version: 66.06
glider: 139
mission: 7
dive: 298
start: 5 17 110 8 39 43
data:
$ID,139
$MISSION,7
$DIVE,298
$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,-2131635.2
$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
$GPS1,083021,2103.188,-15756.636,132,2.1,151,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.5
$GPS2,083852,2103.214,-15756.555,16,2.1,35,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.159,0.091
$KALMAN_X,14286.7,352.4,-272.3,-17168.8,1135.4
$KALMAN_Y,12788.0,237.5,236.9,-20107.0,-375.1
$MHEAD_RNG_PITCHd_Wd,290.0,13435,-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,-77.9,0.0,0.0,0,72,0.00,0.00,-53.03,0.000,2,0.000,0.000,428,1853,3233,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.7,-6.2,10,96,10.57,2.45,-2.58,0.000,4,0.134,0.038,2402,3300,3371,0,0,0,0,0,0
$GC,230,-1.40,-77.9,36.8,-15.6,40,235,0.00,2.42,0.00,0.000,6,0.000,0.034,2399,1871,3372,0,0,0,0,0,0
$GC,493,-1.28,-77.9,79.9,-16.8,64,498,0.15,2.42,0.00,0.000,4,0.104,0.044,2433,466,3373,0,0,0,0,0,0
$GC,512,-1.17,-77.9,83.4,-15.7,65,518,0.12,2.33,0.00,0.000,6,0.105,0.019,2457,1922,3374,0,0,0,0,0,0
$GC,774,-1.23,-77.9,112.5,-10.3,90,777,0.00,2.50,0.00,0.000,4,0.000,0.043,2457,463,3374,0,0,0,0,0,0
$GC,884,-1.28,-77.9,124.2,-10.5,102,888,0.00,2.25,0.00,0.000,6,0.000,0.019,2457,1870,3375,0,0,0,0,0,0
$GC,1145,-1.37,-77.9,148.2,-8.4,126,1150,0.17,2.45,0.00,0.000,4,0.051,0.044,2402,458,3375,0,0,0,0,0,0
$GC,1199,-1.27,-77.9,154.2,-11.9,131,1203,0.17,2.28,0.00,0.000,6,0.091,0.020,2438,1877,3376,0,0,0,0,0,0
$GC,1461,-1.32,-77.9,178.5,-9.9,155,1465,0.00,2.42,0.00,0.000,4,0.000,0.044,2439,468,3376,0,0,0,0,0,0
$GC,1505,-1.32,-77.9,183.3,-10.6,159,1511,0.00,2.25,0.00,0.000,6,0.000,0.020,2438,1873,3376,0,0,0,0,0,0
$GC,1778,-1.39,-77.9,207.4,-8.8,181,1782,0.12,2.45,0.00,0.000,4,0.064,0.045,2396,463,3376,0,0,0,0,0,0
$GC,1838,-1.31,-77.9,214.5,-11.4,183,1844,0.15,2.28,0.00,0.000,6,0.094,0.021,2427,1881,3376,0,0,0,0,0,0
$GC,2155,-1.36,-77.9,242.9,-8.7,199,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,1884,3376,0,0,0,0,0,0
$GC,2463,-1.43,-77.9,268.1,-8.3,214,2468,0.12,2.45,0.00,0.000,4,0.065,0.048,2386,466,3376,0,0,0,0,0,0
$GC,2626,-1.35,-77.9,285.7,-11.4,221,2631,0.15,2.28,0.00,0.000,6,0.095,0.023,2418,1869,3375,0,0,0,0,0,0
$GC,2975,-1.41,-77.9,313.5,-7.9,234,2979,0.00,2.42,0.00,0.000,4,0.000,0.048,2417,468,3374,0,0,0,0,0,0
