version: 66.06
glider: 139
mission: 7
dive: 283
start: 5 15 110 12 58 37
data:
$ID,139
$MISSION,7
$DIVE,283
$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,-2131062
$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
$GPS1,124757,2101.807,-15747.484,41,2.8,60,9.8
$_CALLS,2
$_XMS_NAKs,26
$_XMS_TOUTs,1
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.9
$GPS2,125745,2101.875,-15747.519,41,2.7,60,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.043,-0.179
$KALMAN_X,7559.4,-251.1,407.2,5091.5,-642.3
$KALMAN_Y,10506.7,-311.4,150.2,-19665.5,-44.6
$MHEAD_RNG_PITCHd_Wd,183.9,8374,-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,-53.12,0.000,2,0.000,0.000,427,1908,3218,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.4,-6.1,10,95,10.65,2.53,-2.88,0.000,4,0.137,0.055,2404,469,3370,0,0,0,0,0,0
$GC,222,-1.16,-77.9,39.2,-17.8,37,227,0.28,2.33,0.00,0.000,6,0.096,0.019,2459,1915,3371,0,0,0,0,0,0
$GC,485,-1.20,-77.9,71.9,-10.7,61,489,0.00,2.50,0.00,0.000,4,0.000,0.044,2459,470,3372,0,0,0,0,0,0
$GC,521,-1.20,-77.9,76.3,-11.8,64,527,0.00,2.28,0.00,0.000,6,0.000,0.020,2457,1872,3372,0,0,0,0,0,0
$GC,785,-1.24,-77.9,106.3,-11.7,89,789,0.00,2.40,0.00,0.000,4,0.000,0.044,2458,470,3373,0,0,0,0,0,0
$GC,837,-1.24,-77.9,113.0,-11.7,94,842,0.00,2.28,0.00,0.000,6,0.000,0.019,2458,1886,3373,0,0,0,0,0,0
$GC,1099,-1.29,-77.9,139.7,-10.4,118,1106,0.10,2.42,0.00,0.000,4,0.075,0.044,2422,469,3374,0,0,0,0,0,0
$GC,1121,-1.26,-77.9,142.4,-12.2,120,1125,0.00,2.25,0.00,0.000,6,0.000,0.020,2421,1884,3374,0,0,0,0,0,0
$GC,1388,-1.26,-77.9,175.2,-12.6,145,1392,0.00,2.45,0.00,0.000,4,0.000,0.043,2420,460,3374,0,0,0,0,0,0
$GC,1449,-1.26,-77.9,183.6,-12.5,151,1453,0.00,2.28,0.00,0.000,6,0.000,0.020,2422,1879,3375,0,0,0,0,0,0
$GC,1717,-1.29,-77.9,211.4,-9.3,170,1721,0.00,2.42,0.00,0.000,4,0.000,0.044,2421,467,3375,0,0,0,0,0,0
$GC,1763,-1.29,-77.9,216.8,-11.3,172,1767,0.00,2.25,0.00,0.000,6,0.000,0.020,2423,1885,3375,0,0,0,0,0,0
$GC,2088,-1.35,-77.9,250.1,-8.8,188,2092,0.00,2.45,0.00,0.000,4,0.000,0.045,2422,466,3376,0,0,0,0,0,0
$GC,2147,-1.39,-77.9,255.5,-8.6,190,2154,0.00,2.28,0.00,0.000,6,0.000,0.021,2422,1868,3376,0,0,0,0,0,0
$GC,2462,-1.45,-77.9,283.6,-9.7,206,2467,0.12,2.45,0.00,0.000,4,0.067,0.048,2383,466,3375,0,0,0,0,0,0
$GC,2569,-1.38,-77.9,298.2,-14.9,210,2576,0.10,2.30,0.00,0.000,6,0.077,0.023,2407,1869,3375,0,0,0,0,0,0
