version: 66.06
glider: 139
mission: 7
dive: 305
start: 5 18 110 5 44 57
data:
$ID,139
$MISSION,7
$DIVE,305
$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,-2131866.2
$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
$GPS1,053413,2108.078,-15802.001,25,1.6,31,9.8
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.1
$GPS2,054406,2108.132,-15802.025,14,1.4,30,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,0.011
$KALMAN_X,12559.0,592.3,-448.6,-24956.8,-202.1
$KALMAN_Y,10639.0,520.3,-18.1,-8877.7,-361.2
$MHEAD_RNG_PITCHd_Wd,76.9,33292,-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,-53.35,0.000,2,0.000,0.000,425,1886,3244,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.7,-6.8,10,96,10.65,2.40,-2.38,0.000,4,0.136,0.036,2402,3309,3371,0,0,0,0,0,0
$GC,152,-1.34,-77.9,23.8,-17.0,26,158,0.00,2.47,0.00,0.000,6,0.000,0.035,2401,1871,3372,0,0,0,0,0,0
$GC,358,-1.22,-77.9,61.2,-16.3,48,360,0.22,0.00,0.00,0.000,6,0.093,0.000,2447,1871,3373,0,0,0,0,0,0
$GC,611,-1.22,-77.9,90.9,-12.5,72,615,0.00,2.40,0.00,0.000,4,0.000,0.044,2447,461,3373,0,0,0,0,0,0
$GC,693,-1.22,-77.9,102.0,-12.5,80,700,0.00,2.35,0.00,0.000,6,0.000,0.019,2446,1915,3374,0,0,0,0,0,0
$GC,956,-1.28,-77.9,130.1,-10.8,105,960,0.00,2.50,0.00,0.000,4,0.000,0.043,2446,466,3375,0,0,0,0,0,0
$GC,999,-1.28,-77.9,134.6,-10.4,109,1004,0.00,2.25,0.00,0.000,6,0.000,0.020,2447,1881,3375,0,0,0,0,0,0
$GC,1263,-1.36,-77.9,161.9,-10.1,133,1268,0.12,2.45,0.00,0.000,4,0.064,0.044,2406,469,3376,0,0,0,0,0,0
$GC,1296,-1.27,-77.9,166.3,-12.1,136,1301,0.15,2.25,0.00,0.000,6,0.095,0.020,2436,1887,3376,0,0,0,0,0,0
$GC,1557,-1.33,-77.9,190.8,-10.1,160,1561,0.00,2.45,0.00,0.000,4,0.000,0.045,2437,460,3376,0,0,0,0,0,0
$GC,1654,-1.37,-77.9,201.6,-11.5,169,1658,0.00,2.25,0.00,0.000,6,0.000,0.021,2437,1874,3376,0,0,0,0,0,0
$GC,1975,-1.46,-77.9,234.3,-9.7,185,1980,0.17,2.45,0.00,0.000,4,0.052,0.045,2384,464,3377,0,0,0,0,0,0
$GC,1995,-1.46,-77.9,236.7,-11.1,186,1999,0.00,2.25,0.00,0.000,6,0.000,0.022,2384,1879,3377,0,0,0,0,0,0
$GC,2323,-1.46,-77.9,270.8,-9.3,202,2328,0.00,2.42,0.00,0.000,4,0.000,0.046,2383,470,3377,0,0,0,0,0,0
$GC,2378,-1.38,-77.9,276.4,-10.2,204,2383,0.15,2.28,0.00,0.000,6,0.096,0.022,2415,1877,3377,0,0,0,0,0,0
$GC,2694,-1.45,-77.9,304.8,-9.5,218,2698,0.00,2.42,0.00,0.000,4,0.000,0.048,2415,466,3375,0,0,0,0,0,0
$GC,2786,-1.45,-77.9,313.7,-8.3,220,2790,0.00,2.28,0.00,0.000,6,0.000,0.024,2415,1880,3375,0,0,0,0,0,0
