version: 66.06
glider: 139
mission: 7
dive: 278
start: 5 14 110 22 8 55
data:
$ID,139
$MISSION,7
$DIVE,278
$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,-2130865.2
$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
$GPS1,220206,2104.608,-15745.312,46,1.7,64,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-71.0
$GPS2,220803,2104.631,-15745.306,42,1.7,42,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.109,-0.148
$KALMAN_X,4688.5,-292.6,836.5,11395.3,590.0
$KALMAN_Y,7230.7,-94.6,483.4,-11843.8,662.8
$MHEAD_RNG_PITCHd_Wd,206.5,14717,-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,-77.9,0.0,0.0,0,71,0.00,0.00,-53.38,0.000,2,0.000,0.000,424,1866,3234,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.7,-6.6,10,96,10.70,2.42,-2.55,0.000,4,0.137,0.041,2402,3293,3371,0,0,0,0,0,0
$GC,283,-1.40,-77.9,46.9,-12.7,45,287,0.00,2.40,0.00,0.000,6,0.000,0.032,2403,1869,3372,0,0,0,0,0,0
$GC,546,-1.30,-77.9,79.7,-13.1,69,550,0.12,2.40,0.00,0.000,4,0.109,0.045,2427,471,3373,0,0,0,0,0,0
$GC,572,-1.19,-77.9,83.3,-13.5,71,577,0.15,2.33,0.00,0.000,6,0.099,0.020,2456,1915,3374,0,0,0,0,0,0
$GC,833,-1.24,-77.9,110.4,-10.5,95,838,0.00,2.50,0.00,0.000,4,0.000,0.044,2456,467,3374,0,0,0,0,0,0
$GC,915,-1.28,-77.9,117.9,-8.0,103,920,0.00,2.25,0.00,0.000,6,0.000,0.020,2456,1872,3375,0,0,0,0,0,0
$GC,1177,-1.37,-77.9,136.4,-7.5,128,1182,0.17,2.42,0.00,0.000,4,0.051,0.044,2401,471,3376,0,0,0,0,0,0
$GC,1195,-1.37,-77.9,138.3,-8.7,129,1201,0.00,2.28,0.00,0.000,6,0.000,0.020,2401,1889,3376,0,0,0,0,0,0
$GC,1456,-1.33,-77.9,166.3,-11.2,154,1460,0.00,2.42,0.00,0.000,4,0.000,0.044,2402,468,3376,0,0,0,0,0,0
$GC,1474,-1.25,-77.9,168.4,-11.1,155,1480,0.17,2.25,0.00,0.000,6,0.093,0.021,2439,1878,3376,0,0,0,0,0,0
$GC,1734,-1.31,-77.9,194.9,-10.8,180,1738,0.00,2.42,0.00,0.000,4,0.000,0.045,2438,471,3377,0,0,0,0,0,0
$GC,1798,-1.34,-77.9,202.2,-11.4,186,1802,0.00,2.25,0.00,0.000,6,0.000,0.021,2438,1868,3377,0,0,0,0,0,0
$GC,2128,-1.43,-77.9,234.0,-8.4,202,2133,0.17,2.40,0.00,0.000,4,0.053,0.046,2386,471,3377,0,0,0,0,0,0
$GC,2179,-1.34,-77.9,239.8,-11.8,204,2184,0.17,2.28,0.00,0.000,6,0.091,0.021,2423,1882,3377,0,0,0,0,0,0
$GC,2505,-1.39,-77.9,268.0,-9.3,220,2510,0.00,2.45,0.00,0.000,4,0.000,0.047,2422,466,3376,0,0,0,0,0,0
$GC,2583,-1.39,-77.9,276.4,-8.9,223,2587,0.00,2.28,0.00,0.000,6,0.000,0.022,2422,1870,3376,0,0,0,0,0,0
