version: 66.06
glider: 139
mission: 7
dive: 353
start: 5 24 110 8 32 29
data:
$ID,139
$MISSION,7
$DIVE,353
$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,-2133750
$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
$GPS1,081151,2059.444,-15752.130,148,7.6,167,9.8
$_CALLS,4
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.5
$GPS2,083137,2059.546,-15752.150,85,1.3,85,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.111,0.146
$KALMAN_X,-6430.5,229.4,209.1,10799.2,-500.1
$KALMAN_Y,32041.9,-335.7,223.7,-45562.0,20.1
$MHEAD_RNG_PITCHd_Wd,312.9,23625,-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,-77.9,0.0,0.0,0,75,0.00,0.00,-57.10,0.000,6,0.000,0.000,424,1853,3369,0,0,0,0,0,0
$GC,78,-1.40,-77.9,4.1,-7.3,11,94,10.60,2.38,0.00,0.000,4,0.133,0.020,2403,3309,3370,0,0,0,0,0,0
$GC,208,-1.36,-77.9,36.1,-13.6,35,212,0.00,2.42,0.00,0.000,6,0.000,0.029,2404,1867,3371,0,0,0,0,0,0
$GC,471,-1.21,-77.9,80.6,-18.4,59,476,0.22,2.40,0.00,0.000,4,0.096,0.044,2449,463,3371,0,0,0,0,0,0
$GC,545,-1.16,-77.9,93.1,-13.2,66,551,0.00,2.33,0.00,0.000,6,0.000,0.019,2449,1904,3372,0,0,0,0,0,0
$GC,809,-1.16,-77.9,124.0,-10.7,91,813,0.00,2.47,0.00,0.000,4,0.000,0.042,2449,466,3372,0,0,0,0,0,0
$GC,864,-1.16,-77.9,130.4,-10.6,96,870,0.00,2.28,0.00,0.000,6,0.000,0.019,2449,1880,3372,0,0,0,0,0,0
$GC,1127,-1.21,-77.9,156.2,-9.7,121,1132,0.00,2.42,0.00,0.000,4,0.000,0.043,2449,468,3372,0,0,0,0,0,0
$GC,1244,-1.26,-77.9,169.1,-11.6,133,1249,0.00,2.25,0.00,0.000,6,0.000,0.020,2449,1880,3373,0,0,0,0,0,0
$GC,1511,-1.33,-77.9,194.8,-9.7,158,1516,0.12,2.42,0.00,0.000,4,0.063,0.045,2406,472,3373,0,0,0,0,0,0
$GC,1565,-1.26,-77.9,201.6,-12.7,163,1570,0.15,2.22,0.00,0.000,6,0.094,0.020,2437,1875,3373,0,0,0,0,0,0
$GC,1881,-1.32,-77.9,233.1,-9.7,178,1886,0.00,2.40,0.00,0.000,4,0.000,0.044,2438,473,3373,0,0,0,0,0,0
$GC,1941,-1.36,-77.9,239.5,-10.3,180,1948,0.00,2.28,0.00,0.000,6,0.000,0.021,2437,1880,3373,0,0,0,0,0,0
$GC,2258,-1.45,-77.9,269.2,-7.6,196,2263,0.17,2.30,0.00,0.000,4,0.051,0.028,2384,3269,3372,0,0,0,0,0,0
$GC,2279,-1.51,-77.9,271.1,-8.9,197,2283,0.00,2.33,0.00,0.000,6,0.000,0.030,2384,1876,3372,0,0,0,0,0,0
$GC,2628,-1.51,-77.9,304.0,-9.4,213,2632,0.00,2.42,0.00,0.000,4,0.000,0.048,2384,464,3372,0,0,0,0,0,0
$GC,2763,-1.46,-77.9,317.9,-10.3,216,2768,0.00,2.28,0.00,0.000,6,0.000,0.023,2383,1870,3371,0,0,0,0,0,0
