version: 66.06
glider: 139
mission: 7
dive: 279
start: 5 15 110 1 6 1
data:
$ID,139
$MISSION,7
$DIVE,279
$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,-2130893
$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
$GPS1,005904,2104.167,-15745.670,93,2.9,112,9.8
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.4
$GPS2,010510,2104.218,-15745.684,13,1.7,26,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.091,-0.160
$KALMAN_X,5605.4,-36.5,234.7,10173.5,264.9
$KALMAN_Y,8277.9,86.7,157.5,-13508.0,563.6
$MHEAD_RNG_PITCHd_Wd,200.0,13723,-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,-53.38,0.000,2,0.000,0.000,429,1847,3205,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.1,-4.6,10,95,10.65,2.42,-3.22,0.000,4,0.137,0.058,2402,470,3371,0,0,0,0,0,0
$GC,213,-1.15,-77.9,37.5,-20.9,36,218,0.30,2.33,0.00,0.000,6,0.097,0.020,2462,1911,3372,0,0,0,0,0,0
$GC,476,-1.18,-77.9,71.1,-10.1,60,480,0.00,2.47,0.00,0.000,4,0.000,0.043,2460,466,3373,0,0,0,0,0,0
$GC,518,-1.18,-77.9,75.8,-10.1,64,522,0.00,2.25,0.00,0.000,6,0.000,0.019,2460,1883,3373,0,0,0,0,0,0
$GC,785,-1.22,-77.9,104.2,-10.9,89,789,0.00,2.45,0.00,0.000,4,0.000,0.044,2461,466,3374,0,0,0,0,0,0
$GC,830,-1.22,-77.9,110.0,-11.9,93,836,0.00,2.25,0.00,0.000,6,0.000,0.019,2462,1873,3374,0,0,0,0,0,0
$GC,1092,-1.30,-77.9,134.9,-8.8,118,1097,0.12,2.45,0.00,0.000,4,0.064,0.044,2419,461,3375,0,0,0,0,0,0
$GC,1136,-1.26,-77.9,139.9,-12.1,122,1141,0.00,2.28,0.00,0.000,6,0.000,0.019,2419,1881,3375,0,0,0,0,0,0
$GC,1402,-1.26,-77.9,171.1,-12.1,147,1407,0.00,2.42,0.00,0.000,4,0.000,0.044,2419,458,3375,0,0,0,0,0,0
$GC,1421,-1.22,-77.9,173.7,-12.5,148,1428,0.10,2.30,0.00,0.000,6,0.075,0.020,2445,1885,3376,0,0,0,0,0,0
$GC,1692,-1.30,-77.9,202.6,-10.1,173,1697,0.00,2.45,0.00,0.000,4,0.000,0.044,2444,464,3376,0,0,0,0,0,0
$GC,1782,-1.35,-77.9,211.7,-9.3,177,1787,0.10,2.25,0.00,0.000,6,0.074,0.021,2407,1871,3376,0,0,0,0,0,0
$GC,2114,-1.35,-77.9,242.2,-8.2,193,2118,0.00,2.42,0.00,0.000,4,0.000,0.045,2408,464,3376,0,0,0,0,0,0
$GC,2164,-1.35,-77.9,248.2,-11.0,195,2168,0.00,2.28,0.00,0.000,6,0.000,0.021,2408,1882,3376,0,0,0,0,0,0
$GC,2485,-1.39,-77.9,278.6,-9.9,211,2489,0.00,2.45,0.00,0.000,4,0.000,0.047,2408,466,3376,0,0,0,0,0,0
$GC,2550,-1.39,-77.9,285.5,-9.8,214,2554,0.00,2.28,0.00,0.000,6,0.000,0.023,2408,1868,3376,0,0,0,0,0,0
$GC,2896,-1.44,-77.9,318.9,-9.0,226,2900,0.00,2.42,0.00,0.000,4,0.000,0.049,2408,467,3375,0,0,0,0,0,0
