version: 66.06
glider: 139
mission: 7
dive: 359
start: 5 25 110 2 34 33
data:
$ID,139
$MISSION,7
$DIVE,359
$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,-2133950.2
$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
$GPS1,021801,2104.045,-15758.745,168,1.5,168,9.8
$_CALLS,2
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-66.2
$GPS2,023339,2104.063,-15758.718,15,1.5,15,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.101,0.153
$KALMAN_X,-8917.4,69.0,-503.7,2820.3,-88.6
$KALMAN_Y,31165.7,240.2,-231.6,-36446.6,-46.9
$MHEAD_RNG_PITCHd_Wd,316.7,9798,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,75,0.00,0.00,-57.85,0.000,6,0.000,0.000,425,1839,3369,0,0,0,0,0,0
$GC,78,-1.40,-77.9,4.0,-7.8,11,94,10.65,2.45,0.00,0.000,4,0.137,0.025,2400,3310,3370,0,0,0,0,0,0
$GC,172,-1.32,-77.9,29.4,-17.2,31,178,0.12,2.42,0.00,0.000,6,0.108,0.029,2422,1874,3371,0,0,0,0,0,0
$GC,371,-1.23,-77.9,63.6,-14.0,50,376,0.10,2.45,0.00,0.000,4,0.120,0.044,2443,460,3372,0,0,0,0,0,0
$GC,415,-1.16,-77.9,69.4,-13.8,54,419,0.00,2.33,0.00,0.000,6,0.000,0.020,2443,1914,3372,0,0,0,0,0,0
$GC,677,-1.16,-77.9,100.8,-10.5,78,681,0.00,2.50,0.00,0.000,4,0.000,0.044,2444,467,3372,0,0,0,0,0,0
$GC,765,-1.13,-77.9,110.7,-10.4,87,770,0.10,2.28,0.00,0.000,6,0.112,0.019,2464,1889,3373,0,0,0,0,0,0
$GC,1027,-1.21,-77.9,136.7,-10.1,111,1031,0.00,2.45,0.00,0.000,4,0.000,0.044,2464,467,3373,0,0,0,0,0,0
$GC,1090,-1.28,-77.9,143.2,-10.4,117,1095,0.12,2.25,0.00,0.000,6,0.062,0.020,2420,1872,3373,0,0,0,0,0,0
$GC,1352,-1.28,-77.9,169.6,-7.6,141,1356,0.00,2.42,0.00,0.000,4,0.000,0.043,2420,460,3373,0,0,0,0,0,0
$GC,1416,-1.28,-77.9,175.9,-10.0,147,1421,0.00,2.28,0.00,0.000,6,0.000,0.020,2420,1877,3374,0,0,0,0,0,0
$GC,1678,-1.28,-77.9,200.0,-9.9,172,1682,0.00,2.40,0.00,0.000,4,0.000,0.044,2420,466,3374,0,0,0,0,0,0
$GC,1720,-1.24,-77.9,204.8,-11.6,174,1725,0.10,2.25,0.00,0.000,6,0.109,0.021,2442,1876,3374,0,0,0,0,0,0
$GC,2055,-1.32,-77.9,232.9,-8.6,190,2059,0.00,2.42,0.00,0.000,4,0.000,0.045,2442,467,3374,0,0,0,0,0,0
$GC,2123,-1.38,-77.9,238.9,-8.9,193,2127,0.12,2.28,0.00,0.000,6,0.064,0.021,2400,1880,3374,0,0,0,0,0,0
$GC,2454,-1.38,-77.9,272.8,-10.0,209,2458,0.00,2.42,0.00,0.000,4,0.000,0.045,2399,470,3373,0,0,0,0,0,0
$GC,2524,-1.38,-77.9,280.7,-10.3,212,2528,0.00,2.28,0.00,0.000,6,0.000,0.022,2399,1881,3373,0,0,0,0,0,0
$GC,2847,-1.38,-77.9,311.7,-9.6,225,2851,0.00,2.45,0.00,0.000,4,0.000,0.047,2399,464,3372,0,0,0,0,0,0
