version: 66.06
glider: 139
mission: 7
dive: 286
start: 5 15 110 21 42 2
data:
$ID,139
$MISSION,7
$DIVE,286
$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,-2131170.8
$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
$GPS1,213526,2059.824,-15749.230,23,1.9,28,9.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-70.9
$GPS2,214110,2059.859,-15749.224,16,4.6,35,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.092,-0.159
$KALMAN_X,8031.0,-271.2,390.5,1717.0,700.4
$KALMAN_Y,11333.5,-164.2,289.3,-24512.7,705.8
$MHEAD_RNG_PITCHd_Wd,200.2,3760,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,70,0.00,0.00,-52.88,0.000,2,0.000,0.000,427,1851,3191,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.1,-4.7,10,94,10.65,2.42,-3.67,0.000,4,0.137,0.055,2401,467,3371,0,0,0,0,0,0
$GC,230,-1.16,-77.9,39.5,-19.8,39,235,0.28,2.33,0.00,0.000,6,0.099,0.020,2455,1904,3373,0,0,0,0,0,0
$GC,492,-1.16,-77.9,73.5,-12.9,63,496,0.00,2.47,0.00,0.000,4,0.000,0.043,2455,469,3374,0,0,0,0,0,0
$GC,545,-1.16,-77.9,81.1,-13.6,68,551,0.00,2.30,0.00,0.000,6,0.000,0.019,2452,1888,3374,0,0,0,0,0,0
$GC,808,-1.20,-77.9,111.1,-10.6,93,812,0.00,2.45,0.00,0.000,4,0.000,0.043,2455,467,3375,0,0,0,0,0,0
$GC,887,-1.24,-77.9,118.2,-9.3,101,891,0.00,2.25,0.00,0.000,6,0.000,0.019,2454,1874,3376,0,0,0,0,0,0
$GC,1151,-1.32,-77.9,139.2,-8.6,125,1156,0.12,2.40,0.00,0.000,4,0.063,0.045,2412,470,3376,0,0,0,0,0,0
$GC,1227,-1.26,-77.9,148.7,-12.5,133,1232,0.12,2.25,0.00,0.000,6,0.100,0.020,2438,1875,3376,0,0,0,0,0,0
$GC,1489,-1.31,-77.9,174.2,-9.0,157,1493,0.00,2.40,0.00,0.000,4,0.000,0.044,2437,468,3377,0,0,0,0,0,0
$GC,1544,-1.31,-77.9,179.4,-9.2,162,1550,0.00,2.28,0.00,0.000,6,0.000,0.020,2438,1881,3377,0,0,0,0,0,0
$GC,1816,-1.37,-77.9,204.4,-9.7,186,1821,0.10,2.28,0.00,0.000,4,0.075,0.027,2404,3264,3377,0,0,0,0,0,0
$GC,1853,-1.42,-77.9,209.3,-12.3,187,1859,0.00,2.33,0.00,0.000,6,0.000,0.030,2403,1871,3377,0,0,0,0,0,0
$GC,2171,-1.42,-77.9,241.6,-10.9,203,2175,0.00,2.38,0.00,0.000,4,0.000,0.047,2399,472,3377,0,0,0,0,0,0
$GC,2235,-1.42,-77.9,249.7,-12.0,206,2240,0.00,2.28,0.00,0.000,6,0.000,0.021,2403,1882,3377,0,0,0,0,0,0
$GC,2565,-1.42,-77.9,283.1,-9.6,222,2569,0.00,2.42,0.00,0.000,4,0.000,0.048,2400,470,3377,0,0,0,0,0,0
$GC,2585,-1.42,-77.9,285.1,-9.9,223,2590,0.00,2.28,0.00,0.000,6,0.000,0.023,2401,1878,3377,0,0,0,0,0,0
$GC,2913,-1.42,-77.9,317.3,-10.3,235,2917,0.00,2.42,0.00,0.000,4,0.000,0.049,2403,471,3376,0,0,0,0,0,0
