version: 66.06
glider: 139
mission: 7
dive: 307
start: 5 18 110 11 31 57
data:
$ID,139
$MISSION,7
$DIVE,307
$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,-2131910.2
$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
$GPS1,112557,2108.458,-15759.812,82,2.1,101,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.3
$GPS2,113106,2108.438,-15759.812,9,1.5,25,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.180,0.036
$KALMAN_X,11706.3,367.1,370.9,-20876.9,-798.9
$KALMAN_Y,10958.1,32.3,197.3,-8361.7,-608.8
$MHEAD_RNG_PITCHd_Wd,68.9,29591,-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,-77.9,0.0,0.0,0,76,0.00,0.00,-58.12,0.000,6,0.000,0.000,425,1862,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,3.9,-7.1,11,95,10.93,2.40,0.00,0.000,4,0.147,0.038,2403,462,3370,0,0,0,0,0,0
$GC,111,-0.36,-77.9,18.0,-41.0,17,118,1.17,2.35,0.00,0.000,6,0.106,0.020,2633,1913,3371,0,0,0,0,0,0
$GC,321,-0.76,-77.9,33.8,-5.9,49,332,0.38,2.50,0.00,0.000,4,0.056,0.041,2546,460,3372,0,0,0,0,0,0
$GC,390,-0.95,-77.9,38.8,-7.8,56,395,0.17,2.28,0.00,0.000,6,0.049,0.019,2486,1889,3372,0,0,0,0,0,0
$GC,654,-1.00,-77.9,67.2,-10.6,80,658,0.00,2.42,0.00,0.000,4,0.000,0.043,2486,470,3373,0,0,0,0,0,0
$GC,687,-1.00,-77.9,71.1,-11.8,83,691,0.00,2.25,0.00,0.000,6,0.000,0.019,2486,1880,3373,0,0,0,0,0,0
$GC,953,-1.12,-77.9,94.9,-7.5,108,957,0.00,2.40,0.00,0.000,4,0.000,0.042,2486,468,3374,0,0,0,0,0,0
$GC,1037,-1.20,-77.9,103.0,-10.3,116,1044,0.12,2.28,0.00,0.000,6,0.031,0.019,2435,1876,3375,0,0,0,0,0,0
$GC,1298,-1.20,-77.9,130.8,-9.4,141,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,1881,3375,0,0,0,0,0,0
$GC,1555,-1.24,-77.9,153.7,-9.2,165,1559,0.00,2.40,0.00,0.000,4,0.000,0.044,2435,468,3376,0,0,0,0,0,0
$GC,1624,-1.24,-77.9,161.2,-11.1,172,1628,0.00,2.22,0.00,0.000,6,0.000,0.020,2435,1876,3377,0,0,0,0,0,0
$GC,1886,-1.29,-77.9,186.7,-9.8,196,1890,0.00,2.42,0.00,0.000,4,0.000,0.044,2435,464,3377,0,0,0,0,0,0
$GC,1901,-1.29,-77.9,188.4,-9.9,197,1905,0.00,2.25,0.00,0.000,6,0.000,0.021,2435,1886,3377,0,0,0,0,0,0
$GC,2170,-1.34,-77.9,213.1,-8.9,215,2175,0.00,2.42,0.00,0.000,4,0.000,0.044,2435,464,3377,0,0,0,0,0,0
$GC,2267,-1.34,-77.9,223.3,-10.5,219,2271,0.00,2.25,0.00,0.000,6,0.000,0.021,2435,1869,3377,0,0,0,0,0,0
$GC,2588,-1.44,-77.9,251.9,-9.1,235,2593,0.15,2.45,0.00,0.000,4,0.055,0.047,2385,459,3376,0,0,0,0,0,0
$GC,2634,-1.36,-77.9,257.3,-12.4,237,2639,0.15,2.28,0.00,0.000,6,0.107,0.022,2414,1876,3377,0,0,0,0,0,0
$GC,2966,-1.42,-77.9,286.8,-7.8,253,2971,0.00,2.42,0.00,0.000,4,0.000,0.047,2413,470,3377,0,0,0,0,0,0
$GC,3025,-1.42,-77.9,292.0,-8.2,255,3031,0.00,2.25,0.00,0.000,6,0.000,0.023,2414,1876,3377,0,0,0,0,0,0
$GC,3360,-1.48,-77.9,315.0,-7.1,267,3364,0.00,2.45,0.00,0.000,4,0.000,0.050,2414,470,3375,0,0,0,0,0,0
$GC,3438,-1.48,-77.9,321.8,-8.4,268,3442,0.00,2.30,0.00,0.000,6,0.000,0.025,2414,1881,3375,0,0,0,0,0,0
$GC,3775,-1.54,-77.9,346.5,-7.0,277,3780,0.15,2.50,0.00,0.000,4,0.060,0.052,2368,464,3373,0,0,0,0,0,0
$GC,3804,-1.44,-77.9,349.3,-9.3,277,3809,0.15,2.33,0.00,0.000,6,0.107,0.027,2398,1882,3373,0,0,0,0,0,0
$GC,4140,-1.47,-77.9,377.1,-9.0,286,4144,0.00,2.45,0.00,0.000,4,0.000,0.052,2398,472,3371,0,0,0,0,0,0
$GC,4208,-1.47,-77.9,383.5,-9.1,287,4212,0.00,2.30,0.00,0.000,6,0.000,0.028,2398,1881,3370,0,0,0,0,0,0
$STATE,4302,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4302,begin apogee
$GC,4308,-0.31,0.0,391.6,8.5,290,4376,1.17,0.00,64.60,0.826,6,0.084,0.000,2644,2026,3050,0,0,0,0,0,0
