version: 66.06
glider: 139
mission: 7
dive: 292
start: 5 16 110 15 27 55
data:
$ID,139
$MISSION,7
$DIVE,292
$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,-2131413.2
$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
$GPS1,151956,2100.060,-15752.353,75,5.5,94,9.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-61.7
$GPS2,152704,2100.090,-15752.377,16,3.0,35,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.149,0.108
$KALMAN_X,11025.3,-276.9,-166.1,-6170.2,169.5
$KALMAN_Y,12735.3,-612.6,-206.7,-24542.8,154.8
$MHEAD_RNG_PITCHd_Wd,296.2,22652,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,119,0.00,0.00,-100.50,0.000,2,0.000,0.000,424,1858,3158,0,0,0,0,0,0
$GC,122,-1.40,-77.9,3.1,-5.1,19,144,10.70,2.40,-4.35,0.000,4,0.137,0.036,2406,3302,3369,0,0,0,0,0,0
$GC,299,-1.36,-77.9,36.0,-15.1,53,303,0.00,2.42,0.00,0.000,6,0.000,0.031,2406,1872,3370,0,0,0,0,0,0
$GC,561,-1.28,-77.9,75.2,-13.1,77,566,0.12,2.45,0.00,0.000,4,0.109,0.044,2431,459,3370,0,0,0,0,0,0
$GC,624,-1.23,-77.9,83.7,-13.2,83,628,0.00,2.35,0.00,0.000,6,0.000,0.019,2429,1916,3371,0,0,0,0,0,0
$GC,886,-1.23,-77.9,116.1,-12.2,107,891,0.00,2.50,0.00,0.000,4,0.000,0.044,2430,469,3372,0,0,0,0,0,0
$GC,933,-1.15,-77.9,122.2,-12.5,111,939,0.15,2.28,0.00,0.000,6,0.097,0.019,2461,1882,3372,0,0,0,0,0,0
$GC,1193,-1.24,-77.9,149.6,-11.0,136,1197,0.00,2.42,0.00,0.000,4,0.000,0.044,2461,463,3372,0,0,0,0,0,0
$GC,1301,-1.32,-77.9,161.1,-10.1,147,1306,0.17,2.28,0.00,0.000,6,0.050,0.019,2407,1882,3372,0,0,0,0,0,0
$GC,1563,-1.32,-77.9,191.0,-11.2,171,1567,0.00,2.45,0.00,0.000,4,0.000,0.044,2406,460,3372,0,0,0,0,0,0
$GC,1614,-1.26,-77.9,197.0,-12.6,176,1619,0.15,2.28,0.00,0.000,6,0.094,0.020,2438,1877,3372,0,0,0,0,0,0
$GC,1879,-1.32,-77.9,217.9,-7.6,190,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,1881,3372,0,0,0,0,0,0
$GC,2189,-1.41,-77.9,242.2,-6.5,205,2194,0.15,2.45,0.00,0.000,4,0.056,0.045,2389,464,3372,0,0,0,0,0,0
$GC,2355,-1.33,-77.9,261.4,-11.9,212,2360,0.15,2.25,0.00,0.000,6,0.094,0.021,2422,1876,3371,0,0,0,0,0,0
$GC,2681,-1.39,-77.9,290.5,-8.5,228,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1881,3371,0,0,0,0,0,0
$GC,2989,-1.46,-77.9,313.1,-7.3,239,2994,0.12,2.47,0.00,0.000,4,0.064,0.049,2382,462,3370,0,0,0,0,0,0
$GC,3036,-1.40,-77.9,318.3,-11.4,240,3041,0.12,2.30,0.00,0.000,6,0.100,0.024,2407,1873,3369,0,0,0,0,0,0
$GC,3360,-1.44,-77.9,349.0,-8.8,248,3364,0.00,2.45,0.00,0.000,4,0.000,0.050,2406,468,3368,0,0,0,0,0,0
$GC,3443,-1.44,-77.9,356.5,-8.2,249,3448,0.00,2.30,0.00,0.000,6,0.000,0.025,2406,1875,3367,0,0,0,0,0,0
$GC,3774,-1.51,-77.9,383.5,-8.6,258,3778,0.00,2.45,0.00,0.000,4,0.000,0.051,2407,472,3365,0,0,0,0,0,0
$GC,3876,-1.55,-77.9,393.1,-8.6,260,3881,0.15,2.30,0.00,0.000,6,0.061,0.027,2364,1872,3364,0,0,0,0,0,0
$GC,4191,-1.55,-77.9,423.4,-9.8,268,4196,0.00,2.47,0.00,0.000,4,0.000,0.054,2361,468,3362,0,0,0,0,0,0
$GC,4270,-1.48,-77.9,432.4,-10.2,269,4275,0.12,2.33,0.00,0.000,6,0.105,0.028,2388,1873,3362,0,0,0,0,0,0
$STATE,4478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4478,begin apogee
$GC,4483,-0.31,0.0,451.9,9.2,274,4551,1.20,0.00,63.60,0.869,6,0.074,0.000,2645,2033,3050,0,0,0,0,0,0
$STATE,4551,end apogee,CONTROL_FINISHED_OK
$STATE,4551,begin climb
$GC,4553,1.40,77.9,453.3,0.0,275,4628,1.62,2.42,64.93,0.850,4,0.031,0.045,3024,3374,2732,0,0,0,0,0,0
$GC,4689,1.24,141.5,454.4,3.6,278,4750,0.20,2.38,54.65,0.845,6,0.115,0.038,2988,2011,2472,0,0,0,0,0,0
$GC,5096,1.12,141.5,414.3,10.3,288,5101,0.15,2.38,0.00,0.000,4,0.118,0.041,2964,3383,2463,0,0,0,0,0,0
