version: 66.06
glider: 139
mission: 7
dive: 303
start: 5 17 110 23 42 42
data:
$ID,139
$MISSION,7
$DIVE,303
$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,-2131801.5
$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
$GPS1,233638,2106.125,-15801.112,35,1.4,47,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.9
$GPS2,234150,2106.115,-15801.146,15,1.4,15,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.073,0.169
$KALMAN_X,13227.9,-425.8,434.5,-23970.7,209.0
$KALMAN_Y,11177.4,117.5,56.8,-12823.8,-324.7
$MHEAD_RNG_PITCHd_Wd,326.9,4406,-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,-53.05,0.000,2,0.000,0.000,429,1844,3200,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.3,-5.1,10,96,10.60,2.45,-3.38,0.000,4,0.135,0.038,2403,3299,3371,0,0,0,0,0,0
$GC,183,-1.35,-77.9,27.3,-16.7,33,188,0.00,2.42,0.00,0.000,6,0.000,0.032,2400,1874,3372,0,0,0,0,0,0
$GC,382,-1.18,-77.9,65.3,-19.4,53,384,0.28,0.00,0.00,0.000,6,0.096,0.000,2457,1874,3373,0,0,0,0,0,0
$GC,636,-1.22,-77.9,94.0,-10.8,77,640,0.00,2.42,0.00,0.000,4,0.000,0.044,2457,463,3374,0,0,0,0,0,0
$GC,689,-1.22,-77.9,100.1,-11.9,82,694,0.00,2.33,0.00,0.000,6,0.000,0.019,2457,1910,3374,0,0,0,0,0,0
$GC,951,-1.28,-77.9,127.6,-9.9,106,956,0.10,2.50,0.00,0.000,4,0.074,0.044,2421,469,3375,0,0,0,0,0,0
$GC,986,-1.21,-77.9,131.7,-12.1,109,991,0.12,2.25,0.00,0.000,6,0.099,0.019,2447,1875,3376,0,0,0,0,0,0
$GC,1247,-1.28,-77.9,159.0,-8.6,133,1252,0.00,2.42,0.00,0.000,4,0.000,0.043,2447,466,3376,0,0,0,0,0,0
$GC,1316,-1.28,-77.9,165.2,-8.8,140,1320,0.00,2.28,0.00,0.000,6,0.000,0.020,2446,1881,3377,0,0,0,0,0,0
$GC,1578,-1.35,-77.9,186.2,-7.8,164,1583,0.12,2.45,0.00,0.000,4,0.064,0.044,2405,468,3377,0,0,0,0,0,0
$GC,1621,-1.30,-77.9,191.1,-11.5,168,1625,0.12,2.28,0.00,0.000,6,0.098,0.021,2430,1883,3376,0,0,0,0,0,0
$GC,1884,-1.35,-77.9,214.7,-8.5,185,1889,0.00,2.45,0.00,0.000,4,0.000,0.044,2430,461,3377,0,0,0,0,0,0
$GC,1939,-1.39,-77.9,219.0,-7.3,187,1944,0.00,2.28,0.00,0.000,6,0.000,0.021,2430,1879,3377,0,0,0,0,0,0
$GC,2255,-1.46,-77.9,245.6,-9.6,202,2260,0.15,2.45,0.00,0.000,4,0.059,0.045,2384,470,3377,0,0,0,0,0,0
$GC,2335,-1.41,-77.9,254.5,-10.0,205,2339,0.12,2.25,0.00,0.000,6,0.101,0.021,2410,1872,3377,0,0,0,0,0,0
$GC,2651,-1.46,-77.9,279.2,-7.9,220,2655,0.00,2.42,0.00,0.000,4,0.000,0.047,2409,463,3376,0,0,0,0,0,0
$GC,2717,-1.46,-77.9,285.2,-8.8,223,2722,0.00,2.30,0.00,0.000,6,0.000,0.024,2410,1881,3376,0,0,0,0,0,0
