version: 66.06
glider: 139
mission: 7
dive: 356
start: 5 24 110 17 35 19
data:
$ID,139
$MISSION,7
$DIVE,356
$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,-2133869.8
$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
$GPS1,172457,2101.515,-15755.582,96,1.4,96,9.8
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-67.2
$GPS2,173427,2101.546,-15755.580,15,1.6,15,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.141,0.118
$KALMAN_X,-7217.0,-367.0,109.6,6356.6,-55.4
$KALMAN_Y,31599.0,-101.5,-42.3,-41384.8,509.8
$MHEAD_RNG_PITCHd_Wd,300.2,16838,-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,-53.00,0.000,2,0.000,0.000,429,1842,3213,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.2,-4.9,10,97,10.62,2.45,-3.12,0.000,4,0.136,0.038,2401,3293,3370,0,0,0,0,0,0
$GC,243,-1.40,-77.9,33.5,-12.6,44,249,0.00,2.42,0.00,0.000,6,0.000,0.031,2400,1877,3371,0,0,0,0,0,0
$GC,506,-1.29,-77.9,78.0,-14.5,69,511,0.15,2.45,0.00,0.000,4,0.105,0.045,2431,463,3372,0,0,0,0,0,0
$GC,561,-1.19,-77.9,87.3,-15.2,74,568,0.08,2.35,0.00,0.000,6,0.087,0.020,2449,1910,3372,0,0,0,0,0,0
$GC,824,-1.23,-77.9,117.5,-10.4,99,828,0.00,2.50,0.00,0.000,4,0.000,0.043,2450,462,3373,0,0,0,0,0,0
$GC,912,-1.23,-77.9,126.6,-9.3,108,916,0.00,2.28,0.00,0.000,6,0.000,0.019,2450,1878,3373,0,0,0,0,0,0
$GC,1173,-1.27,-77.9,152.8,-10.4,132,1177,0.00,2.28,0.00,0.000,4,0.000,0.026,2449,3268,3374,0,0,0,0,0,0
$GC,1191,-1.34,-77.9,155.1,-11.0,133,1198,0.12,2.35,0.00,0.000,6,0.064,0.028,2407,1862,3374,0,0,0,0,0,0
$GC,1452,-1.34,-77.9,185.6,-11.6,158,1456,0.00,2.38,0.00,0.000,4,0.000,0.044,2408,471,3375,0,0,0,0,0,0
$GC,1524,-1.28,-77.9,194.8,-12.4,165,1530,0.12,2.25,0.00,0.000,6,0.102,0.020,2433,1879,3375,0,0,0,0,0,0
$GC,1793,-1.32,-77.9,221.7,-10.8,181,1797,0.00,2.42,0.00,0.000,4,0.000,0.044,2433,469,3375,0,0,0,0,0,0
$GC,1836,-1.32,-77.9,227.3,-12.8,183,1840,0.00,2.25,0.00,0.000,6,0.000,0.021,2433,1883,3375,0,0,0,0,0,0
$GC,2168,-1.39,-77.9,255.9,-6.9,199,2173,0.10,2.45,0.00,0.000,4,0.077,0.045,2398,473,3375,0,0,0,0,0,0
$GC,2212,-1.39,-77.9,260.6,-10.4,201,2217,0.00,2.25,0.00,0.000,6,0.000,0.021,2398,1881,3375,0,0,0,0,0,0
$GC,2544,-1.39,-77.9,291.7,-8.5,217,2548,0.00,2.45,0.00,0.000,4,0.000,0.046,2398,464,3375,0,0,0,0,0,0
$GC,2581,-1.36,-77.9,295.6,-10.3,218,2588,0.00,2.30,0.00,0.000,6,0.000,0.023,2397,1876,3375,0,0,0,0,0,0
$GC,2892,-1.36,-77.9,324.1,-9.0,228,2896,0.00,2.40,0.00,0.000,4,0.000,0.048,2397,474,3374,0,0,0,0,0,0
