version: 66.06
glider: 139
mission: 7
dive: 351
start: 5 24 110 2 13 45
data:
$ID,139
$MISSION,7
$DIVE,351
$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,-2133597
$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
$GPS1,020520,2058.988,-15750.175,92,3.4,111,9.8
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,1
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-71.6
$GPS2,021254,2059.019,-15750.212,53,0.9,63,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.182,-0.024
$KALMAN_X,-6215.2,-40.0,-336.5,14751.1,1086.6
$KALMAN_Y,31816.6,56.7,-418.2,-46064.0,1080.8
$MHEAD_RNG_PITCHd_Wd,252.5,26772,-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,16,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-52.53,0.000,2,0.000,0.000,429,1875,3231,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.8,-6.4,10,95,10.62,2.45,-2.60,0.000,4,0.137,0.051,2403,469,3371,0,0,0,0,0,0
$GC,300,-1.14,-77.9,55.0,-18.7,46,306,0.30,2.33,0.00,0.000,6,0.090,0.020,2465,1910,3373,0,0,0,0,0,0
$GC,562,-1.14,-77.9,86.4,-11.3,70,566,0.00,2.47,0.00,0.000,4,0.000,0.043,2464,462,3374,0,0,0,0,0,0
$GC,598,-1.14,-77.9,90.5,-10.0,73,603,0.00,2.28,0.00,0.000,6,0.000,0.019,2464,1888,3374,0,0,0,0,0,0
$GC,859,-1.23,-77.9,116.2,-9.3,98,864,0.00,2.42,0.00,0.000,4,0.000,0.042,2464,464,3375,0,0,0,0,0,0
$GC,938,-1.27,-77.9,123.7,-9.9,106,943,0.12,2.25,0.00,0.000,6,0.062,0.019,2421,1878,3376,0,0,0,0,0,0
$GC,1198,-1.27,-77.9,152.9,-11.4,130,1203,0.00,2.40,0.00,0.000,4,0.000,0.044,2420,468,3376,0,0,0,0,0,0
$GC,1258,-1.22,-77.9,159.8,-11.8,136,1266,0.12,2.25,0.00,0.000,6,0.097,0.020,2446,1871,3376,0,0,0,0,0,0
$GC,1530,-1.28,-77.9,186.6,-10.0,161,1534,0.00,2.40,0.00,0.000,4,0.000,0.043,2446,469,3376,0,0,0,0,0,0
$GC,1563,-1.28,-77.9,190.1,-10.1,164,1567,0.00,2.25,0.00,0.000,6,0.000,0.020,2446,1883,3376,0,0,0,0,0,0
$GC,1821,-1.37,-77.9,214.1,-9.6,181,1826,0.15,2.45,0.00,0.000,4,0.056,0.044,2397,469,3377,0,0,0,0,0,0
$GC,1876,-1.30,-77.9,221.3,-13.1,183,1881,0.15,2.25,0.00,0.000,6,0.093,0.021,2429,1871,3377,0,0,0,0,0,0
$GC,2193,-1.36,-77.9,249.6,-7.2,198,2197,0.00,2.30,0.00,0.000,4,0.000,0.028,2425,3271,3377,0,0,0,0,0,0
$GC,2220,-1.50,-77.9,252.0,-8.4,199,2225,0.17,2.33,0.00,0.000,6,0.052,0.030,2375,1865,3377,0,0,0,0,0,0
$GC,2548,-1.50,-77.9,286.0,-11.2,215,2552,0.00,2.38,0.00,0.000,4,0.000,0.047,2374,472,3376,0,0,0,0,0,0
