version: 66.06
glider: 139
mission: 7
dive: 302
start: 5 17 110 20 47 16
data:
$ID,139
$MISSION,7
$DIVE,302
$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,-2131785.5
$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
$GPS1,203922,2105.406,-15800.659,30,4.3,49,9.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.7
$GPS2,204625,2105.430,-15800.648,41,1.1,41,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.142,0.117
$KALMAN_X,13630.4,-752.0,-363.3,-22386.4,1009.5
$KALMAN_Y,11553.2,-318.0,170.9,-14139.0,-46.0
$MHEAD_RNG_PITCHd_Wd,299.8,5908,-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,-53.25,0.000,2,0.000,0.000,426,1898,3210,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.2,-4.6,10,95,10.62,2.35,-3.17,0.000,4,0.135,0.038,2403,3299,3371,0,0,0,0,0,0
$GC,302,-1.36,-77.9,46.4,-15.9,50,309,0.00,2.42,0.00,0.000,6,0.000,0.033,2403,1882,3373,0,0,0,0,0,0
$GC,565,-1.27,-77.9,83.4,-12.0,75,570,0.17,2.42,0.00,0.000,4,0.099,0.045,2438,467,3373,0,0,0,0,0,0
$GC,593,-1.19,-77.9,87.3,-12.2,77,599,0.00,2.33,0.00,0.000,6,0.000,0.019,2437,1918,3374,0,0,0,0,0,0
$GC,854,-1.19,-77.9,115.0,-10.2,102,859,0.00,2.50,0.00,0.000,4,0.000,0.044,2439,467,3375,0,0,0,0,0,0
$GC,919,-1.15,-77.9,123.1,-12.8,108,926,0.10,2.28,0.00,0.000,6,0.072,0.020,2462,1874,3375,0,0,0,0,0,0
$GC,1181,-1.26,-77.9,148.1,-7.5,133,1186,0.10,2.45,0.00,0.000,4,0.074,0.044,2426,463,3376,0,0,0,0,0,0
$GC,1264,-1.23,-77.9,157.1,-10.8,141,1270,0.12,2.28,0.00,0.000,6,0.099,0.020,2450,1882,3376,0,0,0,0,0,0
$GC,1525,-1.31,-77.9,182.5,-10.1,166,1530,0.12,2.45,0.00,0.000,4,0.064,0.044,2410,467,3376,0,0,0,0,0,0
$GC,1596,-1.26,-77.9,190.9,-12.2,173,1601,0.12,2.28,0.00,0.000,6,0.100,0.020,2436,1884,3376,0,0,0,0,0,0
$GC,1864,-1.32,-77.9,214.4,-8.5,190,1868,0.00,2.45,0.00,0.000,4,0.000,0.045,2435,464,3376,0,0,0,0,0,0
$GC,1915,-1.32,-77.9,220.2,-11.3,192,1919,0.00,2.25,0.00,0.000,6,0.000,0.021,2434,1879,3377,0,0,0,0,0,0
$GC,2235,-1.39,-77.9,250.4,-7.3,208,2240,0.12,2.45,0.00,0.000,4,0.066,0.046,2394,468,3377,0,0,0,0,0,0
$GC,2273,-1.31,-77.9,254.2,-10.3,209,2279,0.15,2.28,0.00,0.000,6,0.096,0.021,2425,1884,3377,0,0,0,0,0,0
$GC,2592,-1.38,-77.9,281.1,-7.3,225,2596,0.00,2.42,0.00,0.000,4,0.000,0.047,2427,467,3376,0,0,0,0,0,0
$GC,2682,-1.41,-77.9,288.4,-8.2,229,2686,0.00,2.28,0.00,0.000,6,0.000,0.023,2427,1880,3376,0,0,0,0,0,0
$GC,3013,-1.50,-77.9,312.9,-7.2,241,3018,0.17,2.47,0.00,0.000,4,0.054,0.048,2376,463,3375,0,0,0,0,0,0
