version: 66.06
glider: 139
mission: 7
dive: 295
start: 5 17 110 0 0 59
data:
$ID,139
$MISSION,7
$DIVE,295
$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,-2131524
$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
$GPS1,235055,2101.349,-15754.369,82,1.7,82,9.8
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.8
$GPS2,000007,2101.324,-15754.370,29,1.7,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.151,0.104
$KALMAN_X,12474.5,-93.7,537.5,-11951.5,599.7
$KALMAN_Y,12621.6,198.4,163.0,-23321.9,-96.7
$MHEAD_RNG_PITCHd_Wd,294.8,18579,-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,-53.20,0.000,2,0.000,0.000,425,1851,3231,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.6,-6.1,10,95,10.60,2.45,-2.65,0.000,4,0.134,0.037,2403,3303,3371,0,0,0,0,0,0
$GC,229,-1.34,-77.9,36.9,-17.5,40,234,0.00,2.40,0.00,0.000,6,0.000,0.032,2403,1875,3372,0,0,0,0,0,0
$GC,492,-1.23,-77.9,81.3,-14.7,64,497,0.20,2.40,0.00,0.000,4,0.095,0.044,2444,469,3373,0,0,0,0,0,0
$GC,535,-1.17,-77.9,88.1,-14.1,68,539,0.00,2.33,0.00,0.000,6,0.000,0.019,2442,1912,3373,0,0,0,0,0,0
$GC,796,-1.17,-77.9,117.7,-9.8,92,800,0.00,2.50,0.00,0.000,4,0.000,0.043,2444,463,3374,0,0,0,0,0,0
$GC,855,-1.17,-77.9,124.2,-10.8,98,859,0.00,2.25,0.00,0.000,6,0.000,0.020,2441,1877,3374,0,0,0,0,0,0
$GC,1116,-1.21,-77.9,150.5,-9.6,122,1120,0.00,2.40,0.00,0.000,4,0.000,0.053,2443,469,3375,0,0,0,0,0,0
$GC,1150,-1.21,-77.9,153.9,-10.8,125,1154,0.00,2.28,0.00,0.000,6,0.000,0.020,2441,1890,3375,0,0,0,0,0,0
$GC,1413,-1.27,-77.9,177.9,-9.3,149,1417,0.00,2.45,0.00,0.000,4,0.000,0.044,2443,464,3376,0,0,0,0,0,0
$GC,1449,-1.27,-77.9,182.1,-11.0,152,1455,0.00,2.28,0.00,0.000,6,0.000,0.021,2442,1872,3376,0,0,0,0,0,0
$GC,1719,-1.33,-77.9,209.4,-10.4,174,1723,0.00,2.42,0.00,0.000,4,0.000,0.044,2442,463,3376,0,0,0,0,0,0
$GC,1769,-1.37,-77.9,214.9,-10.4,176,1774,0.12,2.28,0.00,0.000,6,0.062,0.021,2401,1882,3376,0,0,0,0,0,0
$GC,2092,-1.37,-77.9,248.4,-10.3,192,2096,0.00,2.42,0.00,0.000,4,0.000,0.044,2400,460,3376,0,0,0,0,0,0
$GC,2137,-1.32,-77.9,253.7,-10.4,194,2142,0.12,2.28,0.00,0.000,6,0.099,0.021,2426,1879,3376,0,0,0,0,0,0
$GC,2463,-1.40,-77.9,285.2,-9.5,210,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1882,3376,0,0,0,0,0,0
$GC,2789,-1.48,-77.9,315.8,-9.3,222,2794,0.15,2.45,0.00,0.000,4,0.058,0.050,2380,466,3375,0,0,0,0,0,0