$STATE,4377,end apogee,CONTROL_FINISHED_OK
$STATE,4377,begin climb
$GC,4379,1.40,77.9,392.5,0.0,291,4453,1.67,2.45,63.85,0.805,4,0.043,0.042,3021,3387,2732,0,0,0,0,0,0
$GC,4718,1.24,117.7,382.8,5.3,298,4759,0.20,2.38,33.28,0.793,6,0.119,0.035,2985,2007,2570,0,0,0,0,0,0
$GC,5068,1.17,146.1,359.4,6.1,307,5100,0.00,2.50,24.80,0.779,4,0.000,0.050,2981,604,2452,0,0,0,0,0,0
$GC,5106,1.06,158.2,356.8,7.2,307,5123,0.22,2.35,11.62,0.716,6,0.117,0.028,2946,1998,2405,0,0,0,0,0,0
$GC,5437,1.06,158.2,330.1,8.6,316,5441,0.00,2.40,0.00,0.000,4,0.000,0.039,2946,3402,2399,0,0,0,0,0,0
$GC,5484,1.06,158.2,326.1,8.4,317,5488,0.00,2.40,0.00,0.000,6,0.000,0.037,2945,2013,2399,0,0,0,0,0,0
$GC,5815,1.08,175.4,303.0,6.8,325,5836,0.00,2.55,15.23,0.739,4,0.000,0.052,2942,608,2334,0,0,0,0,0,0
$GC,6030,1.04,175.4,283.7,8.5,333,6034,0.00,2.35,0.00,0.000,6,0.000,0.028,2945,2007,2328,0,0,0,0,0,0
$GC,6351,1.10,219.3,262.8,5.0,349,6395,0.00,2.60,38.72,0.752,4,0.000,0.051,2945,602,2155,0,0,0,0,0,0
$GC,6488,1.10,219.3,250.9,11.6,355,6492,0.00,2.38,0.00,0.000,6,0.000,0.028,2945,2009,2149,0,0,0,0,0,0
$GC,6819,1.15,219.3,217.3,8.8,371,6823,0.00,2.47,0.00,0.000,4,0.000,0.050,2945,595,2147,0,0,0,0,0,0
$GC,6961,1.15,219.3,203.8,9.6,377,6966,0.00,2.38,0.00,0.000,6,0.000,0.027,2945,2015,2144,0,0,0,0,0,0
$GC,7289,1.23,226.3,175.3,7.5,406,7301,0.15,2.50,5.78,0.543,4,0.066,0.046,2985,593,2126,0,0,0,0,0,0
$GC,7442,1.15,226.3,158.6,12.0,422,7448,0.00,2.38,0.00,0.000,6,0.000,0.025,2985,2010,2123,0,0,0,0,0,0
$GC,7703,1.15,226.3,131.3,10.7,447,7704,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2016,2123,0,0,0,0,0,0
$GC,7958,1.15,226.3,102.4,11.6,471,7962,0.00,2.45,0.00,0.000,4,0.000,0.045,2985,598,2124,0,0,0,0,0,0
$GC,8012,1.11,226.3,95.6,14.7,476,8017,0.15,2.35,0.00,0.000,6,0.114,0.023,2959,2029,2122,0,0,0,0,0,0
$GC,8275,1.19,229.1,72.9,7.8,500,8279,0.00,2.47,0.00,0.000,4,0.000,0.044,2958,598,2122,0,0,0,0,0,0
$GC,8434,1.24,229.1,58.7,8.4,517,8444,0.08,2.33,3.35,0.337,6,0.045,0.022,2987,2014,2115,0,0,0,0,0,0
$GC,8707,1.31,229.1,35.3,8.4,543,8711,0.00,2.28,0.00,0.000,4,0.000,0.028,2987,3405,2115,0,0,0,0,0,0
$GC,8747,1.39,229.1,31.6,9.3,547,8754,0.10,2.38,0.00,0.000,6,0.038,0.028,3026,2000,2115,0,0,0,0,0,0
$GC,9017,1.39,229.1,5.9,9.3,594,9024,0.00,2.40,0.00,0.000,4,0.000,0.043,3026,606,2115,0,0,0,0,0,0
$GC,9047,1.34,229.1,3.2,9.1,600,9054,0.00,2.30,0.00,0.000,6,0.000,0.021,3026,2020,2115,0,0,0,0,0,0
$STATE,9058,end climb,SURFACE_DEPTH_REACHED
$STATE,9058,begin surface coast
$FINISH,0.6,1.010411
$STATE,9093,end surface coast,CONTROL_FINISHED_OK
$STATE,9093,begin surface
$SM_CCo,9113,35.55,0.517,0,0,1827,300.00
$SM_GC,1.71,0.00,0.00,35.55,0.000,0.000,0.517,423,1865,1827,-10.54,-0.28,300.00
$IRIDIUM_FIX,2101.76,-15805.48,120899,080828
$TT8_MAMPS,0.029146
$HUMID,46.96
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,362.6,55.5
$24V_AH,23.5,27.062
$10V_AH,10.0,25.985
$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,28.325,110.025,261.225,35.550,0.000,28.899,26.244,144.302,4.000,0.000,25.742,1191.315,5684.487,356.107,1862.362,364.955,33.361,1160.794,0.000,1829.401,0.000,25.987,0.000
$DEVICE_MAMPS,147.264,54.457,826.059,516.958,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,410.348,403.290,814.478,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,34942,608
$CAP_FILE_SIZE,111808,0
$CFSIZE,260165632,240988160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180510,140657,2108.486,-15758.969,96,7.7,115,9.8