version: 66.06
glider: 139
mission: 7
dive: 306
start: 5 18 110 8 36 24
data:
$ID,139
$MISSION,7
$DIVE,306
$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,-2131883.8
$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
$GPS1,083007,2108.248,-15801.142,92,1.6,92,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.4
$GPS2,083532,2108.265,-15801.122,16,1.7,16,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.180,0.037
$KALMAN_X,11982.2,665.2,-445.9,-22894.6,-7.0
$KALMAN_Y,10679.1,358.6,233.0,-8763.3,-700.7
$MHEAD_RNG_PITCHd_Wd,68.7,31781,-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,-77.9,0.0,0.0,0,71,0.00,0.00,-52.70,0.000,2,0.000,0.000,426,1900,3190,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.1,-4.8,10,95,10.68,2.35,-3.53,0.000,4,0.138,0.040,2401,3296,3370,0,0,0,0,0,0
$GC,114,-0.91,-77.9,16.2,-29.4,18,121,0.47,2.42,0.00,0.000,6,0.075,0.032,2512,1880,3371,0,0,0,0,0,0
$GC,319,-0.99,-77.9,43.7,-12.3,45,323,0.00,2.42,0.00,0.000,4,0.000,0.045,2512,461,3372,0,0,0,0,0,0
$GC,379,-1.06,-77.9,51.1,-12.6,51,384,0.12,2.30,0.00,0.000,6,0.066,0.019,2469,1908,3372,0,0,0,0,0,0
$GC,642,-1.11,-77.9,79.4,-10.2,75,646,0.00,2.47,0.00,0.000,4,0.000,0.044,2469,464,3373,0,0,0,0,0,0
$GC,685,-1.11,-77.9,84.3,-11.4,79,690,0.00,2.28,0.00,0.000,6,0.000,0.019,2469,1883,3373,0,0,0,0,0,0
$GC,949,-1.19,-77.9,109.9,-8.8,103,953,0.00,2.45,0.00,0.000,4,0.000,0.044,2469,463,3374,0,0,0,0,0,0
$GC,1074,-1.27,-77.9,122.0,-8.5,116,1079,0.15,2.25,0.00,0.000,6,0.057,0.019,2420,1879,3375,0,0,0,0,0,0
$GC,1341,-1.27,-77.9,150.0,-9.3,141,1345,0.00,2.42,0.00,0.000,4,0.000,0.044,2420,468,3376,0,0,0,0,0,0
$GC,1367,-1.22,-77.9,152.6,-10.7,143,1372,0.15,2.25,0.00,0.000,6,0.093,0.020,2451,1874,3376,0,0,0,0,0,0
$GC,1629,-1.30,-77.9,178.2,-9.8,167,1633,0.00,2.40,0.00,0.000,4,0.000,0.044,2452,464,3376,0,0,0,0,0,0
$GC,1663,-1.35,-77.9,181.7,-10.3,170,1667,0.15,2.25,0.00,0.000,6,0.057,0.021,2403,1883,3376,0,0,0,0,0,0
$GC,1923,-1.35,-77.9,213.4,-12.5,189,1927,0.00,2.45,0.00,0.000,4,0.000,0.045,2403,463,3376,0,0,0,0,0,0
$GC,1997,-1.31,-77.9,223.7,-13.3,192,2002,0.12,2.25,0.00,0.000,6,0.100,0.021,2428,1872,3376,0,0,0,0,0,0
$GC,2318,-1.36,-77.9,253.7,-9.6,208,2322,0.00,2.40,0.00,0.000,4,0.000,0.046,2428,468,3376,0,0,0,0,0,0
$GC,2385,-1.41,-77.9,260.0,-8.8,211,2390,0.00,2.28,0.00,0.000,6,0.000,0.021,2429,1882,3376,0,0,0,0,0,0
$GC,2721,-1.48,-77.9,287.7,-8.3,227,2726,0.17,2.45,0.00,0.000,4,0.054,0.048,2375,463,3376,0,0,0,0,0,0
