version: 66.06
glider: 139
mission: 7
dive: 291
start: 5 16 110 12 27 12
data:
$ID,139
$MISSION,7
$DIVE,291
$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,637.77997
$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,-2131376
$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
$GPS1,120856,2059.542,-15751.552,48,1.8,48,9.8
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-68.8
$GPS2,122620,2059.502,-15751.564,44,1.5,57,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.091,0.159
$KALMAN_X,10367.6,57.1,532.9,-5142.8,-483.0
$KALMAN_Y,12744.7,-270.6,148.1,-26336.7,-429.2
$MHEAD_RNG_PITCHd_Wd,320.4,24424,-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,16,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-52.78,0.000,2,0.000,0.000,426,1850,3215,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.4,-5.7,10,95,10.62,2.45,-3.03,0.000,4,0.135,0.038,2405,3303,3370,0,0,0,0,0,0
$GC,205,-1.40,-77.9,31.4,-14.4,38,212,0.00,2.45,0.00,0.000,6,0.000,0.031,2405,1872,3371,0,0,0,0,0,0
$GC,468,-1.29,-77.9,76.2,-14.9,63,473,0.12,2.45,0.00,0.000,4,0.109,0.046,2430,461,3372,0,0,0,0,0,0
$GC,494,-1.16,-77.9,80.6,-15.8,65,499,0.17,2.33,0.00,0.000,6,0.097,0.019,2461,1916,3372,0,0,0,0,0,0
$GC,756,-1.22,-77.9,110.1,-10.8,89,760,0.00,2.50,0.00,0.000,4,0.000,0.043,2465,466,3373,0,0,0,0,0,0
$GC,825,-1.26,-77.9,118.7,-11.3,96,830,0.12,2.28,0.00,0.000,6,0.063,0.019,2421,1884,3372,0,0,0,0,0,0
$GC,1085,-1.26,-77.9,149.2,-10.4,120,1089,0.00,2.45,0.00,0.000,4,0.000,0.043,2422,461,3373,0,0,0,0,0,0
$GC,1119,-1.19,-77.9,152.8,-11.2,123,1123,0.15,2.28,0.00,0.000,6,0.093,0.019,2453,1880,3373,0,0,0,0,0,0
$GC,1380,-1.28,-77.9,178.0,-9.1,147,1384,0.00,2.40,0.00,0.000,4,0.000,0.044,2452,470,3374,0,0,0,0,0,0
$GC,1461,-1.35,-77.9,185.6,-9.4,155,1465,0.15,2.25,0.00,0.000,6,0.056,0.020,2405,1879,3374,0,0,0,0,0,0
$GC,1720,-1.35,-77.9,213.4,-11.0,173,1724,0.00,2.42,0.00,0.000,4,0.000,0.044,2403,469,3374,0,0,0,0,0,0
$GC,1740,-1.28,-77.9,216.1,-12.1,174,1744,0.15,2.25,0.00,0.000,6,0.094,0.021,2436,1876,3374,0,0,0,0,0,0
$GC,2070,-1.37,-77.9,248.9,-8.6,190,2074,0.00,2.42,0.00,0.000,4,0.000,0.045,2437,468,3374,0,0,0,0,0,0
$GC,2190,-1.45,-77.9,258.5,-7.2,195,2195,0.17,2.25,0.00,0.000,6,0.051,0.021,2384,1875,3374,0,0,0,0,0,0
$GC,2513,-1.45,-77.9,288.0,-9.2,211,2517,0.00,2.42,0.00,0.000,4,0.000,0.046,2383,470,3373,0,0,0,0,0,0
$GC,2550,-1.39,-77.9,292.1,-10.5,212,2557,0.10,2.30,0.00,0.000,6,0.074,0.024,2408,1871,3373,0,0,0,0,0,0
