version: 66.06
glider: 139
mission: 7
dive: 281
start: 5 15 110 7 2 27
data:
$ID,139
$MISSION,7
$DIVE,281
$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,-2130967
$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
$GPS1,065046,2103.160,-15746.770,41,2.8,60,9.8
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.0
$GPS2,070136,2103.214,-15746.749,35,1.8,39,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.146,-0.111
$KALMAN_X,6744.0,317.1,-470.4,7553.1,1756.2
$KALMAN_Y,9796.9,191.6,-271.2,-16560.5,1457.4
$MHEAD_RNG_PITCHd_Wd,222.9,11187,-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,-53.53,0.000,2,0.000,0.000,432,1862,3246,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.8,-7.0,10,96,10.65,2.47,-2.38,0.000,4,0.137,0.057,2402,464,3371,0,0,0,0,0,0
$GC,204,-1.26,-77.9,35.7,-18.9,35,209,0.17,2.33,0.00,0.000,6,0.099,0.020,2437,1905,3373,0,0,0,0,0,0
$GC,468,-1.26,-77.9,72.9,-12.9,59,473,0.00,2.47,0.00,0.000,4,0.000,0.044,2436,466,3373,0,0,0,0,0,0
$GC,505,-1.18,-77.9,78.7,-14.6,62,512,0.00,2.30,0.00,0.000,6,0.000,0.020,2436,1886,3374,0,0,0,0,0,0
$GC,768,-1.18,-77.9,111.4,-11.4,87,772,0.00,2.42,0.00,0.000,4,0.000,0.044,2435,470,3374,0,0,0,0,0,0
$GC,822,-1.18,-77.9,117.7,-10.8,92,829,0.00,2.28,0.00,0.000,6,0.000,0.019,2436,1875,3375,0,0,0,0,0,0
$GC,1086,-1.22,-77.9,143.3,-9.2,117,1091,0.00,2.40,0.00,0.000,4,0.000,0.043,2434,467,3376,0,0,0,0,0,0
$GC,1148,-1.22,-77.9,150.2,-12.0,123,1152,0.00,2.28,0.00,0.000,6,0.000,0.020,2436,1880,3376,0,0,0,0,0,0
$GC,1411,-1.27,-77.9,173.9,-8.1,147,1415,0.00,2.42,0.00,0.000,4,0.000,0.044,2435,460,3376,0,0,0,0,0,0
$GC,1444,-1.27,-77.9,177.4,-10.7,150,1448,0.00,2.28,0.00,0.000,6,0.000,0.020,2436,1878,3376,0,0,0,0,0,0
$GC,1715,-1.33,-77.9,204.7,-10.6,173,1719,0.00,2.40,0.00,0.000,4,0.000,0.044,2435,469,3376,0,0,0,0,0,0
$GC,1751,-1.33,-77.9,208.9,-10.7,174,1755,0.00,2.28,0.00,0.000,6,0.000,0.021,2436,1887,3377,0,0,0,0,0,0
$GC,2067,-1.42,-77.9,239.2,-8.4,189,2072,0.15,2.45,0.00,0.000,4,0.058,0.045,2389,464,3377,0,0,0,0,0,0
$GC,2124,-1.38,-77.9,245.3,-10.9,191,2129,0.12,2.28,0.00,0.000,6,0.101,0.021,2415,1875,3377,0,0,0,0,0,0
$GC,2440,-1.42,-77.9,273.1,-8.6,206,2444,0.00,2.30,0.00,0.000,4,0.000,0.029,2413,3268,3376,0,0,0,0,0,0
$GC,2462,-1.51,-77.9,275.2,-8.8,207,2467,0.15,2.35,0.00,0.000,6,0.059,0.032,2372,1873,3376,0,0,0,0,0,0
$GC,2787,-1.47,-77.9,309.3,-10.6,221,2792,0.10,2.42,0.00,0.000,4,0.114,0.049,2391,467,3375,0,0,0,0,0,0
$GC,2852,-1.47,-77.9,316.7,-10.5,222,2856,0.00,2.28,0.00,0.000,6,0.000,0.024,2392,1868,3375,0,0,0,0,0,0
$GC,3198,-1.47,-77.9,349.8,-9.7,231,3202,0.00,2.42,0.00,0.000,4,0.000,0.051,2392,470,3373,0,0,0,0,0,0
$GC,3271,-1.47,-77.9,357.8,-11.0,232,3275,0.00,2.30,0.00,0.000,6,0.000,0.025,2391,1874,3373,0,0,0,0,0,0
$GC,3606,-1.47,-77.9,392.6,-11.0,241,3610,0.00,2.47,0.00,0.000,4,0.000,0.052,2392,464,3371,0,0,0,0,0,0
$GC,3667,-1.47,-77.9,399.7,-11.6,242,3672,0.00,2.33,0.00,0.000,6,0.000,0.028,2391,1873,3370,0,0,0,0,0,0
$GC,3981,-1.51,-77.9,431.8,-10.2,250,3985,0.00,2.45,0.00,0.000,4,0.000,0.054,2392,470,3368,0,0,0,0,0,0
$GC,4077,-1.51,-77.9,442.6,-11.0,252,4082,0.00,2.33,0.00,0.000,6,0.000,0.028,2392,1871,3367,0,0,0,0,0,0
$STATE,4190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4190,begin apogee
$GC,4195,-0.31,0.0,452.9,8.9,255,4263,1.17,0.00,64.57,0.873,6,0.074,0.000,2642,2031,3050,0,0,0,0,0,0
$STATE,4264,end apogee,CONTROL_FINISHED_OK
$STATE,4264,begin climb
$GC,4266,1.40,77.9,454.1,0.0,256,4340,1.65,2.45,64.60,0.853,4,0.032,0.045,3025,3384,2732,0,0,0,0,0,0
