version: 66.06
glider: 139
mission: 7
dive: 290
start: 5 16 110 9 20 57
data:
$ID,139
$MISSION,7
$DIVE,290
$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,-2131317.5
$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
$GPS1,091134,2059.105,-15750.993,36,2.0,36,9.8
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.9
$GPS2,092006,2059.089,-15750.984,27,1.1,43,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.154,0.100
$KALMAN_X,9633.0,345.8,246.9,-3406.4,385.3
$KALMAN_Y,12756.7,143.2,93.7,-27471.7,76.2
$MHEAD_RNG_PITCHd_Wd,293.3,25679,-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,-53.55,0.000,2,0.000,0.000,428,1851,3256,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.9,-7.1,10,92,10.60,2.47,-2.12,0.000,4,0.135,0.039,2400,3302,3371,0,0,0,0,0,0
$GC,267,-1.33,-77.9,47.2,-19.6,42,272,0.12,2.42,0.00,0.000,6,0.107,0.031,2425,1873,3373,0,0,0,0,0,0
$GC,529,-1.28,-77.9,85.6,-12.6,66,533,0.00,2.42,0.00,0.000,4,0.000,0.044,2425,462,3373,0,0,0,0,0,0
$GC,571,-1.19,-77.9,91.4,-13.5,70,576,0.15,2.33,0.00,0.000,6,0.102,0.020,2454,1908,3374,0,0,0,0,0,0
$GC,831,-1.25,-77.9,119.2,-9.4,94,836,0.00,2.47,0.00,0.000,4,0.000,0.044,2454,468,3375,0,0,0,0,0,0
$GC,895,-1.30,-77.9,125.6,-10.0,100,902,0.08,2.28,0.00,0.000,6,0.037,0.019,2418,1879,3375,0,0,0,0,0,0
$GC,1156,-1.30,-77.9,157.4,-13.3,125,1160,0.00,2.45,0.00,0.000,4,0.000,0.044,2416,460,3376,0,0,0,0,0,0
$GC,1238,-1.25,-77.9,168.8,-13.6,133,1244,0.10,2.28,0.00,0.000,6,0.110,0.020,2438,1884,3376,0,0,0,0,0,0
$GC,1498,-1.31,-77.9,195.3,-9.7,158,1503,0.00,2.42,0.00,0.000,4,0.000,0.044,2437,466,3377,0,0,0,0,0,0
$GC,1532,-1.31,-77.9,198.7,-10.6,161,1536,0.00,2.28,0.00,0.000,6,0.000,0.021,2438,1881,3377,0,0,0,0,0,0
$GC,1799,-1.39,-77.9,220.6,-8.1,174,1803,0.12,2.45,0.00,0.000,4,0.064,0.045,2395,470,3377,0,0,0,0,0,0
$GC,1849,-1.32,-77.9,226.9,-12.3,176,1854,0.15,2.25,0.00,0.000,6,0.094,0.021,2428,1873,3377,0,0,0,0,0,0
$GC,2171,-1.40,-77.9,255.2,-7.8,192,2176,0.00,2.42,0.00,0.000,4,0.000,0.045,2427,468,3377,0,0,0,0,0,0
$GC,2234,-1.43,-77.9,260.5,-8.8,194,2240,0.08,2.28,0.00,0.000,6,0.038,0.022,2392,1868,3377,0,0,0,0,0,0
$GC,2549,-1.43,-77.9,290.7,-10.7,210,2553,0.00,2.42,0.00,0.000,4,0.000,0.048,2391,470,3376,0,0,0,0,0,0
$GC,2592,-1.39,-77.9,295.9,-12.9,212,2596,0.00,2.28,0.00,0.000,6,0.000,0.024,2391,1871,3376,0,0,0,0,0,0
$GC,2916,-1.39,-77.9,331.7,-10.2,221,2921,0.00,2.45,0.00,0.000,4,0.000,0.050,2389,466,3375,0,0,0,0,0,0