$GC,3045,-1.51,-77.9,310.3,-7.4,236,3050,0.12,2.47,0.00,0.000,4,0.067,0.049,2371,466,3375,0,0,0,0,0,0
$GC,3083,-1.42,-77.9,314.6,-11.4,236,3089,0.15,2.30,0.00,0.000,6,0.097,0.025,2403,1873,3375,0,0,0,0,0,0
$GC,3414,-1.47,-77.9,346.5,-9.7,245,3418,0.00,2.45,0.00,0.000,4,0.000,0.051,2401,472,3373,0,0,0,0,0,0
$GC,3475,-1.47,-77.9,353.1,-10.7,246,3479,0.00,2.30,0.00,0.000,6,0.000,0.027,2403,1872,3372,0,0,0,0,0,0
$GC,3824,-1.50,-77.9,386.2,-9.3,255,3828,0.00,2.45,0.00,0.000,4,0.000,0.052,2403,463,3370,0,0,0,0,0,0
$GC,3870,-1.50,-77.9,390.9,-9.4,256,3874,0.00,2.33,0.00,0.000,6,0.000,0.028,2403,1873,3370,0,0,0,0,0,0
$GC,4193,-1.55,-77.9,416.8,-7.9,264,4198,0.12,2.47,0.00,0.000,4,0.070,0.054,2366,466,3368,0,0,0,0,0,0
$GC,4249,-1.52,-77.9,423.1,-11.7,265,4253,0.00,2.35,0.00,0.000,6,0.000,0.028,2368,1881,3367,0,0,0,0,0,0
$STATE,4560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4560,begin apogee
$GC,4565,-0.31,0.0,453.5,9.9,273,4633,1.30,0.00,64.60,0.881,6,0.076,0.000,2645,2026,3050,0,0,0,0,0,0
$STATE,4634,end apogee,CONTROL_FINISHED_OK
$STATE,4634,begin climb
$GC,4636,1.40,77.9,454.5,0.0,274,4711,1.62,2.47,64.97,0.860,4,0.033,0.044,3025,3391,2732,0,0,0,0,0,0
$GC,4974,1.21,110.0,442.5,5.8,281,5008,0.22,2.40,27.52,0.841,6,0.112,0.038,2982,2006,2601,0,0,0,0,0,0
$GC,5326,1.09,110.0,415.9,8.1,290,5328,0.17,0.00,0.00,0.000,6,0.117,0.000,2951,2005,2596,0,0,0,0,0,0
$GC,5651,1.04,110.0,389.7,8.3,298,5655,0.00,2.40,0.00,0.000,4,0.000,0.041,2951,3389,2594,0,0,0,0,0,0
$GC,5694,1.01,111.2,386.2,7.9,299,5698,0.00,2.40,0.00,0.000,6,0.000,0.038,2951,2004,2594,0,0,0,0,0,0
$GC,6021,1.01,148.0,366.2,5.5,307,6059,0.00,2.45,32.17,0.834,4,0.000,0.041,2951,3388,2445,0,0,0,0,0,0
$GC,6082,1.02,155.8,362.1,7.5,307,6095,0.00,2.42,8.18,0.708,6,0.000,0.039,2951,2005,2414,0,0,0,0,0,0
$GC,6426,1.03,162.4,333.0,7.6,316,6439,0.00,2.55,6.40,0.663,4,0.000,0.055,2950,606,2388,0,0,0,0,0,0
$GC,6453,0.99,176.4,330.9,7.1,316,6474,0.00,2.35,13.93,0.765,6,0.000,0.031,2950,2007,2330,0,0,0,0,0,0
$GC,6802,0.99,176.4,300.2,9.1,325,6803,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2007,2327,0,0,0,0,0,0
$GC,7111,0.99,178.9,275.4,7.8,339,7115,0.00,2.40,0.00,0.000,4,0.000,0.039,2951,3404,2324,0,0,0,0,0,0
$GC,7154,1.04,178.9,271.6,9.4,341,7159,0.00,2.40,0.00,0.000,6,0.000,0.038,2951,2006,2325,0,0,0,0,0,0
$GC,7485,1.06,198.6,243.5,6.7,357,7510,0.00,2.55,19.77,0.739,4,0.000,0.053,2949,592,2239,0,0,0,0,0,0