$GC,2919,-1.32,-77.9,326.5,-9.3,228,2924,0.12,2.28,0.00,0.000,6,0.101,0.024,2425,1877,3374,0,0,0,0,0,0
$GC,3256,-1.39,-77.9,350.8,-7.2,237,3260,0.00,2.45,0.00,0.000,4,0.000,0.049,2423,468,3372,0,0,0,0,0,0
$GC,3363,-1.46,-77.9,361.3,-9.5,239,3368,0.12,2.30,0.00,0.000,6,0.067,0.025,2386,1872,3372,0,0,0,0,0,0
$GC,3715,-1.46,-77.9,391.3,-8.3,248,3719,0.00,2.45,0.00,0.000,4,0.000,0.051,2386,473,3370,0,0,0,0,0,0
$GC,3788,-1.46,-77.9,398.8,-10.2,249,3792,0.00,2.30,0.00,0.000,6,0.000,0.027,2384,1872,3369,0,0,0,0,0,0
$GC,4123,-1.46,-77.9,432.8,-9.4,258,4128,0.00,2.45,0.00,0.000,4,0.000,0.054,2385,475,3367,0,0,0,0,0,0
$GC,4201,-1.46,-77.9,441.4,-10.1,259,4206,0.00,2.33,0.00,0.000,6,0.000,0.029,2385,1880,3366,0,0,0,0,0,0
$STATE,4327,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4327,begin apogee
$GC,4332,-0.31,0.0,452.8,9.1,262,4400,1.20,0.00,64.53,0.876,6,0.076,0.000,2642,2039,3050,0,0,0,0,0,0
$STATE,4401,end apogee,CONTROL_FINISHED_OK
$STATE,4401,begin climb
$GC,4403,1.40,77.9,454.1,0.0,263,4477,1.65,2.45,64.75,0.855,4,0.033,0.047,3022,3384,2732,0,0,0,0,0,0
$GC,4681,1.22,129.0,447.2,4.5,269,4730,0.25,2.38,43.30,0.850,6,0.114,0.038,2982,2014,2524,0,0,0,0,0,0
$GC,5039,1.13,148.5,424.6,6.7,278,5064,0.12,2.58,17.42,0.810,4,0.128,0.054,2959,609,2443,0,0,0,0,0,0
$GC,5098,1.01,148.5,419.8,9.2,279,5103,0.15,2.35,0.00,0.000,6,0.126,0.030,2934,1990,2440,0,0,0,0,0,0
$GC,5412,1.02,158.3,394.9,7.3,287,5428,0.00,2.50,9.20,0.745,4,0.000,0.052,2934,605,2403,0,0,0,0,0,0
$GC,5461,0.96,158.3,390.5,8.8,288,5465,0.00,2.40,0.00,0.000,6,0.000,0.031,2934,2019,2401,0,0,0,0,0,0
$GC,5783,0.96,158.3,364.2,8.5,296,5787,0.00,2.50,0.00,0.000,4,0.000,0.053,2934,604,2399,0,0,0,0,0,0
$GC,5880,0.92,158.3,355.1,9.3,298,5884,0.00,2.38,0.00,0.000,6,0.000,0.031,2934,2020,2398,0,0,0,0,0,0
$GC,6198,0.98,173.6,332.0,7.0,306,6218,0.00,2.60,13.55,0.772,4,0.000,0.053,2934,606,2342,0,0,0,0,0,0
$GC,6398,0.98,173.6,314.6,8.4,310,6402,0.00,2.38,0.00,0.000,6,0.000,0.031,2934,2012,2337,0,0,0,0,0,0
$GC,6730,1.03,179.6,290.2,7.6,321,6743,0.00,2.55,5.95,0.632,4,0.000,0.051,2934,605,2318,0,0,0,0,0,0
$GC,6802,1.03,179.6,284.2,8.3,324,6806,0.00,2.38,0.00,0.000,6,0.000,0.029,2934,2017,2316,0,0,0,0,0,0
$GC,7127,1.10,182.7,260.0,7.8,340,7136,0.00,2.38,4.03,0.504,4,0.000,0.038,2931,3406,2305,0,0,0,0,0,0
$GC,7148,1.18,190.8,258.5,7.5,341,7165,0.17,2.42,9.27,0.683,6,0.061,0.036,2979,2000,2272,0,0,0,0,0,0