$GC,3109,-1.52,-77.9,341.7,-9.4,228,3114,0.15,2.47,0.00,0.000,4,0.061,0.050,2372,471,3374,0,0,0,0,0,0
$GC,3138,-1.43,-77.9,345.1,-11.8,228,3143,0.15,2.30,0.00,0.000,6,0.097,0.025,2402,1876,3374,0,0,0,0,0,0
$GC,3474,-1.48,-77.9,373.7,-8.1,237,3478,0.00,2.45,0.00,0.000,4,0.000,0.051,2396,465,3372,0,0,0,0,0,0
$GC,3529,-1.48,-77.9,378.9,-9.5,238,3533,0.00,2.30,0.00,0.000,6,0.000,0.027,2403,1877,3372,0,0,0,0,0,0
$GC,3841,-1.53,-77.9,407.0,-9.0,246,3846,0.12,2.47,0.00,0.000,4,0.070,0.054,2367,467,3370,0,0,0,0,0,0
$GC,3932,-1.46,-77.9,416.4,-10.7,248,3937,0.12,2.30,0.00,0.000,6,0.104,0.028,2392,1870,3369,0,0,0,0,0,0
$GC,4261,-1.50,-77.9,445.4,-8.4,256,4265,0.00,2.47,0.00,0.000,4,0.000,0.055,2390,468,3366,0,0,0,0,0,0
$STATE,4314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4314,begin apogee
$GC,4322,-0.31,0.0,450.1,7.8,257,4392,1.17,0.00,64.35,0.881,6,0.080,0.000,2643,2014,3050,0,0,0,0,0,0
$STATE,4393,end apogee,CONTROL_FINISHED_OK
$STATE,4393,begin climb
$GC,4394,1.40,77.9,450.9,0.0,259,4469,1.65,2.53,64.60,0.858,4,0.035,0.046,3025,3405,2732,0,0,0,0,0,0
$GC,4527,1.23,138.7,449.1,3.8,262,4585,0.22,2.42,52.12,0.849,6,0.114,0.037,2985,2008,2484,0,0,0,0,0,0
$GC,4895,1.12,138.7,418.7,8.8,271,4900,0.15,2.45,0.00,0.000,4,0.119,0.041,2960,3416,2476,0,0,0,0,0,0
$GC,4919,1.07,138.7,416.4,9.0,271,4924,0.00,2.45,0.00,0.000,6,0.000,0.038,2959,2005,2476,0,0,0,0,0,0
$GC,5259,1.02,138.7,387.1,8.7,280,5264,0.12,2.50,0.00,0.000,4,0.126,0.054,2934,592,2473,0,0,0,0,0,0
$GC,5329,0.96,138.7,380.3,9.5,281,5334,0.00,2.40,0.00,0.000,6,0.000,0.031,2936,2022,2470,0,0,0,0,0,0
$GC,5669,1.00,171.7,358.3,5.8,290,5701,0.00,2.45,27.15,0.818,4,0.000,0.042,2938,3404,2349,0,0,0,0,0,0
$GC,5716,1.06,192.4,355.2,6.6,291,5741,0.00,2.45,19.73,0.788,6,0.000,0.038,2938,2007,2265,0,0,0,0,0,0
$GC,6077,1.10,192.4,324.8,8.6,300,6082,0.00,2.50,0.00,0.000,4,0.000,0.054,2937,601,2258,0,0,0,0,0,0
$GC,6109,1.10,192.4,321.3,11.0,300,6113,0.00,2.40,0.00,0.000,6,0.000,0.031,2937,2014,2256,0,0,0,0,0,0
$GC,6422,1.14,192.4,292.6,9.1,309,6427,0.12,2.50,0.00,0.000,4,0.078,0.053,2967,604,2255,0,0,0,0,0,0
$GC,6535,1.06,192.4,278.7,12.0,314,6540,0.12,2.38,0.00,0.000,6,0.130,0.029,2947,2014,2253,0,0,0,0,0,0
$GC,6866,1.10,196.0,251.1,7.8,330,6870,0.00,2.50,0.00,0.000,4,0.000,0.051,2946,598,2253,0,0,0,0,0,0
$GC,6909,1.10,196.0,247.2,9.7,332,6913,0.00,2.38,0.00,0.000,6,0.000,0.029,2947,2013,2251,0,0,0,0,0,0
$GC,7238,1.16,202.6,221.8,7.6,348,7251,0.00,2.53,7.82,0.636,4,0.000,0.051,2947,602,2224,0,0,0,0,0,0