$GC,7665,1.06,198.6,228.3,8.9,365,7669,0.00,2.38,0.00,0.000,6,0.000,0.028,2950,2019,2234,0,0,0,0,0,0
$GC,7991,1.10,198.6,200.7,8.9,381,7995,0.00,2.47,0.00,0.000,4,0.000,0.048,2951,597,2234,0,0,0,0,0,0
$GC,8070,1.10,198.6,193.2,9.4,389,8074,0.00,2.38,0.00,0.000,6,0.000,0.027,2951,2020,2231,0,0,0,0,0,0
$GC,8334,1.16,199.0,171.1,8.0,413,8338,0.00,2.47,0.00,0.000,4,0.000,0.047,2950,590,2232,0,0,0,0,0,0
$GC,8413,1.16,199.0,163.6,10.1,421,8417,0.00,2.38,0.00,0.000,6,0.000,0.025,2951,2021,2230,0,0,0,0,0,0
$GC,8676,1.24,204.8,142.5,7.6,445,8686,0.15,0.00,5.47,0.512,6,0.065,0.000,2992,2026,2215,0,0,0,0,0,0
$GC,8940,1.24,204.8,118.8,8.6,470,8942,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2026,2215,0,0,0,0,0,0
$GC,9196,1.24,204.8,98.6,8.2,494,9200,0.00,2.45,0.00,0.000,4,0.000,0.044,2992,591,2215,0,0,0,0,0,0
$GC,9296,1.18,204.8,89.4,9.5,504,9302,0.00,2.35,0.00,0.000,6,0.000,0.022,2991,2017,2214,0,0,0,0,0,0
$GC,9558,1.20,217.0,69.3,7.2,529,9577,0.00,0.00,12.77,0.547,6,0.000,0.000,2992,2022,2164,0,0,0,0,0,0
$GC,9834,1.27,242.6,50.2,6.3,555,9862,0.00,2.50,23.42,0.551,4,0.000,0.041,2991,589,2060,0,0,0,0,0,0
$GC,9945,1.29,254.0,42.7,7.2,567,9966,0.00,2.33,10.60,0.500,6,0.000,0.021,2991,2025,2014,0,0,0,0,0,0
$GC,10224,1.35,254.0,15.6,10.3,605,10230,0.00,2.45,0.00,0.000,4,0.000,0.041,2991,598,2012,0,0,0,0,0,0
$GC,10316,1.35,254.0,5.7,11.3,625,10322,0.00,2.28,0.00,0.000,6,0.000,0.021,2992,2006,2010,0,0,0,0,0,0
$STATE,10349,end climb,SURFACE_DEPTH_REACHED
$STATE,10349,begin surface coast
$FINISH,0.4,1.023412
$STATE,10384,end surface coast,CONTROL_FINISHED_OK
$STATE,10384,begin surface
$SM_CCo,10403,23.45,0.502,0,0,1826,300.00
$SM_GC,0.88,0.00,0.00,23.45,0.000,0.000,0.502,427,1839,1826,-10.52,-0.99,300.00
$IRIDIUM_FIX,2059.45,-15759.05,110899,202035
$TT8_MAMPS,0.029146
$HUMID,46.77
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,26.736
$10V_AH,10.0,25.675
$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,26.500,110.700,289.825,23.450,0.000,29.206,31.019,149.871,4.500,0.000,15.261,1237.946,6906.476,368.029,1843.910,385.157,33.360,1179.698,0.000,1824.567,0.000,29.251,0.000
$DEVICE_MAMPS,134.992,55.991,880.516,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.339,409.433,797.828,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,35038,637
$CAP_FILE_SIZE,117347,0
$CFSIZE,260165632,241213440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180510,023950,2107.056,-15801.478,145,2.9,164,9.8