version: 66.06
glider: 139
mission: 7
dive: 350
start: 5 23 110 23 12 52
data:
$ID,139
$MISSION,7
$DIVE,350
$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,-2133532.2
$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
$GPS1,230546,2058.695,-15749.137,47,5.9,66,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-57.5
$GPS2,231201,2058.741,-15749.148,42,1.4,42,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.181,0.032
$KALMAN_X,-6163.0,-318.8,-298.0,16772.2,847.9
$KALMAN_Y,31325.6,109.5,-133.5,-46427.7,584.8
$MHEAD_RNG_PITCHd_Wd,270.2,28520,-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,-77.9,0.0,0.0,0,119,0.00,0.00,-100.85,0.000,2,0.000,0.000,430,1899,3154,0,0,0,0,0,0
$GC,122,-1.40,-77.9,3.0,-4.6,19,144,10.60,2.33,-4.25,0.000,4,0.135,0.038,2401,3299,3369,0,0,0,0,0,0
$GC,378,-1.36,-77.9,51.6,-15.8,60,383,0.00,2.40,0.00,0.000,6,0.000,0.031,2402,1868,3370,0,0,0,0,0,0
$GC,640,-1.25,-77.9,91.2,-16.0,84,645,0.20,2.38,0.00,0.000,4,0.096,0.042,2443,471,3371,0,0,0,0,0,0
$GC,719,-1.18,-77.9,102.2,-12.1,92,723,0.00,2.33,0.00,0.000,6,0.000,0.019,2441,1916,3371,0,0,0,0,0,0
$GC,980,-1.18,-77.9,130.7,-9.7,116,984,0.00,2.47,0.00,0.000,4,0.000,0.043,2442,467,3371,0,0,0,0,0,0
$GC,1073,-1.18,-77.9,140.3,-10.4,125,1078,0.00,2.28,0.00,0.000,6,0.000,0.019,2442,1883,3372,0,0,0,0,0,0
$GC,1334,-1.22,-77.9,167.4,-10.6,150,1338,0.00,2.42,0.00,0.000,4,0.000,0.043,2442,470,3372,0,0,0,0,0,0
$GC,1370,-1.22,-77.9,171.8,-12.3,153,1375,0.00,2.25,0.00,0.000,6,0.000,0.020,2442,1890,3372,0,0,0,0,0,0
$GC,1632,-1.29,-77.9,198.6,-8.6,178,1636,0.00,2.42,0.00,0.000,4,0.000,0.043,2442,471,3372,0,0,0,0,0,0
$GC,1700,-1.32,-77.9,204.8,-8.9,182,1704,0.00,2.25,0.00,0.000,6,0.000,0.020,2442,1874,3372,0,0,0,0,0,0
$GC,2026,-1.42,-77.9,228.7,-6.9,198,2030,0.17,2.42,0.00,0.000,4,0.051,0.045,2388,462,3373,0,0,0,0,0,0
$GC,2120,-1.33,-77.9,238.8,-10.8,202,2125,0.17,2.28,0.00,0.000,6,0.089,0.021,2425,1874,3373,0,0,0,0,0,0
$GC,2446,-1.40,-77.9,267.9,-8.3,218,2450,0.00,2.42,0.00,0.000,4,0.000,0.046,2424,470,3372,0,0,0,0,0,0
$GC,2542,-1.44,-77.9,276.9,-8.8,222,2547,0.12,2.25,0.00,0.000,6,0.064,0.022,2384,1871,3372,0,0,0,0,0,0
$GC,2863,-1.41,-77.9,308.9,-10.6,236,2867,0.10,2.33,0.00,0.000,4,0.110,0.031,2402,3265,3370,0,0,0,0,0,0
$GC,2891,-1.47,-77.9,312.0,-10.0,236,2895,0.00,2.35,0.00,0.000,6,0.000,0.033,2405,1871,3370,0,0,0,0,0,0