$GC,2920,-1.38,-77.9,319.1,-9.4,226,2925,0.00,2.30,0.00,0.000,6,0.000,0.024,2399,1880,3372,0,0,0,0,0,0
$GC,3256,-1.38,-77.9,350.4,-9.9,235,3260,0.00,2.45,0.00,0.000,4,0.000,0.048,2397,470,3370,0,0,0,0,0,0
$GC,3339,-1.38,-77.9,359.0,-9.2,236,3344,0.00,2.30,0.00,0.000,6,0.000,0.025,2399,1877,3370,0,0,0,0,0,0
$GC,3670,-1.43,-77.9,384.7,-8.5,245,3674,0.00,2.45,0.00,0.000,4,0.000,0.051,2398,471,3368,0,0,0,0,0,0
$GC,3752,-1.43,-77.9,393.9,-10.8,246,3758,0.00,2.30,0.00,0.000,6,0.000,0.027,2398,1872,3367,0,0,0,0,0,0
$GC,4083,-1.47,-77.9,423.8,-8.6,255,4087,0.00,2.47,0.00,0.000,4,0.000,0.053,2397,463,3365,0,0,0,0,0,0
$GC,4180,-1.47,-77.9,433.2,-9.4,257,4184,0.00,2.33,0.00,0.000,6,0.000,0.028,2399,1871,3364,0,0,0,0,0,0
$STATE,4374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4374,begin apogee
$GC,4379,-0.31,0.0,450.9,9.0,262,4447,1.15,0.00,63.92,0.867,6,0.074,0.000,2645,2034,3050,0,0,0,0,0,0
$STATE,4447,end apogee,CONTROL_FINISHED_OK
$STATE,4447,begin climb
$GC,4450,1.40,77.9,452.0,0.0,263,4524,1.62,2.42,64.60,0.847,4,0.035,0.045,3018,3376,2732,0,0,0,0,0,0
$GC,4728,1.23,123.0,446.5,4.9,269,4773,0.22,2.35,38.62,0.840,6,0.114,0.038,2984,2009,2547,0,0,0,0,0,0
$GC,5091,1.12,123.0,416.9,8.5,278,5093,0.15,0.00,0.00,0.000,6,0.123,0.000,2958,2008,2541,0,0,0,0,0,0
$GC,5416,1.07,123.0,390.4,8.1,286,5420,0.00,2.45,0.00,0.000,4,0.000,0.053,2948,604,2538,0,0,0,0,0,0
$GC,5476,0.95,123.0,384.8,8.6,287,5481,0.20,2.30,0.00,0.000,6,0.119,0.030,2922,1988,2537,0,0,0,0,0,0
$GC,5826,1.01,172.7,366.0,4.6,296,5875,0.00,2.55,41.72,0.826,4,0.000,0.052,2920,606,2345,0,0,0,0,0,0
$GC,5939,1.01,172.7,357.0,10.5,298,5943,0.00,2.40,0.00,0.000,6,0.000,0.030,2922,2018,2339,0,0,0,0,0,0
$GC,6279,1.08,172.7,325.1,8.3,307,6284,0.12,2.47,0.00,0.000,4,0.076,0.052,2952,605,2337,0,0,0,0,0,0
$GC,6349,1.02,172.7,318.5,10.2,308,6353,0.00,2.38,0.00,0.000,6,0.000,0.030,2953,2019,2335,0,0,0,0,0,0
$GC,6673,1.02,173.4,289.6,8.0,319,6677,0.00,2.47,0.00,0.000,4,0.000,0.051,2953,602,2335,0,0,0,0,0,0
$GC,6733,0.97,173.4,284.0,9.7,321,6739,0.15,2.38,0.00,0.000,6,0.120,0.029,2925,2018,2333,0,0,0,0,0,0
$GC,7050,1.05,180.1,259.6,7.6,337,7062,0.00,2.55,5.70,0.597,4,0.000,0.050,2925,602,2314,0,0,0,0,0,0
$GC,7188,1.05,180.1,246.9,9.1,343,7193,0.00,2.35,0.00,0.000,6,0.000,0.028,2926,2018,2313,0,0,0,0,0,0
$GC,7519,1.18,207.5,224.2,6.1,359,7552,0.20,2.58,25.35,0.720,4,0.060,0.049,2975,606,2203,0,0,0,0,0,0
