version: 66.06
glider: 139
mission: 7
dive: 301
start: 5 17 110 17 51 55
data:
$ID,139
$MISSION,7
$DIVE,301
$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,-2131742
$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
$GPS1,174557,2104.782,-15759.522,58,2.7,77,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-69.4
$GPS2,175104,2104.824,-15759.589,11,2.7,30,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.148,0.109
$KALMAN_X,14073.7,-739.6,-636.0,-20736.0,419.7
$KALMAN_Y,12257.0,-585.7,-157.6,-15375.0,662.3
$MHEAD_RNG_PITCHd_Wd,296.5,7781,-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,-77.9,0.0,0.0,0,77,0.00,0.00,-58.15,0.000,6,0.000,0.000,424,1879,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,4.0,-6.9,11,95,10.68,2.35,0.00,0.000,4,0.137,0.022,2402,3305,3370,0,0,0,0,0,0
$GC,328,-1.33,-77.9,57.0,-18.4,49,335,0.08,2.45,0.00,0.000,6,0.084,0.035,2421,1879,3372,0,0,0,0,0,0
$GC,589,-1.28,-77.9,93.3,-12.1,74,593,0.00,2.42,0.00,0.000,4,0.000,0.044,2421,464,3373,0,0,0,0,0,0
$GC,635,-1.17,-77.9,99.6,-13.9,78,643,0.15,2.35,0.00,0.000,6,0.079,0.019,2456,1915,3373,0,0,0,0,0,0
$GC,897,-1.23,-77.9,128.6,-10.0,103,901,0.00,2.50,0.00,0.000,4,0.000,0.043,2456,463,3373,0,0,0,0,0,0
$GC,976,-1.28,-77.9,136.7,-9.9,111,981,0.00,2.28,0.00,0.000,6,0.000,0.019,2454,1880,3374,0,0,0,0,0,0
$GC,1240,-1.36,-77.9,158.9,-7.8,135,1245,0.17,2.47,0.00,0.000,4,0.051,0.045,2401,456,3375,0,0,0,0,0,0
$GC,1340,-1.28,-77.9,170.1,-12.1,145,1345,0.17,2.28,0.00,0.000,6,0.091,0.020,2436,1876,3375,0,0,0,0,0,0
$GC,1602,-1.33,-77.9,195.1,-9.5,169,1606,0.00,2.42,0.00,0.000,4,0.000,0.044,2437,464,3376,0,0,0,0,0,0
$GC,1675,-1.33,-77.9,202.8,-10.0,175,1679,0.00,2.28,0.00,0.000,6,0.000,0.021,2437,1883,3375,0,0,0,0,0,0
$GC,1996,-1.38,-77.9,231.3,-9.9,191,1997,0.12,0.00,0.00,0.000,6,0.064,0.000,2395,1887,3376,0,0,0,0,0,0
$GC,2304,-1.38,-77.9,263.8,-10.0,206,2308,0.00,2.45,0.00,0.000,4,0.000,0.046,2394,464,3375,0,0,0,0,0,0
$GC,2395,-1.38,-77.9,272.9,-10.5,210,2399,0.00,2.28,0.00,0.000,6,0.000,0.022,2396,1872,3375,0,0,0,0,0,0
$GC,2718,-1.38,-77.9,305.5,-10.1,225,2722,0.00,2.42,0.00,0.000,4,0.000,0.047,2395,467,3375,0,0,0,0,0,0
$GC,2769,-1.35,-77.9,311.1,-11.3,226,2774,0.12,2.28,0.00,0.000,6,0.100,0.023,2421,1873,3375,0,0,0,0,0,0
$GC,3090,-1.42,-77.9,341.7,-9.9,234,3094,0.00,2.45,0.00,0.000,4,0.000,0.049,2419,465,3374,0,0,0,0,0,0
$GC,3136,-1.47,-77.9,346.7,-9.8,235,3141,0.12,2.30,0.00,0.000,6,0.066,0.025,2383,1875,3374,0,0,0,0,0,0
$GC,3458,-1.47,-77.9,375.4,-8.5,243,3463,0.00,2.47,0.00,0.000,4,0.000,0.051,2382,457,3372,0,0,0,0,0,0
$GC,3542,-1.43,-77.9,383.7,-10.1,244,3547,0.00,2.33,0.00,0.000,6,0.000,0.026,2383,1873,3372,0,0,0,0,0,0
$GC,3872,-1.43,-77.9,414.5,-9.7,253,3876,0.00,2.47,0.00,0.000,4,0.000,0.054,2383,467,3370,0,0,0,0,0,0
$GC,3935,-1.43,-77.9,421.9,-11.6,254,3940,0.00,2.33,0.00,0.000,6,0.000,0.028,2383,1871,3369,0,0,0,0,0,0
$STATE,4196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4197,begin apogee
$GC,4202,-0.31,0.0,454.7,12.9,261,4270,1.23,0.00,64.75,0.874,6,0.076,0.000,2644,2032,3050,0,0,0,0,0,0
$STATE,4271,end apogee,CONTROL_FINISHED_OK
$STATE,4271,begin climb
$GC,4273,1.40,77.9,456.8,0.0,262,4347,1.65,2.45,64.72,0.856,4,0.033,0.045,3028,3382,2731,0,0,0,0,0,0
$GC,4612,1.24,131.0,453.3,4.4,269,4664,0.22,2.40,44.88,0.854,6,0.113,0.038,2987,2001,2515,0,0,0,0,0,0
$GC,5000,1.13,131.0,415.8,11.1,279,5004,0.15,2.42,0.00,0.000,4,0.118,0.042,2959,3384,2509,0,0,0,0,0,0
