version: 66.06
glider: 139
mission: 7
dive: 355
start: 5 24 110 14 33 17
data:
$ID,139
$MISSION,7
$DIVE,355
$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,-2133853.5
$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
$GPS1,142505,2100.829,-15754.488,57,2.0,60,9.8
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.7
$GPS2,143226,2100.835,-15754.485,66,2.5,85,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.160,0.091
$KALMAN_X,-6882.2,-188.9,-302.0,8146.4,150.4
$KALMAN_Y,31856.5,-326.0,-366.0,-42409.7,714.1
$MHEAD_RNG_PITCHd_Wd,290.0,19085,-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,-77.9,0.0,0.0,0,70,0.00,0.00,-52.42,0.000,2,0.000,0.000,424,1847,3191,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.2,-4.8,10,94,10.62,2.42,-3.55,0.000,4,0.134,0.036,2405,3296,3370,0,0,0,0,0,0
$GC,207,-1.35,-77.9,28.8,-16.4,39,213,0.00,2.42,0.00,0.000,6,0.000,0.031,2404,1864,3371,0,0,0,0,0,0
$GC,411,-1.22,-77.9,64.6,-17.7,59,416,0.20,2.40,0.00,0.000,4,0.098,0.041,2444,466,3372,0,0,0,0,0,0
$GC,455,-1.17,-77.9,71.1,-13.3,63,459,0.00,2.30,0.00,0.000,6,0.000,0.020,2444,1909,3372,0,0,0,0,0,0
$GC,722,-1.17,-77.9,104.7,-12.4,88,726,0.00,2.47,0.00,0.000,4,0.000,0.043,2445,471,3373,0,0,0,0,0,0
$GC,767,-1.17,-77.9,110.8,-12.4,92,773,0.00,2.28,0.00,0.000,6,0.000,0.019,2444,1880,3373,0,0,0,0,0,0
$GC,1030,-1.20,-77.9,137.6,-9.6,117,1034,0.00,2.42,0.00,0.000,4,0.000,0.044,2445,471,3374,0,0,0,0,0,0
$GC,1101,-1.23,-77.9,145.7,-11.4,124,1105,0.00,2.25,0.00,0.000,6,0.000,0.019,2445,1878,3374,0,0,0,0,0,0
$GC,1363,-1.29,-77.9,172.6,-9.6,148,1367,0.00,2.42,0.00,0.000,4,0.000,0.043,2445,467,3375,0,0,0,0,0,0
$GC,1435,-1.29,-77.9,179.8,-8.7,155,1441,0.00,2.25,0.00,0.000,6,0.000,0.020,2444,1882,3375,0,0,0,0,0,0
$GC,1707,-1.36,-77.9,204.4,-9.6,179,1712,0.12,2.45,0.00,0.000,4,0.064,0.044,2402,466,3375,0,0,0,0,0,0
$GC,1759,-1.30,-77.9,211.0,-12.4,181,1763,0.12,2.25,0.00,0.000,6,0.100,0.021,2428,1869,3375,0,0,0,0,0,0
$GC,2082,-1.36,-77.9,242.7,-8.8,197,2086,0.00,2.40,0.00,0.000,4,0.000,0.045,2428,471,3375,0,0,0,0,0,0
$GC,2159,-1.36,-77.9,249.8,-8.3,200,2163,0.00,2.28,0.00,0.000,6,0.000,0.021,2428,1886,3375,0,0,0,0,0,0
$GC,2476,-1.43,-77.9,274.8,-8.9,215,2481,0.12,2.47,0.00,0.000,4,0.065,0.047,2387,466,3375,0,0,0,0,0,0
$GC,2523,-1.35,-77.9,280.5,-13.5,217,2528,0.15,2.28,0.00,0.000,6,0.094,0.022,2418,1875,3375,0,0,0,0,0,0