$GC,7740,1.13,207.5,200.4,11.5,368,7747,0.00,2.38,0.00,0.000,6,0.000,0.027,2975,2015,2197,0,0,0,0,0,0
$GC,8066,1.13,212.8,169.1,7.7,399,8076,0.00,2.50,5.15,0.514,4,0.000,0.046,2975,598,2181,0,0,0,0,0,0
$GC,8262,1.09,212.8,152.7,8.8,420,8270,0.08,2.38,0.00,0.000,6,0.099,0.025,2958,2013,2178,0,0,0,0,0,0
$GC,8525,1.16,212.8,130.8,8.6,445,8529,0.00,2.45,0.00,0.000,4,0.000,0.045,2957,602,2178,0,0,0,0,0,0
$GC,8563,1.16,212.8,127.3,9.3,448,8569,0.00,2.35,0.00,0.000,6,0.000,0.024,2958,2018,2178,0,0,0,0,0,0
$GC,8826,1.24,219.5,107.9,7.6,473,8839,0.12,2.50,7.03,0.518,4,0.069,0.044,2994,602,2155,0,0,0,0,0,0
$GC,9009,1.19,219.5,88.9,10.7,493,9014,0.12,2.28,0.00,0.000,6,0.111,0.022,2972,2015,2153,0,0,0,0,0,0
$GC,9272,1.27,232.6,67.9,7.1,517,9292,0.00,2.50,13.18,0.544,4,0.000,0.044,2972,605,2100,0,0,0,0,0,0
$GC,9401,1.32,232.6,57.8,8.1,531,9406,0.12,2.28,0.00,0.000,6,0.069,0.021,3010,2011,2097,0,0,0,0,0,0
$GC,9664,1.32,233.3,39.2,8.0,555,9668,0.00,2.30,0.00,0.000,4,0.000,0.028,3009,3405,2097,0,0,0,0,0,0
$GC,9713,1.39,233.3,34.2,8.9,560,9719,0.00,2.38,0.00,0.000,6,0.000,0.029,3009,1999,2097,0,0,0,0,0,0
$GC,9983,1.39,233.3,13.7,8.2,603,9988,0.00,2.38,0.00,0.000,4,0.000,0.045,3010,602,2097,0,0,0,0,0,0
$GC,10013,1.32,233.3,10.0,12.3,609,10019,0.00,2.28,0.00,0.000,6,0.000,0.020,3010,2016,2097,0,0,0,0,0,0
$STATE,10083,end climb,SURFACE_DEPTH_REACHED
$STATE,10083,begin surface coast
$FINISH,0.4,1.021110
$STATE,10130,end surface coast,CONTROL_FINISHED_OK
$STATE,10130,begin surface
$SM_CCo,10150,34.92,0.505,0,0,1826,300.00
$SM_GC,1.58,0.00,0.00,34.92,0.000,0.000,0.505,432,1852,1826,-10.50,-0.65,300.00
$IRIDIUM_FIX,2054.83,-15756.91,190899,020231
$TT8_MAMPS,0.029146
$HUMID,47.59
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,23.4,32.035
$10V_AH,10.0,30.340
$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,26.825,119.925,265.275,34.925,0.000,54.068,62.805,646.841,4.500,0.000,15.422,1246.210,6601.206,369.508,1950.935,957.637,33.373,1222.958,0.000,1921.958,0.000,30.506,0.000
$DEVICE_MAMPS,136.526,52.923,866.710,505.453,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.961,401.471,790.362,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355792
$DATA_FILE_SIZE,35117,630
$CAP_FILE_SIZE,130483,0
$CFSIZE,260165632,237871104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250510,052651,2104.763,-15759.569,97,6.8,116,9.8