$GC,2880,-1.43,-77.9,328.0,-8.5,219,2884,0.00,2.42,0.00,0.000,4,0.000,0.048,2408,471,3374,0,0,0,0,0,0
$GC,2939,-1.43,-77.9,333.1,-8.3,220,2944,0.00,2.28,0.00,0.000,6,0.000,0.025,2409,1880,3374,0,0,0,0,0,0
$GC,3252,-1.49,-77.9,359.0,-9.2,228,3256,0.00,2.45,0.00,0.000,4,0.000,0.050,2409,461,3372,0,0,0,0,0,0
$GC,3303,-1.53,-77.9,364.5,-11.0,229,3308,0.12,2.28,0.00,0.000,6,0.067,0.025,2371,1874,3372,0,0,0,0,0,0
$GC,3622,-1.53,-77.9,395.4,-9.1,237,3627,0.00,2.45,0.00,0.000,4,0.000,0.052,2371,464,3370,0,0,0,0,0,0
$GC,3674,-1.48,-77.9,400.4,-9.6,238,3679,0.10,2.33,0.00,0.000,6,0.114,0.027,2390,1876,3370,0,0,0,0,0,0
$GC,3993,-1.51,-77.9,426.8,-8.4,246,3997,0.00,2.47,0.00,0.000,4,0.000,0.054,2391,471,3367,0,0,0,0,0,0
$GC,4076,-1.51,-77.9,433.4,-7.4,247,4082,0.00,2.33,0.00,0.000,6,0.000,0.028,2391,1873,3367,0,0,0,0,0,0
$STATE,4325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4325,begin apogee
$GC,4330,-0.31,0.0,451.0,7.4,254,4398,1.20,0.00,64.40,0.877,6,0.076,0.000,2647,2032,3050,0,0,0,0,0,0
$STATE,4398,end apogee,CONTROL_FINISHED_OK
$STATE,4398,begin climb
$GC,4400,1.40,77.9,451.9,0.0,255,4475,1.62,2.45,65.05,0.854,4,0.033,0.045,3026,3385,2731,0,0,0,0,0,0
$GC,4629,1.20,103.1,445.2,6.3,260,4658,0.25,2.40,22.17,0.823,6,0.114,0.038,2980,2004,2628,0,0,0,0,0,0
$GC,4995,1.11,125.6,420.1,6.5,269,5020,0.12,2.45,19.40,0.818,4,0.127,0.042,2958,3388,2537,0,0,0,0,0,0
$GC,5030,1.09,159.9,418.0,5.7,269,5067,0.00,2.40,31.20,0.828,6,0.000,0.036,2959,2010,2397,0,0,0,0,0,0
$GC,5404,1.06,159.9,389.7,8.1,279,5408,0.00,2.50,0.00,0.000,4,0.000,0.054,2958,604,2389,0,0,0,0,0,0
$GC,5501,0.97,159.9,381.2,9.0,281,5506,0.17,2.35,0.00,0.000,6,0.117,0.031,2927,1991,2386,0,0,0,0,0,0
$GC,5819,1.04,185.0,361.3,6.3,289,5848,0.00,2.50,21.35,0.810,4,0.000,0.053,2927,606,2293,0,0,0,0,0,0
$GC,6037,1.04,185.0,341.2,9.2,293,6041,0.00,2.38,0.00,0.000,6,0.000,0.031,2927,2017,2287,0,0,0,0,0,0
$GC,6368,1.11,185.0,313.1,8.3,301,6373,0.12,2.50,0.00,0.000,4,0.078,0.052,2957,605,2286,0,0,0,0,0,0
$GC,6458,1.04,185.0,303.7,10.5,303,6463,0.00,2.38,0.00,0.000,6,0.000,0.029,2957,2019,2285,0,0,0,0,0,0
$GC,6789,1.04,185.0,270.4,9.2,318,6794,0.00,2.50,0.00,0.000,4,0.000,0.051,2957,598,2285,0,0,0,0,0,0
$GC,6881,0.99,185.0,261.3,9.9,322,6886,0.15,2.35,0.00,0.000,6,0.117,0.028,2931,2009,2283,0,0,0,0,0,0
$GC,7207,1.11,221.2,242.4,5.5,338,7246,0.12,2.58,31.05,0.742,4,0.077,0.050,2961,603,2147,0,0,0,0,0,0