$GC,2821,-1.40,-77.9,300.3,-14.1,231,2826,0.15,2.28,0.00,0.000,6,0.096,0.023,2407,1879,3376,0,0,0,0,0,0
$GC,3157,-1.44,-77.9,330.2,-8.0,240,3161,0.00,2.45,0.00,0.000,4,0.000,0.048,2407,466,3375,0,0,0,0,0,0
$GC,3179,-1.44,-77.9,332.5,-9.5,240,3184,0.00,2.28,0.00,0.000,6,0.000,0.025,2407,1881,3375,0,0,0,0,0,0
$GC,3520,-1.50,-77.9,361.6,-8.6,249,3525,0.00,2.45,0.00,0.000,4,0.000,0.051,2403,465,3373,0,0,0,0,0,0
$GC,3566,-1.50,-77.9,366.2,-9.5,250,3570,0.00,2.28,0.00,0.000,6,0.000,0.025,2407,1868,3373,0,0,0,0,0,0
$GC,3891,-1.56,-77.9,391.0,-7.6,258,3896,0.15,2.45,0.00,0.000,4,0.063,0.052,2365,464,3371,0,0,0,0,0,0
$GC,3961,-1.48,-77.9,398.5,-10.8,259,3966,0.12,2.30,0.00,0.000,6,0.107,0.027,2390,1879,3371,0,0,0,0,0,0
$GC,4303,-1.48,-77.9,429.3,-8.8,268,4307,0.00,2.45,0.00,0.000,4,0.000,0.054,2386,473,3369,0,0,0,0,0,0
$GC,4362,-1.48,-77.9,435.1,-9.0,269,4366,0.00,2.33,0.00,0.000,6,0.000,0.028,2388,1877,3368,0,0,0,0,0,0
$STATE,4547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4547,begin apogee
$GC,4552,-0.31,0.0,451.6,8.8,274,4620,1.20,0.00,64.70,0.873,6,0.076,0.000,2644,2025,3050,0,0,0,0,0,0
$STATE,4621,end apogee,CONTROL_FINISHED_OK
$STATE,4621,begin climb
$GC,4624,1.40,77.9,452.7,0.0,275,4698,1.62,2.45,64.68,0.853,4,0.033,0.044,3024,3377,2732,0,0,0,0,0,0
$GC,4768,1.25,144.8,452.8,3.4,278,4834,0.20,2.35,57.10,0.848,6,0.114,0.037,2988,2007,2459,0,0,0,0,0,0
$GC,5166,1.14,144.8,415.2,10.1,288,5171,0.12,2.47,0.00,0.000,4,0.128,0.054,2962,604,2451,0,0,0,0,0,0
$GC,5222,1.01,144.8,408.9,11.1,289,5227,0.17,2.35,0.00,0.000,6,0.123,0.030,2935,1993,2448,0,0,0,0,0,0
$GC,5536,1.01,144.8,383.1,8.3,297,5540,0.00,2.45,0.00,0.000,4,0.000,0.053,2934,604,2447,0,0,0,0,0,0
$GC,5549,1.01,144.8,381.7,9.1,297,5553,0.00,2.38,0.00,0.000,6,0.000,0.031,2935,2009,2446,0,0,0,0,0,0
$GC,5898,1.01,144.8,353.0,8.1,306,5902,0.00,2.47,0.00,0.000,4,0.000,0.052,2934,600,2445,0,0,0,0,0,0
$GC,6019,0.96,144.8,341.1,9.1,308,6023,0.00,2.38,0.00,0.000,6,0.000,0.030,2935,2010,2442,0,0,0,0,0,0
$GC,6354,0.98,159.5,317.9,7.0,317,6371,0.00,2.45,10.80,0.739,4,0.000,0.040,2936,3400,2399,0,0,0,0,0,0
$GC,6380,1.00,174.3,316.0,7.0,317,6400,0.00,2.42,14.70,0.755,6,0.000,0.037,2935,2005,2338,0,0,0,0,0,0
$GC,6732,1.06,191.1,291.2,6.9,329,6755,0.00,2.53,15.55,0.748,4,0.000,0.053,2933,605,2269,0,0,0,0,0,0
$GC,6872,1.06,191.1,279.2,9.0,335,6876,0.00,2.38,0.00,0.000,6,0.000,0.029,2936,2012,2265,0,0,0,0,0,0
$GC,7202,1.13,197.8,254.9,7.6,351,7215,0.10,2.55,6.57,0.624,4,0.087,0.051,2961,605,2242,0,0,0,0,0,0
