version: 66.06
glider: 139
mission: 7
dive: 287
start: 5 16 110 0 38 4
data:
$ID,139
$MISSION,7
$DIVE,287
$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,-2131204
$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
$GPS1,003206,2059.260,-15749.477,90,1.5,95,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-69.2
$GPS2,003713,2059.265,-15749.485,14,1.6,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.010,-0.184
$KALMAN_X,8169.7,34.0,520.1,686.9,-401.7
$KALMAN_Y,11714.8,148.9,277.4,-26297.7,86.3
$MHEAD_RNG_PITCHd_Wd,173.3,2578,-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,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-52.08,0.000,2,0.000,0.000,426,1857,3202,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.4,-5.9,10,95,10.62,2.42,-3.25,0.000,4,0.136,0.054,2402,467,3370,0,0,0,0,0,0
$GC,165,-1.17,-77.9,27.0,-19.5,29,172,0.28,2.30,0.00,0.000,6,0.099,0.020,2449,1917,3371,0,0,0,0,0,0
$GC,365,-1.17,-77.9,57.5,-14.4,49,369,0.00,2.50,0.00,0.000,4,0.000,0.044,2456,463,3372,0,0,0,0,0,0
$GC,401,-1.10,-77.9,62.5,-13.8,52,408,0.00,2.28,0.00,0.000,6,0.000,0.020,2455,1873,3372,0,0,0,0,0,0
$GC,662,-1.10,-77.9,91.9,-10.3,77,666,0.00,2.42,0.00,0.000,4,0.000,0.043,2456,468,3373,0,0,0,0,0,0
$GC,680,-1.10,-77.9,94.1,-11.1,78,686,0.00,2.28,0.00,0.000,6,0.000,0.019,2455,1881,3374,0,0,0,0,0,0
$GC,943,-1.15,-77.9,121.5,-10.7,103,947,0.00,2.42,0.00,0.000,4,0.000,0.044,2456,463,3374,0,0,0,0,0,0
$GC,997,-1.15,-77.9,127.7,-9.7,108,1004,0.00,2.28,0.00,0.000,6,0.000,0.019,2457,1872,3374,0,0,0,0,0,0
$GC,1260,-1.23,-77.9,150.4,-8.5,133,1264,0.00,2.42,0.00,0.000,4,0.000,0.044,2454,461,3375,0,0,0,0,0,0
$GC,1303,-1.28,-77.9,154.6,-9.8,137,1307,0.00,2.25,0.00,0.000,6,0.000,0.020,2457,1879,3375,0,0,0,0,0,0
$GC,1566,-1.37,-77.9,179.0,-9.5,161,1571,0.20,2.42,0.00,0.000,4,0.048,0.043,2395,463,3376,0,0,0,0,0,0
$GC,1619,-1.29,-77.9,185.5,-12.4,166,1623,0.15,2.25,0.00,0.000,6,0.094,0.020,2430,1882,3376,0,0,0,0,0,0
$GC,1890,-1.33,-77.9,213.2,-10.5,185,1894,0.00,2.45,0.00,0.000,4,0.000,0.045,2426,460,3376,0,0,0,0,0,0
$GC,1913,-1.33,-77.9,216.4,-11.1,186,1917,0.00,2.25,0.00,0.000,6,0.000,0.020,2429,1880,3376,0,0,0,0,0,0
$GC,2238,-1.38,-77.9,248.3,-9.3,202,2242,0.00,2.40,0.00,0.000,4,0.000,0.045,2428,470,3376,0,0,0,0,0,0
$GC,2333,-1.38,-77.9,258.3,-9.9,206,2338,0.00,2.22,0.00,0.000,6,0.000,0.021,2430,1869,3376,0,0,0,0,0,0
$GC,2654,-1.45,-77.9,287.4,-8.3,222,2659,0.15,2.42,0.00,0.000,4,0.059,0.048,2380,464,3376,0,0,0,0,0,0