$GC,3044,-1.45,-77.9,319.4,-8.7,235,3048,0.00,2.30,0.00,0.000,6,0.000,0.024,2417,1880,3374,0,0,0,0,0,0
$GC,3389,-1.52,-77.9,347.6,-9.2,244,3394,0.17,2.47,0.00,0.000,4,0.054,0.051,2365,471,3372,0,0,0,0,0,0
$GC,3506,-1.44,-77.9,364.1,-13.8,246,3511,0.15,2.30,0.00,0.000,6,0.097,0.026,2398,1872,3372,0,0,0,0,0,0
$GC,3846,-1.48,-77.9,396.7,-8.2,255,3851,0.00,2.45,0.00,0.000,4,0.000,0.052,2395,471,3369,0,0,0,0,0,0
$GC,3899,-1.48,-77.9,400.8,-7.9,256,3903,0.00,2.33,0.00,0.000,6,0.000,0.028,2398,1880,3369,0,0,0,0,0,0
$GC,4217,-1.52,-77.9,423.4,-7.3,264,4221,0.00,2.35,0.00,0.000,4,0.000,0.038,2396,3271,3367,0,0,0,0,0,0
$GC,4240,-1.59,-77.9,425.4,-8.0,264,4245,0.15,2.40,0.00,0.000,6,0.064,0.039,2356,1873,3367,0,0,0,0,0,0
$STATE,4499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4499,begin apogee
$GC,4504,-0.31,0.0,454.3,11.6,271,4572,1.35,0.00,64.47,0.877,6,0.079,0.000,2642,2026,3050,0,0,0,0,0,0
$STATE,4573,end apogee,CONTROL_FINISHED_OK
$STATE,4573,begin climb
$GC,4575,1.40,77.9,456.1,0.0,272,4650,1.65,2.47,64.88,0.857,4,0.033,0.045,3024,3387,2732,0,0,0,0,0,0
$GC,4914,1.21,111.1,448.2,5.7,280,4950,0.25,2.38,28.40,0.843,6,0.112,0.038,2981,2009,2597,0,0,0,0,0,0
$GC,5268,1.12,113.7,422.6,7.8,289,5273,0.12,2.40,0.00,0.000,4,0.128,0.041,2959,3386,2592,0,0,0,0,0,0
$GC,5317,1.04,113.7,418.8,8.1,290,5321,0.00,2.40,0.00,0.000,6,0.000,0.038,2960,2005,2591,0,0,0,0,0,0
$GC,5639,0.97,125.4,396.3,7.2,298,5660,0.17,2.45,12.60,0.791,4,0.116,0.041,2927,3384,2536,0,0,0,0,0,0
$GC,5726,0.98,126.1,389.6,8.0,299,5731,0.00,2.38,0.00,0.000,6,0.000,0.039,2928,2009,2536,0,0,0,0,0,0
$GC,6056,1.00,143.4,366.0,6.8,308,6077,0.00,2.55,16.05,0.799,4,0.000,0.054,2925,599,2465,0,0,0,0,0,0
$GC,6106,0.96,143.4,362.2,8.4,309,6110,0.00,2.38,0.00,0.000,6,0.000,0.031,2925,1996,2463,0,0,0,0,0,0
$GC,6424,1.02,169.6,342.0,6.2,317,6453,0.00,2.55,23.85,0.809,4,0.000,0.054,2924,597,2357,0,0,0,0,0,0
$GC,6559,1.02,169.6,328.2,12.1,320,6563,0.00,2.38,0.00,0.000,6,0.000,0.031,2926,2009,2352,0,0,0,0,0,0
$GC,6886,1.08,169.6,297.9,8.9,328,6891,0.10,2.50,0.00,0.000,4,0.085,0.052,2950,600,2351,0,0,0,0,0,0
$GC,7108,1.03,169.6,277.8,9.1,337,7114,0.00,2.35,0.00,0.000,6,0.000,0.030,2952,2013,2348,0,0,0,0,0,0
$GC,7424,1.03,169.6,251.2,9.1,353,7429,0.00,2.47,0.00,0.000,4,0.000,0.051,2951,596,2348,0,0,0,0,0,0
$GC,7498,0.99,169.6,244.5,8.3,356,7503,0.12,2.35,0.00,0.000,6,0.123,0.029,2930,2011,2347,0,0,0,0,0,0