$GC,7266,1.08,197.8,248.6,9.4,353,7271,0.00,2.38,0.00,0.000,6,0.000,0.028,2961,2019,2241,0,0,0,0,0,0
$GC,7582,1.08,197.8,221.7,9.7,369,7586,0.00,2.50,0.00,0.000,4,0.000,0.049,2961,597,2240,0,0,0,0,0,0
$GC,7665,1.03,197.8,213.0,10.3,372,7672,0.08,2.38,0.00,0.000,6,0.107,0.027,2944,2007,2239,0,0,0,0,0,0
$GC,7987,1.12,215.6,189.3,6.8,395,8010,0.00,2.53,16.70,0.673,4,0.000,0.048,2944,609,2170,0,0,0,0,0,0
$GC,8142,1.12,215.6,174.7,10.3,412,8146,0.00,2.35,0.00,0.000,6,0.000,0.025,2944,2023,2166,0,0,0,0,0,0
$GC,8404,1.20,216.8,152.7,7.9,436,8409,0.12,2.50,0.00,0.000,4,0.073,0.046,2979,598,2166,0,0,0,0,0,0
$GC,8529,1.15,216.8,140.4,9.4,449,8534,0.00,2.33,0.00,0.000,6,0.000,0.023,2979,2014,2165,0,0,0,0,0,0
$GC,8792,1.15,216.8,116.1,9.3,473,8796,0.00,2.45,0.00,0.000,4,0.000,0.044,2979,598,2164,0,0,0,0,0,0
$GC,8810,1.15,216.8,114.1,9.4,474,8816,0.00,2.33,0.00,0.000,6,0.000,0.023,2979,2003,2164,0,0,0,0,0,0
$GC,9074,1.24,262.7,97.2,4.9,499,9122,0.00,2.53,41.38,0.606,4,0.000,0.043,2979,599,1977,0,0,0,0,0,0
$GC,9293,1.24,262.7,77.2,12.4,523,9297,0.00,2.33,0.00,0.000,6,0.000,0.021,2979,2019,1971,0,0,0,0,0,0
$GC,9556,1.33,262.7,53.0,9.8,547,9558,0.10,0.00,0.00,0.000,6,0.077,0.000,3010,2024,1971,0,0,0,0,0,0
$GC,9811,1.33,262.7,24.0,11.5,575,9817,0.00,2.45,0.00,0.000,4,0.000,0.042,3011,596,1971,0,0,0,0,0,0
$GC,9907,1.28,262.7,11.2,13.9,596,9913,0.00,2.33,0.00,0.000,6,0.000,0.021,3011,2021,1970,0,0,0,0,0,0
$STATE,9973,end climb,SURFACE_DEPTH_REACHED
$STATE,9973,begin surface coast
$FINISH,0.4,1.007370
$STATE,9996,end surface coast,CONTROL_FINISHED_OK
$STATE,9996,begin surface
$SM_CCo,10016,18.70,0.499,0,0,1827,300.00
$SM_GC,1.26,0.00,0.00,18.70,0.000,0.000,0.499,426,1863,1827,-10.53,-0.34,300.00
$IRIDIUM_FIX,2101.76,-15803.33,120899,050548
$TT8_MAMPS,0.029146
$HUMID,46.37
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,23.4,26.987
$10V_AH,10.0,25.907
$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,27.250,124.750,292.175,18.700,0.000,29.795,33.256,160.739,4.750,0.000,16.671,1201.080,6561.262,365.250,1822.413,413.073,33.360,1182.010,0.000,1802.798,0.000,29.252,0.000
$DEVICE_MAMPS,138.060,54.457,872.846,498.550,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.885,390.259,757.564,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,34942,612
$CAP_FILE_SIZE,117411,0
$CFSIZE,260165632,241041408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180510,112557,2108.458,-15759.812,82,2.1,101,9.8