$GC,4514,1.19,93.6,446.7,6.9,261,4536,0.28,2.40,14.27,0.794,6,0.114,0.038,2975,2003,2667,0,0,0,0,0,0
$GC,4862,1.10,108.6,420.8,7.0,270,4877,0.12,0.00,13.30,0.791,6,0.126,0.000,2954,2003,2607,0,0,0,0,0,0
$GC,5186,1.07,132.3,399.8,6.4,278,5209,0.00,0.00,21.15,0.821,6,0.000,0.000,2954,2003,2510,0,0,0,0,0,0
$GC,5511,1.05,141.1,375.0,7.4,286,5521,0.00,0.00,8.60,0.730,6,0.000,0.000,2954,2003,2474,0,0,0,0,0,0
$GC,5836,1.02,146.4,350.0,7.7,294,5848,0.00,2.53,5.60,0.639,4,0.000,0.054,2954,609,2452,0,0,0,0,0,0
$GC,5913,0.93,146.4,343.6,8.6,295,5918,0.20,2.33,0.00,0.000,6,0.115,0.031,2918,1989,2451,0,0,0,0,0,0
$GC,6250,1.03,179.0,324.9,5.8,304,6286,0.00,2.50,29.30,0.805,4,0.000,0.051,2917,605,2319,0,0,0,0,0,0
$GC,6384,1.03,179.0,313.1,8.9,307,6388,0.00,2.38,0.00,0.000,6,0.000,0.030,2917,2010,2314,0,0,0,0,0,0
$GC,6715,1.12,179.0,284.2,9.2,319,6720,0.17,2.53,0.00,0.000,4,0.065,0.052,2959,595,2314,0,0,0,0,0,0
$GC,6807,1.05,179.0,274.0,12.1,323,6811,0.00,2.40,0.00,0.000,6,0.000,0.030,2959,2020,2311,0,0,0,0,0,0
$GC,7137,1.05,180.4,244.8,7.9,339,7141,0.00,2.35,0.00,0.000,4,0.000,0.037,2959,3415,2311,0,0,0,0,0,0
$GC,7174,1.05,180.4,241.1,9.2,340,7180,0.00,2.45,0.00,0.000,6,0.000,0.037,2959,2006,2311,0,0,0,0,0,0
$GC,7488,1.08,198.3,215.9,6.8,356,7512,0.00,2.50,16.88,0.709,4,0.000,0.049,2957,599,2239,0,0,0,0,0,0
$GC,7567,1.08,198.3,209.3,9.0,359,7572,0.00,2.38,0.00,0.000,6,0.000,0.027,2959,2015,2236,0,0,0,0,0,0
$GC,7895,1.11,199.3,186.4,8.0,383,7899,0.00,2.47,0.00,0.000,4,0.000,0.048,2959,602,2236,0,0,0,0,0,0
$GC,7986,1.11,199.3,178.0,9.8,392,7992,0.00,2.35,0.00,0.000,6,0.000,0.025,2959,2005,2234,0,0,0,0,0,0
$GC,8248,1.15,199.3,154.8,9.1,417,8252,0.00,2.47,0.00,0.000,4,0.000,0.047,2958,598,2234,0,0,0,0,0,0
$GC,8329,1.15,199.3,146.4,10.0,425,8335,0.00,2.33,0.00,0.000,6,0.000,0.024,2959,2018,2233,0,0,0,0,0,0
$GC,8591,1.21,199.7,125.5,8.0,450,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2023,2233,0,0,0,0,0,0
$GC,8846,1.31,223.5,108.0,6.4,474,8875,0.20,2.35,22.45,0.604,4,0.054,0.028,3012,3409,2138,0,0,0,0,0,0
$GC,8935,1.31,223.5,99.7,10.1,483,8941,0.00,2.38,0.00,0.000,6,0.000,0.030,3010,2007,2137,0,0,0,0,0,0
$GC,9199,1.27,223.5,75.0,9.3,508,9200,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2007,2136,0,0,0,0,0,0
$GC,9452,1.27,223.5,49.0,10.3,532,9456,0.00,2.38,0.00,0.000,4,0.000,0.043,3011,602,2136,0,0,0,0,0,0
$GC,9646,1.22,223.5,30.3,8.5,553,9654,0.12,2.30,0.00,0.000,6,0.076,0.021,2982,2016,2133,0,0,0,0,0,0
$GC,9917,1.36,280.7,14.4,4.1,601,9973,0.12,2.55,49.60,0.526,4,0.067,0.044,3020,603,1904,0,0,0,0,0,0
$STATE,10031,end climb,SURFACE_DEPTH_REACHED
$STATE,10031,begin surface coast
$FINISH,0.5,1.023252
$STATE,10054,end surface coast,CONTROL_FINISHED_OK
$STATE,10054,begin surface
$SM_CCo,10075,12.62,0.478,0,0,1826,300.00
$SM_GC,1.81,0.00,0.00,12.62,0.000,0.000,0.478,432,1895,1826,-10.50,0.57,300.00
$IRIDIUM_FIX,2054.83,-15744.48,090899,070708
$TT8_MAMPS,0.029146
$HUMID,46.53
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.4,24.843
$10V_AH,10.0,23.940
$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,26.675,109.750,310.325,12.625,0.000,52.000,76.866,323.686,4.500,0.000,39.368,1201.594,6688.049,383.969,1823.859,641.158,33.352,1176.560,0.000,1784.291,0.000,29.255,0.000
$DEVICE_MAMPS,137.293,56.758,872.846,477.841,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.622,402.531,777.817,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,34982,630
$CAP_FILE_SIZE,117921,0
$CFSIZE,260165632,242487296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150510,095227,2102.870,-15747.073,56,3.9,75,9.8