$GC,3227,-1.52,-77.9,342.2,-8.2,245,3231,0.00,2.40,0.00,0.000,4,0.000,0.049,2405,470,3368,0,0,0,0,0,0
$GC,3292,-1.55,-77.9,347.9,-7.8,246,3297,0.12,2.30,0.00,0.000,6,0.066,0.025,2366,1880,3368,0,0,0,0,0,0
$GC,3639,-1.55,-77.9,382.7,-10.9,255,3644,0.00,2.47,0.00,0.000,4,0.000,0.050,2366,462,3365,0,0,0,0,0,0
$GC,3714,-1.47,-77.9,391.6,-11.3,256,3719,0.12,2.33,0.00,0.000,6,0.103,0.026,2390,1876,3365,0,0,0,0,0,0
$GC,4049,-1.47,-77.9,426.5,-10.7,265,4054,0.00,2.47,0.00,0.000,4,0.000,0.053,2392,466,3363,0,0,0,0,0,0
$GC,4104,-1.47,-77.9,432.6,-11.0,266,4108,0.00,2.33,0.00,0.000,6,0.000,0.028,2392,1874,3362,0,0,0,0,0,0
$STATE,4298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4298,begin apogee
$GC,4304,-0.31,0.0,452.3,10.1,271,4371,1.17,0.00,63.78,0.867,6,0.074,0.000,2643,2034,3050,0,0,0,0,0,0
$STATE,4372,end apogee,CONTROL_FINISHED_OK
$STATE,4372,begin climb
$GC,4374,1.40,77.9,453.6,0.0,272,4449,1.62,2.45,64.53,0.848,4,0.032,0.045,3023,3384,2732,0,0,0,0,0,0
$GC,4713,1.23,121.7,442.9,5.0,279,4758,0.22,2.40,37.35,0.841,6,0.110,0.038,2984,2001,2552,0,0,0,0,0,0
$GC,5103,1.12,121.7,410.7,8.8,289,5104,0.12,0.00,0.00,0.000,6,0.121,0.000,2962,2001,2546,0,0,0,0,0,0
$GC,5428,1.06,121.7,383.8,8.2,297,5432,0.00,2.47,0.00,0.000,4,0.000,0.054,2960,598,2544,0,0,0,0,0,0
$GC,5549,0.94,121.7,371.4,10.7,299,5554,0.22,2.33,0.00,0.000,6,0.111,0.030,2919,1991,2541,0,0,0,0,0,0
$GC,5885,1.00,138.5,346.1,6.9,308,5906,0.00,2.55,13.43,0.772,4,0.000,0.052,2919,604,2484,0,0,0,0,0,0
$GC,5915,1.02,156.8,343.9,6.8,308,5940,0.00,2.40,17.27,0.777,6,0.000,0.031,2920,2021,2410,0,0,0,0,0,0
$GC,6259,1.10,168.6,318.2,7.2,317,6276,0.15,2.58,11.00,0.735,4,0.070,0.053,2956,598,2362,0,0,0,0,0,0
$GC,6388,1.03,168.6,306.0,9.8,319,6392,0.00,2.40,0.00,0.000,6,0.000,0.030,2956,2014,2357,0,0,0,0,0,0
$GC,6701,1.03,168.6,281.4,8.0,332,6705,0.00,2.38,0.00,0.000,4,0.000,0.039,2954,3403,2356,0,0,0,0,0,0
$GC,6721,1.03,168.6,279.9,8.2,333,6726,0.00,2.40,0.00,0.000,6,0.000,0.037,2956,2011,2356,0,0,0,0,0,0
$GC,7051,1.03,168.6,253.4,8.6,349,7055,0.00,2.47,0.00,0.000,4,0.000,0.051,2956,597,2355,0,0,0,0,0,0
$GC,7134,0.96,168.6,245.7,9.4,352,7141,0.15,2.40,0.00,0.000,6,0.094,0.029,2924,2014,2354,0,0,0,0,0,0
$GC,7449,1.06,180.1,221.5,7.2,368,7466,0.00,2.55,10.10,0.668,4,0.000,0.050,2924,601,2315,0,0,0,0,0,0
$GC,7559,1.11,180.1,212.9,8.5,372,7566,0.10,2.38,0.00,0.000,6,0.044,0.028,2957,2010,2311,0,0,0,0,0,0