$GC,2953,-1.39,-77.9,335.5,-10.4,221,2958,0.00,2.30,0.00,0.000,6,0.000,0.025,2390,1877,3375,0,0,0,0,0,0
$GC,3283,-1.39,-77.9,368.7,-10.2,230,3287,0.00,2.47,0.00,0.000,4,0.000,0.051,2391,464,3373,0,0,0,0,0,0
$GC,3320,-1.39,-77.9,372.6,-11.6,230,3325,0.00,2.33,0.00,0.000,6,0.000,0.027,2391,1876,3373,0,0,0,0,0,0
$GC,3651,-1.39,-77.9,403.0,-9.4,239,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1880,3371,0,0,0,0,0,0
$GC,3975,-1.43,-77.9,433.2,-9.4,247,3979,0.00,2.47,0.00,0.000,4,0.000,0.055,2390,472,3368,0,0,0,0,0,0
$GC,4035,-1.43,-77.9,439.3,-9.9,248,4039,0.00,2.33,0.00,0.000,6,0.000,0.029,2391,1876,3368,0,0,0,0,0,0
$STATE,4179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4179,begin apogee
$GC,4184,-0.31,0.0,451.7,8.4,252,4252,1.17,0.00,64.85,0.879,6,0.074,0.000,2643,2035,3050,0,0,0,0,0,0
$STATE,4253,end apogee,CONTROL_FINISHED_OK
$STATE,4253,begin climb
$GC,4255,1.40,77.9,452.5,0.0,253,4330,1.65,2.45,65.05,0.858,4,0.032,0.046,3027,3380,2731,0,0,0,0,0,0
$GC,4533,1.21,109.2,442.1,5.9,259,4568,0.25,2.40,27.02,0.835,6,0.110,0.038,2981,2003,2603,0,0,0,0,0,0
$GC,4893,1.11,121.2,415.5,7.2,268,4910,0.12,2.55,10.75,0.769,4,0.123,0.054,2957,605,2555,0,0,0,0,0,0
$GC,4916,1.04,139.6,413.7,6.8,268,4938,0.00,2.38,17.52,0.805,6,0.000,0.031,2957,1998,2480,0,0,0,0,0,0
$GC,5263,1.00,144.4,386.6,7.7,277,5275,0.15,2.47,4.57,0.586,4,0.117,0.052,2932,604,2461,0,0,0,0,0,0
$GC,5294,0.95,152.3,384.0,7.5,277,5308,0.00,2.40,8.60,0.731,6,0.000,0.031,2932,2017,2429,0,0,0,0,0,0
$GC,5633,0.95,153.2,357.7,8.0,286,5637,0.00,2.53,0.00,0.000,4,0.000,0.054,2932,597,2426,0,0,0,0,0,0
$GC,5670,0.91,153.2,354.2,9.8,286,5676,0.10,2.38,0.00,0.000,6,0.130,0.031,2915,2013,2424,0,0,0,0,0,0
$GC,6001,0.98,160.1,329.1,7.5,295,6014,0.00,2.55,7.32,0.696,4,0.000,0.054,2914,604,2397,0,0,0,0,0,0
$GC,6129,1.00,175.3,319.9,7.0,297,6150,0.00,2.38,14.80,0.770,6,0.000,0.031,2915,2013,2334,0,0,0,0,0,0
$GC,6465,1.10,193.1,298.4,6.8,306,6489,0.17,2.55,17.05,0.768,4,0.064,0.051,2956,597,2260,0,0,0,0,0,0
$GC,6590,1.06,193.1,285.1,12.4,311,6595,0.00,2.40,0.00,0.000,6,0.000,0.031,2956,2012,2256,0,0,0,0,0,0
$GC,6911,1.06,193.1,250.5,10.3,327,6916,0.00,2.50,0.00,0.000,4,0.000,0.051,2956,598,2255,0,0,0,0,0,0
$GC,6966,1.02,193.1,245.4,9.2,329,6970,0.00,2.35,0.00,0.000,6,0.000,0.029,2956,2013,2253,0,0,0,0,0,0
$GC,7281,1.06,193.1,219.3,8.3,344,7286,0.00,2.47,0.00,0.000,4,0.000,0.050,2956,595,2254,0,0,0,0,0,0
$GC,7354,1.06,193.1,212.1,10.5,347,7359,0.00,2.38,0.00,0.000,6,0.000,0.028,2956,2017,2251,0,0,0,0,0,0