$GC,2950,-1.39,-77.9,321.9,-11.6,235,2956,0.00,2.28,0.00,0.000,6,0.000,0.025,2404,1873,3376,0,0,0,0,0,0
$GC,3280,-1.43,-77.9,352.7,-9.4,244,3285,0.00,2.42,0.00,0.000,4,0.000,0.051,2403,472,3374,0,0,0,0,0,0
$GC,3350,-1.43,-77.9,360.5,-10.5,245,3354,0.00,2.30,0.00,0.000,6,0.000,0.025,2403,1877,3374,0,0,0,0,0,0
$GC,3690,-1.48,-77.9,396.1,-10.5,254,3694,0.00,2.45,0.00,0.000,4,0.000,0.052,2403,469,3372,0,0,0,0,0,0
$GC,3740,-1.48,-77.9,401.4,-10.2,255,3744,0.00,2.33,0.00,0.000,6,0.000,0.027,2404,1879,3372,0,0,0,0,0,0
$GC,4063,-1.53,-77.9,427.7,-7.5,263,4068,0.12,2.50,0.00,0.000,4,0.071,0.054,2368,470,3369,0,0,0,0,0,0
$GC,4128,-1.47,-77.9,434.6,-10.7,264,4133,0.12,2.33,0.00,0.000,6,0.106,0.028,2392,1881,3369,0,0,0,0,0,0
$STATE,4309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4309,begin apogee
$GC,4314,-0.31,0.0,450.9,8.9,269,4383,1.17,0.00,65.22,0.871,6,0.076,0.000,2643,2025,3050,0,0,0,0,0,0
$STATE,4384,end apogee,CONTROL_FINISHED_OK
$STATE,4384,begin climb
$GC,4386,1.40,77.9,452.0,0.0,270,4460,1.62,2.47,65.12,0.851,4,0.032,0.045,3024,3387,2732,0,0,0,0,0,0
$GC,4574,1.23,121.3,450.0,5.0,274,4619,0.20,2.38,37.38,0.839,6,0.115,0.038,2986,2004,2554,0,0,0,0,0,0
$GC,4938,1.10,121.3,421.1,8.7,283,4942,0.15,2.50,0.00,0.000,4,0.117,0.054,2957,604,2548,0,0,0,0,0,0
$GC,4970,0.97,121.3,417.9,8.7,283,4976,0.17,2.33,0.00,0.000,6,0.116,0.031,2928,1991,2547,0,0,0,0,0,0
$GC,5301,1.01,149.9,396.5,6.1,291,5332,0.00,2.55,24.38,0.826,4,0.000,0.054,2927,595,2437,0,0,0,0,0,0
$GC,5416,0.98,162.2,388.1,7.2,293,5434,0.00,2.40,11.73,0.762,6,0.000,0.031,2927,2024,2388,0,0,0,0,0,0
$GC,5758,1.02,162.2,360.7,8.5,302,5763,0.00,2.53,0.00,0.000,4,0.000,0.053,2927,603,2384,0,0,0,0,0,0
$GC,5842,1.02,162.2,352.6,10.2,303,5847,0.00,2.38,0.00,0.000,6,0.000,0.031,2928,2006,2381,0,0,0,0,0,0
$GC,6172,1.07,162.2,322.1,9.7,312,6173,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2011,2381,0,0,0,0,0,0
$GC,6498,1.16,190.3,300.3,6.1,320,6530,0.17,2.55,24.62,0.783,4,0.066,0.051,2969,600,2273,0,0,0,0,0,0
$GC,6545,1.08,190.9,296.8,8.0,321,6550,0.00,2.38,0.00,0.000,6,0.000,0.030,2970,2013,2269,0,0,0,0,0,0
$GC,6872,1.08,191.0,269.0,8.0,337,6876,0.00,2.50,0.00,0.000,4,0.000,0.051,2969,602,2267,0,0,0,0,0,0
$GC,6909,1.01,191.0,265.6,8.5,338,6916,0.15,2.40,0.00,0.000,6,0.097,0.029,2938,2015,2265,0,0,0,0,0,0
$GC,7224,1.07,192.0,242.6,8.0,354,7228,0.00,2.50,0.00,0.000,4,0.000,0.051,2938,598,2265,0,0,0,0,0,0
