version: 66.06
glider: 139
mission: 7
dive: 296
start: 5 17 110 2 57 2
data:
$ID,139
$MISSION,7
$DIVE,296
$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,-2131563.8
$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
$GPS1,025003,2101.911,-15754.962,133,1.3,136,9.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.6
$GPS2,025610,2101.951,-15754.990,38,1.6,38,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.144,0.115
$KALMAN_X,13198.0,202.5,148.9,-13650.9,332.2
$KALMAN_Y,12633.0,533.2,-196.2,-22154.2,-48.3
$MHEAD_RNG_PITCHd_Wd,298.8,17002,-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,-77.9,0.0,0.0,0,70,0.00,0.00,-52.97,0.000,2,0.000,0.000,426,1895,3231,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.8,-7.1,10,95,10.62,2.38,-2.60,0.000,4,0.135,0.040,2402,3298,3371,0,0,0,0,0,0
$GC,256,-1.36,-77.9,41.8,-18.6,43,260,0.00,2.42,0.00,0.000,6,0.000,0.035,2402,1878,3372,0,0,0,0,0,0
$GC,519,-1.25,-77.9,83.3,-14.5,67,524,0.20,2.42,0.00,0.000,4,0.096,0.043,2443,467,3373,0,0,0,0,0,0
$GC,553,-1.18,-77.9,88.5,-13.8,70,558,0.00,2.33,0.00,0.000,6,0.000,0.019,2442,1909,3373,0,0,0,0,0,0
$GC,815,-1.18,-77.9,116.0,-10.3,94,819,0.00,2.50,0.00,0.000,4,0.000,0.044,2443,461,3374,0,0,0,0,0,0
$GC,878,-1.18,-77.9,123.7,-11.1,100,885,0.00,2.28,0.00,0.000,6,0.000,0.020,2442,1868,3375,0,0,0,0,0,0
$GC,1142,-1.23,-77.9,149.9,-8.8,125,1146,0.00,2.42,0.00,0.000,4,0.000,0.044,2443,457,3376,0,0,0,0,0,0
$GC,1194,-1.23,-77.9,155.1,-9.4,130,1198,0.00,2.28,0.00,0.000,6,0.000,0.020,2442,1876,3376,0,0,0,0,0,0
$GC,1456,-1.28,-77.9,179.3,-9.9,154,1460,0.00,2.42,0.00,0.000,4,0.000,0.044,2443,465,3376,0,0,0,0,0,0
$GC,1531,-1.33,-77.9,187.2,-10.4,162,1535,0.00,2.25,0.00,0.000,6,0.000,0.020,2443,1874,3377,0,0,0,0,0,0
$GC,1788,-1.39,-77.9,211.3,-9.2,180,1793,0.15,2.45,0.00,0.000,4,0.056,0.046,2394,463,3377,0,0,0,0,0,0
$GC,1812,-1.32,-77.9,214.4,-13.0,181,1816,0.15,2.28,0.00,0.000,6,0.096,0.021,2425,1882,3377,0,0,0,0,0,0
$GC,2139,-1.38,-77.9,250.8,-10.7,197,2143,0.00,2.45,0.00,0.000,4,0.000,0.046,2425,461,3376,0,0,0,0,0,0
$GC,2199,-1.42,-77.9,257.8,-10.7,199,2204,0.00,2.28,0.00,0.000,6,0.000,0.021,2426,1871,3377,0,0,0,0,0,0
$GC,2515,-1.49,-77.9,284.6,-8.2,215,2520,0.17,2.42,0.00,0.000,4,0.053,0.047,2374,467,3377,0,0,0,0,0,0
$GC,2609,-1.41,-77.9,295.9,-12.6,219,2614,0.15,2.28,0.00,0.000,6,0.094,0.023,2406,1877,3376,0,0,0,0,0,0
