version: 66.06
glider: 139
mission: 7
dive: 277
start: 5 14 110 19 10 22
data:
$ID,139
$MISSION,7
$DIVE,277
$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,-2130821.8
$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,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
$GPS1,190345,2104.375,-15745.504,99,2.1,118,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-68.2
$GPS2,190931,2104.381,-15745.465,34,1.7,45,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.157,-0.096
$KALMAN_X,3661.6,-342.0,-120.5,13154.3,1736.4
$KALMAN_Y,6176.4,-112.9,8.9,-10760.8,1047.2
$MHEAD_RNG_PITCHd_Wd,228.6,14179,-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,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-52.85,0.000,2,0.000,0.000,429,1856,3198,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.1,-4.8,10,95,10.65,2.42,-3.40,0.000,4,0.137,0.039,2403,3292,3369,0,0,0,0,0,0
$GC,302,-1.43,-77.9,44.3,-11.9,49,309,0.00,2.42,0.00,0.000,6,0.000,0.033,2403,1878,3371,0,0,0,0,0,0
$GC,565,-1.33,-77.9,79.6,-13.7,74,569,0.00,2.40,0.00,0.000,4,0.000,0.044,2402,464,3372,0,0,0,0,0,0
$GC,609,-1.17,-77.9,86.3,-16.0,78,614,0.28,2.33,0.00,0.000,6,0.091,0.020,2458,1908,3372,0,0,0,0,0,0
$GC,869,-1.25,-77.9,109.9,-7.3,102,874,0.00,2.50,0.00,0.000,4,0.000,0.044,2454,460,3373,0,0,0,0,0,0
$GC,971,-1.30,-77.9,117.9,-7.1,112,978,0.10,2.30,0.00,0.000,6,0.035,0.020,2417,1882,3373,0,0,0,0,0,0
$GC,1232,-1.30,-77.9,143.6,-10.6,137,1236,0.00,2.42,0.00,0.000,4,0.000,0.044,2417,463,3374,0,0,0,0,0,0
$GC,1265,-1.22,-77.9,147.6,-11.9,140,1270,0.15,2.28,0.00,0.000,6,0.094,0.020,2447,1877,3374,0,0,0,0,0,0
$GC,1525,-1.29,-77.9,169.5,-8.6,164,1529,0.00,2.40,0.00,0.000,4,0.000,0.044,2448,466,3375,0,0,0,0,0,0
$GC,1580,-1.34,-77.9,175.0,-10.3,169,1586,0.12,2.25,0.00,0.000,6,0.064,0.021,2405,1876,3375,0,0,0,0,0,0
$GC,1851,-1.34,-77.9,205.8,-11.5,193,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,1881,3375,0,0,0,0,0,0
$GC,2160,-1.34,-77.9,240.4,-10.7,208,2164,0.00,2.40,0.00,0.000,4,0.000,0.045,2408,467,3375,0,0,0,0,0,0
$GC,2219,-1.34,-77.9,247.5,-10.8,210,2226,0.00,2.28,0.00,0.000,6,0.000,0.021,2404,1870,3375,0,0,0,0,0,0
$GC,2534,-1.38,-77.9,276.8,-9.0,226,2538,0.00,2.45,0.00,0.000,4,0.000,0.047,2408,459,3375,0,0,0,0,0,0
$GC,2566,-1.38,-77.9,279.9,-9.6,227,2570,0.00,2.30,0.00,0.000,6,0.000,0.023,2407,1881,3375,0,0,0,0,0,0
$GC,2890,-1.41,-77.9,309.9,-10.3,241,2894,0.00,2.45,0.00,0.000,4,0.000,0.048,2407,467,3374,0,0,0,0,0,0
$GC,2907,-1.41,-77.9,312.1,-10.7,241,2912,0.00,2.28,0.00,0.000,6,0.000,0.024,2407,1881,3374,0,0,0,0,0,0
$GC,3257,-1.46,-77.9,347.1,-9.9,250,3261,0.00,2.47,0.00,0.000,4,0.000,0.050,2407,460,3373,0,0,0,0,0,0
$GC,3307,-1.46,-77.9,352.4,-10.6,251,3311,0.00,2.30,0.00,0.000,6,0.000,0.025,2406,1868,3373,0,0,0,0,0,0
$GC,3625,-1.51,-77.9,379.7,-8.7,259,3630,0.00,2.42,0.00,0.000,4,0.000,0.051,2407,460,3371,0,0,0,0,0,0
$GC,3699,-1.51,-77.9,387.2,-9.7,260,3703,0.00,2.33,0.00,0.000,6,0.000,0.027,2406,1873,3371,0,0,0,0,0,0
$GC,4039,-1.57,-77.9,418.2,-9.0,269,4044,0.17,2.50,0.00,0.000,4,0.057,0.054,2358,460,3368,0,0,0,0,0,0
$GC,4063,-1.49,-77.9,421.1,-12.5,269,4068,0.15,2.35,0.00,0.000,6,0.104,0.028,2387,1883,3368,0,0,0,0,0,0
$STATE,4402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4402,begin apogee
$GC,4407,-0.31,0.0,452.9,9.2,278,4475,1.20,0.00,64.57,0.873,6,0.075,0.000,2643,2030,3050,0,0,0,0,0,0
$STATE,4476,end apogee,CONTROL_FINISHED_OK
$STATE,4476,begin climb
$GC,4478,1.40,77.9,454.1,0.0,279,4552,1.65,2.45,65.05,0.854,4,0.032,0.047,3028,3378,2731,0,0,0,0,0,0