$GC,7359,1.07,192.0,229.7,9.9,360,7363,0.00,2.38,0.00,0.000,6,0.000,0.028,2938,2020,2263,0,0,0,0,0,0
$GC,7688,1.14,192.0,200.6,8.9,376,7692,0.10,2.50,0.00,0.000,4,0.086,0.048,2965,601,2263,0,0,0,0,0,0
$GC,7724,1.09,192.0,197.1,10.5,379,7728,0.00,2.35,0.00,0.000,6,0.000,0.026,2965,2019,2262,0,0,0,0,0,0
$GC,7986,1.09,192.0,172.2,9.4,403,7990,0.00,2.33,0.00,0.000,4,0.000,0.032,2965,3409,2263,0,0,0,0,0,0
$GC,8012,1.14,192.0,169.7,10.1,405,8016,0.00,2.38,0.00,0.000,6,0.000,0.033,2965,2007,2263,0,0,0,0,0,0
$GC,8274,1.14,192.0,147.2,8.1,429,8275,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2006,2263,0,0,0,0,0,0
$GC,8530,1.22,229.4,130.1,5.4,453,8570,0.00,2.50,33.70,0.630,4,0.000,0.046,2963,609,2113,0,0,0,0,0,0
$GC,8753,1.22,229.4,112.1,9.6,477,8758,0.00,2.33,0.00,0.000,6,0.000,0.022,2964,2026,2107,0,0,0,0,0,0
$GC,9014,1.29,229.4,88.5,8.3,502,9019,0.15,2.50,0.00,0.000,4,0.061,0.044,3007,596,2107,0,0,0,0,0,0
$GC,9170,1.21,229.4,71.0,10.8,518,9176,0.10,2.33,0.00,0.000,6,0.083,0.021,2983,2009,2107,0,0,0,0,0,0
$GC,9433,1.26,241.6,51.2,7.2,543,9453,0.00,2.33,11.10,0.513,4,0.000,0.027,2981,3409,2064,0,0,0,0,0,0
$GC,9483,1.36,241.6,46.9,8.5,548,9488,0.12,2.38,0.00,0.000,6,0.066,0.029,3020,2003,2064,0,0,0,0,0,0
$GC,9746,1.36,241.6,22.4,8.2,580,9753,0.00,2.40,0.00,0.000,4,0.000,0.042,3021,609,2064,0,0,0,0,0,0
$GC,9849,1.30,241.6,12.7,10.6,602,9856,0.10,2.30,0.00,0.000,6,0.084,0.020,2997,2026,2062,0,0,0,0,0,0
$STATE,9983,end climb,SURFACE_DEPTH_REACHED
$STATE,9983,begin surface coast
$FINISH,0.4,1.011285
$STATE,10022,end surface coast,CONTROL_FINISHED_OK
$STATE,10022,begin surface
$SM_CCo,10042,31.25,0.508,0,0,1827,300.00
$SM_GC,1.38,0.00,0.00,31.25,0.000,0.000,0.508,426,1856,1827,-10.52,-0.51,300.00
$IRIDIUM_FIX,2054.83,-15749.62,090899,181858
$TT8_MAMPS,0.029146
$HUMID,46.77
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,443.6,53.8
$24V_AH,23.4,25.260
$10V_AH,10.0,24.331
$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,26.850,119.775,273.250,31.250,0.000,23.781,32.363,167.529,4.750,0.000,36.255,1218.887,6583.915,371.333,1842.697,403.433,33.360,1178.742,0.000,1803.909,0.000,32.262,0.000
$DEVICE_MAMPS,136.526,55.991,871.312,507.754,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,427.178,403.949,790.021,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,34869,633
$CAP_FILE_SIZE,117241,0
$CFSIZE,260165632,242200576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160510,003206,2059.260,-15749.477,90,1.5,95,9.8