$GC,7288,1.16,202.6,217.3,9.4,350,7292,0.00,2.35,0.00,0.000,6,0.000,0.028,2947,2014,2222,0,0,0,0,0,0
$GC,7613,1.22,202.6,190.6,8.8,371,7618,0.15,2.50,0.00,0.000,4,0.067,0.048,2986,601,2222,0,0,0,0,0,0
$GC,7642,1.12,202.6,187.3,11.5,373,7648,0.15,2.35,0.00,0.000,6,0.116,0.027,2960,2016,2221,0,0,0,0,0,0
$GC,7903,1.16,202.6,164.8,8.1,398,7908,0.00,2.47,0.00,0.000,4,0.000,0.048,2959,599,2221,0,0,0,0,0,0
$GC,8075,1.16,202.6,146.9,10.0,416,8082,0.00,2.35,0.00,0.000,6,0.000,0.025,2959,2013,2220,0,0,0,0,0,0
$GC,8338,1.22,202.6,122.9,9.0,441,8342,0.00,2.45,0.00,0.000,4,0.000,0.045,2959,601,2220,0,0,0,0,0,0
$GC,8456,1.22,202.6,112.5,8.2,453,8461,0.00,2.30,0.00,0.000,6,0.000,0.023,2959,2020,2220,0,0,0,0,0,0
$GC,8718,1.33,233.1,97.8,5.9,478,8755,0.20,2.53,27.62,0.603,4,0.054,0.042,3014,591,2098,0,0,0,0,0,0
$GC,8779,1.21,233.1,92.5,10.7,484,8786,0.15,2.38,0.00,0.000,6,0.083,0.022,2980,2013,2095,0,0,0,0,0,0
$GC,9042,1.25,233.1,68.8,8.9,509,9046,0.00,2.45,0.00,0.000,4,0.000,0.044,2980,600,2095,0,0,0,0,0,0
$GC,9112,1.25,233.1,61.1,11.4,516,9118,0.00,2.33,0.00,0.000,6,0.000,0.021,2980,2010,2094,0,0,0,0,0,0
$GC,9375,1.37,257.2,39.1,6.4,541,9406,0.15,2.53,21.52,0.539,4,0.058,0.044,3025,596,2000,0,0,0,0,0,0
$GC,9418,1.31,257.2,35.4,9.9,545,9423,0.12,2.30,0.00,0.000,6,0.106,0.021,3002,2012,1997,0,0,0,0,0,0
$GC,9686,1.35,257.2,6.8,10.1,588,9692,0.00,2.45,0.00,0.000,4,0.000,0.041,3001,602,1997,0,0,0,0,0,0
$STATE,9714,end climb,SURFACE_DEPTH_REACHED
$STATE,9714,begin surface coast
$FINISH,0.4,1.023347
$STATE,9739,end surface coast,CONTROL_FINISHED_OK
$STATE,9739,begin surface
$SM_CCo,9760,21.65,0.502,0,0,1826,300.00
$SM_GC,1.11,0.00,0.00,21.65,0.000,0.000,0.502,426,1900,1826,-10.52,0.71,300.00
$IRIDIUM_FIX,2104.07,-15758.18,120899,050529
$TT8_MAMPS,0.029146
$HUMID,46.85
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,26.906
$10V_AH,10.0,25.830
$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,27.600,129.925,284.925,21.650,0.000,54.034,86.869,258.203,4.500,0.000,30.510,1169.546,6489.973,363.930,1768.314,585.070,33.361,1162.566,0.000,1726.323,0.000,29.250,0.000
$DEVICE_MAMPS,135.759,55.224,880.516,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.361,380.977,747.537,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34996,599
$CAP_FILE_SIZE,120953,0
$CFSIZE,260165632,241094656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180510,083007,2108.248,-15801.142,92,1.6,92,9.8