$GC,2950,-1.41,-77.9,329.6,-10.5,229,2954,0.00,2.42,0.00,0.000,4,0.000,0.048,2404,465,3375,0,0,0,0,0,0
$GC,2964,-1.41,-77.9,331.3,-10.9,229,2968,0.00,2.30,0.00,0.000,6,0.000,0.025,2405,1881,3375,0,0,0,0,0,0
$GC,3313,-1.47,-77.9,363.1,-7.4,238,3317,0.00,2.47,0.00,0.000,4,0.000,0.050,2405,461,3374,0,0,0,0,0,0
$GC,3410,-1.47,-77.9,370.7,-8.0,240,3414,0.00,2.30,0.00,0.000,6,0.000,0.025,2405,1867,3373,0,0,0,0,0,0
$GC,3728,-1.52,-77.9,393.7,-7.2,248,3733,0.10,2.47,0.00,0.000,4,0.078,0.052,2374,463,3372,0,0,0,0,0,0
$GC,3775,-1.46,-77.9,397.9,-9.0,249,3780,0.10,2.33,0.00,0.000,6,0.111,0.027,2393,1872,3371,0,0,0,0,0,0
$GC,4100,-1.46,-77.9,421.9,-7.6,257,4104,0.00,2.45,0.00,0.000,4,0.000,0.054,2392,468,3369,0,0,0,0,0,0
$GC,4118,-1.46,-77.9,423.7,-8.2,257,4122,0.00,2.30,0.00,0.000,6,0.000,0.028,2394,1874,3369,0,0,0,0,0,0
$STATE,4465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4465,begin apogee
$GC,4470,-0.31,0.0,450.2,7.4,266,4538,1.17,0.00,64.55,0.877,6,0.074,0.000,2646,2033,3050,0,0,0,0,0,0
$STATE,4539,end apogee,CONTROL_FINISHED_OK
$STATE,4539,begin climb
$GC,4541,1.40,77.9,450.8,0.0,267,4616,1.62,2.45,64.85,0.854,4,0.032,0.046,3027,3382,2732,0,0,0,0,0,0
$GC,4833,1.22,115.5,441.4,5.4,273,4872,0.22,2.38,32.12,0.841,6,0.111,0.038,2984,2008,2579,0,0,0,0,0,0
$GC,5181,1.13,142.3,420.7,6.2,282,5210,0.12,2.45,23.25,0.829,4,0.120,0.041,2961,3391,2470,0,0,0,0,0,0
$GC,5267,1.09,143.0,414.6,8.0,284,5271,0.00,2.42,0.00,0.000,6,0.000,0.039,2963,2005,2469,0,0,0,0,0,0
$GC,5594,1.04,143.0,386.5,8.9,292,5599,0.12,2.42,0.00,0.000,4,0.124,0.043,2940,3384,2464,0,0,0,0,0,0
$GC,5610,1.01,143.0,385.1,9.0,292,5614,0.00,2.40,0.00,0.000,6,0.000,0.040,2941,2002,2464,0,0,0,0,0,0
$GC,5959,1.01,144.4,357.2,7.9,301,5963,0.00,2.47,0.00,0.000,4,0.000,0.055,2938,604,2462,0,0,0,0,0,0
$GC,6134,0.95,144.4,342.2,8.6,304,6139,0.00,2.33,0.00,0.000,6,0.000,0.031,2940,1990,2459,0,0,0,0,0,0
$GC,6465,0.98,170.8,320.2,6.2,313,6494,0.00,2.50,24.02,0.798,4,0.000,0.041,2941,3406,2353,0,0,0,0,0,0
$GC,6504,1.02,200.2,317.6,6.0,314,6537,0.00,2.42,27.67,0.786,6,0.000,0.038,2941,2009,2233,0,0,0,0,0,0
$GC,6851,1.08,200.2,286.8,8.8,326,6856,0.00,2.50,0.00,0.000,4,0.000,0.053,2939,596,2225,0,0,0,0,0,0
$GC,6933,1.08,200.2,279.1,10.3,329,6938,0.00,2.40,0.00,0.000,6,0.000,0.029,2940,2020,2222,0,0,0,0,0,0
$GC,7249,1.13,200.2,252.1,8.9,345,7253,0.00,2.35,0.00,0.000,4,0.000,0.038,2941,3410,2222,0,0,0,0,0,0