$GC,2871,-1.40,-77.9,313.9,-8.2,230,2876,0.00,2.40,0.00,0.000,4,0.000,0.047,2418,472,3374,0,0,0,0,0,0
$GC,2904,-1.40,-77.9,317.0,-9.6,230,2908,0.00,2.28,0.00,0.000,6,0.000,0.024,2418,1871,3374,0,0,0,0,0,0
$GC,3234,-1.47,-77.9,344.8,-8.5,238,3239,0.12,2.45,0.00,0.000,4,0.066,0.049,2378,472,3373,0,0,0,0,0,0
$GC,3304,-1.47,-77.9,352.3,-10.0,239,3308,0.00,2.30,0.00,0.000,6,0.000,0.025,2380,1877,3372,0,0,0,0,0,0
$GC,3644,-1.47,-77.9,381.5,-8.3,248,3649,0.00,2.45,0.00,0.000,4,0.000,0.051,2380,474,3371,0,0,0,0,0,0
$GC,3757,-1.43,-77.9,393.8,-11.0,250,3762,0.12,2.30,0.00,0.000,6,0.103,0.027,2404,1872,3370,0,0,0,0,0,0
$GC,4104,-1.49,-77.9,423.3,-8.1,259,4108,0.00,2.47,0.00,0.000,4,0.000,0.054,2404,466,3368,0,0,0,0,0,0
$GC,4187,-1.49,-77.9,431.7,-9.6,260,4192,0.00,2.33,0.00,0.000,6,0.000,0.028,2405,1870,3367,0,0,0,0,0,0
$STATE,4434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4434,begin apogee
$GC,4440,-0.31,0.0,451.5,7.9,267,4508,1.12,0.00,64.57,0.877,6,0.074,0.000,2646,2028,3050,0,0,0,0,0,0
$STATE,4509,end apogee,CONTROL_FINISHED_OK
$STATE,4509,begin climb
$GC,4510,1.40,77.9,452.2,0.0,268,4585,1.62,2.47,64.70,0.858,4,0.032,0.045,3021,3390,2732,0,0,0,0,0,0
$GC,4736,1.24,122.9,448.4,4.9,273,4781,0.20,2.40,38.53,0.849,6,0.120,0.038,2988,2012,2548,0,0,0,0,0,0
$GC,5109,1.12,122.9,419.1,8.4,282,5110,0.17,0.00,0.00,0.000,6,0.118,0.000,2956,2012,2542,0,0,0,0,0,0
$GC,5434,1.10,155.7,398.9,5.8,290,5464,0.00,0.00,28.30,0.837,6,0.000,0.000,2956,2012,2415,0,0,0,0,0,0
$GC,5759,1.10,155.7,369.3,10.1,298,5763,0.00,2.47,0.00,0.000,4,0.000,0.052,2957,599,2409,0,0,0,0,0,0
$GC,5819,1.00,155.7,362.5,11.2,299,5824,0.12,2.35,0.00,0.000,6,0.130,0.031,2935,1993,2406,0,0,0,0,0,0
$GC,6168,1.00,155.7,332.5,8.6,308,6172,0.00,2.47,0.00,0.000,4,0.000,0.052,2936,597,2405,0,0,0,0,0,0
$GC,6289,0.96,155.7,321.4,10.1,310,6294,0.00,2.35,0.00,0.000,6,0.000,0.031,2936,2011,2403,0,0,0,0,0,0
$GC,6606,1.01,171.3,297.6,6.9,319,6622,0.00,0.00,13.07,0.754,6,0.000,0.000,2937,2015,2351,0,0,0,0,0,0
$GC,6940,1.06,171.3,272.0,8.0,335,6944,0.00,2.50,0.00,0.000,4,0.000,0.051,2937,595,2348,0,0,0,0,0,0
$GC,6989,1.06,171.3,267.4,8.2,337,6994,0.00,2.35,0.00,0.000,6,0.000,0.029,2937,2012,2346,0,0,0,0,0,0
$GC,7311,1.14,192.1,245.5,6.6,353,7336,0.10,2.45,19.00,0.733,4,0.087,0.038,2955,3402,2266,0,0,0,0,0,0
$GC,7470,1.18,192.1,230.0,9.6,360,7474,0.00,2.40,0.00,0.000,6,0.000,0.035,2962,2008,2265,0,0,0,0,0,0