$GC,2918,-1.46,-77.9,307.8,-9.4,237,2923,0.12,2.42,0.00,0.000,4,0.067,0.048,2384,468,3375,0,0,0,0,0,0
$GC,3010,-1.46,-77.9,319.1,-11.0,239,3015,0.00,2.30,0.00,0.000,6,0.000,0.024,2385,1882,3375,0,0,0,0,0,0
$GC,3332,-1.46,-77.9,351.4,-10.6,247,3336,0.00,2.45,0.00,0.000,4,0.000,0.050,2384,464,3374,0,0,0,0,0,0
$GC,3412,-1.42,-77.9,360.6,-11.2,248,3416,0.00,2.30,0.00,0.000,6,0.000,0.025,2385,1879,3374,0,0,0,0,0,0
$GC,3748,-1.42,-77.9,393.2,-9.0,257,3753,0.10,2.47,0.00,0.000,4,0.111,0.052,2404,473,3372,0,0,0,0,0,0
$GC,3823,-1.42,-77.9,399.3,-7.7,258,3827,0.00,2.33,0.00,0.000,6,0.000,0.027,2404,1884,3372,0,0,0,0,0,0
$GC,4158,-1.48,-77.9,426.2,-8.2,267,4162,0.00,2.50,0.00,0.000,4,0.000,0.054,2403,465,3369,0,0,0,0,0,0
$GC,4213,-1.48,-77.9,431.1,-9.1,268,4217,0.00,2.30,0.00,0.000,6,0.000,0.028,2404,1872,3369,0,0,0,0,0,0
$STATE,4447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4447,begin apogee
$GC,4452,-0.31,0.0,450.7,8.2,274,4520,1.12,0.00,64.68,0.871,6,0.073,0.000,2647,2031,3050,0,0,0,0,0,0
$STATE,4521,end apogee,CONTROL_FINISHED_OK
$STATE,4521,begin climb
$GC,4523,1.40,77.9,451.6,0.0,275,4598,1.62,2.45,64.68,0.849,4,0.033,0.044,3022,3384,2731,0,0,0,0,0,0
$GC,4677,1.24,134.0,451.7,4.2,278,4731,0.20,2.40,47.95,0.841,6,0.117,0.038,2988,2004,2503,0,0,0,0,0,0
$GC,5064,1.12,134.0,421.5,8.4,288,5069,0.15,2.40,0.00,0.000,4,0.127,0.043,2961,3391,2495,0,0,0,0,0,0
$GC,5111,1.07,134.2,417.6,8.0,289,5115,0.00,2.40,0.00,0.000,6,0.000,0.038,2963,2010,2495,0,0,0,0,0,0
$GC,5434,1.03,136.6,393.0,7.9,297,5439,0.12,2.50,0.00,0.000,4,0.126,0.054,2939,604,2492,0,0,0,0,0,0
$GC,5490,0.97,145.9,388.6,7.4,298,5506,0.00,2.33,9.52,0.745,6,0.000,0.030,2940,1999,2455,0,0,0,0,0,0
$GC,5847,1.01,178.5,366.6,5.8,307,5883,0.00,2.58,29.42,0.821,4,0.000,0.054,2940,604,2321,0,0,0,0,0,0
$GC,5990,0.97,178.5,354.5,9.8,310,5994,0.00,2.38,0.00,0.000,6,0.000,0.030,2940,2005,2316,0,0,0,0,0,0
$GC,6308,0.99,193.0,330.4,7.0,318,6328,0.00,2.53,13.18,0.759,4,0.000,0.053,2940,602,2262,0,0,0,0,0,0
$GC,6453,0.99,193.0,318.5,8.5,321,6457,0.00,2.38,0.00,0.000,6,0.000,0.029,2941,2011,2258,0,0,0,0,0,0
$GC,6774,1.03,193.0,292.0,9.7,331,6778,0.00,2.50,0.00,0.000,4,0.000,0.052,2940,601,2257,0,0,0,0,0,0
$GC,6817,1.03,193.0,287.1,11.1,333,6821,0.00,2.35,0.00,0.000,6,0.000,0.029,2941,2010,2255,0,0,0,0,0,0
$GC,7152,1.09,193.0,251.7,10.2,349,7156,0.00,2.45,0.00,0.000,4,0.000,0.051,2940,605,2255,0,0,0,0,0,0
$GC,7272,1.09,193.0,238.9,10.3,354,7276,0.00,2.35,0.00,0.000,6,0.000,0.028,2940,2014,2253,0,0,0,0,0,0