$GC,3092,-1.46,-77.9,349.0,-9.2,224,3096,0.00,2.45,0.00,0.000,4,0.000,0.049,2383,473,3370,0,0,0,0,0,0
$GC,3161,-1.42,-77.9,356.2,-10.3,225,3165,0.00,2.30,0.00,0.000,6,0.000,0.025,2383,1880,3369,0,0,0,0,0,0
$GC,3501,-1.42,-77.9,385.3,-8.2,234,3505,0.00,2.45,0.00,0.000,4,0.000,0.051,2383,474,3367,0,0,0,0,0,0
$GC,3565,-1.42,-77.9,391.4,-9.6,235,3569,0.00,2.30,0.00,0.000,6,0.000,0.026,2383,1880,3367,0,0,0,0,0,0
$GC,3914,-1.42,-77.9,420.8,-8.1,244,3918,0.00,2.47,0.00,0.000,4,0.000,0.053,2382,468,3364,0,0,0,0,0,0
$GC,3957,-1.42,-77.9,424.3,-8.4,245,3961,0.00,2.33,0.00,0.000,6,0.000,0.028,2383,1873,3364,0,0,0,0,0,0
$STATE,4282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4282,begin apogee
$GC,4287,-0.31,0.0,451.5,8.6,253,4354,1.23,0.00,63.70,0.876,6,0.074,0.000,2645,2032,3050,0,0,0,0,0,0
$STATE,4355,end apogee,CONTROL_FINISHED_OK
$STATE,4355,begin climb
$GC,4357,1.40,77.9,452.3,0.0,254,4432,1.62,2.45,64.68,0.854,4,0.034,0.046,3022,3381,2732,0,0,0,0,0,0
$GC,4695,1.23,121.4,441.0,5.0,261,4740,0.22,2.38,36.78,0.847,6,0.114,0.038,2983,2010,2555,0,0,0,0,0,0
$GC,5086,1.12,121.4,410.8,8.4,271,5090,0.12,2.50,0.00,0.000,4,0.127,0.054,2960,597,2548,0,0,0,0,0,0
$GC,5123,0.99,121.4,407.3,9.0,271,5130,0.12,2.33,0.00,0.000,6,0.108,0.031,2934,1985,2547,0,0,0,0,0,0
$GC,5454,1.01,137.7,383.4,6.9,280,5474,0.00,2.53,13.90,0.793,4,0.000,0.042,2923,3398,2486,0,0,0,0,0,0
$GC,5502,1.03,157.4,380.0,6.7,281,5526,0.00,2.42,18.35,0.803,6,0.000,0.038,2936,2004,2407,0,0,0,0,0,0
$GC,5866,1.03,157.4,352.1,8.2,290,5870,0.00,2.47,0.00,0.000,4,0.000,0.054,2934,604,2402,0,0,0,0,0,0
$GC,5880,1.03,157.4,350.9,8.6,290,5884,0.00,2.38,0.00,0.000,6,0.000,0.031,2935,2019,2400,0,0,0,0,0,0
$GC,6229,1.07,157.4,322.3,8.5,299,6233,0.00,2.50,0.00,0.000,4,0.000,0.054,2935,600,2399,0,0,0,0,0,0
$GC,6275,1.07,157.4,317.7,9.9,300,6279,0.00,2.38,0.00,0.000,6,0.000,0.031,2935,2011,2397,0,0,0,0,0,0
$GC,6600,1.12,170.8,294.5,7.1,309,6617,0.10,2.53,11.15,0.733,4,0.087,0.051,2960,600,2352,0,0,0,0,0,0
$GC,6694,1.06,170.8,285.0,11.0,313,6699,0.00,2.38,0.00,0.000,6,0.000,0.030,2960,2011,2350,0,0,0,0,0,0
$GC,7026,1.07,174.7,257.6,7.8,329,7038,0.00,2.50,4.70,0.552,4,0.000,0.049,2960,602,2336,0,0,0,0,0,0
$GC,7120,1.03,188.0,250.1,7.1,333,7142,0.00,2.38,13.07,0.711,6,0.000,0.028,2960,2024,2283,0,0,0,0,0,0
