version: 66.06
glider: 139
mission: 7
dive: 352
start: 5 24 110 5 13 51
data:
$ID,139
$MISSION,7
$DIVE,352
$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,-2133662.5
$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
$GPS1,050443,2059.033,-15751.065,57,1.8,62,9.8
$_CALLS,1
$_XMS_NAKs,38
$_XMS_TOUTs,1
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.6
$GPS2,051259,2059.016,-15751.083,43,2.3,62,9.8
$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,-6363.1,184.3,119.6,12713.4,298.3
$KALMAN_Y,31923.6,-139.9,-65.6,-46329.2,706.0
$MHEAD_RNG_PITCHd_Wd,281.9,25644,-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,-53.22,0.000,2,0.000,0.000,424,1897,3234,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.6,-6.2,10,95,10.52,2.38,-2.58,0.000,4,0.131,0.037,2400,3306,3370,0,0,0,0,0,0
$GC,224,-1.36,-77.9,34.4,-13.4,39,230,0.00,2.45,0.00,0.000,6,0.000,0.031,2400,1869,3371,0,0,0,0,0,0
$GC,486,-1.23,-77.9,75.6,-14.8,64,491,0.22,2.42,0.00,0.000,4,0.095,0.044,2445,463,3372,0,0,0,0,0,0
$GC,539,-1.23,-77.9,82.7,-11.1,69,544,0.00,2.30,0.00,0.000,6,0.000,0.019,2445,1909,3372,0,0,0,0,0,0
$GC,802,-1.23,-77.9,111.2,-9.9,93,806,0.00,2.50,0.00,0.000,4,0.000,0.043,2446,459,3373,0,0,0,0,0,0
$GC,835,-1.20,-77.9,114.9,-11.2,96,839,0.00,2.28,0.00,0.000,6,0.000,0.020,2445,1882,3373,0,0,0,0,0,0
$GC,1102,-1.25,-77.9,141.3,-9.7,121,1106,0.00,2.42,0.00,0.000,4,0.000,0.043,2446,460,3374,0,0,0,0,0,0
$GC,1209,-1.29,-77.9,152.8,-10.5,132,1213,0.00,2.28,0.00,0.000,6,0.000,0.020,2446,1882,3375,0,0,0,0,0,0
$GC,1471,-1.35,-77.9,176.7,-9.8,156,1475,0.12,2.42,0.00,0.000,4,0.063,0.044,2402,469,3375,0,0,0,0,0,0
$GC,1570,-1.27,-77.9,190.0,-14.6,166,1575,0.15,2.25,0.00,0.000,6,0.094,0.020,2434,1875,3375,0,0,0,0,0,0
$GC,1826,-1.33,-77.9,216.1,-9.2,182,1831,0.00,2.42,0.00,0.000,4,0.000,0.044,2434,461,3375,0,0,0,0,0,0
$GC,1873,-1.37,-77.9,220.8,-10.3,184,1877,0.00,2.28,0.00,0.000,6,0.000,0.021,2434,1882,3375,0,0,0,0,0,0
$GC,2198,-1.42,-77.9,250.8,-9.7,200,2203,0.15,2.45,0.00,0.000,4,0.058,0.046,2387,467,3376,0,0,0,0,0,0
$GC,2254,-1.33,-77.9,258.4,-13.6,202,2259,0.17,2.25,0.00,0.000,6,0.090,0.021,2423,1868,3376,0,0,0,0,0,0
$GC,2572,-1.39,-77.9,288.1,-8.3,217,2576,0.00,2.42,0.00,0.000,4,0.000,0.046,2423,463,3375,0,0,0,0,0,0
$GC,2592,-1.42,-77.9,290.2,-9.6,218,2596,0.00,2.28,0.00,0.000,6,0.000,0.022,2423,1880,3375,0,0,0,0,0,0
$GC,2918,-1.50,-77.9,314.0,-6.8,229,2923,0.17,2.45,0.00,0.000,4,0.054,0.048,2372,462,3375,0,0,0,0,0,0