$GC,7592,1.17,212.6,214.9,6.7,370,7616,0.12,2.53,17.25,0.698,4,0.075,0.048,2973,601,2182,0,0,0,0,0,0
$GC,7704,1.12,212.6,203.0,11.2,374,7710,0.00,2.38,0.00,0.000,6,0.000,0.026,2973,2009,2178,0,0,0,0,0,0
$GC,8029,1.12,212.6,170.1,10.4,403,8033,0.00,2.45,0.00,0.000,4,0.000,0.047,2973,604,2178,0,0,0,0,0,0
$GC,8102,1.08,212.6,161.0,11.5,410,8109,0.10,2.35,0.00,0.000,6,0.100,0.025,2952,2014,2176,0,0,0,0,0,0
$GC,8366,1.15,213.2,139.1,8.0,435,8367,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2019,2175,0,0,0,0,0,0
$GC,8618,1.25,231.3,121.7,6.8,459,8641,0.15,2.50,16.98,0.608,4,0.063,0.046,2993,602,2107,0,0,0,0,0,0
$GC,8745,1.20,231.3,109.8,10.4,472,8752,0.00,2.35,0.00,0.000,6,0.000,0.022,2993,2022,2102,0,0,0,0,0,0
$GC,9008,1.20,231.3,86.0,9.4,497,9012,0.00,2.47,0.00,0.000,4,0.000,0.044,2994,592,2102,0,0,0,0,0,0
$GC,9078,1.15,231.3,78.1,11.5,504,9083,0.15,2.30,0.00,0.000,6,0.106,0.021,2965,2018,2101,0,0,0,0,0,0
$GC,9340,1.24,231.3,54.4,8.4,528,9344,0.00,2.42,0.00,0.000,4,0.000,0.043,2966,598,2101,0,0,0,0,0,0
$GC,9540,1.31,231.3,39.0,9.2,550,9545,0.15,2.30,0.00,0.000,6,0.061,0.021,3010,2020,2101,0,0,0,0,0,0
$GC,9806,1.32,235.2,18.3,7.8,588,9818,0.00,2.47,4.57,0.384,4,0.000,0.043,3010,607,2090,0,0,0,0,0,0
$GC,9925,1.27,235.2,7.4,10.6,613,9931,0.00,2.25,0.00,0.000,6,0.000,0.020,3010,2014,2090,0,0,0,0,0,0
$STATE,9970,end climb,SURFACE_DEPTH_REACHED
$STATE,9970,begin surface coast
$FINISH,0.4,1.023270
$STATE,9997,end surface coast,CONTROL_FINISHED_OK
$STATE,9997,begin surface
$SM_CCo,10017,42.62,0.517,0,0,1825,300.00
$SM_GC,1.51,0.00,0.00,42.62,0.000,0.000,0.517,429,1846,1825,-10.51,-0.82,300.00
$IRIDIUM_FIX,2057.14,-15743.60,080899,191905
$TT8_MAMPS,0.029146
$HUMID,45.86
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.4,24.589
$10V_AH,10.0,23.702
$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,26.875,120.025,268.225,42.625,0.000,30.573,34.506,162.238,4.500,0.000,42.713,1235.863,6470.852,373.991,1931.425,406.975,33.358,1213.214,0.000,1883.705,0.000,29.251,0.000
$DEVICE_MAMPS,137.293,54.457,871.312,516.958,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,422.846,401.835,785.324,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,35004,626
$CAP_FILE_SIZE,119465,0
$CFSIZE,260165632,242655232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150510,005904,2104.167,-15745.670,93,2.9,112,9.8