$GC,2700,-1.45,-77.9,306.1,-12.7,221,2705,0.12,2.28,0.00,0.000,6,0.100,0.023,2400,1875,3376,0,0,0,0,0,0
$GC,3014,-1.49,-77.9,336.1,-9.2,229,3018,0.00,2.42,0.00,0.000,4,0.000,0.049,2401,466,3375,0,0,0,0,0,0
$GC,3073,-1.49,-77.9,341.6,-8.8,230,3077,0.00,2.30,0.00,0.000,6,0.000,0.025,2401,1878,3375,0,0,0,0,0,0
$GC,3422,-1.53,-77.9,371.4,-8.6,239,3427,0.00,2.45,0.00,0.000,4,0.000,0.051,2400,474,3373,0,0,0,0,0,0
$GC,3482,-1.53,-77.9,377.4,-9.7,240,3486,0.00,2.30,0.00,0.000,6,0.000,0.026,2400,1877,3373,0,0,0,0,0,0
$GC,3832,-1.59,-77.9,407.6,-8.8,249,3837,0.15,2.47,0.00,0.000,4,0.062,0.054,2358,474,3370,0,0,0,0,0,0
$GC,3956,-1.51,-77.9,422.5,-12.1,251,3961,0.12,2.30,0.00,0.000,6,0.108,0.028,2383,1874,3369,0,0,0,0,0,0
$STATE,4292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4292,begin apogee
$GC,4297,-0.31,0.0,452.0,8.6,260,4366,1.23,0.00,64.75,0.878,6,0.077,0.000,2643,2034,3050,0,0,0,0,0,0
$STATE,4367,end apogee,CONTROL_FINISHED_OK
$STATE,4367,begin climb
$GC,4369,1.40,77.9,453.1,0.0,261,4443,1.65,2.45,65.07,0.856,4,0.033,0.046,3023,3381,2731,0,0,0,0,0,0
$GC,4708,1.20,102.5,439.8,6.3,268,4737,0.25,2.38,21.20,0.825,6,0.110,0.038,2980,2014,2632,0,0,0,0,0,0
$GC,5060,1.09,110.1,413.8,7.5,277,5072,0.15,2.42,7.22,0.708,4,0.119,0.042,2950,3383,2601,0,0,0,0,0,0
$GC,5304,1.08,147.7,396.8,5.4,282,5345,0.00,2.38,33.33,0.840,6,0.000,0.035,2953,2006,2447,0,0,0,0,0,0
$GC,5662,1.08,147.7,365.8,9.3,291,5667,0.00,2.47,0.00,0.000,4,0.000,0.054,2952,605,2441,0,0,0,0,0,0
$GC,5741,0.99,147.7,357.4,9.8,292,5746,0.12,2.33,0.00,0.000,6,0.127,0.030,2931,1990,2439,0,0,0,0,0,0
$GC,6072,1.00,156.5,331.2,7.4,300,6084,0.00,2.50,7.47,0.695,4,0.000,0.054,2932,604,2411,0,0,0,0,0,0
$GC,6116,1.00,156.5,327.5,8.4,301,6121,0.00,2.40,0.00,0.000,6,0.000,0.031,2932,2019,2408,0,0,0,0,0,0
$GC,6439,1.04,156.5,302.1,8.2,309,6443,0.00,2.50,0.00,0.000,4,0.000,0.051,2932,601,2408,0,0,0,0,0,0
$GC,6462,1.04,160.7,300.3,7.7,309,6473,0.00,2.38,4.70,0.575,6,0.000,0.031,2932,2015,2394,0,0,0,0,0,0
$GC,6792,1.11,179.4,278.2,6.7,325,6817,0.12,2.58,17.83,0.759,4,0.077,0.051,2962,602,2318,0,0,0,0,0,0
$GC,6965,1.07,179.4,261.0,11.2,332,6969,0.00,2.38,0.00,0.000,6,0.000,0.030,2962,2012,2312,0,0,0,0,0,0
$GC,7281,1.07,179.5,236.3,8.0,347,7285,0.00,2.38,0.00,0.000,4,0.000,0.038,2962,3406,2312,0,0,0,0,0,0
$GC,7352,1.10,179.5,230.1,8.3,350,7356,0.00,2.40,0.00,0.000,6,0.000,0.036,2963,2008,2311,0,0,0,0,0,0
