version: 66.06
glider: 139
mission: 7
dive: 288
start: 5 16 110 3 31 50
data:
$ID,139
$MISSION,7
$DIVE,288
$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,-2131261
$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
$GPS1,032458,2058.328,-15749.494,62,2.6,81,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-68.8
$GPS2,033058,2058.370,-15749.484,36,3.1,55,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.170,0.069
$KALMAN_X,8796.9,339.7,-294.2,564.7,327.5
$KALMAN_Y,12389.0,397.2,-240.0,-28363.4,571.7
$MHEAD_RNG_PITCHd_Wd,282.2,28509,-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,-53.12,0.000,2,0.000,0.000,428,1878,3206,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.3,-5.4,10,95,10.60,2.40,-3.20,0.000,4,0.135,0.040,2402,3296,3370,0,0,0,0,0,0
$GC,294,-1.34,-77.9,47.1,-15.9,47,300,0.00,2.42,0.00,0.000,6,0.000,0.031,2403,1871,3372,0,0,0,0,0,0
$GC,555,-1.25,-77.9,89.8,-14.9,72,560,0.17,2.42,0.00,0.000,4,0.097,0.044,2438,468,3373,0,0,0,0,0,0
$GC,609,-1.19,-77.9,97.6,-13.9,77,613,0.00,2.33,0.00,0.000,6,0.000,0.019,2437,1911,3374,0,0,0,0,0,0
$GC,871,-1.19,-77.9,128.6,-10.5,101,875,0.00,2.50,0.00,0.000,4,0.000,0.043,2437,460,3374,0,0,0,0,0,0
$GC,943,-1.19,-77.9,137.3,-11.7,108,951,0.00,2.30,0.00,0.000,6,0.000,0.020,2436,1883,3374,0,0,0,0,0,0
$GC,1206,-1.22,-77.9,164.1,-10.2,133,1211,0.00,2.42,0.00,0.000,4,0.000,0.044,2436,465,3375,0,0,0,0,0,0
$GC,1306,-1.22,-77.9,175.0,-10.5,143,1311,0.00,2.28,0.00,0.000,6,0.000,0.020,2438,1886,3375,0,0,0,0,0,0
$GC,1567,-1.28,-77.9,197.4,-8.9,168,1572,0.00,2.45,0.00,0.000,4,0.000,0.044,2436,463,3376,0,0,0,0,0,0
$GC,1622,-1.28,-77.9,202.9,-10.1,172,1626,0.00,2.25,0.00,0.000,6,0.000,0.020,2437,1878,3376,0,0,0,0,0,0
$GC,1940,-1.36,-77.9,227.4,-6.9,187,1945,0.00,2.42,0.00,0.000,4,0.000,0.044,2438,469,3376,0,0,0,0,0,0
$GC,1977,-1.39,-77.9,231.0,-8.8,188,1984,0.10,2.30,0.00,0.000,6,0.034,0.021,2395,1878,3376,0,0,0,0,0,0
$GC,2295,-1.39,-77.9,264.7,-11.0,204,2299,0.00,2.40,0.00,0.000,4,0.000,0.045,2395,470,3376,0,0,0,0,0,0
$GC,2322,-1.34,-77.9,267.8,-10.8,205,2327,0.12,2.25,0.00,0.000,6,0.100,0.021,2421,1883,3376,0,0,0,0,0,0
$GC,2645,-1.40,-77.9,296.5,-9.6,221,2649,0.00,2.42,0.00,0.000,4,0.000,0.047,2419,470,3375,0,0,0,0,0,0
$GC,2766,-1.45,-77.9,306.2,-6.9,224,2771,0.00,2.28,0.00,0.000,6,0.000,0.023,2421,1869,3375,0,0,0,0,0,0