$GC,4817,1.24,135.6,447.6,4.1,286,4874,0.22,2.35,48.85,0.854,6,0.114,0.038,2987,2007,2497,0,0,0,0,0,0
$GC,5205,1.13,135.6,413.0,10.3,296,5207,0.15,0.00,0.00,0.000,6,0.121,0.000,2960,2008,2489,0,0,0,0,0,0
$GC,5531,1.08,135.6,381.0,10.0,304,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2007,2487,0,0,0,0,0,0
$GC,5855,1.04,135.6,352.1,8.3,312,5860,0.00,2.45,0.00,0.000,4,0.000,0.053,2961,604,2485,0,0,0,0,0,0
$GC,5945,0.94,147.3,346.1,7.2,314,5961,0.22,2.35,8.90,0.732,6,0.114,0.031,2920,2003,2450,0,0,0,0,0,0
$GC,6276,1.02,170.1,326.9,6.5,322,6300,0.00,0.00,21.25,0.795,6,0.000,0.000,2919,2003,2355,0,0,0,0,0,0
$GC,6646,1.10,172.6,298.3,7.8,331,6651,0.15,2.42,0.00,0.000,4,0.070,0.039,2956,3408,2350,0,0,0,0,0,0
$GC,6696,1.10,172.6,292.8,11.0,333,6700,0.00,2.42,0.00,0.000,6,0.000,0.038,2956,2004,2350,0,0,0,0,0,0
$GC,7017,1.10,172.6,261.6,9.2,349,7021,0.00,2.45,0.00,0.000,4,0.000,0.052,2956,595,2349,0,0,0,0,0,0
$GC,7267,1.08,195.9,242.8,6.4,360,7296,0.00,2.38,22.35,0.736,6,0.000,0.028,2955,2023,2251,0,0,0,0,0,0
$GC,7622,1.12,202.9,219.1,7.5,377,7634,0.00,2.55,7.07,0.609,4,0.000,0.050,2956,594,2223,0,0,0,0,0,0
$GC,7792,1.12,202.9,203.3,9.0,384,7796,0.00,2.35,0.00,0.000,6,0.000,0.026,2956,2007,2219,0,0,0,0,0,0
$GC,8121,1.16,202.9,176.3,8.6,413,8125,0.00,2.45,0.00,0.000,4,0.000,0.046,2956,601,2219,0,0,0,0,0,0
$GC,8147,1.16,202.9,174.0,9.9,415,8151,0.00,2.35,0.00,0.000,6,0.000,0.025,2956,2022,2218,0,0,0,0,0,0
$GC,8409,1.21,202.9,151.3,8.2,439,8413,0.00,2.47,0.00,0.000,4,0.000,0.046,2956,598,2218,0,0,0,0,0,0
$GC,8542,1.21,202.9,138.5,9.7,453,8546,0.00,2.33,0.00,0.000,6,0.000,0.024,2956,2020,2218,0,0,0,0,0,0
$GC,8808,1.28,202.9,115.5,9.7,478,8813,0.17,2.30,0.00,0.000,4,0.058,0.031,3003,3405,2218,0,0,0,0,0,0
$GC,8845,1.28,202.9,111.6,10.4,481,8851,0.00,2.35,0.00,0.000,6,0.000,0.031,3003,2006,2218,0,0,0,0,0,0
$GC,9106,1.28,202.9,86.9,9.7,506,9110,0.00,2.40,0.00,0.000,4,0.000,0.044,3003,602,2218,0,0,0,0,0,0
$GC,9214,1.19,202.9,76.0,11.0,517,9219,0.15,2.30,0.00,0.000,6,0.104,0.021,2974,2019,2218,0,0,0,0,0,0
$GC,9477,1.23,202.9,52.6,8.4,541,9478,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2023,2218,0,0,0,0,0,0
$GC,9730,1.32,221.5,32.3,6.7,565,9755,0.12,2.50,17.25,0.531,4,0.067,0.041,3014,604,2145,0,0,0,0,0,0
$GC,9815,1.26,232.5,26.1,7.3,579,9832,0.12,2.28,10.57,0.489,6,0.107,0.021,2989,2025,2102,0,0,0,0,0,0
$GC,10031,1.37,245.2,10.4,7.1,618,10049,0.10,2.53,12.38,0.492,4,0.075,0.043,3020,604,2050,0,0,0,0,0,0
$STATE,10117,end climb,SURFACE_DEPTH_REACHED
$STATE,10117,begin surface coast
$FINISH,0.5,1.008532
$STATE,10150,end surface coast,CONTROL_FINISHED_OK
$STATE,10150,begin surface
$SM_CCo,10171,33.38,0.514,0,0,1826,300.00
$SM_GC,1.13,0.00,0.00,33.38,0.000,0.000,0.514,424,1862,1826,-10.53,-0.31,300.00
$IRIDIUM_FIX,2054.83,-15744.48,080899,161613
$TT8_MAMPS,0.029146
$HUMID,45.94
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,24.507
$10V_AH,10.1,23.623
$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,27.150,104.925,278.250,33.375,0.000,24.962,35.765,156.139,4.500,0.000,46.017,1236.265,6654.157,356.723,1914.368,390.591,33.364,1173.992,0.000,1863.107,0.000,31.880,0.000
$DEVICE_MAMPS,136.526,55.991,872.846,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,434.303,411.235,807.828,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34996,643
$CAP_FILE_SIZE,113764,0
$CFSIZE,260165632,242720768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140510,220206,2104.608,-15745.312,46,1.7,64,9.8