$GC,3056,-1.43,-77.9,317.0,-10.0,242,3061,0.12,2.30,0.00,0.000,6,0.100,0.024,2401,1876,3375,0,0,0,0,0,0
$GC,3385,-1.46,-77.9,346.4,-8.8,250,3389,0.00,2.42,0.00,0.000,4,0.000,0.050,2400,469,3374,0,0,0,0,0,0
$GC,3417,-1.46,-77.9,349.4,-9.0,250,3421,0.00,2.30,0.00,0.000,6,0.000,0.025,2401,1875,3374,0,0,0,0,0,0
$GC,3749,-1.50,-77.9,379.6,-9.5,258,3754,0.00,2.45,0.00,0.000,4,0.000,0.051,2401,466,3372,0,0,0,0,0,0
$GC,3804,-1.50,-77.9,386.2,-11.6,259,3809,0.00,2.33,0.00,0.000,6,0.000,0.027,2402,1875,3372,0,0,0,0,0,0
$GC,4122,-1.55,-77.9,417.8,-9.5,267,4127,0.12,2.47,0.00,0.000,4,0.070,0.054,2365,468,3370,0,0,0,0,0,0
$GC,4169,-1.47,-77.9,423.5,-12.3,268,4174,0.12,2.33,0.00,0.000,6,0.105,0.028,2391,1874,3369,0,0,0,0,0,0
$STATE,4449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4450,begin apogee
$GC,4455,-0.31,0.0,450.5,9.4,275,4523,1.17,0.00,64.72,0.870,6,0.074,0.000,2642,2035,3050,0,0,0,0,0,0
$STATE,4524,end apogee,CONTROL_FINISHED_OK
$STATE,4524,begin climb
$GC,4526,1.40,77.9,451.7,0.0,276,4600,1.65,2.42,64.75,0.851,4,0.034,0.044,3025,3374,2732,0,0,0,0,0,0
$GC,4864,1.24,129.5,445.2,4.5,283,4914,0.20,2.38,43.58,0.847,6,0.114,0.038,2988,2008,2522,0,0,0,0,0,0
$GC,5250,1.13,129.5,410.0,10.0,293,5251,0.15,0.00,0.00,0.000,6,0.119,0.000,2961,2008,2515,0,0,0,0,0,0
$GC,5575,1.09,144.0,385.6,7.0,301,5594,0.00,2.40,12.55,0.773,4,0.000,0.039,2962,3382,2462,0,0,0,0,0,0
$GC,5627,1.06,144.0,381.2,8.8,302,5632,0.00,2.40,0.00,0.000,6,0.000,0.038,2961,2005,2462,0,0,0,0,0,0
$GC,5945,1.01,144.0,352.4,9.1,310,5947,0.12,0.00,0.00,0.000,6,0.123,0.000,2938,2005,2458,0,0,0,0,0,0
$GC,6270,1.01,144.0,325.8,8.1,318,6274,0.00,2.38,0.00,0.000,4,0.000,0.041,2940,3390,2456,0,0,0,0,0,0
$GC,6283,1.02,147.1,324.8,7.8,318,6288,0.00,2.40,0.00,0.000,6,0.000,0.038,2940,2002,2457,0,0,0,0,0,0
$GC,6632,1.06,178.8,301.5,5.8,327,6668,0.00,2.55,30.27,0.788,4,0.000,0.053,2936,608,2320,0,0,0,0,0,0
$GC,6682,1.08,199.2,298.1,6.6,328,6708,0.00,2.35,19.33,0.751,6,0.000,0.030,2938,1994,2237,0,0,0,0,0,0
$GC,7029,1.15,199.2,263.9,10.1,345,7034,0.12,2.47,0.00,0.000,4,0.077,0.052,2968,603,2231,0,0,0,0,0,0
$GC,7187,1.09,199.2,245.4,12.2,352,7192,0.00,2.38,0.00,0.000,6,0.000,0.028,2970,2017,2227,0,0,0,0,0,0
$GC,7516,1.09,199.2,216.5,8.7,368,7520,0.00,2.50,0.00,0.000,4,0.000,0.049,2970,595,2226,0,0,0,0,0,0
$GC,7524,1.09,199.2,215.5,9.3,368,7529,0.00,2.35,0.00,0.000,6,0.000,0.028,2970,2018,2225,0,0,0,0,0,0