$GC,3102,-1.51,-77.9,329.9,-7.8,233,3107,0.15,2.45,0.00,0.000,4,0.058,0.050,2375,471,3373,0,0,0,0,0,0
$GC,3137,-1.43,-77.9,333.6,-11.5,233,3141,0.12,2.28,0.00,0.000,6,0.100,0.025,2402,1875,3374,0,0,0,0,0,0
$GC,3467,-1.43,-77.9,365.2,-9.6,241,3471,0.00,2.45,0.00,0.000,4,0.000,0.051,2401,471,3372,0,0,0,0,0,0
$GC,3536,-1.43,-77.9,372.2,-10.4,242,3540,0.00,2.30,0.00,0.000,6,0.000,0.026,2402,1874,3372,0,0,0,0,0,0
$GC,3877,-1.47,-77.9,407.7,-11.1,251,3881,0.00,2.47,0.00,0.000,4,0.000,0.053,2402,465,3370,0,0,0,0,0,0
$GC,3899,-1.47,-77.9,410.5,-11.3,251,3904,0.00,2.30,0.00,0.000,6,0.000,0.027,2402,1877,3370,0,0,0,0,0,0
$GC,4242,-1.53,-77.9,441.6,-9.1,260,4246,0.00,2.47,0.00,0.000,4,0.000,0.054,2401,471,3367,0,0,0,0,0,0
$GC,4302,-1.56,-77.9,447.3,-9.1,261,4307,0.12,2.30,0.00,0.000,6,0.067,0.028,2362,1873,3367,0,0,0,0,0,0
$STATE,4365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4365,begin apogee
$GC,4370,-0.31,0.0,453.6,9.8,263,4439,1.33,0.00,64.62,0.872,6,0.077,0.000,2646,2036,3050,0,0,0,0,0,0
$STATE,4440,end apogee,CONTROL_FINISHED_OK
$STATE,4440,begin climb
$GC,4441,1.40,77.9,454.5,0.0,264,4516,1.62,2.45,64.70,0.850,4,0.031,0.045,3030,3385,2732,0,0,0,0,0,0
$GC,4730,1.20,114.4,444.6,5.5,271,4767,0.25,2.38,31.30,0.834,6,0.108,0.037,2981,2010,2583,0,0,0,0,0,0
$GC,5089,1.09,114.4,416.7,8.1,280,5094,0.15,2.50,0.00,0.000,4,0.117,0.053,2954,604,2578,0,0,0,0,0,0
$GC,5108,0.97,114.4,414.9,8.8,280,5113,0.15,2.35,0.00,0.000,6,0.118,0.030,2926,1996,2577,0,0,0,0,0,0
$GC,5454,1.03,164.3,396.9,4.6,289,5502,0.00,2.53,42.70,0.840,4,0.000,0.042,2930,3401,2380,0,0,0,0,0,0
$GC,5554,1.09,172.9,390.3,7.4,291,5570,0.00,2.42,9.23,0.727,6,0.000,0.039,2929,2011,2343,0,0,0,0,0,0
$GC,5910,1.13,172.9,359.8,8.9,300,5915,0.12,2.53,0.00,0.000,4,0.075,0.055,2959,600,2337,0,0,0,0,0,0
$GC,6068,1.04,172.9,343.8,10.0,303,6073,0.00,2.38,0.00,0.000,6,0.000,0.030,2958,2012,2334,0,0,0,0,0,0
$GC,6412,1.04,172.9,311.6,10.1,312,6414,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2016,2333,0,0,0,0,0,0
$GC,6720,1.04,172.9,274.8,12.9,324,6724,0.00,2.50,0.00,0.000,4,0.000,0.052,2959,596,2332,0,0,0,0,0,0
$GC,6836,0.96,172.9,260.6,12.2,329,6841,0.20,2.38,0.00,0.000,6,0.110,0.029,2923,2012,2330,0,0,0,0,0,0
$GC,7163,1.08,203.0,238.6,6.0,345,7196,0.12,2.53,25.15,0.738,4,0.074,0.049,2954,602,2220,0,0,0,0,0,0
$GC,7275,1.08,203.0,227.9,10.3,350,7279,0.00,2.35,0.00,0.000,6,0.000,0.028,2955,2012,2217,0,0,0,0,0,0