$GC,7454,1.04,191.2,225.8,7.8,349,7459,0.00,0.00,3.92,0.473,6,0.000,0.000,2960,2024,2270,0,0,0,0,0,0
$GC,7760,1.08,201.1,202.3,7.3,364,7777,0.00,2.55,10.23,0.647,4,0.000,0.048,2960,605,2230,0,0,0,0,0,0
$GC,7845,1.08,201.1,194.5,9.5,370,7852,0.00,2.35,0.00,0.000,6,0.000,0.025,2960,2005,2227,0,0,0,0,0,0
$GC,8108,1.12,201.1,172.3,8.5,395,8113,0.00,2.42,0.00,0.000,4,0.000,0.045,2960,599,2227,0,0,0,0,0,0
$GC,8181,1.12,201.1,165.1,10.4,402,8188,0.00,2.35,0.00,0.000,6,0.000,0.025,2960,2011,2225,0,0,0,0,0,0
$GC,8444,1.19,217.4,145.4,6.9,427,8465,0.00,2.47,15.40,0.621,4,0.000,0.043,2960,596,2162,0,0,0,0,0,0
$GC,8607,1.19,217.4,130.8,9.5,444,8614,0.00,2.35,0.00,0.000,6,0.000,0.023,2960,2012,2159,0,0,0,0,0,0
$GC,8870,1.27,217.4,108.9,8.4,469,8872,0.12,0.00,0.00,0.000,6,0.068,0.000,2996,2017,2159,0,0,0,0,0,0
$GC,9125,1.28,222.2,87.1,7.7,493,9135,0.00,2.42,5.20,0.451,4,0.000,0.041,2996,601,2144,0,0,0,0,0,0
$GC,9339,1.29,235.0,69.4,7.1,516,9359,0.00,2.33,12.85,0.538,6,0.000,0.021,2996,2025,2092,0,0,0,0,0,0
$GC,9621,1.40,283.2,52.0,4.7,543,9671,0.10,2.50,42.53,0.555,4,0.077,0.041,3029,594,1893,0,0,0,0,0,0
$GC,9791,1.32,283.2,29.3,15.5,562,9798,0.12,2.33,0.00,0.000,6,0.081,0.020,3000,2016,1888,0,0,0,0,0,0
$GC,9997,1.37,283.2,9.3,11.7,599,10003,0.00,2.45,0.00,0.000,4,0.000,0.041,3000,595,1887,0,0,0,0,0,0
$STATE,10053,end climb,SURFACE_DEPTH_REACHED
$STATE,10053,begin surface coast
$FINISH,1.0,1.023382
$STATE,10066,end surface coast,CONTROL_FINISHED_OK
$STATE,10066,begin surface
$SM_CCo,10088,8.02,0.441,0,0,1827,300.00
$SM_GC,2.57,0.00,0.00,8.02,0.000,0.000,0.441,425,1910,1827,-10.53,0.99,300.00
$IRIDIUM_FIX,2050.21,-15752.63,180899,080804
$TT8_MAMPS,0.029913
$HUMID,47.04
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,23.4,31.487
$10V_AH,10.0,29.850
$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,26.075,114.825,316.450,8.025,0.000,113.161,135.329,549.597,4.500,0.000,86.792,1195.744,6761.135,368.626,1940.120,1016.544,33.379,1211.976,0.000,1844.621,0.000,29.263,0.000
$DEVICE_MAMPS,133.458,53.690,875.914,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.692,387.347,755.341,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,34936,614
$CAP_FILE_SIZE,128499,0
$CFSIZE,260165632,238227456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240510,112331,2100.157,-15753.312,127,1.3,130,9.8