version: 66.06
glider: 139
mission: 7
dive: 299
start: 5 17 110 11 52 59
data:
$ID,139
$MISSION,7
$DIVE,299
$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,-2131669.8
$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
$GPS1,113427,2103.480,-15757.263,84,2.0,85,9.8
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-72.1
$GPS2,115207,2103.266,-15757.217,32,1.4,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.072,0.169
$KALMAN_X,14610.1,25.2,364.5,-18943.8,-7.7
$KALMAN_Y,12366.1,-197.9,154.5,-19065.2,-987.6
$MHEAD_RNG_PITCHd_Wd,327.2,12578,-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,-53.17,0.000,2,0.000,0.000,424,1854,3211,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.1,-4.9,10,95,10.65,2.45,-3.08,0.000,4,0.136,0.041,2402,3293,3370,0,0,0,0,0,0
$GC,159,-1.34,-77.9,24.3,-16.2,28,167,0.08,2.42,0.00,0.000,6,0.083,0.034,2418,1880,3371,0,0,0,0,0,0
$GC,367,-1.22,-77.9,58.6,-16.2,50,372,0.12,2.42,0.00,0.000,4,0.112,0.044,2445,465,3372,0,0,0,0,0,0
$GC,384,-1.11,-77.9,61.3,-14.8,51,389,0.12,2.33,0.00,0.000,6,0.104,0.019,2469,1909,3372,0,0,0,0,0,0
$GC,647,-1.18,-77.9,89.2,-10.7,75,651,0.00,2.50,0.00,0.000,4,0.000,0.044,2469,464,3373,0,0,0,0,0,0
$GC,684,-1.18,-77.9,93.7,-11.8,78,691,0.00,2.28,0.00,0.000,6,0.000,0.019,2467,1873,3373,0,0,0,0,0,0
$GC,948,-1.27,-77.9,118.8,-8.4,103,953,0.15,2.45,0.00,0.000,4,0.057,0.044,2420,463,3373,0,0,0,0,0,0
$GC,1018,-1.19,-77.9,127.4,-13.1,110,1023,0.17,2.28,0.00,0.000,6,0.088,0.019,2455,1882,3374,0,0,0,0,0,0
$GC,1278,-1.27,-77.9,153.9,-10.6,134,1282,0.00,2.45,0.00,0.000,4,0.000,0.044,2456,460,3374,0,0,0,0,0,0
$GC,1330,-1.33,-77.9,159.6,-10.7,139,1336,0.15,2.28,0.00,0.000,6,0.056,0.020,2407,1882,3375,0,0,0,0,0,0
$GC,1596,-1.33,-77.9,190.8,-9.8,164,1600,0.00,2.42,0.00,0.000,4,0.000,0.044,2407,459,3374,0,0,0,0,0,0
$GC,1658,-1.29,-77.9,197.3,-10.3,170,1663,0.12,2.28,0.00,0.000,6,0.099,0.020,2433,1878,3375,0,0,0,0,0,0
$GC,1915,-1.36,-77.9,220.5,-9.6,183,1919,0.00,2.42,0.00,0.000,4,0.000,0.044,2430,467,3375,0,0,0,0,0,0
$GC,1993,-1.43,-77.9,229.5,-10.0,186,1998,0.12,2.28,0.00,0.000,6,0.064,0.021,2391,1882,3375,0,0,0,0,0,0
$GC,2311,-1.43,-77.9,262.0,-9.6,201,2315,0.00,2.42,0.00,0.000,4,0.000,0.047,2390,467,3374,0,0,0,0,0,0
$GC,2371,-1.37,-77.9,268.3,-10.2,203,2377,0.12,2.28,0.00,0.000,6,0.099,0.022,2416,1871,3374,0,0,0,0,0,0
$GC,2689,-1.43,-77.9,293.4,-8.1,219,2693,0.00,2.42,0.00,0.000,4,0.000,0.048,2414,460,3373,0,0,0,0,0,0
$GC,2733,-1.47,-77.9,297.7,-10.0,221,2737,0.00,2.28,0.00,0.000,6,0.000,0.024,2415,1876,3374,0,0,0,0,0,0