$GC,7484,1.20,206.4,229.2,6.9,357,7506,0.00,2.50,15.18,0.706,4,0.000,0.050,2978,602,2207,0,0,0,0,0,0
$GC,7556,1.14,206.4,222.8,9.3,360,7560,0.00,2.38,0.00,0.000,6,0.000,0.027,2978,2019,2204,0,0,0,0,0,0
$GC,7884,1.14,206.4,193.7,9.7,379,7888,0.00,2.47,0.00,0.000,4,0.000,0.048,2978,603,2203,0,0,0,0,0,0
$GC,7965,1.08,206.4,184.6,10.5,387,7972,0.15,2.35,0.00,0.000,6,0.120,0.025,2952,2023,2200,0,0,0,0,0,0
$GC,8228,1.15,206.4,160.1,9.4,412,8232,0.00,2.47,0.00,0.000,4,0.000,0.046,2951,601,2201,0,0,0,0,0,0
$GC,8355,1.15,206.4,146.6,10.2,425,8361,0.00,2.33,0.00,0.000,6,0.000,0.024,2952,2021,2200,0,0,0,0,0,0
$GC,8618,1.25,223.1,126.1,6.9,450,8640,0.15,2.40,14.98,0.602,4,0.064,0.031,2990,3405,2140,0,0,0,0,0,0
$GC,8697,1.30,223.1,118.8,11.7,458,8703,0.00,2.40,0.00,0.000,6,0.000,0.031,2992,2010,2140,0,0,0,0,0,0
$GC,8961,1.30,228.9,97.6,7.6,483,8973,0.00,2.47,6.70,0.501,4,0.000,0.043,2992,601,2116,0,0,0,0,0,0
$GC,9154,1.30,228.9,77.0,10.7,504,9161,0.00,2.33,0.00,0.000,6,0.000,0.021,2993,2013,2113,0,0,0,0,0,0
$GC,9417,1.36,236.5,55.8,7.5,529,9432,0.00,2.50,8.15,0.495,4,0.000,0.043,2993,595,2084,0,0,0,0,0,0
$GC,9537,1.36,236.5,44.9,9.6,542,9541,0.00,2.30,0.00,0.000,6,0.000,0.021,2993,2018,2082,0,0,0,0,0,0
$GC,9802,1.43,246.2,25.8,7.4,571,9819,0.15,2.45,9.82,0.486,4,0.060,0.041,3038,595,2045,0,0,0,0,0,0
$GC,9865,1.32,246.2,18.8,12.2,584,9872,0.15,2.33,0.00,0.000,6,0.078,0.021,3004,2013,2043,0,0,0,0,0,0
$STATE,10015,end climb,SURFACE_DEPTH_REACHED
$STATE,10015,begin surface coast
$FINISH,0.7,1.023384
$STATE,10042,end surface coast,CONTROL_FINISHED_OK
$STATE,10042,begin surface
$SM_CCo,10062,28.70,0.506,0,0,1826,300.00
$SM_GC,1.01,0.00,0.00,28.70,0.000,0.000,0.506,430,1840,1826,-10.51,-0.99,300.00
$IRIDIUM_FIX,2054.83,-15756.91,180899,171716
$TT8_MAMPS,0.029146
$HUMID,47.51
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,31.747
$10V_AH,10.0,30.092
$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,26.675,125.125,286.825,28.700,0.000,47.008,59.132,281.926,4.500,0.000,15.524,1219.917,6579.383,381.311,1888.717,593.276,33.376,1227.496,0.000,1863.264,0.000,29.250,0.000
$DEVICE_MAMPS,135.759,53.690,875.914,506.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.499,392.847,760.010,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,34876,616
$CAP_FILE_SIZE,124595,0
$CFSIZE,260165632,238055424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240510,202551,2102.288,-15756.380,85,2.5,104,9.8