version: 66.06
glider: 139
mission: 7
dive: 297
start: 5 17 110 5 56 56
data:
$ID,139
$MISSION,7
$DIVE,297
$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,-2131598
$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
$GPS1,054707,2102.635,-15755.842,76,1.5,76,9.8
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.8
$GPS2,055605,2102.722,-15755.837,13,2.1,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.171,0.068
$KALMAN_X,13800.8,408.9,-513.5,-15259.1,969.8
$KALMAN_Y,12757.2,549.3,-191.3,-20871.8,148.7
$MHEAD_RNG_PITCHd_Wd,282.0,14958,-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,-52.60,0.000,2,0.000,0.000,429,1903,3205,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.4,-5.5,10,94,10.57,2.33,-3.25,0.000,4,0.134,0.037,2403,3296,3371,0,0,0,0,0,0
$GC,255,-1.45,-77.9,39.0,-13.2,44,259,0.00,2.40,0.00,0.000,6,0.000,0.035,2403,1876,3372,0,0,0,0,0,0
$GC,518,-1.34,-77.9,74.8,-15.2,68,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1876,3373,0,0,0,0,0,0
$GC,770,-1.28,-77.9,111.8,-14.7,92,775,0.15,2.42,0.00,0.000,4,0.104,0.045,2433,460,3374,0,0,0,0,0,0
$GC,850,-1.23,-77.9,123.2,-14.2,100,854,0.00,2.33,0.00,0.000,6,0.000,0.020,2432,1905,3375,0,0,0,0,0,0
$GC,1111,-1.23,-77.9,151.9,-10.5,124,1115,0.00,2.47,0.00,0.000,4,0.000,0.044,2433,469,3375,0,0,0,0,0,0
$GC,1165,-1.23,-77.9,158.4,-12.8,129,1170,0.00,2.25,0.00,0.000,6,0.000,0.020,2431,1885,3376,0,0,0,0,0,0
$GC,1427,-1.26,-77.9,183.3,-10.0,154,1431,0.00,2.45,0.00,0.000,4,0.000,0.044,2433,466,3376,0,0,0,0,0,0
$GC,1487,-1.26,-77.9,190.1,-11.1,160,1491,0.00,2.28,0.00,0.000,6,0.000,0.021,2433,1880,3376,0,0,0,0,0,0
$GC,1754,-1.33,-77.9,216.7,-9.2,177,1758,0.00,2.42,0.00,0.000,4,0.000,0.044,2432,468,3376,0,0,0,0,0,0
$GC,1836,-1.33,-77.9,225.8,-11.3,180,1843,0.00,2.30,0.00,0.000,6,0.000,0.021,2433,1882,3377,0,0,0,0,0,0
$GC,2152,-1.41,-77.9,256.2,-9.0,196,2157,0.12,2.47,0.00,0.000,4,0.064,0.046,2390,459,3376,0,0,0,0,0,0
$GC,2173,-1.41,-77.9,258.2,-10.0,197,2177,0.00,2.30,0.00,0.000,6,0.000,0.022,2392,1886,3377,0,0,0,0,0,0
$GC,2504,-1.41,-77.9,293.4,-9.6,213,2508,0.00,2.45,0.00,0.000,4,0.000,0.047,2391,470,3376,0,0,0,0,0,0
$GC,2606,-1.36,-77.9,304.7,-11.2,217,2611,0.12,2.25,0.00,0.000,6,0.101,0.023,2417,1874,3375,0,0,0,0,0,0
$GC,2920,-1.42,-77.9,331.4,-8.5,225,2924,0.00,2.45,0.00,0.000,4,0.000,0.050,2416,467,3375,0,0,0,0,0,0
$GC,3035,-1.42,-77.9,341.3,-9.6,227,3040,0.00,2.28,0.00,0.000,6,0.000,0.025,2417,1869,3375,0,0,0,0,0,0
$GC,3376,-1.50,-77.9,369.9,-8.0,236,3381,0.12,2.47,0.00,0.000,4,0.067,0.052,2377,466,3372,0,0,0,0,0,0
$GC,3427,-1.46,-77.9,374.7,-9.3,237,3431,0.00,2.33,0.00,0.000,6,0.000,0.026,2379,1879,3372,0,0,0,0,0,0
$GC,3747,-1.46,-77.9,401.7,-8.8,245,3751,0.00,2.45,0.00,0.000,4,0.000,0.054,2377,473,3370,0,0,0,0,0,0
$GC,3779,-1.39,-77.9,405.6,-11.3,245,3784,0.15,2.33,0.00,0.000,6,0.098,0.028,2410,1882,3369,0,0,0,0,0,0
$GC,4110,-1.46,-77.9,434.6,-8.5,253,4114,0.00,2.50,0.00,0.000,4,0.000,0.054,2410,467,3367,0,0,0,0,0,0
$GC,4132,-1.46,-77.9,436.8,-9.6,253,4137,0.00,2.33,0.00,0.000,4,0.000,0.029,2409,1873,3367,0,0,0,0,0,0
$STATE,4137,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4137,begin apogee
$GC,4142,-0.31,0.0,437.2,9.5,253,4210,1.08,0.00,64.47,0.861,6,0.073,0.000,2643,2022,3050,0,0,0,0,0,0
$STATE,4211,end apogee,CONTROL_FINISHED_OK
$STATE,4211,begin climb
$GC,4213,1.40,77.9,439.0,0.0,255,4288,1.65,2.47,64.53,0.839,4,0.032,0.044,3028,3393,2732,0,0,0,0,0,0
$GC,4321,1.29,181.6,440.8,0.9,257,4419,0.15,2.40,88.70,0.837,6,0.120,0.036,3000,2009,2309,0,0,0,0,0,0
