version: 66.06
glider: 139
mission: 7
dive: 357
start: 5 24 110 20 38 57
data:
$ID,139
$MISSION,7
$DIVE,357
$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,-2133898.5
$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
$GPS1,202551,2102.288,-15756.380,85,2.5,104,9.8
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-68.3
$GPS2,203806,2102.382,-15756.353,13,1.6,27,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.094,0.158
$KALMAN_X,-7212.7,-325.6,306.2,4774.7,-265.1
$KALMAN_Y,31305.8,115.1,255.0,-40058.5,-296.7
$MHEAD_RNG_PITCHd_Wd,319.4,14794,-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,-77.9,0.0,0.0,0,71,0.00,0.00,-53.33,0.000,2,0.000,0.000,428,1844,3222,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.4,-5.6,10,95,10.60,2.45,-2.90,0.000,4,0.136,0.038,2401,3296,3371,0,0,0,0,0,0
$GC,259,-1.35,-77.9,38.1,-15.2,45,265,0.00,2.42,0.00,0.000,6,0.000,0.031,2400,1874,3372,0,0,0,0,0,0
$GC,520,-1.23,-77.9,85.2,-17.2,70,525,0.22,2.42,0.00,0.000,4,0.095,0.044,2448,467,3372,0,0,0,0,0,0
$GC,592,-1.20,-77.9,96.3,-13.5,77,597,0.00,2.33,0.00,0.000,6,0.000,0.020,2448,1910,3373,0,0,0,0,0,0
$GC,857,-1.20,-77.9,126.4,-10.5,101,861,0.00,2.50,0.00,0.000,4,0.000,0.044,2448,460,3374,0,0,0,0,0,0
$GC,954,-1.20,-77.9,137.2,-10.7,111,958,0.00,2.28,0.00,0.000,6,0.000,0.019,2447,1875,3374,0,0,0,0,0,0
$GC,1217,-1.26,-77.9,163.3,-9.5,135,1221,0.00,2.28,0.00,0.000,4,0.000,0.025,2447,3269,3375,0,0,0,0,0,0
$GC,1232,-1.34,-77.9,164.8,-8.6,136,1237,0.12,2.35,0.00,0.000,6,0.062,0.028,2405,1863,3375,0,0,0,0,0,0
$GC,1492,-1.34,-77.9,189.7,-9.6,160,1496,0.00,2.38,0.00,0.000,4,0.000,0.044,2405,470,3375,0,0,0,0,0,0
$GC,1571,-1.28,-77.9,199.0,-12.4,168,1576,0.15,2.25,0.00,0.000,6,0.094,0.020,2436,1879,3375,0,0,0,0,0,0
$GC,1838,-1.34,-77.9,226.1,-9.3,181,1842,0.00,2.42,0.00,0.000,4,0.000,0.044,2436,468,3376,0,0,0,0,0,0
$GC,1905,-1.37,-77.9,232.4,-8.8,184,1909,0.00,2.25,0.00,0.000,6,0.000,0.021,2436,1876,3376,0,0,0,0,0,0
$GC,2235,-1.43,-77.9,261.2,-9.6,200,2240,0.15,2.45,0.00,0.000,4,0.058,0.046,2389,465,3375,0,0,0,0,0,0
$GC,2295,-1.43,-77.9,268.6,-12.2,202,2302,0.00,2.30,0.00,0.000,6,0.000,0.022,2389,1873,3375,0,0,0,0,0,0
$GC,2609,-1.43,-77.9,304.6,-11.2,217,2613,0.00,2.42,0.00,0.000,4,0.000,0.046,2389,468,3374,0,0,0,0,0,0
$GC,2648,-1.40,-77.9,308.8,-10.7,217,2653,0.00,2.28,0.00,0.000,6,0.000,0.022,2389,1875,3374,0,0,0,0,0,0
$GC,2979,-1.40,-77.9,339.3,-8.8,226,2983,0.00,2.42,0.00,0.000,4,0.000,0.048,2389,473,3374,0,0,0,0,0,0
$GC,3002,-1.35,-77.9,341.3,-9.5,226,3007,0.15,2.28,0.00,0.000,6,0.097,0.024,2420,1877,3373,0,0,0,0,0,0
$GC,3345,-1.44,-77.9,366.2,-6.9,235,3349,0.00,2.45,0.00,0.000,4,0.000,0.049,2419,468,3372,0,0,0,0,0,0
$GC,3471,-1.50,-77.9,375.9,-7.7,237,3476,0.15,2.30,0.00,0.000,6,0.058,0.025,2376,1879,3371,0,0,0,0,0,0
$GC,3801,-1.50,-77.9,410.1,-10.9,245,3806,0.00,2.45,0.00,0.000,4,0.000,0.051,2376,470,3369,0,0,0,0,0,0
$GC,3834,-1.42,-77.9,413.5,-11.5,245,3839,0.15,2.33,0.00,0.000,6,0.097,0.027,2406,1878,3369,0,0,0,0,0,0
$STATE,3883,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3883,begin apogee
$GC,3889,-0.31,0.0,418.5,9.9,247,3957,1.12,0.00,64.53,0.838,6,0.074,0.000,2647,2029,3050,0,0,0,0,0,0
$STATE,3958,end apogee,CONTROL_FINISHED_OK
$STATE,3958,begin climb
$GC,3960,1.40,77.9,419.9,0.0,248,4035,1.62,2.42,64.30,0.818,4,0.031,0.043,3029,3380,2732,0,0,0,0,0,0
$GC,4298,1.23,129.3,410.4,4.5,256,4347,0.25,2.38,43.03,0.817,6,0.111,0.037,2984,2006,2523,0,0,0,0,0,0