$GC,5166,1.07,141.5,408.0,8.1,289,5170,0.00,2.40,0.00,0.000,6,0.000,0.039,2964,2005,2464,0,0,0,0,0,0
$GC,5506,1.02,141.5,379.0,8.4,298,5511,0.15,2.47,0.00,0.000,4,0.114,0.054,2934,598,2460,0,0,0,0,0,0
$GC,5631,0.97,141.5,367.7,8.7,300,5636,0.00,2.35,0.00,0.000,6,0.000,0.031,2936,1990,2457,0,0,0,0,0,0
$GC,5962,1.00,161.3,344.9,6.7,308,5982,0.00,2.50,15.25,0.784,4,0.000,0.052,2935,599,2392,0,0,0,0,0,0
$GC,6048,0.96,161.3,338.3,8.9,309,6054,0.00,2.40,0.00,0.000,6,0.000,0.031,2936,2014,2388,0,0,0,0,0,0
$GC,6379,1.02,181.0,315.3,6.7,318,6404,0.00,2.60,18.02,0.776,4,0.000,0.052,2935,601,2310,0,0,0,0,0,0
$GC,6538,1.02,181.0,300.8,9.0,321,6542,0.00,2.40,0.00,0.000,6,0.000,0.030,2936,2022,2305,0,0,0,0,0,0
$GC,6868,1.07,184.5,272.8,7.8,337,6872,0.00,2.38,0.00,0.000,4,0.000,0.039,2936,3409,2304,0,0,0,0,0,0
$GC,6923,1.14,184.5,268.1,8.8,339,6928,0.12,2.42,0.00,0.000,6,0.072,0.036,2970,2002,2304,0,0,0,0,0,0
$GC,7238,1.14,184.5,241.2,8.6,354,7242,0.00,2.45,0.00,0.000,4,0.000,0.050,2967,599,2303,0,0,0,0,0,0
$GC,7384,1.07,184.5,223.8,13.4,360,7389,0.12,2.38,0.00,0.000,6,0.119,0.027,2947,2024,2301,0,0,0,0,0,0
$GC,7703,1.16,206.9,196.1,6.5,377,7732,0.00,2.55,22.48,0.695,4,0.000,0.047,2946,600,2205,0,0,0,0,0,0
$GC,7772,1.16,206.9,190.9,8.2,384,7779,0.00,2.38,0.00,0.000,6,0.000,0.026,2947,2005,2201,0,0,0,0,0,0
$GC,8036,1.23,211.5,171.7,7.7,409,8047,0.15,2.45,4.82,0.495,4,0.065,0.045,2987,601,2186,0,0,0,0,0,0
$GC,8169,1.15,211.5,156.2,12.1,423,8175,0.12,2.33,0.00,0.000,6,0.114,0.025,2965,2014,2184,0,0,0,0,0,0
$GC,8431,1.19,211.5,130.8,9.5,448,8435,0.00,2.47,0.00,0.000,4,0.000,0.046,2965,594,2184,0,0,0,0,0,0
$GC,8502,1.19,211.5,123.0,11.3,455,8506,0.00,2.33,0.00,0.000,6,0.000,0.023,2965,2015,2183,0,0,0,0,0,0
$GC,8764,1.25,211.5,101.1,9.0,479,8768,0.00,2.42,0.00,0.000,4,0.000,0.044,2965,598,2183,0,0,0,0,0,0
$GC,8992,1.25,211.5,78.2,9.1,503,8998,0.00,2.33,0.00,0.000,6,0.000,0.022,2964,2016,2183,0,0,0,0,0,0
$GC,9255,1.32,221.1,58.6,7.4,528,9267,0.15,0.00,9.65,0.509,6,0.060,0.000,3009,2021,2148,0,0,0,0,0,0
$GC,9519,1.36,251.6,39.8,5.9,553,9552,0.00,2.47,27.55,0.542,4,0.000,0.043,3009,601,2024,0,0,0,0,0,0
$GC,9652,1.36,251.6,28.5,9.9,569,9657,0.00,2.30,0.00,0.000,6,0.000,0.021,3009,2008,2018,0,0,0,0,0,0
$GC,9855,1.39,251.6,9.7,10.9,606,9862,0.00,2.45,0.00,0.000,4,0.000,0.044,3009,605,2018,0,0,0,0,0,0
$GC,9912,1.36,251.6,3.0,12.4,618,9919,0.00,2.30,0.00,0.000,6,0.000,0.021,3010,2013,2017,0,0,0,0,0,0
$STATE,9923,end climb,SURFACE_DEPTH_REACHED
$STATE,9923,begin surface coast
$FINISH,0.5,1.007440
$STATE,9946,end surface coast,CONTROL_FINISHED_OK
$STATE,9946,begin surface
$SM_CCo,9965,24.10,0.500,0,0,1826,300.00
$SM_GC,1.16,0.00,0.00,24.10,0.000,0.000,0.500,425,1848,1826,-10.53,-0.76,300.00
$IRIDIUM_FIX,2052.52,-15749.62,100899,121230
$TT8_MAMPS,0.029146
$HUMID,46.81
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,25.793
$10V_AH,10.0,24.806
$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,27.250,110.750,280.950,24.100,0.000,30.536,31.267,245.430,4.500,0.000,36.414,1210.267,6432.373,387.670,1921.017,466.178,33.364,1229.913,0.000,1870.313,0.000,29.253,0.000
$DEVICE_MAMPS,137.293,53.690,869.011,500.084,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.771,397.547,792.832,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,35045,624
$CAP_FILE_SIZE,118819,0
$CFSIZE,260165632,241848320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160510,181546,2100.729,-15753.405,26,2.9,45,9.8