$GC,2822,-1.41,-77.9,319.9,-12.8,222,2828,0.15,2.28,0.00,0.000,6,0.094,0.024,2409,1866,3375,0,0,0,0,0,0
$GC,3159,-1.47,-77.9,347.4,-8.1,231,3163,0.00,2.42,0.00,0.000,4,0.000,0.050,2411,471,3373,0,0,0,0,0,0
$GC,3232,-1.47,-77.9,354.2,-9.3,232,3236,0.00,2.30,0.00,0.000,6,0.000,0.025,2411,1879,3373,0,0,0,0,0,0
$GC,3568,-1.54,-77.9,382.0,-8.2,241,3573,0.15,2.50,0.00,0.000,4,0.061,0.052,2365,463,3371,0,0,0,0,0,0
$GC,3649,-1.47,-77.9,390.5,-10.7,242,3654,0.12,2.33,0.00,0.000,6,0.101,0.028,2394,1877,3370,0,0,0,0,0,0
$GC,3980,-1.50,-77.9,418.8,-8.3,250,3985,0.00,2.47,0.00,0.000,4,0.000,0.054,2392,470,3368,0,0,0,0,0,0
$GC,4044,-1.50,-77.9,425.2,-9.1,251,4049,0.00,2.33,0.00,0.000,6,0.000,0.028,2394,1877,3367,0,0,0,0,0,0
$STATE,4387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4387,begin apogee
$GC,4392,-0.31,0.0,451.6,7.2,260,4460,1.17,0.00,64.12,0.878,6,0.074,0.000,2645,2036,3050,0,0,0,0,0,0
$STATE,4461,end apogee,CONTROL_FINISHED_OK
$STATE,4461,begin climb
$GC,4462,1.40,77.9,452.1,0.0,261,4537,1.62,2.42,64.62,0.854,4,0.031,0.045,3026,3377,2732,0,0,0,0,0,0
$GC,4773,1.21,105.3,440.3,6.1,267,4803,0.25,2.38,23.67,0.829,6,0.110,0.038,2979,2010,2620,0,0,0,0,0,0
$GC,5143,1.10,105.3,411.7,8.2,277,5148,0.12,2.50,0.00,0.000,4,0.122,0.054,2954,596,2615,0,0,0,0,0,0
$GC,5209,0.96,105.3,406.0,8.2,278,5214,0.15,2.38,0.00,0.000,6,0.120,0.031,2927,2000,2614,0,0,0,0,0,0
$GC,5554,1.01,147.6,387.3,5.1,287,5596,0.00,2.55,35.53,0.841,4,0.000,0.054,2926,602,2447,0,0,0,0,0,0
$GC,5679,0.97,152.9,378.7,7.7,289,5692,0.00,2.38,5.72,0.641,6,0.000,0.031,2929,2015,2425,0,0,0,0,0,0
$GC,6019,0.98,160.7,354.3,7.5,298,6032,0.00,2.53,7.85,0.711,4,0.000,0.054,2927,604,2394,0,0,0,0,0,0
$GC,6217,0.98,160.7,334.3,10.8,302,6222,0.00,2.38,0.00,0.000,6,0.000,0.031,2929,2009,2390,0,0,0,0,0,0
$GC,6567,1.05,180.1,307.8,6.7,311,6591,0.00,2.58,17.75,0.779,4,0.000,0.052,2929,608,2315,0,0,0,0,0,0
$GC,6614,1.05,180.1,303.0,10.5,312,6618,0.00,2.38,0.00,0.000,6,0.000,0.031,2929,2016,2312,0,0,0,0,0,0
$GC,6944,1.14,207.3,277.0,6.2,327,6976,0.15,2.55,24.75,0.768,4,0.071,0.051,2965,599,2204,0,0,0,0,0,0
$GC,7024,1.08,207.3,270.7,9.5,330,7028,0.00,2.38,0.00,0.000,6,0.000,0.030,2966,2012,2200,0,0,0,0,0,0
$GC,7339,1.08,207.3,242.5,8.7,345,7343,0.00,2.38,0.00,0.000,4,0.000,0.037,2967,3404,2198,0,0,0,0,0,0
$GC,7429,1.11,207.3,235.0,9.0,349,7433,0.00,2.40,0.00,0.000,6,0.000,0.035,2967,2010,2198,0,0,0,0,0,0