$GC,2769,-1.38,-77.9,299.7,-11.1,227,2775,0.15,2.25,0.00,0.000,6,0.096,0.022,2412,1872,3375,0,0,0,0,0,0
$GC,3120,-1.44,-77.9,330.7,-8.7,236,3124,0.00,2.42,0.00,0.000,4,0.000,0.048,2412,470,3375,0,0,0,0,0,0
$GC,3181,-1.44,-77.9,335.3,-7.5,237,3185,0.00,2.28,0.00,0.000,6,0.000,0.024,2414,1870,3375,0,0,0,0,0,0
$GC,3531,-1.51,-77.9,363.6,-9.2,246,3536,0.12,2.45,0.00,0.000,4,0.067,0.051,2376,467,3373,0,0,0,0,0,0
$GC,3546,-1.51,-77.9,365.4,-9.7,246,3550,0.00,2.30,0.00,0.000,6,0.000,0.025,2376,1884,3373,0,0,0,0,0,0
$GC,3894,-1.51,-77.9,406.2,-11.6,255,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1889,3371,0,0,0,0,0,0
$GC,4219,-1.51,-77.9,438.9,-9.3,263,4224,0.00,2.50,0.00,0.000,4,0.000,0.055,2375,468,3369,0,0,0,0,0,0
$GC,4270,-1.46,-77.9,444.2,-11.1,264,4275,0.10,2.33,0.00,0.000,6,0.110,0.028,2394,1873,3369,0,0,0,0,0,0
$STATE,4343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4343,begin apogee
$GC,4348,-0.31,0.0,450.9,8.8,266,4417,1.15,0.00,64.95,0.867,6,0.074,0.000,2643,2033,3050,0,0,0,0,0,0
$STATE,4417,end apogee,CONTROL_FINISHED_OK
$STATE,4417,begin climb
$GC,4419,1.40,77.9,451.4,0.0,267,4494,1.62,2.42,64.72,0.844,4,0.031,0.044,3024,3375,2732,0,0,0,0,0,0
$GC,4693,1.23,119.2,440.9,5.2,274,4736,0.20,2.38,35.05,0.832,6,0.113,0.036,2987,2005,2564,0,0,0,0,0,0
$GC,5060,1.13,138.7,416.2,6.7,283,5085,0.15,2.50,17.27,0.801,4,0.119,0.041,2961,3384,2483,0,0,0,0,0,0
$GC,5110,1.08,145.1,412.7,7.6,284,5122,0.00,2.38,7.12,0.684,6,0.000,0.038,2962,2010,2458,0,0,0,0,0,0
$GC,5436,1.05,160.4,388.8,7.0,292,5456,0.00,2.58,14.10,0.785,4,0.000,0.052,2960,599,2394,0,0,0,0,0,0
$GC,5514,0.95,160.4,381.5,10.4,293,5519,0.22,2.35,0.00,0.000,6,0.109,0.031,2920,1987,2392,0,0,0,0,0,0
$GC,5850,1.01,168.1,353.6,7.5,302,5863,0.00,2.50,7.32,0.693,4,0.000,0.054,2919,602,2364,0,0,0,0,0,0
$GC,5965,1.01,168.1,343.6,8.9,304,5969,0.00,2.35,0.00,0.000,6,0.000,0.031,2919,2012,2361,0,0,0,0,0,0
$GC,6310,1.08,168.1,315.0,8.1,313,6315,0.12,2.53,0.00,0.000,4,0.076,0.052,2951,597,2360,0,0,0,0,0,0
$GC,6376,1.03,168.1,308.3,10.6,314,6380,0.00,2.38,0.00,0.000,6,0.000,0.030,2951,2020,2358,0,0,0,0,0,0
$GC,6702,1.03,168.1,277.4,8.4,328,6706,0.00,2.50,0.00,0.000,4,0.000,0.051,2951,598,2358,0,0,0,0,0,0
$GC,6913,1.02,182.4,261.8,7.0,337,6931,0.00,2.38,12.75,0.719,6,0.000,0.028,2951,2022,2306,0,0,0,0,0,0
$GC,7243,1.02,183.2,240.7,8.0,353,7247,0.00,2.35,0.00,0.000,4,0.000,0.037,2952,3401,2303,0,0,0,0,0,0