$GC,3047,-1.44,-77.9,328.1,-10.2,231,3053,0.12,2.28,0.00,0.000,6,0.100,0.023,2398,1868,3375,0,0,0,0,0,0
$GC,3378,-1.48,-77.9,354.8,-7.9,240,3382,0.00,2.45,0.00,0.000,4,0.000,0.050,2398,462,3373,0,0,0,0,0,0
$GC,3439,-1.48,-77.9,360.3,-9.4,241,3443,0.00,2.30,0.00,0.000,6,0.000,0.025,2398,1876,3373,0,0,0,0,0,0
$GC,3790,-1.52,-77.9,389.1,-8.8,250,3794,0.00,2.45,0.00,0.000,4,0.000,0.051,2398,472,3371,0,0,0,0,0,0
$GC,3859,-1.52,-77.9,396.1,-9.0,251,3863,0.00,2.28,0.00,0.000,6,0.000,0.027,2398,1871,3370,0,0,0,0,0,0
$GC,4199,-1.57,-77.9,426.0,-8.8,260,4204,0.12,2.47,0.00,0.000,4,0.070,0.054,2362,472,3368,0,0,0,0,0,0
$GC,4290,-1.49,-77.9,436.2,-12.0,262,4295,0.12,2.30,0.00,0.000,6,0.107,0.028,2387,1873,3367,0,0,0,0,0,0
$STATE,4453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4453,begin apogee
$GC,4458,-0.31,0.0,453.4,10.1,266,4527,1.20,0.00,64.80,0.875,6,0.074,0.000,2643,2034,3050,0,0,0,0,0,0
$STATE,4528,end apogee,CONTROL_FINISHED_OK
$STATE,4528,begin climb
$GC,4530,1.40,77.9,454.9,0.0,267,4604,1.62,2.45,65.05,0.855,4,0.032,0.046,3012,3384,2732,0,0,0,0,0,0
$GC,4859,1.23,121.6,447.8,5.0,274,4904,0.20,2.38,37.25,0.849,6,0.113,0.038,2986,2011,2553,0,0,0,0,0,0
$GC,5218,1.11,121.6,418.9,8.9,283,5223,0.15,2.50,0.00,0.000,4,0.119,0.052,2959,604,2548,0,0,0,0,0,0
$GC,5336,0.98,121.6,408.1,9.1,285,5341,0.17,2.33,0.00,0.000,6,0.119,0.030,2927,1990,2546,0,0,0,0,0,0
$GC,5676,1.02,153.7,386.1,5.8,294,5706,0.00,0.00,27.58,0.831,6,0.000,0.000,2928,1994,2423,0,0,0,0,0,0
$GC,6001,1.02,157.8,363.7,7.7,302,6011,0.00,2.50,4.28,0.558,4,0.000,0.052,2927,596,2406,0,0,0,0,0,0
$GC,6076,1.02,157.8,356.7,9.7,303,6080,0.00,2.40,0.00,0.000,6,0.000,0.031,2928,2011,2404,0,0,0,0,0,0
$GC,6411,1.07,157.8,328.7,8.0,312,6415,0.00,2.50,0.00,0.000,4,0.000,0.053,2928,602,2403,0,0,0,0,0,0
$GC,6504,1.07,157.8,320.3,9.1,314,6508,0.00,2.38,0.00,0.000,6,0.000,0.031,2928,2012,2401,0,0,0,0,0,0
$GC,6826,1.14,176.5,297.5,6.7,322,6851,0.15,2.42,17.23,0.768,4,0.071,0.039,2964,3404,2329,0,0,0,0,0,0
$GC,6865,1.14,176.5,294.4,8.1,323,6869,0.00,2.40,0.00,0.000,6,0.000,0.037,2964,2011,2329,0,0,0,0,0,0
$GC,7179,1.14,176.5,267.6,9.0,338,7183,0.00,2.45,0.00,0.000,4,0.000,0.052,2964,605,2325,0,0,0,0,0,0
$GC,7367,1.09,176.5,250.5,8.1,346,7371,0.00,2.35,0.00,0.000,6,0.000,0.028,2964,2022,2322,0,0,0,0,0,0
$GC,7695,1.09,176.5,226.8,8.2,362,7699,0.00,2.33,0.00,0.000,4,0.000,0.037,2964,3403,2322,0,0,0,0,0,0
$GC,7714,1.12,176.5,225.2,9.2,362,7720,0.00,2.40,0.00,0.000,6,0.000,0.034,2965,2012,2322,0,0,0,0,0,0