$GC,7759,1.11,207.3,206.1,10.3,365,7763,0.00,2.45,0.00,0.000,4,0.000,0.049,2965,602,2196,0,0,0,0,0,0
$GC,7874,1.08,207.3,193.2,11.0,374,7879,0.00,2.35,0.00,0.000,6,0.000,0.026,2967,2017,2194,0,0,0,0,0,0
$GC,8136,1.08,207.3,167.2,10.5,398,8140,0.00,2.47,0.00,0.000,4,0.000,0.047,2966,598,2193,0,0,0,0,0,0
$GC,8190,1.05,207.3,160.8,11.1,403,8196,0.12,2.35,0.00,0.000,6,0.119,0.025,2945,2020,2193,0,0,0,0,0,0
$GC,8452,1.17,237.6,142.5,5.9,428,8485,0.10,2.55,26.02,0.645,4,0.083,0.046,2972,609,2080,0,0,0,0,0,0
$GC,8575,1.17,237.6,130.6,11.0,441,8579,0.00,2.30,0.00,0.000,6,0.000,0.023,2972,2016,2076,0,0,0,0,0,0
$GC,8837,1.22,237.6,103.2,10.6,465,8842,0.00,2.45,0.00,0.000,4,0.000,0.044,2972,602,2076,0,0,0,0,0,0
$GC,8906,1.22,237.6,95.2,11.9,472,8910,0.00,2.30,0.00,0.000,6,0.000,0.022,2972,2019,2074,0,0,0,0,0,0
$GC,9169,1.28,237.6,70.7,8.9,496,9173,0.00,2.45,0.00,0.000,4,0.000,0.044,2972,601,2074,0,0,0,0,0,0
$GC,9203,1.28,237.6,67.4,10.2,499,9207,0.00,2.28,0.00,0.000,6,0.000,0.021,2972,2017,2074,0,0,0,0,0,0
$GC,9467,1.42,270.9,45.3,5.7,523,9507,0.22,2.50,29.25,0.553,4,0.048,0.041,3034,594,1943,0,0,0,0,0,0
$GC,9620,1.33,270.9,30.2,11.4,539,9627,0.12,2.33,0.00,0.000,6,0.079,0.021,3006,2008,1939,0,0,0,0,0,0
$GC,9893,1.38,270.9,3.7,11.2,588,9900,0.00,2.45,0.00,0.000,4,0.000,0.041,3005,598,1939,0,0,0,0,0,0
$STATE,9905,end climb,SURFACE_DEPTH_REACHED
$STATE,9905,begin surface coast
$FINISH,0.7,1.023261
$STATE,9937,end surface coast,CONTROL_FINISHED_OK
$STATE,9937,begin surface
$SM_CCo,9958,14.50,0.489,0,0,1826,300.00
$SM_GC,1.62,0.00,0.00,14.50,0.000,0.000,0.489,426,1894,1826,-10.52,0.54,300.00
$IRIDIUM_FIX,2054.83,-15802.06,110899,000018
$TT8_MAMPS,0.029146
$HUMID,47.16
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.80
$XPDR_PINGS,1
$24V_AH,23.4,26.053
$10V_AH,10.1,25.036
$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,26.750,119.875,299.300,14.500,0.000,60.007,73.927,225.151,4.750,0.000,34.338,1186.315,6592.163,363.223,1850.766,535.103,33.363,1185.720,0.000,1800.160,0.000,30.303,0.000
$DEVICE_MAMPS,134.225,53.690,878.215,489.346,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.009,372.344,732.807,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,34875,597
$CAP_FILE_SIZE,118367,0
$CFSIZE,260165632,241680384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170510,025003,2101.911,-15754.962,133,1.3,136,9.8