$GC,7293,1.08,183.2,235.5,10.3,355,7297,0.00,2.35,0.00,0.000,6,0.000,0.035,2952,2009,2303,0,0,0,0,0,0
$GC,7614,1.13,183.2,205.3,9.0,371,7618,0.00,2.45,0.00,0.000,4,0.000,0.048,2950,597,2302,0,0,0,0,0,0
$GC,7729,1.13,183.2,193.9,10.0,380,7733,0.00,2.33,0.00,0.000,6,0.000,0.025,2951,2015,2300,0,0,0,0,0,0
$GC,7991,1.21,212.5,173.9,6.0,404,8028,0.12,2.38,27.12,0.672,4,0.072,0.031,2986,3410,2182,0,0,0,0,0,0
$GC,8114,1.21,212.5,164.3,8.2,417,8120,0.00,2.38,0.00,0.000,6,0.000,0.031,2986,2004,2181,0,0,0,0,0,0
$GC,8375,1.21,212.5,141.3,10.4,442,8380,0.00,2.42,0.00,0.000,4,0.000,0.046,2983,603,2178,0,0,0,0,0,0
$GC,8545,1.15,212.5,121.6,12.3,460,8550,0.00,2.33,0.00,0.000,6,0.000,0.022,2984,2027,2176,0,0,0,0,0,0
$GC,8807,1.15,212.5,97.1,9.5,484,8811,0.00,2.45,0.00,0.000,4,0.000,0.044,2985,604,2176,0,0,0,0,0,0
$GC,8859,1.12,212.5,91.3,12.1,489,8864,0.15,2.28,0.00,0.000,6,0.107,0.022,2956,2016,2175,0,0,0,0,0,0
$GC,9121,1.23,231.3,68.9,6.7,513,9145,0.12,2.53,16.62,0.556,4,0.069,0.042,2994,604,2106,0,0,0,0,0,0
$GC,9161,1.23,231.3,66.0,8.2,517,9165,0.00,2.30,0.00,0.000,6,0.000,0.021,2994,2020,2105,0,0,0,0,0,0
$GC,9429,1.32,265.2,44.7,5.7,542,9469,0.00,2.35,30.30,0.548,4,0.000,0.028,2992,3392,1968,0,0,0,0,0,0
$GC,9508,1.44,276.9,40.0,7.2,550,9530,0.15,2.33,11.68,0.501,6,0.058,0.029,3038,2007,1920,0,0,0,0,0,0
$GC,9787,1.44,276.9,7.9,13.0,592,9794,0.00,2.42,0.00,0.000,4,0.000,0.044,3037,611,1916,0,0,0,0,0,0
$STATE,9831,end climb,SURFACE_DEPTH_REACHED
$STATE,9831,begin surface coast
$FINISH,0.5,1.000365
$STATE,9862,end surface coast,CONTROL_FINISHED_OK
$STATE,9862,begin surface
$SM_CCo,9883,12.88,0.482,0,0,1826,300.00
$SM_GC,1.86,0.00,0.00,12.88,0.000,0.000,0.482,429,1879,1826,-10.51,0.11,300.00
$IRIDIUM_FIX,2052.52,-15747.49,090899,212141
$TT8_MAMPS,0.029146
$HUMID,46.18
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.4,25.340
$10V_AH,10.1,24.408
$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,27.050,123.650,309.025,12.875,0.000,27.479,27.241,136.292,4.750,0.000,32.412,1194.940,6418.665,371.560,1854.267,365.046,33.356,1206.131,0.000,1812.139,0.000,32.158,0.000
$DEVICE_MAMPS,135.759,55.224,866.710,481.676,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.642,388.292,765.331,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34939,608
$CAP_FILE_SIZE,117709,0
$CFSIZE,260165632,242143232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160510,032458,2058.328,-15749.494,62,2.6,81,9.8