$GC,2862,-1.44,-77.9,319.1,-9.4,223,2866,0.00,2.45,0.00,0.000,4,0.000,0.048,2407,461,3372,0,0,0,0,0,0
$GC,2926,-1.44,-77.9,325.9,-10.8,224,2930,0.00,2.30,0.00,0.000,6,0.000,0.025,2408,1883,3371,0,0,0,0,0,0
$GC,3276,-1.50,-77.9,361.9,-10.1,233,3281,0.10,2.50,0.00,0.000,4,0.077,0.051,2376,464,3370,0,0,0,0,0,0
$GC,3375,-1.45,-77.9,373.5,-11.0,235,3380,0.10,2.33,0.00,0.000,6,0.110,0.026,2396,1882,3369,0,0,0,0,0,0
$GC,3694,-1.49,-77.9,404.2,-9.4,243,3698,0.00,2.47,0.00,0.000,4,0.000,0.053,2396,471,3367,0,0,0,0,0,0
$GC,3759,-1.49,-77.9,410.8,-9.2,244,3763,0.00,2.33,0.00,0.000,6,0.000,0.028,2396,1879,3366,0,0,0,0,0,0
$GC,4103,-1.53,-77.9,438.7,-8.0,253,4108,0.00,2.47,0.00,0.000,4,0.000,0.054,2396,473,3363,0,0,0,0,0,0
$GC,4177,-1.53,-77.9,444.5,-7.9,254,4182,0.00,2.33,0.00,0.000,6,0.000,0.029,2396,1873,3363,0,0,0,0,0,0
$STATE,4267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4267,begin apogee
$GC,4272,-0.31,0.0,450.7,6.9,257,4339,1.15,0.00,63.92,0.874,6,0.073,0.000,2643,2030,3050,0,0,0,0,0,0
$STATE,4340,end apogee,CONTROL_FINISHED_OK
$STATE,4340,begin climb
$GC,4342,1.40,77.9,451.1,0.0,258,4417,1.62,2.45,64.65,0.851,4,0.031,0.045,3022,3383,2732,0,0,0,0,0,0
$GC,4606,1.18,88.1,439.6,7.3,263,4624,0.25,2.38,9.65,0.743,6,0.109,0.038,2976,2010,2689,0,0,0,0,0,0
$GC,4944,1.13,138.1,420.5,4.6,272,4992,0.00,2.47,42.65,0.847,4,0.000,0.041,2979,3383,2485,0,0,0,0,0,0
$GC,5031,1.06,160.0,416.3,6.5,274,5059,0.17,2.40,20.20,0.806,6,0.113,0.038,2947,2011,2396,0,0,0,0,0,0
$GC,5400,1.07,171.3,391.7,7.2,283,5416,0.00,2.58,9.85,0.747,4,0.000,0.055,2945,604,2350,0,0,0,0,0,0
$GC,5477,1.00,171.3,384.3,10.6,284,5481,0.00,2.35,0.00,0.000,6,0.000,0.030,2946,1991,2348,0,0,0,0,0,0
$GC,5812,1.00,171.3,351.4,10.0,293,5816,0.00,2.47,0.00,0.000,4,0.000,0.054,2946,601,2346,0,0,0,0,0,0
$GC,5919,0.94,171.3,340.3,10.0,295,5924,0.12,2.38,0.00,0.000,6,0.119,0.031,2923,2020,2343,0,0,0,0,0,0
$GC,6269,1.01,173.6,312.1,7.9,304,6274,0.00,2.50,0.00,0.000,4,0.000,0.052,2922,596,2342,0,0,0,0,0,0
$GC,6301,1.01,173.6,308.8,10.0,304,6305,0.00,2.40,0.00,0.000,6,0.000,0.031,2922,2021,2341,0,0,0,0,0,0
$GC,6615,1.10,186.8,283.1,7.1,316,6639,0.12,2.58,13.32,0.740,4,0.076,0.051,2953,609,2287,0,0,0,0,0,0
$GC,6733,1.05,186.8,272.8,10.6,321,6738,0.00,2.38,0.00,0.000,6,0.000,0.029,2955,2016,2284,0,0,0,0,0,0
$GC,7064,1.05,186.8,246.4,8.7,337,7068,0.00,2.47,0.00,0.000,4,0.000,0.051,2955,601,2284,0,0,0,0,0,0