$GC,7819,1.09,188.5,220.7,6.7,372,7843,0.00,2.45,16.20,0.709,4,0.000,0.037,2931,3407,2280,0,0,0,0,0,0
$GC,7892,1.21,195.9,215.4,7.5,375,7906,0.20,2.42,8.10,0.631,6,0.057,0.035,2981,2003,2251,0,0,0,0,0,0
$GC,8227,1.21,195.9,184.2,9.1,399,8232,0.00,2.42,0.00,0.000,4,0.000,0.049,2980,601,2248,0,0,0,0,0,0
$GC,8362,1.14,195.9,171.9,9.1,413,8367,0.00,2.33,0.00,0.000,6,0.000,0.026,2981,2013,2245,0,0,0,0,0,0
$GC,8625,1.14,195.9,147.0,10.5,437,8629,0.00,2.47,0.00,0.000,4,0.000,0.047,2980,593,2244,0,0,0,0,0,0
$GC,8706,1.08,195.9,137.2,13.6,445,8713,0.17,2.35,0.00,0.000,6,0.109,0.025,2948,2020,2244,0,0,0,0,0,0
$GC,8968,1.17,201.6,113.8,7.6,470,8980,0.00,2.47,5.88,0.504,4,0.000,0.043,2948,597,2226,0,0,0,0,0,0
$GC,9158,1.22,207.5,97.8,7.6,490,9174,0.10,2.33,6.62,0.511,6,0.044,0.023,2983,2014,2203,0,0,0,0,0,0
$GC,9427,1.26,245.2,80.1,5.4,516,9468,0.00,2.50,33.95,0.591,4,0.000,0.043,2983,595,2049,0,0,0,0,0,0
$GC,9498,1.23,252.6,75.7,7.5,523,9512,0.00,2.33,7.32,0.494,6,0.000,0.022,2982,2015,2020,0,0,0,0,0,0
$GC,9775,1.27,252.6,52.5,8.8,549,9778,0.00,2.42,0.00,0.000,4,0.000,0.043,2982,599,2018,0,0,0,0,0,0
$GC,9814,1.27,252.6,48.4,9.2,553,9821,0.00,2.30,0.00,0.000,6,0.000,0.021,2982,1996,2016,0,0,0,0,0,0
$GC,10077,1.37,252.6,26.6,8.9,581,10083,0.12,2.35,0.00,0.000,4,0.064,0.028,3023,3406,2016,0,0,0,0,0,0
$GC,10136,1.37,252.6,20.4,10.8,593,10142,0.00,2.35,0.00,0.000,6,0.000,0.028,3022,2004,2016,0,0,0,0,0,0
$STATE,10292,end climb,SURFACE_DEPTH_REACHED
$STATE,10292,begin surface coast
$FINISH,0.4,1.023317
$STATE,10319,end surface coast,CONTROL_FINISHED_OK
$STATE,10319,begin surface
$SM_CCo,10339,24.67,0.509,0,0,1826,300.00
$SM_GC,1.03,0.00,0.00,24.67,0.000,0.000,0.509,425,1851,1826,-10.53,-0.62,300.00
$IRIDIUM_FIX,2054.83,-15754.77,110899,080844
$TT8_MAMPS,0.028379
$HUMID,47.12
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,26.302
$10V_AH,10.0,25.274
$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,27.775,120.150,288.325,24.675,0.000,55.122,68.123,183.734,4.500,0.000,36.570,1255.445,6768.363,374.065,1971.194,508.179,33.360,1237.389,0.000,1922.719,0.000,29.249,0.000
$DEVICE_MAMPS,134.225,55.224,877.448,509.288,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,422.328,393.652,770.312,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,34913,626
$CAP_FILE_SIZE,124749,0
$CFSIZE,260165632,241500160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170510,113427,2103.480,-15757.263,84,2.0,85,9.8