$GC,7799,1.20,207.6,204.9,7.0,376,7823,0.00,2.53,14.68,0.680,4,0.000,0.050,2962,604,2202,0,0,0,0,0,0
$GC,7932,1.20,207.6,193.0,8.6,386,7939,0.00,2.38,0.00,0.000,6,0.000,0.026,2962,2017,2198,0,0,0,0,0,0
$GC,8196,1.24,214.7,173.1,7.5,411,8209,0.10,2.50,7.20,0.578,4,0.083,0.047,2989,593,2174,0,0,0,0,0,0
$GC,8308,1.16,214.7,161.6,11.2,423,8313,0.12,2.35,0.00,0.000,6,0.117,0.025,2968,2018,2171,0,0,0,0,0,0
$GC,8570,1.20,214.7,138.9,8.1,447,8574,0.00,2.47,0.00,0.000,4,0.000,0.045,2967,595,2171,0,0,0,0,0,0
$GC,8613,1.20,214.7,135.1,9.1,451,8617,0.00,2.30,0.00,0.000,6,0.000,0.024,2968,2013,2170,0,0,0,0,0,0
$GC,8876,1.25,214.7,112.3,9.3,475,8880,0.00,2.42,0.00,0.000,4,0.000,0.044,2967,600,2169,0,0,0,0,0,0
$GC,8975,1.25,214.7,102.2,9.8,485,8981,0.00,2.30,0.00,0.000,6,0.000,0.022,2968,2023,2170,0,0,0,0,0,0
$GC,9237,1.36,250.1,81.8,5.6,510,9276,0.20,2.53,31.70,0.585,4,0.052,0.042,3023,592,2030,0,0,0,0,0,0
$GC,9370,1.28,250.1,67.7,12.8,524,9377,0.12,2.35,0.00,0.000,6,0.082,0.021,2995,2011,2025,0,0,0,0,0,0
$GC,9634,1.37,274.8,50.2,6.3,549,9664,0.00,2.53,22.10,0.547,4,0.000,0.044,2995,596,1928,0,0,0,0,0,0
$GC,9789,1.37,274.8,34.2,10.0,566,9793,0.00,2.30,0.00,0.000,6,0.000,0.021,2995,2026,1923,0,0,0,0,0,0
$GC,10061,1.43,274.8,8.0,10.8,610,10068,0.15,2.50,0.00,0.000,4,0.058,0.044,3040,605,1923,0,0,0,0,0,0
$GC,10089,1.38,274.8,5.0,11.4,615,10095,0.12,2.25,0.00,0.000,6,0.102,0.020,3015,1993,1922,0,0,0,0,0,0
$STATE,10106,end climb,SURFACE_DEPTH_REACHED
$STATE,10106,begin surface coast
$FINISH,0.6,1.021407
$STATE,10134,end surface coast,CONTROL_FINISHED_OK
$STATE,10134,begin surface
$SM_CCo,10154,13.15,0.482,0,0,1827,300.00
$SM_GC,1.73,0.00,0.00,13.15,0.000,0.000,0.482,429,1842,1827,-10.51,-0.93,300.00
$IRIDIUM_FIX,2052.52,-15823.92,180899,111101
$TT8_MAMPS,0.03068
$HUMID,47.16
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,31.657
$10V_AH,10.0,30.011
$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,26.925,115.075,303.850,13.150,0.000,27.163,31.269,206.249,4.500,0.000,86.405,1217.459,6658.230,375.120,1916.872,440.624,33.372,1191.691,0.000,1814.627,0.000,29.260,0.000
$DEVICE_MAMPS,134.225,53.690,877.448,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,420.297,396.518,777.511,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,35011,623
$CAP_FILE_SIZE,117850,0
$CFSIZE,260165632,238120960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240510,172457,2101.515,-15755.582,96,1.4,96,9.8