version: 66.06
glider: 139
mission: 7
dive: 251
start: 5 11 110 13 4 41
data:
$ID,139
$MISSION,7
$DIVE,251
$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,-2128926
$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
$GPS1,125906,2106.228,-15800.261,37,1.5,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-71.8
$GPS2,130349,2106.267,-15800.308,10,2.0,15,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.131,0.129
$KALMAN_X,-94083.6,-242.6,-231.1,99895.5,-455.0
$KALMAN_Y,49459.3,65.4,-75.0,-52243.2,972.6
$MHEAD_RNG_PITCHd_Wd,304.8,4885,-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,-77.9,0.0,0.0,0,73,0.00,0.00,-55.00,0.000,2,0.000,0.000,428,1887,3265,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.3,-5.0,10,93,10.68,2.38,-2.00,0.000,4,0.137,0.037,2403,3321,3368,0,0,0,0,0,0
$GC,290,-1.36,-77.9,45.0,-13.4,47,294,0.00,2.40,0.00,0.000,6,0.000,0.031,2404,1897,3370,0,0,0,0,0,0
$GC,553,-1.27,-77.9,81.6,-14.6,71,558,0.15,2.40,0.00,0.000,4,0.101,0.044,2433,495,3372,0,0,0,0,0,0
$GC,608,-1.19,-77.9,90.4,-14.6,76,615,0.00,2.35,0.00,0.000,6,0.000,0.020,2434,1935,3372,0,0,0,0,0,0
$GC,871,-1.19,-77.9,122.8,-12.2,101,876,0.12,2.50,0.00,0.000,4,0.106,0.045,2457,497,3373,0,0,0,0,0,0
$GC,932,-1.24,-77.9,129.9,-10.2,107,937,0.00,2.28,0.00,0.000,6,0.000,0.020,2459,1910,3373,0,0,0,0,0,0
$GC,1196,-1.34,-77.9,150.1,-6.9,131,1201,0.17,2.45,0.00,0.000,4,0.053,0.044,2405,497,3373,0,0,0,0,0,0
$GC,1270,-1.27,-77.9,157.7,-10.0,138,1277,0.10,2.28,0.00,0.000,6,0.074,0.021,2431,1892,3374,0,0,0,0,0,0
$GC,1533,-1.32,-77.9,187.1,-11.8,163,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,1897,3374,0,0,0,0,0,0
$GC,1792,-1.37,-77.9,216.3,-10.7,181,1797,0.00,2.40,0.00,0.000,4,0.000,0.045,2432,496,3375,0,0,0,0,0,0
$GC,1847,-1.37,-77.9,222.5,-10.0,183,1851,0.00,2.28,0.00,0.000,6,0.000,0.021,2432,1904,3375,0,0,0,0,0,0
$GC,2162,-1.45,-77.9,249.8,-8.2,198,2166,0.15,2.45,0.00,0.000,4,0.059,0.046,2386,495,3375,0,0,0,0,0,0
$GC,2230,-1.38,-77.9,257.1,-12.3,201,2235,0.12,2.28,0.00,0.000,6,0.100,0.022,2411,1899,3375,0,0,0,0,0,0
$GC,2561,-1.44,-77.9,285.2,-8.1,217,2566,0.00,2.42,0.00,0.000,4,0.000,0.047,2411,498,3375,0,0,0,0,0,0
$GC,2627,-1.44,-77.9,291.9,-9.2,220,2631,0.00,2.28,0.00,0.000,6,0.000,0.023,2411,1898,3375,0,0,0,0,0,0
$GC,2973,-1.50,-77.9,323.7,-9.3,231,2978,0.12,2.45,0.00,0.000,4,0.067,0.049,2373,498,3374,0,0,0,0,0,0
$GC,3045,-1.42,-77.9,332.2,-12.8,232,3050,0.15,2.30,0.00,0.000,6,0.097,0.025,2404,1898,3374,0,0,0,0,0,0
$GC,3386,-1.47,-77.9,364.8,-9.3,241,3390,0.00,2.45,0.00,0.000,4,0.000,0.051,2404,497,3372,0,0,0,0,0,0
$GC,3456,-1.47,-77.9,371.9,-9.6,242,3460,0.00,2.33,0.00,0.000,6,0.000,0.027,2404,1908,3372,0,0,0,0,0,0
$GC,3796,-1.53,-77.9,406.1,-10.4,251,3801,0.10,2.50,0.00,0.000,4,0.080,0.054,2373,495,3369,0,0,0,0,0,0
$GC,3899,-1.49,-77.9,418.1,-11.6,253,3903,0.00,2.33,0.00,0.000,6,0.000,0.028,2372,1902,3369,0,0,0,0,0,0
$GC,4214,-1.49,-77.9,446.3,-8.5,261,4218,0.00,2.47,0.00,0.000,4,0.000,0.054,2373,498,3366,0,0,0,0,0,0
$STATE,4254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4254,begin apogee
$GC,4261,-0.31,0.0,450.3,9.0,262,4330,1.30,0.00,64.62,0.877,6,0.083,0.000,2646,2044,3050,0,0,0,0,0,0
$STATE,4331,end apogee,CONTROL_FINISHED_OK
$STATE,4331,begin climb
$GC,4333,1.40,77.9,451.4,0.0,263,4407,1.62,2.50,64.72,0.854,4,0.033,0.046,3026,3430,2732,0,0,0,0,0,0
$GC,4603,1.19,90.9,440.5,7.1,269,4621,0.25,2.42,11.93,0.775,6,0.117,0.037,2977,2031,2679,0,0,0,0,0,0
$GC,4931,1.13,141.8,423.5,4.5,277,4980,0.00,2.53,43.58,0.849,4,0.000,0.054,2978,631,2471,0,0,0,0,0,0