$GC,5037,1.08,131.0,411.9,9.5,279,5043,0.00,2.40,0.00,0.000,6,0.000,0.039,2957,2006,2508,0,0,0,0,0,0
$GC,5368,1.03,131.0,382.6,8.9,288,5372,0.00,2.50,0.00,0.000,4,0.000,0.054,2948,594,2506,0,0,0,0,0,0
$GC,5465,0.91,131.0,372.2,11.0,290,5470,0.22,2.38,0.00,0.000,6,0.114,0.031,2916,1998,2504,0,0,0,0,0,0
$GC,5784,1.00,172.0,351.8,5.2,298,5826,0.00,2.58,34.38,0.822,4,0.000,0.054,2916,603,2347,0,0,0,0,0,0
$GC,6007,1.00,172.0,338.0,8.3,302,6012,0.00,2.40,0.00,0.000,6,0.000,0.031,2917,2018,2341,0,0,0,0,0,0
$GC,6337,1.08,172.0,309.1,9.4,311,6342,0.15,2.50,0.00,0.000,4,0.070,0.053,2951,604,2340,0,0,0,0,0,0
$GC,6375,1.01,172.0,304.7,11.4,311,6380,0.00,2.38,0.00,0.000,6,0.000,0.031,2953,2013,2338,0,0,0,0,0,0
$GC,6689,1.01,172.0,272.7,9.0,326,6693,0.00,2.50,0.00,0.000,4,0.000,0.051,2953,598,2338,0,0,0,0,0,0
$GC,6905,0.97,172.0,253.5,8.3,335,6910,0.15,2.35,0.00,0.000,6,0.115,0.029,2926,2012,2335,0,0,0,0,0,0
$GC,7221,1.07,182.0,232.4,7.3,350,7234,0.00,2.53,7.78,0.644,4,0.000,0.050,2925,595,2308,0,0,0,0,0,0
$GC,7258,1.11,184.7,229.5,7.8,351,7267,0.12,2.38,4.12,0.492,6,0.073,0.028,2958,2013,2296,0,0,0,0,0,0
$GC,7592,1.12,195.8,204.6,7.3,368,7608,0.00,2.40,11.45,0.663,4,0.000,0.035,2958,3402,2251,0,0,0,0,0,0
$GC,7703,1.17,195.8,195.4,8.7,376,7707,0.00,2.40,0.00,0.000,6,0.000,0.033,2959,2000,2251,0,0,0,0,0,0
$GC,7964,1.20,195.8,172.7,8.8,400,7969,0.00,2.40,0.00,0.000,4,0.000,0.047,2958,604,2249,0,0,0,0,0,0
$GC,8083,1.20,195.8,161.9,9.3,412,8090,0.00,2.35,0.00,0.000,6,0.000,0.025,2959,2013,2245,0,0,0,0,0,0
$GC,8346,1.29,231.8,145.3,5.6,437,8386,0.17,2.58,32.05,0.648,4,0.058,0.045,3006,597,2104,0,0,0,0,0,0
$GC,8456,1.19,231.8,134.5,12.8,449,8461,0.17,2.35,0.00,0.000,6,0.104,0.024,2973,2017,2100,0,0,0,0,0,0
$GC,8719,1.23,231.8,106.1,10.6,473,8724,0.00,2.45,0.00,0.000,4,0.000,0.045,2973,598,2099,0,0,0,0,0,0
$GC,8854,1.23,231.8,92.0,9.5,487,8858,0.00,2.30,0.00,0.000,6,0.000,0.022,2973,2016,2097,0,0,0,0,0,0
$GC,9117,1.30,231.8,66.9,10.5,511,9122,0.10,2.45,0.00,0.000,4,0.078,0.044,3005,597,2097,0,0,0,0,0,0
$GC,9257,1.26,231.8,52.4,9.6,526,9261,0.00,2.30,0.00,0.000,6,0.000,0.021,3005,2016,2097,0,0,0,0,0,0
$GC,9520,1.27,238.8,33.5,7.5,550,9532,0.00,2.45,6.70,0.457,4,0.000,0.041,3005,599,2076,0,0,0,0,0,0
$GC,9603,1.23,238.8,25.3,9.9,564,9611,0.10,2.30,0.00,0.000,6,0.083,0.021,2982,2003,2074,0,0,0,0,0,0
$GC,9812,1.32,244.1,9.2,7.7,601,9823,0.00,2.42,6.40,0.433,4,0.000,0.040,2981,594,2053,0,0,0,0,0,0
$STATE,9878,end climb,SURFACE_DEPTH_REACHED
$STATE,9878,begin surface coast
$FINISH,0.4,1.023353
$STATE,9910,end surface coast,CONTROL_FINISHED_OK
$STATE,9910,begin surface
$SM_CCo,9931,30.48,0.509,0,0,1826,300.00
$SM_GC,1.11,0.00,0.00,30.48,0.000,0.000,0.509,426,1896,1826,-10.52,0.59,300.00
$IRIDIUM_FIX,2057.14,-15801.19,110899,151540
$TT8_MAMPS,0.029146
$HUMID,46.45
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,23.4,26.572
$10V_AH,10.0,25.520
$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,27.100,115.175,277.225,30.475,0.000,27.808,30.359,134.609,4.500,0.000,31.399,1231.890,6343.664,368.421,1967.200,358.679,33.365,1217.822,0.000,1920.815,0.000,29.257,0.000
$DEVICE_MAMPS,137.293,54.457,873.613,508.521,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.547,397.673,774.921,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34966,622
$CAP_FILE_SIZE,117500,0
$CFSIZE,260165632,241328128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170510,203922,2105.406,-15800.659,30,4.3,49,9.8