$GC,7261,1.08,221.2,238.2,8.9,340,7266,0.00,2.38,0.00,0.000,6,0.000,0.028,2961,2017,2145,0,0,0,0,0,0
$GC,7581,1.13,221.2,205.7,9.9,356,7585,0.00,2.47,0.00,0.000,4,0.000,0.050,2961,605,2142,0,0,0,0,0,0
$GC,7734,1.13,221.2,189.0,12.3,369,7738,0.00,2.33,0.00,0.000,6,0.000,0.025,2961,2020,2139,0,0,0,0,0,0
$GC,7997,1.18,221.2,164.7,9.1,393,8001,0.00,2.47,0.00,0.000,4,0.000,0.047,2961,603,2139,0,0,0,0,0,0
$GC,8048,1.18,221.2,159.4,10.4,398,8052,0.00,2.30,0.00,0.000,6,0.000,0.025,2961,2012,2138,0,0,0,0,0,0
$GC,8309,1.27,246.0,139.6,6.3,422,8339,0.15,2.50,22.05,0.629,4,0.064,0.044,3002,598,2045,0,0,0,0,0,0
$GC,8426,1.20,246.0,127.7,11.3,434,8433,0.10,2.35,0.00,0.000,6,0.087,0.023,2979,2012,2041,0,0,0,0,0,0
$GC,8690,1.25,246.0,104.5,9.1,459,8694,0.00,2.45,0.00,0.000,4,0.000,0.044,2979,602,2041,0,0,0,0,0,0
$GC,8798,1.25,246.0,93.2,10.8,470,8805,0.00,2.33,0.00,0.000,6,0.000,0.021,2978,2014,2040,0,0,0,0,0,0
$GC,9061,1.31,246.0,70.7,9.4,495,9065,0.00,2.42,0.00,0.000,4,0.000,0.044,2978,602,2040,0,0,0,0,0,0
$GC,9108,1.31,246.0,65.8,11.1,500,9112,0.00,2.28,0.00,0.000,6,0.000,0.021,2978,2019,2040,0,0,0,0,0,0
$GC,9371,1.39,249.6,45.0,7.8,524,9373,0.17,0.00,0.00,0.000,6,0.054,0.000,3028,2023,2039,0,0,0,0,0,0
$GC,9626,1.39,249.6,21.4,10.1,556,9633,0.00,2.45,0.00,0.000,4,0.000,0.041,3028,604,2040,0,0,0,0,0,0
$STATE,9794,end climb,SURFACE_DEPTH_REACHED
$STATE,9794,begin surface coast
$FINISH,0.4,1.005200
$STATE,9832,end surface coast,CONTROL_FINISHED_OK
$STATE,9832,begin surface
$SM_CCo,9853,27.48,0.506,0,0,1827,300.00
$SM_GC,1.34,0.00,0.00,27.48,0.000,0.000,0.506,427,1889,1827,-10.52,0.40,300.00
$IRIDIUM_FIX,2052.52,-15744.48,090899,101046
$TT8_MAMPS,0.029146
$HUMID,46.33
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.4,25.013
$10V_AH,10.0,24.096
$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,26.825,119.575,276.675,27.475,0.000,72.457,66.985,238.904,4.500,0.000,61.467,1193.863,6478.977,363.789,1886.018,547.924,33.361,1182.524,0.000,1812.776,0.000,29.260,0.000
$DEVICE_MAMPS,136.526,55.224,876.681,506.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,406.000,380.483,752.470,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,34934,601
$CAP_FILE_SIZE,118370,0
$CFSIZE,260165632,242372608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150510,154557,2100.524,-15748.315,104,2.1,123,9.8