version: 66.06
glider: 139
mission: 7
dive: 247
start: 5 11 110 0 53 54
data:
$ID,139
$MISSION,7
$DIVE,247
$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,-2127775.2
$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,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
$GPS1,004755,2102.696,-15755.271,57,1.6,57,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.9
$GPS2,005303,2102.746,-15755.274,39,1.7,41,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.182,0.026
$KALMAN_X,-92851.2,-112.8,-154.0,107146.1,528.5
$KALMAN_Y,46116.1,-26.3,-209.4,-55194.0,1040.3
$MHEAD_RNG_PITCHd_Wd,268.4,15642,-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,-77.9,0.0,0.0,0,73,0.00,0.00,-54.53,0.000,2,0.000,0.000,427,1919,3273,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.7,-6.3,10,94,10.65,2.33,-1.80,0.000,4,0.137,0.037,2404,3326,3368,0,0,0,0,0,0
$GC,231,-1.36,-77.9,36.9,-16.7,40,236,0.12,2.42,0.00,0.000,6,0.107,0.031,2420,1889,3370,0,0,0,0,0,0
$GC,495,-1.36,-77.9,72.8,-11.6,64,499,0.00,2.38,0.00,0.000,4,0.000,0.044,2427,492,3371,0,0,0,0,0,0
$GC,557,-1.30,-77.9,81.2,-12.5,70,563,0.00,2.35,0.00,0.000,6,0.000,0.020,2428,1932,3371,0,0,0,0,0,0
$GC,819,-1.30,-77.9,111.8,-11.3,95,823,0.00,2.47,0.00,0.000,4,0.000,0.043,2427,494,3372,0,0,0,0,0,0
$GC,857,-1.24,-77.9,116.1,-11.2,98,863,0.00,2.30,0.00,0.000,6,0.000,0.020,2428,1909,3372,0,0,0,0,0,0
$GC,1119,-1.24,-77.9,143.2,-10.4,123,1123,0.00,2.42,0.00,0.000,4,0.000,0.043,2425,488,3373,0,0,0,0,0,0
$GC,1245,-1.21,-77.9,157.9,-12.2,136,1250,0.10,2.28,0.00,0.000,6,0.110,0.020,2448,1901,3373,0,0,0,0,0,0
$GC,1507,-1.29,-77.9,181.1,-8.4,160,1512,0.00,2.42,0.00,0.000,4,0.000,0.044,2448,492,3374,0,0,0,0,0,0
$GC,1589,-1.32,-77.9,189.0,-10.4,168,1595,0.00,2.28,0.00,0.000,6,0.000,0.021,2448,1896,3374,0,0,0,0,0,0
$GC,1845,-1.43,-77.9,212.7,-8.2,186,1850,0.20,2.40,0.00,0.000,4,0.048,0.044,2388,492,3374,0,0,0,0,0,0
$GC,1925,-1.36,-77.9,222.0,-11.9,189,1930,0.12,2.28,0.00,0.000,6,0.102,0.021,2415,1906,3374,0,0,0,0,0,0
$GC,2242,-1.41,-77.9,249.8,-9.2,204,2246,0.00,2.42,0.00,0.000,4,0.000,0.045,2415,488,3375,0,0,0,0,0,0
$GC,2348,-1.41,-77.9,261.2,-10.5,208,2354,0.00,2.30,0.00,0.000,6,0.000,0.022,2415,1897,3375,0,0,0,0,0,0
$GC,2663,-1.47,-77.9,290.7,-9.3,224,2667,0.00,2.42,0.00,0.000,4,0.000,0.047,2414,494,3374,0,0,0,0,0,0
$GC,2712,-1.47,-77.9,295.9,-10.1,226,2717,0.00,2.28,0.00,0.000,6,0.000,0.024,2416,1902,3374,0,0,0,0,0,0
