6,0.000,0.025,2399,1900,3372,0,0,0,0,0,0
$GC,3573,-1.52,-77.9,369.3,-8.7,248,3578,0.00,2.42,0.00,0.000,4,0.000,0.051,2399,497,3371,0,0,0,0,0,0
$GC,3694,-1.52,-77.9,381.2,-9.4,250,3698,0.00,2.30,0.00,0.000,6,0.000,0.027,2399,1901,3371,0,0,0,0,0,0
$GC,4029,-1.57,-77.9,410.2,-8.8,259,4034,0.12,2.50,0.00,0.000,4,0.068,0.054,2361,492,3368,0,0,0,0,0,0
$GC,4085,-1.50,-77.9,416.2,-10.9,260,4090,0.12,2.33,0.00,0.000,6,0.116,0.028,2385,1899,3368,0,0,0,0,0,0
$GC,4400,-1.50,-77.9,443.2,-8.4,268,4404,0.00,2.47,0.00,0.000,4,0.000,0.055,2382,497,3365,0,0,0,0,0,0
$GC,4455,-1.50,-77.9,448.4,-9.1,269,4459,0.00,2.33,0.00,0.000,6,0.000,0.030,2386,1904,3365,0,0,0,0,0,0
$STATE,4475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4476,begin apogee
$GC,4480,-0.31,0.0,450.4,9.4,269,4549,1.23,0.00,64.60,0.879,6,0.087,0.000,2642,2062,3049,0,0,0,0,0,0
$STATE,4549,end apogee,CONTROL_FINISHED_OK
$STATE,4550,begin climb
$GC,4552,1.40,77.9,451.3,0.0,271,4626,1.67,2.42,64.78,0.858,4,0.042,0.045,3021,3402,2732,0,0,0,0,0,0
$GC,4678,1.26,145.9,451.2,3.3,273,4745,0.17,2.35,58.35,0.853,6,0.121,0.037,2990,2031,2454,0,0,0,0,0,0
$GC,5054,1.15,145.9,415.0,10.3,283,5059,0.12,2.50,0.00,0.000,4,0.131,0.054,2967,624,2446,0,0,0,0,0,0
$GC,5083,1.01,145.9,411.8,10.7,283,5088,0.17,2.38,0.00,0.000,6,0.123,0.031,2938,2022,2444,0,0,0,0,0,0
$GC,5419,1.01,145.9,382.4,8.4,292,5423,0.00,2.47,0.00,0.000,4,0.000,0.054,2938,632,2441,0,0,0,0,0,0
$GC,5442,0.95,145.9,380.1,10.1,292,5446,0.00,2.38,0.00,0.000,6,0.000,0.031,2938,2045,2441,0,0,0,0,0,0
$GC,5782,0.96,156.6,353.8,7.3,301,5794,0.00,2.53,7.80,0.710,4,0.000,0.054,2937,632,2411,0,0,0,0,0,0
$GC,5879,0.91,156.6,345.4,9.3,303,5884,0.12,2.35,0.00,0.000,6,0.125,0.031,2917,2034,2409,0,0,0,0,0,0
$GC,6198,1.00,177.8,322.7,6.6,311,6223,0.00,2.55,19.52,0.792,4,0.000,0.053,2916,632,2325,0,0,0,0,0,0
$GC,6233,1.06,189.6,320.3,7.2,311,6250,0.12,2.40,12.00,0.739,6,0.073,0.031,2949,2041,2277,0,0,0,0,0,0
$GC,6565,1.06,189.6,289.1,9.7,322,6569,0.00,2.47,0.00,0.000,4,0.000,0.053,2948,631,2272,0,0,0,0,0,0
$GC,6701,1.02,189.6,274.0,10.9,328,6705,0.00,2.35,0.00,0.000,6,0.000,0.029,2948,2040,2268,0,0,0,0,0,0
$GC,7026,1.06,196.2,247.3,7.6,344,7038,0.00,2.55,5.93,0.607,4,0.000,0.051,2949,628,2250,0,0,0,0,0,0
$GC,7157,1.06,196.2,234.7,11.0,349,7163,0.00,2.38,0.00,0.000,6,0.000,0.028,2949,2043,2247,0,0,0,0,0,0