$GC,3057,-1.54,-77.9,329.8,-9.7,230,3062,0.17,2.47,0.00,0.000,4,0.054,0.050,2366,467,3372,0,0,0,0,0,0
$GC,3141,-1.45,-77.9,339.7,-11.2,231,3148,0.15,2.30,0.00,0.000,6,0.098,0.025,2398,1871,3371,0,0,0,0,0,0
$GC,3474,-1.48,-77.9,367.7,-8.2,240,3478,0.00,2.47,0.00,0.000,4,0.000,0.052,2394,460,3369,0,0,0,0,0,0
$GC,3570,-1.48,-77.9,376.2,-7.9,242,3575,0.00,2.33,0.00,0.000,6,0.000,0.027,2398,1877,3368,0,0,0,0,0,0
$GC,3889,-1.52,-77.9,403.1,-9.2,250,3893,0.00,2.47,0.00,0.000,4,0.000,0.054,2397,470,3366,0,0,0,0,0,0
$GC,3925,-1.52,-77.9,407.0,-10.6,250,3931,0.00,2.33,0.00,0.000,6,0.000,0.028,2397,1877,3365,0,0,0,0,0,0
$GC,4256,-1.57,-77.9,437.8,-9.6,259,4261,0.12,2.38,0.00,0.000,4,0.071,0.040,2363,3266,3363,0,0,0,0,0,0
$GC,4280,-1.57,-77.9,440.5,-10.9,259,4285,0.00,2.40,0.00,0.000,6,0.000,0.039,2363,1870,3363,0,0,0,0,0,0
$STATE,4374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4374,begin apogee
$GC,4379,-0.31,0.0,451.4,11.4,262,4447,1.33,0.00,64.03,0.878,6,0.077,0.000,2645,2034,3050,0,0,0,0,0,0
$STATE,4448,end apogee,CONTROL_FINISHED_OK
$STATE,4448,begin climb
$GC,4450,1.40,77.9,453.0,0.0,263,4524,1.62,2.45,64.85,0.856,4,0.035,0.044,3022,3384,2731,0,0,0,0,0,0
$GC,4585,1.23,134.7,453.4,4.1,266,4642,0.20,2.38,48.72,0.848,6,0.114,0.037,2986,2007,2500,0,0,0,0,0,0
$GC,4952,1.13,134.7,423.2,8.7,275,4957,0.12,2.40,0.00,0.000,4,0.121,0.043,2964,3394,2492,0,0,0,0,0,0
$GC,5071,1.07,134.7,412.7,8.4,277,5075,0.00,2.40,0.00,0.000,6,0.000,0.039,2963,2012,2492,0,0,0,0,0,0
$GC,5411,1.02,134.7,384.9,8.2,286,5416,0.15,2.38,0.00,0.000,4,0.117,0.042,2937,3391,2488,0,0,0,0,0,0
$GC,5490,1.02,134.7,378.2,8.8,287,5494,0.00,2.40,0.00,0.000,6,0.000,0.038,2937,2007,2488,0,0,0,0,0,0
$GC,5821,1.02,138.6,353.7,7.8,295,5825,0.00,2.47,0.00,0.000,4,0.000,0.054,2933,593,2485,0,0,0,0,0,0
$GC,5839,0.97,138.6,352.0,8.4,295,5844,0.00,2.38,0.00,0.000,6,0.000,0.031,2936,2003,2484,0,0,0,0,0,0
$GC,6183,0.99,154.5,326.9,6.9,304,6204,0.00,2.53,15.27,0.780,4,0.000,0.052,2935,599,2420,0,0,0,0,0,0
$GC,6389,0.96,154.5,309.4,9.1,308,6393,0.00,2.38,0.00,0.000,6,0.000,0.030,2936,2009,2415,0,0,0,0,0,0
$GC,6718,1.02,169.3,285.5,7.0,321,6740,0.00,2.58,13.52,0.745,4,0.000,0.051,2936,599,2358,0,0,0,0,0,0
$GC,6812,1.02,169.3,278.2,8.5,325,6817,0.00,2.38,0.00,0.000,6,0.000,0.030,2936,2017,2356,0,0,0,0,0,0
$GC,7143,1.08,184.3,256.0,7.0,341,7165,0.00,2.58,14.05,0.724,4,0.000,0.051,2935,605,2297,0,0,0,0,0,0
$GC,7244,1.09,190.0,248.5,7.6,345,7258,0.00,2.38,6.22,0.609,6,0.000,0.028,2937,2023,2275,0,0,0,0,0,0
$GC,7570,1.16,196.3,224.5,7.6,361,7583,0.12,2.53,7.22,0.623,4,0.076,0.050,2968,594,2249,0,0,0,0,0,0