$GC,7681,1.10,193.1,181.1,8.9,372,7685,0.00,2.47,0.00,0.000,4,0.000,0.048,2956,602,2252,0,0,0,0,0,0
$GC,7697,1.10,193.1,179.5,9.4,373,7701,0.00,2.33,0.00,0.000,6,0.000,0.026,2957,2018,2251,0,0,0,0,0,0
$GC,7960,1.16,208.9,158.7,6.9,397,7979,0.00,2.50,13.52,0.638,4,0.000,0.045,2956,602,2197,0,0,0,0,0,0
$GC,8071,1.16,208.9,149.1,9.9,409,8075,0.00,2.33,0.00,0.000,6,0.000,0.024,2957,2022,2195,0,0,0,0,0,0
$GC,8334,1.22,208.9,126.2,8.6,433,8339,0.10,2.47,0.00,0.000,4,0.081,0.044,2987,593,2194,0,0,0,0,0,0
$GC,8436,1.17,208.9,116.4,9.9,443,8441,0.00,2.33,0.00,0.000,6,0.000,0.023,2986,2014,2193,0,0,0,0,0,0
$GC,8697,1.17,208.9,95.0,8.1,468,8701,0.00,2.45,0.00,0.000,4,0.000,0.044,2987,594,2194,0,0,0,0,0,0
$GC,8903,1.15,218.2,77.6,7.4,490,8918,0.10,2.28,9.35,0.529,6,0.119,0.021,2968,2017,2160,0,0,0,0,0,0
$GC,9175,1.25,218.2,58.8,8.1,515,9179,0.00,2.45,0.00,0.000,4,0.000,0.042,2968,590,2159,0,0,0,0,0,0
$GC,9261,1.32,218.2,51.8,8.2,524,9266,0.15,2.28,0.00,0.000,6,0.061,0.021,3013,2013,2158,0,0,0,0,0,0
$GC,9524,1.32,220.1,32.2,7.9,548,9528,0.00,2.42,0.00,0.000,4,0.000,0.041,3012,601,2158,0,0,0,0,0,0
$GC,9551,1.27,225.8,29.9,7.6,550,9569,0.08,2.30,8.55,0.478,6,0.082,0.021,2993,2026,2128,0,0,0,0,0,0
$GC,9770,1.36,272.9,20.1,4.8,589,9822,0.00,2.55,41.28,0.528,4,0.000,0.041,2993,600,1936,0,0,0,0,0,0
$GC,9888,1.36,272.9,7.5,12.0,613,9894,0.00,2.25,0.00,0.000,6,0.000,0.020,2993,1998,1931,0,0,0,0,0,0
$STATE,9933,end climb,SURFACE_DEPTH_REACHED
$STATE,9933,begin surface coast
$FINISH,0.4,1.023284
$STATE,9960,end surface coast,CONTROL_FINISHED_OK
$STATE,9960,begin surface
$SM_CCo,9979,16.15,0.489,0,0,1826,300.00
$SM_GC,1.37,0.00,0.00,16.15,0.000,0.000,0.489,427,1850,1826,-10.52,-0.71,300.00
$IRIDIUM_FIX,2052.52,-15722.63,100899,060626
$TT8_MAMPS,0.029146
$HUMID,44.92
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,23.4,25.587
$10V_AH,10.1,24.641
$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,26.475,125.225,310.250,16.150,0.000,58.675,109.107,156.609,4.500,0.000,43.453,1205.116,6571.836,379.868,1846.462,506.311,33.351,1197.931,0.000,1804.259,0.000,29.241,0.000
$DEVICE_MAMPS,134.992,55.224,878.982,488.579,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,421.122,401.141,783.822,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34976,626
$CAP_FILE_SIZE,120111,0
$CFSIZE,260165632,241967104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160510,120856,2059.542,-15751.552,48,1.8,48,9.8