$GC,7474,1.11,196.2,206.3,8.8,365,7478,0.00,2.45,0.00,0.000,4,0.000,0.050,2948,631,2247,0,0,0,0,0,0
$GC,7570,1.11,196.2,196.9,9.8,372,7575,0.00,2.33,0.00,0.000,6,0.000,0.027,2949,2041,2246,0,0,0,0,0,0
$GC,7832,1.17,196.2,174.0,8.2,396,7833,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2046,2246,0,0,0,0,0,0
$GC,8086,1.24,196.2,152.2,8.3,420,8091,0.15,2.47,0.00,0.000,4,0.064,0.046,2989,627,2246,0,0,0,0,0,0
$GC,8248,1.17,196.2,136.1,9.5,437,8252,0.00,2.30,0.00,0.000,6,0.000,0.025,2988,2038,2245,0,0,0,0,0,0
$GC,8510,1.17,196.2,114.0,9.5,461,8515,0.00,2.42,0.00,0.000,4,0.000,0.044,2989,629,2245,0,0,0,0,0,0
$GC,8572,1.11,196.2,108.0,9.8,467,8577,0.17,2.28,0.00,0.000,6,0.112,0.023,2956,2040,2245,0,0,0,0,0,0
$GC,8834,1.19,196.2,85.9,8.5,491,8838,0.00,2.40,0.00,0.000,4,0.000,0.044,2956,629,2245,0,0,0,0,0,0
$GC,8977,1.22,200.5,74.0,7.7,506,8989,0.10,2.28,4.90,0.440,6,0.081,0.022,2987,2047,2232,0,0,0,0,0,0
$GC,9243,1.27,213.9,52.7,7.1,531,9264,0.00,2.50,13.45,0.539,4,0.000,0.043,2987,626,2177,0,0,0,0,0,0
$GC,9269,1.29,225.1,50.6,7.2,533,9286,0.00,2.33,11.30,0.518,6,0.000,0.021,2987,2043,2132,0,0,0,0,0,0
$GC,9541,1.37,237.3,32.7,7.2,559,9562,0.12,2.50,11.95,0.510,4,0.064,0.042,3028,627,2080,0,0,0,0,0,0
$GC,9727,1.30,237.3,14.0,10.9,598,9734,0.12,2.30,0.00,0.000,6,0.082,0.021,2999,2027,2078,0,0,0,0,0,0
$STATE,9852,end climb,SURFACE_DEPTH_REACHED
$STATE,9852,begin surface coast
$FINISH,0.4,1.012798
$STATE,9885,end surface coast,CONTROL_FINISHED_OK
$STATE,9886,begin surface
$SM_CCo,9905,32.03,0.513,0,0,1827,300.00
$SM_GC,1.24,0.00,0.00,32.03,0.000,0.000,0.513,426,1884,1827,-10.52,-0.45,300.00
$IRIDIUM_FIX,2052.52,-15751.76,040899,131334
$TT8_MAMPS,0.029146
$HUMID,45.47
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,21.812
$10V_AH,10.0,20.901
$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,27.500,124.600,274.575,32.025,0.000,27.441,33.533,147.154,4.500,0.000,30.683,1234.562,6333.917,362.506,1933.507,394.921,33.367,1198.110,0.000,1907.116,0.000,29.252,0.000
$DEVICE_MAMPS,144.196,56.758,878.982,513.123,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,423.720,410.909,914.983,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34983,627
$CAP_FILE_SIZE,120363,0
$CFSIZE,260165632,244641792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100510,190337,2100.808,-15753.727,57,1.9,57,9.8