$GC,7286,1.22,200.2,248.0,11.0,346,7293,0.12,2.45,0.00,0.000,6,0.041,0.037,2980,2005,2222,0,0,0,0,0,0
$GC,7600,1.22,200.2,217.4,8.5,362,7605,0.00,2.45,0.00,0.000,4,0.000,0.050,2979,595,2221,0,0,0,0,0,0
$GC,7730,1.15,200.2,203.6,10.9,367,7735,0.00,2.38,0.00,0.000,6,0.000,0.026,2980,2024,2218,0,0,0,0,0,0
$GC,8052,1.15,200.2,169.8,9.9,396,8056,0.00,2.45,0.00,0.000,4,0.000,0.046,2979,601,2218,0,0,0,0,0,0
$GC,8105,1.08,200.2,164.5,10.6,401,8110,0.15,2.35,0.00,0.000,6,0.114,0.025,2954,2026,2218,0,0,0,0,0,0
$GC,8367,1.14,202.1,143.4,7.9,425,8371,0.00,2.47,0.00,0.000,4,0.000,0.045,2952,598,2217,0,0,0,0,0,0
$GC,8563,1.14,202.1,124.5,9.7,446,8568,0.00,2.33,0.00,0.000,6,0.000,0.023,2953,2022,2217,0,0,0,0,0,0
$GC,8825,1.22,202.1,102.9,9.1,470,8830,0.12,2.45,0.00,0.000,4,0.070,0.043,2988,596,2217,0,0,0,0,0,0
$GC,8853,1.15,202.1,99.7,11.4,472,8860,0.08,2.33,0.00,0.000,6,0.090,0.022,2970,2012,2217,0,0,0,0,0,0
$GC,9116,1.24,225.2,78.8,6.4,497,9146,0.00,2.47,20.27,0.575,4,0.000,0.042,2970,601,2130,0,0,0,0,0,0
$GC,9253,1.24,225.2,67.5,8.8,512,9258,0.00,2.30,0.00,0.000,6,0.000,0.021,2969,2014,2127,0,0,0,0,0,0
$GC,9522,1.32,225.2,44.3,10.4,537,9527,0.15,2.47,0.00,0.000,4,0.059,0.043,3014,591,2127,0,0,0,0,0,0
$GC,9782,1.26,225.2,22.7,9.0,575,9788,0.12,2.30,0.00,0.000,6,0.106,0.021,2990,2002,2127,0,0,0,0,0,0
$GC,9987,1.32,227.1,5.3,7.9,612,9994,0.00,2.42,0.00,0.000,4,0.000,0.041,2989,599,2126,0,0,0,0,0,0
$STATE,10015,end climb,SURFACE_DEPTH_REACHED
$STATE,10015,begin surface coast
$FINISH,1.4,1.023275
$STATE,10033,end surface coast,CONTROL_FINISHED_OK
$STATE,10033,begin surface
$SM_CCo,10054,37.95,0.514,0,0,1826,300.00
$SM_GC,1.60,0.00,0.00,37.95,0.000,0.000,0.514,429,1900,1826,-10.51,0.79,300.00
$IRIDIUM_FIX,2054.83,-15646.57,110899,000034
$TT8_MAMPS,0.029146
$HUMID,45.78
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,26.133
$10V_AH,10.0,25.116
$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,26.675,124.325,256.750,37.950,0.000,22.420,35.968,186.994,4.500,0.000,39.057,1230.989,6538.115,364.526,1913.354,415.629,33.362,1194.985,0.000,1859.051,0.000,29.249,0.000
$DEVICE_MAMPS,134.992,55.224,876.681,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,420.140,391.433,767.640,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34925,622
$CAP_FILE_SIZE,119287,0
$CFSIZE,260165632,241618944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170510,054707,2102.635,-15755.842,76,1.5,76,9.8