$GC,7603,1.12,203.0,198.5,8.1,366,7607,0.00,2.47,0.00,0.000,4,0.000,0.048,2955,598,2215,0,0,0,0,0,0
$GC,7637,1.12,203.0,195.5,9.5,369,7641,0.00,2.35,0.00,0.000,6,0.000,0.027,2955,2016,2214,0,0,0,0,0,0
$GC,7900,1.18,212.6,173.6,7.4,393,7919,0.00,2.50,8.80,0.611,4,0.000,0.047,2955,594,2181,0,0,0,0,0,0
$GC,8024,1.18,212.6,161.9,10.7,406,8031,0.00,2.38,0.00,0.000,6,0.000,0.025,2956,2012,2179,0,0,0,0,0,0
$GC,8287,1.24,212.6,136.7,9.9,431,8292,0.12,2.47,0.00,0.000,4,0.068,0.047,2993,601,2179,0,0,0,0,0,0
$GC,8405,1.16,212.6,122.8,11.6,443,8410,0.12,2.33,0.00,0.000,6,0.109,0.023,2970,2016,2178,0,0,0,0,0,0
$GC,8666,1.20,212.6,99.1,9.4,467,8670,0.00,2.42,0.00,0.000,4,0.000,0.044,2970,600,2178,0,0,0,0,0,0
$GC,8747,1.20,212.6,90.7,10.9,475,8753,0.00,2.30,0.00,0.000,6,0.000,0.022,2969,2012,2177,0,0,0,0,0,0
$GC,9011,1.28,219.4,70.5,7.6,500,9025,0.10,2.50,7.05,0.495,4,0.074,0.044,3003,599,2154,0,0,0,0,0,0
$GC,9244,1.26,238.3,47.8,6.7,526,9271,0.00,2.33,18.10,0.545,6,0.000,0.021,3003,2019,2077,0,0,0,0,0,0
$GC,9528,1.31,238.3,25.2,9.9,557,9533,0.00,2.45,0.00,0.000,4,0.000,0.042,3003,593,2075,0,0,0,0,0,0
$GC,9559,1.31,238.3,22.3,9.6,563,9565,0.00,2.28,0.00,0.000,6,0.000,0.021,3003,2013,2073,0,0,0,0,0,0
$GC,9764,1.32,252.8,7.5,7.0,600,9781,0.00,0.00,13.62,0.494,6,0.000,0.000,3003,2019,2018,0,0,0,0,0,0
$STATE,9814,end climb,SURFACE_DEPTH_REACHED
$STATE,9815,begin surface coast
$FINISH,0.4,1.022010
$STATE,9842,end surface coast,CONTROL_FINISHED_OK
$STATE,9842,begin surface
$SM_CCo,9862,25.58,0.505,0,0,1826,300.00
$SM_GC,0.88,0.00,0.00,25.58,0.000,0.000,0.505,423,1842,1826,-10.54,-0.93,300.00
$IRIDIUM_FIX,2050.21,-15747.49,100899,000023
$TT8_MAMPS,0.029146
$HUMID,46.53
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.40
$XPDR_PINGS,1
$24V_AH,23.4,25.420
$10V_AH,10.0,24.485
$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,26.775,115.375,285.275,25.575,0.000,23.277,30.639,163.971,4.750,0.000,56.221,1203.729,6381.398,369.945,1906.138,388.826,33.353,1199.028,0.000,1834.956,0.000,29.251,0.000
$DEVICE_MAMPS,134.992,55.224,872.079,505.453,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.713,388.997,764.957,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,34956,614
$CAP_FILE_SIZE,117091,0
$CFSIZE,260165632,242085888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160510,061906,2058.920,-15750.410,113,1.1,113,9.8