$GC,8029,1.15,176.5,198.5,8.7,378,8033,0.00,2.45,0.00,0.000,4,0.000,0.047,2964,595,2322,0,0,0,0,0,0
$GC,8041,1.15,176.5,197.3,8.5,379,8047,0.00,2.35,0.00,0.000,6,0.000,0.026,2964,2018,2320,0,0,0,0,0,0
$GC,8303,1.19,207.1,180.6,5.9,404,8335,0.00,2.55,26.73,0.675,4,0.000,0.047,2964,596,2205,0,0,0,0,0,0
$GC,8397,1.19,207.1,173.3,10.0,414,8402,0.00,2.33,0.00,0.000,6,0.000,0.025,2964,2011,2200,0,0,0,0,0,0
$GC,8660,1.24,214.0,152.0,7.6,438,8671,0.00,2.53,6.88,0.542,4,0.000,0.044,2963,602,2176,0,0,0,0,0,0
$GC,8809,1.24,214.0,138.2,8.7,454,8813,0.00,2.33,0.00,0.000,6,0.000,0.023,2965,2018,2173,0,0,0,0,0,0
$GC,9072,1.33,223.9,120.3,7.3,478,9091,0.17,2.47,9.93,0.557,4,0.057,0.042,3013,591,2136,0,0,0,0,0,0
$GC,9142,1.24,223.9,113.5,10.0,485,9149,0.15,2.33,0.00,0.000,6,0.102,0.022,2985,2014,2134,0,0,0,0,0,0
$GC,9405,1.31,231.1,93.7,7.5,510,9419,0.00,2.50,7.68,0.510,4,0.000,0.043,2984,601,2107,0,0,0,0,0,0
$GC,9672,1.31,231.1,74.1,8.8,539,9679,0.00,2.30,0.00,0.000,6,0.000,0.021,2985,2025,2105,0,0,0,0,0,0
$GC,9936,1.41,253.8,58.3,6.5,564,9967,0.15,2.53,20.92,0.543,4,0.060,0.041,3030,600,2014,0,0,0,0,0,0
$GC,10050,1.33,253.8,45.7,12.8,576,10057,0.10,2.30,0.00,0.000,6,0.080,0.020,3006,2005,2011,0,0,0,0,0,0
$GC,10317,1.37,253.8,14.4,10.8,613,10323,0.00,2.40,0.00,0.000,4,0.000,0.041,3006,595,2011,0,0,0,0,0,0
$GC,10383,1.37,253.8,6.4,12.1,627,10389,0.00,2.28,0.00,0.000,6,0.000,0.020,3006,2005,2010,0,0,0,0,0,0
$STATE,10409,end climb,SURFACE_DEPTH_REACHED
$STATE,10409,begin surface coast
$FINISH,0.5,1.023383
$STATE,10433,end surface coast,CONTROL_FINISHED_OK
$STATE,10433,begin surface
$SM_CCo,10453,23.17,0.494,0,0,1825,300.00
$SM_GC,1.04,0.00,0.00,23.17,0.000,0.000,0.494,425,1848,1825,-10.53,-0.68,300.00
$IRIDIUM_FIX,2050.21,-15747.49,180899,020243
$TT8_MAMPS,0.029146
$HUMID,46.69
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,23.4,31.374
$10V_AH,10.0,29.761
$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,27.000,124.600,288.300,23.175,0.000,23.807,30.363,285.901,4.750,0.000,64.677,1256.033,6786.773,379.301,2005.869,545.368,33.377,1248.759,0.000,1932.665,0.000,32.073,0.000
$DEVICE_MAMPS,131.157,53.690,875.147,493.948,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,428.643,405.970,780.347,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,34912,636
$CAP_FILE_SIZE,125829,0
$CFSIZE,260165632,238292992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240510,081151,2059.444,-15752.130,148,7.6,167,9.8