$GC,5207,0.96,141.8,394.3,13.4,283,5212,0.30,2.40,0.00,0.000,6,0.110,0.031,2925,2041,2463,0,0,0,0,0,0
$GC,5526,0.99,141.8,365.7,8.3,291,5527,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2046,2462,0,0,0,0,0,0
$GC,5850,1.06,162.8,343.8,6.6,299,5875,0.00,2.60,17.52,0.792,4,0.000,0.052,2923,627,2385,0,0,0,0,0,0
$GC,6009,1.06,162.8,329.9,10.0,302,6013,0.00,2.40,0.00,0.000,6,0.000,0.030,2925,2044,2381,0,0,0,0,0,0
$GC,6353,1.12,162.8,300.5,8.3,311,6358,0.15,2.50,0.00,0.000,4,0.070,0.051,2960,627,2379,0,0,0,0,0,0
$GC,6456,1.04,162.8,290.2,10.0,314,6460,0.00,2.38,0.00,0.000,6,0.000,0.029,2960,2037,2378,0,0,0,0,0,0
$GC,6772,1.05,173.8,265.9,7.3,329,6784,0.00,0.00,9.80,0.697,6,0.000,0.000,2960,2041,2341,0,0,0,0,0,0
$GC,7080,1.05,173.8,240.9,9.1,344,7084,0.00,2.45,0.00,0.000,4,0.000,0.049,2960,630,2339,0,0,0,0,0,0
$GC,7116,1.00,173.8,236.8,10.6,345,7123,0.15,2.35,0.00,0.000,6,0.119,0.028,2932,2038,2338,0,0,0,0,0,0
$GC,7433,1.10,201.6,214.5,6.1,361,7465,0.00,2.58,25.58,0.715,4,0.000,0.048,2933,625,2226,0,0,0,0,0,0
$GC,7568,1.13,201.6,204.2,8.5,367,7573,0.12,2.35,0.00,0.000,6,0.074,0.026,2964,2038,2222,0,0,0,0,0,0
$GC,7896,1.13,203.3,177.0,7.9,395,7901,0.00,2.45,0.00,0.000,4,0.000,0.047,2965,623,2222,0,0,0,0,0,0
$GC,7958,1.10,203.3,171.3,9.6,401,7962,0.00,2.33,0.00,0.000,6,0.000,0.025,2965,2039,2219,0,0,0,0,0,0
$GC,8221,1.14,208.8,151.3,7.6,425,8234,0.00,2.50,6.72,0.550,4,0.000,0.046,2965,635,2198,0,0,0,0,0,0
$GC,8261,1.11,208.8,147.7,8.3,429,8267,0.00,2.33,0.00,0.000,6,0.000,0.025,2963,2041,2197,0,0,0,0,0,0
$GC,8523,1.15,208.8,125.8,9.4,454,8527,0.00,2.45,0.00,0.000,4,0.000,0.045,2964,622,2196,0,0,0,0,0,0
$GC,8622,1.15,208.8,116.1,9.4,464,8629,0.00,2.35,0.00,0.000,6,0.000,0.023,2964,2037,2195,0,0,0,0,0,0
$GC,8885,1.21,208.8,91.3,9.9,489,8889,0.00,2.42,0.00,0.000,4,0.000,0.044,2964,618,2195,0,0,0,0,0,0
$GC,8982,1.21,208.8,81.4,9.6,499,8986,0.00,2.33,0.00,0.000,6,0.000,0.022,2965,2046,2195,0,0,0,0,0,0
$GC,9247,1.31,244.1,64.5,5.6,523,9287,0.15,2.53,32.00,0.572,4,0.061,0.042,3007,629,2053,0,0,0,0,0,0
$GC,9336,1.24,244.1,54.8,13.4,532,9344,0.10,2.33,0.00,0.000,6,0.085,0.021,2984,2033,2049,0,0,0,0,0,0
$GC,9599,1.29,244.1,29.5,9.3,557,9606,0.00,2.45,0.00,0.000,4,0.000,0.043,2984,624,2048,0,0,0,0,0,0
$GC,9650,1.29,244.1,24.8,8.5,568,9657,0.00,2.33,0.00,0.000,6,0.000,0.021,2984,2041,2047,0,0,0,0,0,0
$GC,9853,1.37,244.1,10.0,8.2,605,9860,0.12,2.47,0.00,0.000,4,0.067,0.043,3023,629,2047,0,0,0,0,0,0
$STATE,9916,end climb,SURFACE_DEPTH_REACHED
$STATE,9916,begin surface coast
$FINISH,0.4,1.011114
$STATE,9948,end surface coast,CONTROL_FINISHED_OK
$STATE,9948,begin surface
$SM_CCo,9969,27.88,0.509,0,0,1826,300.00
$SM_GC,1.26,0.00,0.00,27.88,0.000,0.000,0.509,429,1908,1826,-10.52,0.23,300.00
$IRIDIUM_FIX,2054.83,-15756.91,050899,101037
$TT8_MAMPS,0.029146
$HUMID,45.11
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.70
$XPDR_PINGS,1
$24V_AH,23.4,22.363
$10V_AH,10.0,21.503
$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,27.275,115.350,276.475,27.875,0.000,29.783,27.756,126.850,4.750,0.000,15.401,1237.322,6363.652,362.257,1969.382,349.769,33.369,1203.028,0.000,1943.623,0.000,29.238,0.000
$DEVICE_MAMPS,137.293,54.457,876.681,509.288,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,422.987,404.390,919.280,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,34904,626
$CAP_FILE_SIZE,116627,0
$CFSIZE,260165632,244240384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110510,155256,2107.599,-15801.707,43,2.3,62,9.8