$GC,7685,1.12,196.3,210.7,12.6,366,7690,0.00,2.38,0.00,0.000,6,0.000,0.028,2969,2013,2245,0,0,0,0,0,0
$GC,8010,1.12,196.3,177.6,9.7,392,8014,0.00,2.47,0.00,0.000,4,0.000,0.048,2969,600,2245,0,0,0,0,0,0
$GC,8145,1.07,196.3,164.2,9.6,406,8152,0.08,2.38,0.00,0.000,6,0.097,0.025,2952,2020,2243,0,0,0,0,0,0
$GC,8408,1.13,196.3,145.1,8.1,431,8412,0.00,2.47,0.00,0.000,4,0.000,0.046,2952,598,2243,0,0,0,0,0,0
$GC,8477,1.13,196.3,138.5,9.1,438,8481,0.00,2.33,0.00,0.000,6,0.000,0.025,2952,2013,2243,0,0,0,0,0,0
$GC,8738,1.21,196.3,117.2,8.6,462,8743,0.12,2.47,0.00,0.000,4,0.071,0.046,2987,590,2243,0,0,0,0,0,0
$GC,8830,1.15,196.3,108.2,8.9,471,8837,0.12,2.33,0.00,0.000,6,0.114,0.023,2964,2016,2244,0,0,0,0,0,0
$GC,9092,1.21,199.9,87.9,7.8,496,9096,0.00,2.45,0.00,0.000,4,0.000,0.044,2964,594,2243,0,0,0,0,0,0
$GC,9228,1.23,219.0,77.6,6.7,510,9255,0.00,2.33,20.33,0.578,6,0.000,0.022,2964,2018,2157,0,0,0,0,0,0
$GC,9510,1.33,229.4,59.0,7.3,537,9531,0.17,2.45,10.55,0.521,4,0.056,0.041,3014,598,2113,0,0,0,0,0,0
$GC,9543,1.27,229.4,55.7,10.9,540,9548,0.12,2.30,0.00,0.000,6,0.107,0.021,2990,2002,2111,0,0,0,0,0,0
$GC,9805,1.35,248.5,36.7,6.7,564,9828,0.00,2.40,17.23,0.528,4,0.000,0.028,2990,3404,2037,0,0,0,0,0,0
$GC,9898,1.45,248.5,28.8,10.6,575,9904,0.17,2.38,0.00,0.000,6,0.053,0.028,3041,1994,2036,0,0,0,0,0,0
$GC,10103,1.40,248.5,4.5,12.5,612,10110,0.12,2.42,0.00,0.000,4,0.100,0.042,3015,598,2035,0,0,0,0,0,0
$GC,10116,1.34,248.5,3.1,11.5,614,10123,0.00,2.33,0.00,0.000,6,0.000,0.020,3016,2032,2034,0,0,0,0,0,0
$STATE,10126,end climb,SURFACE_DEPTH_REACHED
$STATE,10127,begin surface coast
$FINISH,0.5,1.023357
$STATE,10158,end surface coast,CONTROL_FINISHED_OK
$STATE,10158,begin surface
$SM_CCo,10178,25.83,0.504,0,0,1827,300.00
$SM_GC,1.07,0.00,0.00,25.83,0.000,0.000,0.504,422,1848,1827,-10.54,-0.76,300.00
$IRIDIUM_FIX,2054.83,-15756.91,110899,111142
$TT8_MAMPS,0.028379
$HUMID,46.69
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,26.404
$10V_AH,10.0,25.360
$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,27.900,134.750,282.000,25.825,0.000,144.738,196.754,342.706,4.500,0.000,33.839,1238.096,6851.237,383.511,1909.505,882.795,33.360,1235.590,0.000,1863.992,0.000,29.263,0.000
$DEVICE_MAMPS,135.759,54.457,878.215,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.752,396.771,792.827,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,34991,621
$CAP_FILE_SIZE,132509,0
$CFSIZE,260165632,241430528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170510,144457,2103.910,-15758.025,59,2.4,78,9.8