$GC,3050,-1.53,-77.9,325.3,-8.9,236,3055,0.17,2.47,0.00,0.000,4,0.055,0.049,2363,492,3373,0,0,0,0,0,0
$GC,3102,-1.45,-77.9,331.1,-11.7,237,3107,0.15,2.30,0.00,0.000,6,0.097,0.025,2397,1897,3372,0,0,0,0,0,0
$GC,3420,-1.49,-77.9,359.2,-8.3,245,3424,0.00,2.45,0.00,0.000,4,0.000,0.050,2397,494,3372,0,0,0,0,0,0
$GC,3447,-1.49,-77.9,361.7,-9.4,245,3452,0.00,2.30,0.00,0.000,6,0.000,0.026,2396,1900,3372,0,0,0,0,0,0
$GC,3783,-1.53,-77.9,390.0,-8.2,254,3787,0.00,2.47,0.00,0.000,4,0.000,0.052,2397,492,3369,0,0,0,0,0,0
$GC,3837,-1.53,-77.9,395.3,-9.3,255,3841,0.00,2.33,0.00,0.000,6,0.000,0.027,2396,1900,3369,0,0,0,0,0,0
$GC,4156,-1.58,-77.9,420.9,-7.9,263,4161,0.12,2.47,0.00,0.000,4,0.071,0.054,2359,492,3367,0,0,0,0,0,0
$GC,4250,-1.51,-77.9,431.1,-10.9,265,4255,0.10,2.35,0.00,0.000,6,0.118,0.028,2381,1902,3366,0,0,0,0,0,0
$STATE,4449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4449,begin apogee
$GC,4455,-0.31,0.0,450.1,9.4,270,4522,1.23,0.00,64.30,0.882,6,0.077,0.000,2642,2063,3050,0,0,0,0,0,0
$STATE,4523,end apogee,CONTROL_FINISHED_OK
$STATE,4523,begin climb
$GC,4525,1.40,77.9,451.4,0.0,271,4600,1.65,2.45,64.43,0.859,4,0.033,0.046,3027,3409,2732,0,0,0,0,0,0
$GC,4859,1.21,110.6,439.1,5.8,278,4893,0.22,2.38,27.75,0.842,6,0.114,0.038,2984,2029,2599,0,0,0,0,0,0
$GC,5211,1.11,129.1,413.9,6.8,287,5236,0.15,2.53,16.48,0.813,4,0.123,0.054,2956,630,2521,0,0,0,0,0,0
$GC,5338,0.98,130.5,404.0,7.9,289,5343,0.15,2.35,0.00,0.000,6,0.127,0.031,2932,2021,2518,0,0,0,0,0,0
$GC,5668,1.01,149.9,382.8,6.7,297,5692,0.00,2.55,18.33,0.816,4,0.000,0.053,2932,635,2438,0,0,0,0,0,0
$GC,5707,0.98,157.9,380.0,7.5,297,5720,0.00,2.40,8.30,0.713,6,0.000,0.031,2933,2039,2406,0,0,0,0,0,0
$GC,6039,1.00,173.3,356.3,7.0,306,6059,0.00,2.58,14.27,0.785,4,0.000,0.054,2933,636,2343,0,0,0,0,0,0
$GC,6188,1.00,173.3,342.7,9.7,309,6192,0.00,2.38,0.00,0.000,6,0.000,0.031,2933,2034,2338,0,0,0,0,0,0
$GC,6501,1.04,173.3,316.0,8.7,317,6505,0.00,2.50,0.00,0.000,4,0.000,0.053,2933,627,2338,0,0,0,0,0,0
$GC,6552,1.04,173.3,311.3,8.8,318,6556,0.00,2.38,0.00,0.000,6,0.000,0.031,2933,2037,2336,0,0,0,0,0,0
$GC,6872,1.10,176.9,287.3,7.8,330,6876,0.00,2.50,0.00,0.000,4,0.000,0.051,2933,620,2336,0,0,0,0,0,0
$GC,6909,1.10,176.9,284.2,8.6,331,6914,0.00,2.40,0.00,0.000,6,0.000,0.030,2933,2046,2334,0,0,0,0,0,0
$GC,7225,1.15,176.9,254.1,10.0,347,7230,0.15,2.53,0.00,0.000,4,0.071,0.051,2970,623,2335,0,0,0,0,0,0