$GC,4750,1.19,181.6,392.9,12.7,268,4755,0.15,2.38,0.00,0.000,4,0.120,0.038,2971,3395,2298,0,0,0,0,0,0
$GC,4765,1.11,181.6,390.8,13.2,268,4769,0.00,2.40,0.00,0.000,6,0.000,0.038,2973,2003,2298,0,0,0,0,0,0
$GC,5114,1.07,181.6,351.9,10.7,277,5119,0.12,2.47,0.00,0.000,4,0.120,0.055,2948,599,2294,0,0,0,0,0,0
$GC,5184,1.03,181.6,343.1,12.1,278,5188,0.00,2.38,0.00,0.000,6,0.000,0.030,2948,2006,2291,0,0,0,0,0,0
$GC,5528,1.03,181.6,309.4,9.2,287,5532,0.00,2.47,0.00,0.000,4,0.000,0.051,2949,604,2291,0,0,0,0,0,0
$GC,5646,0.98,181.6,299.0,10.4,289,5650,0.00,2.38,0.00,0.000,6,0.000,0.029,2950,2017,2289,0,0,0,0,0,0
$GC,5971,0.98,181.6,269.3,9.1,305,5976,0.12,2.50,0.00,0.000,4,0.120,0.051,2927,597,2288,0,0,0,0,0,0
$GC,6018,0.98,181.6,264.8,9.8,307,6022,0.00,2.35,0.00,0.000,6,0.000,0.029,2928,2012,2286,0,0,0,0,0,0
$GC,6343,1.07,183.0,236.9,7.9,323,6347,0.00,2.38,0.00,0.000,4,0.000,0.038,2929,3411,2287,0,0,0,0,0,0
$GC,6366,1.19,196.3,235.0,7.1,324,6386,0.20,2.40,10.20,0.670,6,0.058,0.035,2979,2005,2248,0,0,0,0,0,0
$GC,6693,1.19,196.3,206.8,8.9,340,6698,0.00,2.42,0.00,0.000,4,0.000,0.048,2976,599,2246,0,0,0,0,0,0
$GC,6820,1.13,196.3,193.2,12.3,350,6824,0.00,2.33,0.00,0.000,6,0.000,0.026,2979,2013,2243,0,0,0,0,0,0
$GC,7081,1.13,196.3,166.4,10.2,374,7085,0.00,2.45,0.00,0.000,4,0.000,0.047,2979,604,2243,0,0,0,0,0,0
$GC,7152,1.06,196.3,158.0,12.3,381,7157,0.17,2.33,0.00,0.000,6,0.111,0.025,2948,2017,2243,0,0,0,0,0,0
$GC,7414,1.13,196.3,133.6,9.4,405,7419,0.00,2.45,0.00,0.000,4,0.000,0.045,2948,603,2243,0,0,0,0,0,0
$GC,7476,1.13,196.3,127.5,10.1,411,7480,0.00,2.33,0.00,0.000,6,0.000,0.024,2947,2022,2242,0,0,0,0,0,0
$GC,7739,1.26,236.1,109.9,5.3,435,7780,0.17,2.53,34.97,0.611,4,0.058,0.044,2996,604,2086,0,0,0,0,0,0
$GC,7926,1.20,236.1,92.6,11.0,455,7931,0.00,2.33,0.00,0.000,6,0.000,0.022,2996,2020,2080,0,0,0,0,0,0
$GC,8191,1.20,236.1,63.9,11.4,480,8195,0.00,2.45,0.00,0.000,4,0.000,0.043,2997,602,2080,0,0,0,0,0,0
$GC,8215,1.16,236.1,60.8,11.8,482,8220,0.15,2.30,0.00,0.000,6,0.104,0.021,2968,2012,2079,0,0,0,0,0,0
$GC,8478,1.28,248.3,38.2,7.2,506,8499,0.10,2.50,11.18,0.505,4,0.076,0.042,3001,600,2035,0,0,0,0,0,0
$GC,8670,1.28,248.3,22.4,8.5,537,8676,0.00,2.28,0.00,0.000,6,0.000,0.021,3001,2018,2032,0,0,0,0,0,0
$GC,8873,1.32,248.3,7.9,8.7,574,8880,0.00,2.45,0.00,0.000,4,0.000,0.042,3001,608,2032,0,0,0,0,0,0
$GC,8886,1.37,248.3,7.0,8.2,576,8892,0.00,2.28,0.00,0.000,6,0.000,0.021,3002,2033,2032,0,0,0,0,0,0
$STATE,8936,end climb,SURFACE_DEPTH_REACHED
$STATE,8936,begin surface coast
$FINISH,0.5,1.011930
$STATE,8970,end surface coast,CONTROL_FINISHED_OK
$STATE,8971,begin surface
$SM_CCo,8990,26.90,0.502,0,0,1827,300.00
$SM_GC,1.00,0.00,0.00,26.90,0.000,0.000,0.502,429,1849,1827,-10.51,-0.74,300.00
$IRIDIUM_FIX,2052.52,-15754.77,110899,050523
$TT8_MAMPS,0.029146
$HUMID,46.37
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,420.8,46.2
$24V_AH,23.4,26.218
$10V_AH,10.1,25.192
$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,26.350,115.100,274.050,26.900,0.000,57.720,62.989,226.588,4.500,0.000,33.396,1148.159,5791.667,354.139,1736.632,526.516,33.356,1118.446,0.000,1695.749,0.000,30.659,0.000
$DEVICE_MAMPS,134.225,56.758,860.574,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.477,383.468,755.308,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,34948,591
$CAP_FILE_SIZE,113596,0
$CFSIZE,260165632,241569792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170510,083021,2103.188,-15756.636,132,2.1,151,9.8