version: 66.06
glider: 139
mission: 7
dive: 293
start: 5 16 110 18 21 58
data:
$ID,139
$MISSION,7
$DIVE,293
$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,-2131455.8
$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
$GPS1,181546,2100.729,-15753.405,26,2.9,45,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.6
$GPS2,182107,2100.780,-15753.405,41,1.0,41,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.184,-0.010
$KALMAN_X,11437.2,-415.7,-547.9,-7834.7,1298.3
$KALMAN_Y,12791.2,-596.6,-216.8,-23329.0,826.3
$MHEAD_RNG_PITCHd_Wd,257.0,20481,-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,-51.85,0.000,2,0.000,0.000,425,1852,3181,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.4,-5.6,10,95,10.62,2.42,-3.70,0.000,4,0.135,0.038,2402,3294,3371,0,0,0,0,0,0
$GC,249,-1.35,-77.9,39.9,-17.8,43,256,0.00,2.45,0.00,0.000,6,0.000,0.035,2402,1871,3372,0,0,0,0,0,0
$GC,512,-1.25,-77.9,80.7,-14.8,68,517,0.20,2.42,0.00,0.000,4,0.094,0.044,2442,465,3373,0,0,0,0,0,0
$GC,595,-1.21,-77.9,90.6,-10.6,76,601,0.00,2.33,0.00,0.000,6,0.000,0.020,2442,1898,3373,0,0,0,0,0,0
$GC,857,-1.25,-77.9,116.4,-9.1,101,862,0.00,2.47,0.00,0.000,4,0.000,0.043,2442,464,3375,0,0,0,0,0,0
$GC,894,-1.25,-77.9,120.9,-12.1,104,901,0.00,2.30,0.00,0.000,6,0.000,0.020,2441,1881,3375,0,0,0,0,0,0
$GC,1157,-1.30,-77.9,149.0,-11.0,129,1161,0.00,2.45,0.00,0.000,4,0.000,0.044,2442,460,3376,0,0,0,0,0,0
$GC,1182,-1.30,-77.9,152.1,-12.2,131,1186,0.00,2.25,0.00,0.000,6,0.000,0.020,2442,1877,3376,0,0,0,0,0,0
$GC,1445,-1.36,-77.9,179.1,-9.6,155,1449,0.10,2.45,0.00,0.000,4,0.074,0.044,2405,466,3376,0,0,0,0,0,0
$GC,1491,-1.29,-77.9,184.5,-11.4,159,1497,0.12,2.25,0.00,0.000,6,0.098,0.021,2432,1875,3376,0,0,0,0,0,0
$GC,1752,-1.34,-77.9,206.2,-8.9,181,1756,0.00,2.40,0.00,0.000,4,0.000,0.044,2431,467,3376,0,0,0,0,0,0
$GC,1848,-1.34,-77.9,216.5,-10.1,185,1852,0.00,2.25,0.00,0.000,6,0.000,0.021,2432,1875,3377,0,0,0,0,0,0
$GC,2173,-1.41,-77.9,245.2,-8.3,201,2178,0.12,2.42,0.00,0.000,4,0.064,0.045,2388,463,3376,0,0,0,0,0,0
$GC,2234,-1.41,-77.9,251.5,-11.2,203,2239,0.00,2.28,0.00,0.000,6,0.000,0.021,2390,1871,3377,0,0,0,0,0,0
$GC,2551,-1.41,-77.9,287.6,-12.1,219,2555,0.00,2.30,0.00,0.000,4,0.000,0.029,2386,3265,3376,0,0,0,0,0,0
$GC,2570,-1.41,-77.9,290.0,-10.9,220,2575,0.00,2.33,0.00,0.000,6,0.000,0.031,2390,1868,3376,0,0,0,0,0,0
$GC,2916,-1.41,-77.9,324.9,-9.6,231,2920,0.00,2.42,0.00,0.000,4,0.000,0.048,2389,464,3376,0,0,0,0,0,0
$GC,2984,-1.41,-77.9,331.4,-9.2,232,2989,0.00,2.28,0.00,0.000,6,0.000,0.024,2389,1871,3375,0,0,0,0,0,0
$GC,3327,-1.41,-77.9,363.1,-9.3,241,3331,0.00,2.45,0.00,0.000,4,0.000,0.050,2390,466,3374,0,0,0,0,0,0
$GC,3386,-1.41,-77.9,369.4,-11.0,242,3390,0.00,2.30,0.00,0.000,6,0.000,0.025,2389,1874,3373,0,0,0,0,0,0
$GC,3737,-1.41,-77.9,402.1,-9.5,251,3742,0.00,2.45,0.00,0.000,4,0.000,0.053,2385,474,3371,0,0,0,0,0,0
$GC,3801,-1.41,-77.9,409.3,-10.2,252,3806,0.00,2.30,0.00,0.000,6,0.000,0.028,2390,1871,3371,0,0,0,0,0,0
$GC,4145,-1.41,-77.9,439.5,-8.3,261,4150,0.00,2.45,0.00,0.000,4,0.000,0.054,2388,470,3369,0,0,0,0,0,0
$GC,4210,-1.41,-77.9,445.5,-9.0,262,4214,0.00,2.33,0.00,0.000,6,0.000,0.028,2389,1870,3368,0,0,0,0,0,0
$STATE,4269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4270,begin apogee
$GC,4274,-0.31,0.0,450.3,7.9,264,4343,1.20,0.00,65.12,0.867,6,0.075,0.000,2646,2032,3050,0,0,0,0,0,0
$STATE,4344,end apogee,CONTROL_FINISHED_OK
$STATE,4344,begin climb
$GC,4346,1.40,77.9,451.0,0.0,265,4421,1.62,2.45,64.72,0.847,4,0.031,0.044,3025,3384,2732,0,0,0,0,0,0