$GC,2956,-1.44,-77.9,324.5,-8.6,227,2960,0.00,2.30,0.00,0.000,6,0.000,0.025,2409,1877,3374,0,0,0,0,0,0
$GC,3269,-1.50,-77.9,348.5,-7.8,235,3273,0.00,2.45,0.00,0.000,4,0.000,0.050,2409,471,3373,0,0,0,0,0,0
$GC,3334,-1.50,-77.9,354.7,-10.0,236,3338,0.00,2.30,0.00,0.000,6,0.000,0.026,2409,1873,3373,0,0,0,0,0,0
$GC,3679,-1.56,-77.9,382.6,-8.3,245,3684,0.15,2.47,0.00,0.000,4,0.062,0.052,2366,471,3371,0,0,0,0,0,0
$GC,3744,-1.49,-77.9,390.6,-12.0,246,3749,0.10,2.30,0.00,0.000,6,0.114,0.028,2386,1877,3370,0,0,0,0,0,0
$GC,4095,-1.49,-77.9,423.7,-9.3,255,4099,0.00,2.47,0.00,0.000,4,0.000,0.054,2386,471,3367,0,0,0,0,0,0
$GC,4200,-1.49,-77.9,435.7,-11.1,257,4205,0.00,2.33,0.00,0.000,6,0.000,0.028,2386,1873,3366,0,0,0,0,0,0
$STATE,4344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4344,begin apogee
$GC,4350,-0.31,0.0,452.0,11.4,261,4418,1.23,0.00,64.47,0.876,6,0.076,0.000,2646,2032,3049,0,0,0,0,0,0
$STATE,4419,end apogee,CONTROL_FINISHED_OK
$STATE,4419,begin climb
$GC,4421,1.40,77.9,453.5,0.0,262,4495,1.62,2.45,64.57,0.855,4,0.032,0.045,3022,3383,2732,0,0,0,0,0,0
$GC,4760,1.23,130.0,446.6,4.4,269,4810,0.22,2.38,43.97,0.854,6,0.113,0.038,2983,2001,2520,0,0,0,0,0,0
$GC,5145,1.13,130.0,412.9,9.6,279,5150,0.12,2.50,0.00,0.000,4,0.121,0.054,2961,599,2513,0,0,0,0,0,0
$GC,5179,0.99,130.0,409.6,9.6,279,5184,0.15,2.35,0.00,0.000,6,0.123,0.031,2935,1991,2512,0,0,0,0,0,0
$GC,5509,0.99,130.0,381.4,8.4,287,5513,0.00,2.47,0.00,0.000,4,0.000,0.053,2935,599,2510,0,0,0,0,0,0
$GC,5661,0.93,130.0,367.9,8.8,290,5665,0.00,2.38,0.00,0.000,6,0.000,0.031,2935,2020,2508,0,0,0,0,0,0
$GC,6010,0.98,166.3,345.5,5.5,299,6046,0.00,2.60,30.52,0.818,4,0.000,0.053,2935,611,2371,0,0,0,0,0,0
$GC,6130,0.95,174.4,336.5,7.5,301,6144,0.00,2.38,7.93,0.693,6,0.000,0.031,2935,2015,2338,0,0,0,0,0,0
$GC,6469,0.99,174.4,309.5,8.1,310,6473,0.00,2.50,0.00,0.000,4,0.000,0.052,2935,604,2335,0,0,0,0,0,0
$GC,6552,0.99,174.4,302.3,9.0,311,6557,0.00,2.35,0.00,0.000,6,0.000,0.030,2935,2009,2333,0,0,0,0,0,0
$GC,6866,1.04,174.4,277.8,8.3,326,6870,0.00,2.40,0.00,0.000,4,0.000,0.039,2936,3412,2332,0,0,0,0,0,0
$GC,6911,1.11,174.4,274.1,8.8,328,6916,0.00,2.40,0.00,0.000,6,0.000,0.035,2935,2010,2332,0,0,0,0,0,0
$GC,7236,1.17,177.7,247.6,7.8,344,7241,0.15,2.47,0.00,0.000,4,0.071,0.051,2971,604,2331,0,0,0,0,0,0
$GC,7327,1.09,177.7,239.5,8.9,348,7331,0.00,2.38,0.00,0.000,6,0.000,0.028,2971,2022,2329,0,0,0,0,0,0