$GC,7164,1.05,186.8,236.5,9.9,341,7168,0.00,2.35,0.00,0.000,6,0.000,0.028,2954,2018,2281,0,0,0,0,0,0
$GC,7485,1.09,186.8,210.5,8.2,357,7486,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2023,2281,0,0,0,0,0,0
$GC,7798,1.12,186.8,186.1,8.9,379,7799,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2023,2281,0,0,0,0,0,0
$GC,8054,1.17,186.8,165.0,8.3,403,8058,0.00,2.45,0.00,0.000,4,0.000,0.045,2955,594,2281,0,0,0,0,0,0
$GC,8191,1.17,186.8,151.7,9.8,417,8197,0.00,2.33,0.00,0.000,6,0.000,0.024,2955,2017,2280,0,0,0,0,0,0
$GC,8453,1.26,213.4,133.7,6.2,442,8483,0.15,2.50,23.67,0.623,4,0.061,0.043,2999,599,2178,0,0,0,0,0,0
$GC,8543,1.18,213.4,125.6,12.1,451,8549,0.15,2.33,0.00,0.000,6,0.107,0.022,2971,2013,2174,0,0,0,0,0,0
$GC,8805,1.23,213.4,101.1,9.3,476,8809,0.00,2.45,0.00,0.000,4,0.000,0.044,2971,596,2174,0,0,0,0,0,0
$GC,8888,1.23,213.4,92.7,10.1,485,8893,0.00,2.33,0.00,0.000,6,0.000,0.021,2970,2022,2173,0,0,0,0,0,0
$GC,9152,1.29,220.2,70.5,7.6,509,9164,0.12,2.53,6.62,0.475,4,0.066,0.041,3010,595,2151,0,0,0,0,0,0
$GC,9220,1.21,220.2,63.9,10.1,516,9225,0.17,2.28,0.00,0.000,6,0.096,0.021,2977,2014,2150,0,0,0,0,0,0
$GC,9482,1.33,247.7,44.4,6.1,540,9513,0.12,2.47,25.33,0.542,4,0.065,0.041,3015,598,2039,0,0,0,0,0,0
$GC,9658,1.28,247.7,28.0,10.4,561,9664,0.12,2.30,0.00,0.000,6,0.105,0.020,2992,2019,2034,0,0,0,0,0,0
$GC,9863,1.33,247.7,12.6,8.9,598,9870,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2024,2034,0,0,0,0,0,0
$STATE,9980,end climb,SURFACE_DEPTH_REACHED
$STATE,9980,begin surface coast
$FINISH,0.5,1.023239
$STATE,10015,end surface coast,CONTROL_FINISHED_OK
$STATE,10015,begin surface
$SM_CCo,10034,199.35,0.505,0,0,449,637.78
$SM_GC,0.93,0.00,0.00,199.35,0.000,0.000,0.505,425,1857,449,-10.53,-0.51,637.78
$IRIDIUM_FIX,2054.83,-15753.90,100899,121234
$TT8_MAMPS,0.029146
$HUMID,43.85
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,25.709
$10V_AH,10.1,24.726
$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,27.200,115.625,279.875,199.350,0.000,158.683,185.232,293.169,4.750,0.000,57.849,1225.324,6754.744,533.826,1919.566,846.456,33.357,1365.981,0.000,1850.666,0.000,32.070,0.000
$DEVICE_MAMPS,134.992,55.224,874.380,505.453,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,421.618,399.062,777.773,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,35056,625
$CAP_FILE_SIZE,128151,0
$CFSIZE,260165632,241889280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160510,151956,2100.060,-15752.353,75,5.5,94,9.8