$GC,4495,1.23,125.3,449.4,4.8,268,4544,0.22,2.40,40.50,0.836,6,0.115,0.037,2985,2004,2538,0,0,0,0,0,0
$GC,4889,1.11,125.3,416.7,8.6,278,4891,0.15,0.00,0.00,0.000,6,0.116,0.000,2958,2004,2531,0,0,0,0,0,0
$GC,5214,1.06,125.3,389.2,8.7,286,5218,0.00,2.47,0.00,0.000,4,0.000,0.054,2955,604,2528,0,0,0,0,0,0
$GC,5341,0.94,125.3,377.2,9.6,288,5346,0.20,2.35,0.00,0.000,6,0.114,0.031,2921,1994,2527,0,0,0,0,0,0
$GC,5672,1.01,150.8,356.8,6.3,296,5700,0.00,2.53,20.90,0.806,4,0.000,0.052,2921,604,2433,0,0,0,0,0,0
$GC,5783,1.01,150.8,347.7,9.1,298,5787,0.00,2.38,0.00,0.000,6,0.000,0.031,2921,2019,2431,0,0,0,0,0,0
$GC,6127,1.09,169.0,322.9,6.8,307,6146,0.12,0.00,16.55,0.775,6,0.076,0.000,2952,2023,2360,0,0,0,0,0,0
$GC,6452,1.11,186.4,299.1,6.8,315,6474,0.00,2.58,16.08,0.755,4,0.000,0.052,2952,598,2290,0,0,0,0,0,0
$GC,6660,1.06,186.4,280.1,9.1,324,6664,0.00,2.38,0.00,0.000,6,0.000,0.030,2952,2018,2284,0,0,0,0,0,0
$GC,6988,1.06,186.4,250.7,9.5,340,6989,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2022,2283,0,0,0,0,0,0
$GC,7299,1.08,200.5,224.7,7.0,355,7320,0.00,2.53,12.82,0.691,4,0.000,0.048,2952,594,2231,0,0,0,0,0,0
$GC,7375,1.08,200.5,217.9,9.9,358,7380,0.00,2.38,0.00,0.000,6,0.000,0.028,2953,2015,2228,0,0,0,0,0,0
$GC,7698,1.12,200.5,193.9,8.2,377,7702,0.00,2.47,0.00,0.000,4,0.000,0.048,2953,602,2228,0,0,0,0,0,0
$GC,7814,1.12,200.5,182.5,8.8,389,7819,0.00,2.33,0.00,0.000,6,0.000,0.025,2953,2017,2226,0,0,0,0,0,0
$GC,8077,1.17,200.5,158.1,9.6,413,8081,0.00,2.47,0.00,0.000,4,0.000,0.046,2953,598,2226,0,0,0,0,0,0
$GC,8174,1.17,200.5,147.2,11.4,423,8179,0.00,2.33,0.00,0.000,6,0.000,0.025,2953,2021,2225,0,0,0,0,0,0
$GC,8438,1.23,205.0,123.2,7.7,447,8448,0.12,2.47,4.57,0.456,4,0.071,0.043,2988,601,2213,0,0,0,0,0,0
$GC,8472,1.13,205.0,119.6,10.1,450,8479,0.10,2.35,0.00,0.000,6,0.088,0.024,2966,2015,2212,0,0,0,0,0,0
$GC,8734,1.21,233.7,101.0,6.0,475,8770,0.00,2.50,26.60,0.603,4,0.000,0.043,2966,602,2095,0,0,0,0,0,0
$GC,8828,1.21,233.7,92.6,10.9,485,8832,0.00,2.33,0.00,0.000,6,0.000,0.022,2965,2015,2091,0,0,0,0,0,0
$GC,9091,1.28,233.7,68.2,9.1,509,9096,0.12,2.47,0.00,0.000,4,0.067,0.044,3003,598,2091,0,0,0,0,0,0
$GC,9249,1.22,233.7,49.8,12.7,526,9254,0.12,2.30,0.00,0.000,6,0.107,0.021,2980,2021,2089,0,0,0,0,0,0
$GC,9511,1.36,278.4,29.9,5.0,550,9558,0.12,2.55,38.35,0.543,4,0.064,0.043,3020,601,1914,0,0,0,0,0,0
$GC,9635,1.30,278.4,18.3,12.3,576,9642,0.10,2.33,0.00,0.000,6,0.077,0.021,2996,2012,1909,0,0,0,0,0,0
$STATE,9797,end climb,SURFACE_DEPTH_REACHED
$STATE,9798,begin surface coast
$FINISH,0.5,1.007173
$STATE,9831,end surface coast,CONTROL_FINISHED_OK
$STATE,9831,begin surface
$SM_CCo,9850,11.27,0.475,0,0,1827,300.00
$SM_GC,1.74,0.00,0.00,11.27,0.000,0.000,0.475,428,1842,1827,-10.52,-0.93,300.00
$IRIDIUM_FIX,2050.21,-15752.63,100899,151520
$TT8_MAMPS,0.029146
$HUMID,47.79
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,25.873
$10V_AH,10.0,24.881
$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,26.475,110.525,306.225,11.275,0.000,30.306,34.080,129.045,4.500,0.000,41.667,1177.682,6465.147,371.591,1812.543,357.360,33.370,1168.212,0.000,1756.839,0.000,29.243,0.000
$DEVICE_MAMPS,134.992,54.457,867.477,474.773,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,411.599,387.270,757.173,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34898,611
$CAP_FILE_SIZE,111582,0
$CFSIZE,260165632,241799168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160510,210751,2101.132,-15754.084,49,2.0,56,9.8