$GC,7656,1.11,186.0,214.6,7.5,364,7672,0.00,2.55,10.07,0.663,4,0.000,0.048,2972,604,2291,0,0,0,0,0,0
$GC,7824,1.05,186.0,199.9,9.4,371,7829,0.15,2.35,0.00,0.000,6,0.116,0.026,2944,2015,2288,0,0,0,0,0,0
$GC,8153,1.16,220.1,179.6,5.7,402,8191,0.00,2.53,30.85,0.683,4,0.000,0.047,2944,603,2152,0,0,0,0,0,0
$GC,8282,1.16,220.1,170.0,9.2,416,8286,0.00,2.33,0.00,0.000,6,0.000,0.025,2944,2016,2146,0,0,0,0,0,0
$GC,8543,1.24,220.1,147.4,9.7,440,8548,0.17,2.33,0.00,0.000,4,0.061,0.031,2989,3404,2146,0,0,0,0,0,0
$GC,8562,1.29,220.1,145.4,10.2,441,8568,0.00,2.38,0.00,0.000,6,0.000,0.031,2984,2005,2146,0,0,0,0,0,0
$GC,8823,1.29,220.1,117.2,10.7,466,8827,0.00,2.42,0.00,0.000,4,0.000,0.045,2989,601,2146,0,0,0,0,0,0
$GC,8876,1.24,220.1,111.8,10.7,471,8880,0.00,2.33,0.00,0.000,6,0.000,0.023,2989,2019,2144,0,0,0,0,0,0
$GC,9139,1.24,220.1,84.2,11.2,495,9143,0.00,2.45,0.00,0.000,4,0.000,0.044,2989,602,2144,0,0,0,0,0,0
$GC,9176,1.20,220.1,79.5,13.0,498,9182,0.00,2.33,0.00,0.000,6,0.000,0.022,2988,2016,2144,0,0,0,0,0,0
$GC,9438,1.23,220.1,51.0,8.9,523,9442,0.00,2.42,0.00,0.000,4,0.000,0.043,2989,603,2144,0,0,0,0,0,0
$GC,9562,1.26,241.3,39.9,6.6,536,9589,0.00,2.30,18.88,0.536,6,0.000,0.021,2988,2020,2065,0,0,0,0,0,0
$GC,9847,1.34,252.0,18.7,7.3,576,9864,0.00,2.45,10.40,0.486,4,0.000,0.042,2989,603,2021,0,0,0,0,0,0
$GC,9924,1.34,252.0,11.4,10.4,592,9931,0.00,2.30,0.00,0.000,6,0.000,0.021,2989,2015,2019,0,0,0,0,0,0
$STATE,10022,end climb,SURFACE_DEPTH_REACHED
$STATE,10022,begin surface coast
$FINISH,0.7,1.023204
$STATE,10058,end surface coast,CONTROL_FINISHED_OK
$STATE,10058,begin surface
$SM_CCo,10078,29.65,0.511,0,0,1826,300.00
$SM_GC,0.91,0.00,0.00,29.65,0.000,0.000,0.511,426,1848,1826,-10.52,-0.76,300.00
$IRIDIUM_FIX,2059.45,-15726.01,080899,222233
$TT8_MAMPS,0.029146
$HUMID,46.06
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,24.671
$10V_AH,10.0,23.781
$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,26.425,124.700,281.675,29.650,0.000,27.921,29.752,197.760,4.500,0.000,26.909,1220.490,6535.812,369.064,1911.773,437.282,33.359,1217.908,0.000,1880.965,0.000,29.258,0.000
$DEVICE_MAMPS,137.293,57.525,875.914,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.450,396.212,765.319,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,34961,616
$CAP_FILE_SIZE,120513,0
$CFSIZE,260165632,242597888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150510,035637,2103.350,-15746.245,80,1.2,93,9.8