$GC,7847,1.09,199.2,182.8,9.3,391,7851,0.00,2.47,0.00,0.000,4,0.000,0.048,2970,602,2225,0,0,0,0,0,0
$GC,7865,1.09,199.2,180.7,9.4,392,7872,0.00,2.35,0.00,0.000,6,0.000,0.026,2971,2009,2223,0,0,0,0,0,0
$GC,8128,1.11,210.4,160.5,7.3,417,8146,0.00,2.45,9.07,0.598,4,0.000,0.044,2970,604,2191,0,0,0,0,0,0
$GC,8277,1.07,210.4,145.6,11.4,433,8282,0.12,2.33,0.00,0.000,6,0.119,0.024,2949,2014,2188,0,0,0,0,0,0
$GC,8539,1.15,210.4,122.6,9.0,457,8540,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2018,2188,0,0,0,0,0,0
$GC,8794,1.24,210.4,101.7,8.4,481,8799,0.15,2.47,0.00,0.000,4,0.063,0.044,2991,594,2188,0,0,0,0,0,0
$GC,8809,1.24,210.4,100.1,8.6,482,8814,0.00,2.33,0.00,0.000,6,0.000,0.022,2989,2019,2188,0,0,0,0,0,0
$GC,9072,1.24,210.4,77.7,8.8,506,9076,0.00,2.42,0.00,0.000,4,0.000,0.043,2990,598,2188,0,0,0,0,0,0
$GC,9195,1.24,210.4,66.3,9.8,519,9199,0.00,2.28,0.00,0.000,6,0.000,0.021,2990,2014,2188,0,0,0,0,0,0
$GC,9458,1.34,245.3,47.6,5.6,543,9498,0.00,2.53,30.95,0.551,4,0.000,0.042,2990,599,2049,0,0,0,0,0,0
$GC,9556,1.34,245.3,40.2,9.1,553,9563,0.00,2.33,0.00,0.000,6,0.000,0.021,2991,2009,2045,0,0,0,0,0,0
$GC,9822,1.40,245.3,19.4,8.4,590,9830,0.12,2.47,0.00,0.000,4,0.064,0.043,3029,599,2045,0,0,0,0,0,0
$GC,9897,1.32,245.3,11.6,10.8,606,9904,0.10,2.30,0.00,0.000,6,0.082,0.020,3006,2006,2044,0,0,0,0,0,0
$STATE,9993,end climb,SURFACE_DEPTH_REACHED
$STATE,9993,begin surface coast
$FINISH,0.4,1.023143
$STATE,10032,end surface coast,CONTROL_FINISHED_OK
$STATE,10032,begin surface
$SM_CCo,10051,27.92,0.502,0,0,1826,300.00
$SM_GC,0.94,0.00,0.00,27.92,0.000,0.000,0.502,430,1843,1826,-10.51,-0.88,300.00
$IRIDIUM_FIX,2054.83,-15759.05,110899,171714
$TT8_MAMPS,0.029146
$HUMID,46.57
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.4,26.656
$10V_AH,10.0,25.598
$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,27.200,115.075,275.225,27.925,0.000,23.870,28.946,242.784,4.500,0.000,42.815,1218.964,6597.586,365.050,1854.734,467.271,33.359,1173.360,0.000,1802.553,0.000,29.260,0.000
$DEVICE_MAMPS,134.992,54.457,869.778,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.955,400.442,794.991,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355764
$DATA_FILE_SIZE,34880,630
$CAP_FILE_SIZE,117437,0
$CFSIZE,260165632,241270784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170510,233638,2106.125,-15801.112,35,1.4,47,9.8