$GC,7304,1.06,176.9,245.7,9.9,350,7309,0.12,2.38,0.00,0.000,6,0.130,0.028,2949,2041,2333,0,0,0,0,0,0
$GC,7621,1.07,184.8,219.8,7.5,365,7637,0.00,2.55,9.82,0.671,4,0.000,0.049,2949,628,2295,0,0,0,0,0,0
$GC,7760,1.07,184.8,207.1,8.7,371,7765,0.00,2.38,0.00,0.000,6,0.000,0.027,2949,2048,2293,0,0,0,0,0,0
$GC,8092,1.16,209.2,184.6,6.3,398,8121,0.00,2.53,22.67,0.691,4,0.000,0.046,2949,630,2196,0,0,0,0,0,0
$GC,8263,1.16,209.2,169.6,9.4,416,8270,0.00,2.35,0.00,0.000,6,0.000,0.025,2949,2030,2190,0,0,0,0,0,0
$GC,8526,1.21,209.2,146.2,8.3,441,8531,0.12,2.47,0.00,0.000,4,0.071,0.046,2983,619,2189,0,0,0,0,0,0
$GC,8625,1.14,209.2,135.2,12.0,451,8629,0.00,2.35,0.00,0.000,6,0.000,0.024,2982,2048,2189,0,0,0,0,0,0
$GC,8888,1.14,209.2,110.2,9.1,475,8892,0.00,2.47,0.00,0.000,4,0.000,0.044,2983,618,2189,0,0,0,0,0,0
$GC,9059,1.10,209.2,93.2,9.7,493,9064,0.15,2.30,0.00,0.000,6,0.109,0.023,2955,2041,2189,0,0,0,0,0,0
$GC,9321,1.20,221.8,73.9,7.2,517,9342,0.00,2.50,11.55,0.548,4,0.000,0.044,2955,630,2144,0,0,0,0,0,0
$GC,9362,1.23,221.8,70.6,8.2,521,9367,0.12,2.30,0.00,0.000,6,0.071,0.022,2991,2045,2143,0,0,0,0,0,0
$GC,9624,1.31,250.6,50.6,6.0,545,9657,0.00,2.53,26.08,0.560,4,0.000,0.042,2990,629,2027,0,0,0,0,0,0
$GC,9831,1.31,250.6,31.8,9.4,568,9835,0.00,2.28,0.00,0.000,6,0.000,0.021,2991,2038,2022,0,0,0,0,0,0
$GC,10099,1.38,250.6,6.7,10.1,616,10106,0.10,2.47,0.00,0.000,4,0.076,0.042,3024,624,2022,0,0,0,0,0,0
$STATE,10132,end climb,SURFACE_DEPTH_REACHED
$STATE,10132,begin surface coast
$FINISH,0.6,1.023237
$STATE,10155,end surface coast,CONTROL_FINISHED_OK
$STATE,10155,begin surface
$SM_CCo,10176,29.98,0.517,0,0,1827,300.00
$SM_GC,1.02,0.00,0.00,29.98,0.000,0.000,0.517,425,1904,1827,-10.53,0.11,300.00
$IRIDIUM_FIX,2052.52,-15756.91,040899,222222
$TT8_MAMPS,0.029146
$HUMID,45.86
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,22.047
$10V_AH,10.0,21.145
$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,27.150,124.950,283.975,29.975,0.000,30.494,27.957,125.597,4.500,0.000,42.108,1260.096,6457.665,366.806,2075.907,355.667,33.363,1255.757,0.000,2019.209,0.000,29.238,0.000
$DEVICE_MAMPS,136.526,54.457,882.050,516.958,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.128,403.350,905.294,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,35003,628
$CAP_FILE_SIZE,122210,0
$CFSIZE,260165632,244469760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110510,034543,2103.351,-15756.484,61,1.5,67,9.8