$GC,4692,1.12,129.3,381.2,8.6,266,4696,0.12,2.40,0.00,0.000,4,0.123,0.041,2959,3388,2517,0,0,0,0,0,0
$GC,4710,1.05,129.3,379.3,9.4,266,4715,0.00,2.40,0.00,0.000,6,0.000,0.037,2961,2002,2517,0,0,0,0,0,0
$GC,5060,1.00,129.3,346.9,9.6,275,5062,0.15,0.00,0.00,0.000,6,0.117,0.000,2934,2002,2513,0,0,0,0,0,0
$GC,5384,1.02,142.2,322.0,7.1,283,5400,0.00,2.53,10.52,0.728,4,0.000,0.053,2931,610,2469,0,0,0,0,0,0
$GC,5461,0.98,142.2,316.1,8.4,284,5466,0.00,2.30,0.00,0.000,6,0.000,0.031,2933,1988,2467,0,0,0,0,0,0
$GC,5778,1.03,179.8,296.3,5.4,294,5816,0.00,2.47,33.55,0.782,4,0.000,0.038,2934,3406,2315,0,0,0,0,0,0
$GC,5842,1.14,204.7,292.5,6.3,296,5873,0.12,2.42,23.23,0.752,6,0.074,0.037,2966,2012,2215,0,0,0,0,0,0
$GC,6198,1.14,204.7,255.3,11.3,313,6202,0.00,2.47,0.00,0.000,4,0.000,0.051,2966,603,2207,0,0,0,0,0,0
$GC,6212,1.14,204.7,253.3,11.9,313,6218,0.00,2.38,0.00,0.000,6,0.000,0.028,2965,2015,2205,0,0,0,0,0,0
$GC,6530,1.14,204.7,222.6,9.6,329,6534,0.00,2.50,0.00,0.000,4,0.000,0.050,2966,595,2203,0,0,0,0,0,0
$GC,6645,1.11,204.7,209.3,11.9,334,6649,0.00,2.35,0.00,0.000,6,0.000,0.027,2966,2017,2201,0,0,0,0,0,0
$GC,6979,1.12,215.5,179.7,7.3,361,6992,0.00,2.47,8.43,0.604,4,0.000,0.046,2966,602,2170,0,0,0,0,0,0
$GC,7132,1.12,215.5,164.7,10.9,377,7137,0.00,2.35,0.00,0.000,6,0.000,0.025,2965,2025,2167,0,0,0,0,0,0
$GC,7394,1.16,215.5,140.9,10.1,402,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2030,2167,0,0,0,0,0,0
$GC,7648,1.22,216.9,119.1,7.9,426,7652,0.00,2.47,0.00,0.000,4,0.000,0.044,2965,598,2167,0,0,0,0,0,0
$GC,7672,1.22,216.9,116.7,9.5,428,7676,0.00,2.33,0.00,0.000,6,0.000,0.023,2966,2021,2166,0,0,0,0,0,0
$GC,7934,1.28,216.9,95.1,8.8,452,7939,0.12,2.45,0.00,0.000,4,0.069,0.044,3002,598,2166,0,0,0,0,0,0
$GC,8055,1.22,216.9,83.9,8.5,464,8062,0.08,2.33,0.00,0.000,6,0.084,0.022,2984,2014,2166,0,0,0,0,0,0
$GC,8318,1.31,248.5,66.6,5.9,489,8357,0.00,2.50,29.38,0.563,4,0.000,0.041,2984,592,2035,0,0,0,0,0,0
$GC,8476,1.34,248.5,54.3,9.5,506,8481,0.10,2.33,0.00,0.000,6,0.079,0.021,3015,2022,2031,0,0,0,0,0,0
$GC,8737,1.34,248.5,30.9,8.4,530,8741,0.00,2.42,0.00,0.000,4,0.000,0.042,3015,599,2031,0,0,0,0,0,0
$GC,8790,1.28,248.5,26.1,10.0,539,8796,0.12,2.28,0.00,0.000,6,0.106,0.020,2992,2026,2030,0,0,0,0,0,0
$GC,8995,1.33,248.5,7.5,8.9,576,9002,0.00,2.45,0.00,0.000,4,0.000,0.038,2991,599,2029,0,0,0,0,0,0
$STATE,9040,end climb,SURFACE_DEPTH_REACHED
$STATE,9041,begin surface coast
$FINISH,0.5,1.023208
$STATE,9074,end surface coast,CONTROL_FINISHED_OK
$STATE,9075,begin surface
$SM_CCo,9096,25.90,0.500,0,0,1827,300.00
$SM_GC,0.99,0.00,0.00,25.90,0.000,0.000,0.500,428,1871,1827,-10.52,-0.11,300.00
$IRIDIUM_FIX,2052.52,-15756.91,180899,202014
$TT8_MAMPS,0.029146
$HUMID,46.96
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,383.5,65.0
$24V_AH,23.4,31.838
$10V_AH,10.0,30.170
$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,26.550,109.650,276.950,25.900,0.000,83.389,90.149,309.820,4.000,0.000,28.108,1145.200,5936.126,356.067,1744.293,675.922,33.377,1119.144,0.000,1705.698,0.000,27.575,0.000
$DEVICE_MAMPS,135.759,53.690,837.564,500.084,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.778,383.207,760.318,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,34892,593
$CAP_FILE_SIZE,115933,0
$CFSIZE,260165632,238002176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240510,231232,2103.179,-15757.415,57,1.6,57,9.8