$GC,7676,1.11,184.3,201.9,7.7,366,7682,0.00,0.00,4.62,0.515,6,0.000,0.000,2963,2008,2298,0,0,0,0,0,0
$GC,7995,1.12,192.5,178.3,7.5,394,8009,0.00,2.50,8.77,0.611,4,0.000,0.048,2962,600,2265,0,0,0,0,0,0
$GC,8061,1.09,192.5,172.7,8.8,401,8066,0.00,2.38,0.00,0.000,6,0.000,0.025,2963,2030,2262,0,0,0,0,0,0
$GC,8325,1.13,192.5,150.2,8.3,425,8329,0.00,2.47,0.00,0.000,4,0.000,0.046,2963,595,2262,0,0,0,0,0,0
$GC,8407,1.13,192.5,143.0,8.9,433,8413,0.00,2.35,0.00,0.000,6,0.000,0.024,2962,2024,2261,0,0,0,0,0,0
$GC,8669,1.22,233.5,127.3,5.2,458,8716,0.00,2.55,36.67,0.631,4,0.000,0.044,2962,608,2096,0,0,0,0,0,0
$GC,8829,1.25,233.5,114.8,8.3,475,8835,0.10,2.33,0.00,0.000,6,0.079,0.022,2993,2021,2092,0,0,0,0,0,0
$GC,9090,1.25,233.5,90.3,10.0,500,9095,0.00,2.45,0.00,0.000,4,0.000,0.044,2993,595,2092,0,0,0,0,0,0
$GC,9136,1.25,233.5,84.9,11.1,504,9142,0.00,2.35,0.00,0.000,6,0.000,0.022,2993,2018,2090,0,0,0,0,0,0
$GC,9399,1.30,235.3,63.0,7.9,529,9403,0.00,2.45,0.00,0.000,4,0.000,0.043,2993,597,2090,0,0,0,0,0,0
$GC,9415,1.32,251.1,61.8,6.9,530,9436,0.00,2.30,15.60,0.542,6,0.000,0.021,2993,2019,2026,0,0,0,0,0,0
$GC,9690,1.38,251.1,38.9,9.0,556,9694,0.00,2.45,0.00,0.000,4,0.000,0.042,2993,594,2024,0,0,0,0,0,0
$GC,9775,1.38,251.1,30.1,13.1,565,9780,0.00,2.30,0.00,0.000,6,0.000,0.021,2993,2008,2022,0,0,0,0,0,0
$GC,10046,1.38,251.1,4.7,9.3,613,10051,0.00,2.40,0.00,0.000,4,0.000,0.039,2994,599,2021,0,0,0,0,0,0
$STATE,10068,end climb,SURFACE_DEPTH_REACHED
$STATE,10068,begin surface coast
$FINISH,0.3,1.010323
$STATE,10114,end surface coast,CONTROL_FINISHED_OK
$STATE,10114,begin surface
$SM_CCo,10135,24.58,0.502,0,0,1827,300.00
$SM_GC,0.97,0.00,0.00,24.58,0.000,0.000,0.502,424,1898,1827,-10.53,0.65,300.00
$IRIDIUM_FIX,2050.21,-15752.63,170899,232310
$TT8_MAMPS,0.029146
$HUMID,47.24
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.4,31.286
$10V_AH,10.0,29.679
$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,26.675,119.225,287.250,24.575,0.000,24.428,31.628,244.839,4.500,0.000,63.882,1246.447,6505.047,367.840,2013.651,481.271,33.368,1232.730,0.000,1936.511,0.000,30.247,0.000
$DEVICE_MAMPS,136.526,54.457,878.215,501.618,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.078,401.608,780.313,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34894,628
$CAP_FILE_SIZE,121518,0
$CFSIZE,260165632,238358528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240510,050443,2059.033,-15751.065,57,1.8,62,9.8