$GC,7880,1.15,180.1,187.1,8.4,395,7885,0.00,2.45,0.00,0.000,4,0.000,0.048,2957,595,2311,0,0,0,0,0,0
$GC,8088,1.15,180.1,170.1,8.6,417,8094,0.00,2.35,0.00,0.000,6,0.000,0.026,2956,2015,2310,0,0,0,0,0,0
$GC,8350,1.21,201.9,152.8,6.5,442,8379,0.00,2.40,19.55,0.650,4,0.000,0.032,2956,3398,2227,0,0,0,0,0,0
$GC,8408,1.30,211.5,148.4,7.4,448,8428,0.17,2.35,10.35,0.595,6,0.058,0.031,3002,2007,2186,0,0,0,0,0,0
$GC,8682,1.27,211.5,124.6,8.2,474,8686,0.00,2.42,0.00,0.000,4,0.000,0.044,3002,599,2183,0,0,0,0,0,0
$GC,8760,1.19,211.5,117.2,10.2,482,8765,0.15,2.33,0.00,0.000,6,0.100,0.023,2974,2014,2181,0,0,0,0,0,0
$GC,9020,1.25,211.5,97.9,8.0,506,9024,0.00,2.42,0.00,0.000,4,0.000,0.044,2973,601,2180,0,0,0,0,0,0
$GC,9099,1.25,211.5,91.0,8.4,514,9103,0.00,2.28,0.00,0.000,6,0.000,0.022,2974,2012,2180,0,0,0,0,0,0
$GC,9362,1.34,230.5,71.7,6.7,538,9386,0.15,2.50,16.90,0.558,4,0.060,0.042,3018,605,2109,0,0,0,0,0,0
$GC,9581,1.27,230.5,51.2,8.7,562,9588,0.10,2.30,0.00,0.000,6,0.080,0.021,2994,2004,2105,0,0,0,0,0,0
$GC,9844,1.31,230.5,30.9,8.6,587,9848,0.00,2.40,0.00,0.000,4,0.000,0.041,2994,602,2106,0,0,0,0,0,0
$GC,9893,1.31,230.5,26.0,9.7,596,9900,0.00,2.30,0.00,0.000,6,0.000,0.021,2994,2007,2105,0,0,0,0,0,0
$GC,10102,1.34,230.5,5.9,10.5,633,10107,0.00,2.40,0.00,0.000,4,0.000,0.040,2994,599,2105,0,0,0,0,0,0
$STATE,10130,end climb,SURFACE_DEPTH_REACHED
$STATE,10130,begin surface coast
$FINISH,1.9,1.023362
$STATE,10140,end surface coast,CONTROL_FINISHED_OK
$STATE,10141,begin surface
$SM_CCo,10163,37.05,0.511,0,0,1826,300.00
$SM_GC,1.36,0.00,0.00,37.05,0.000,0.000,0.511,430,1870,1826,-10.51,-0.14,300.00
$IRIDIUM_FIX,2052.52,-15747.49,170899,202057
$TT8_MAMPS,0.029146
$HUMID,47.87
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,31.201
$10V_AH,10.0,29.596
$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,27.375,119.225,264.250,37.050,0.000,31.227,25.240,188.832,4.500,0.000,42.627,1246.515,6514.101,397.440,1998.687,417.484,33.361,1270.992,0.000,1935.632,0.000,29.249,0.000
$DEVICE_MAMPS,134.992,53.690,867.477,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,431.787,410.738,812.570,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34912,641
$CAP_FILE_SIZE,121732,0
$CFSIZE,260165632,238419968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240510,020520,2058.988,-15750.175,92,3.4,111,9.8