version: 66.06
glider: 139
mission: 7
dive: 310
start: 5 18 110 19 50 23
data:
$ID,139
$MISSION,7
$DIVE,310
$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,-2132016.8
$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
$GPS1,194338,2108.343,-15758.471,58,1.9,58,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.4
$GPS2,194931,2108.365,-15758.462,16,1.9,30,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.169,-0.073
$KALMAN_X,10086.9,-685.5,-664.9,-14834.3,262.2
$KALMAN_Y,11511.6,-218.3,50.6,-8647.2,436.3
$MHEAD_RNG_PITCHd_Wd,103.5,27270,-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,-53.12,0.000,2,0.000,0.000,429,1904,3210,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.5,-6.1,10,91,10.65,0.00,-3.10,0.000,6,0.137,0.000,2403,1906,3370,0,0,0,0,0,0
$GC,294,-1.22,-77.9,51.9,-19.9,40,299,0.22,2.47,0.00,0.000,4,0.100,0.042,2449,460,3372,0,0,0,0,0,0
$GC,304,-1.02,-77.9,54.6,-21.3,40,311,0.17,2.35,0.00,0.000,6,0.087,0.021,2487,1927,3372,0,0,0,0,0,0
$GC,567,-1.12,-77.9,86.8,-11.2,65,571,0.00,2.50,0.00,0.000,4,0.000,0.044,2487,464,3373,0,0,0,0,0,0
$GC,672,-1.20,-77.9,96.8,-8.5,76,677,0.15,2.30,0.00,0.000,6,0.057,0.019,2438,1915,3373,0,0,0,0,0,0
$GC,932,-1.20,-77.9,121.9,-10.1,100,936,0.00,2.47,0.00,0.000,4,0.000,0.043,2438,464,3374,0,0,0,0,0,0
$GC,949,-1.20,-77.9,123.8,-9.7,101,955,0.00,2.25,0.00,0.000,6,0.000,0.019,2436,1889,3374,0,0,0,0,0,0
$GC,1211,-1.25,-77.9,147.8,-9.8,126,1216,0.00,2.42,0.00,0.000,4,0.000,0.044,2438,467,3375,0,0,0,0,0,0
$GC,1289,-1.25,-77.9,157.3,-13.1,134,1293,0.00,2.25,0.00,0.000,6,0.000,0.020,2435,1872,3375,0,0,0,0,0,0
$GC,1549,-1.30,-77.9,186.4,-10.1,158,1553,0.00,2.40,0.00,0.000,4,0.000,0.044,2438,463,3375,0,0,0,0,0,0
$GC,1583,-1.30,-77.9,189.8,-11.0,161,1587,0.00,2.25,0.00,0.000,6,0.000,0.021,2437,1883,3376,0,0,0,0,0,0
$GC,1839,-1.34,-77.9,213.1,-8.9,178,1843,0.00,2.42,0.00,0.000,4,0.000,0.044,2438,460,3376,0,0,0,0,0,0
$GC,1882,-1.34,-77.9,216.7,-8.8,180,1887,0.00,2.28,0.00,0.000,6,0.000,0.021,2437,1878,3376,0,0,0,0,0,0
$GC,2212,-1.40,-77.9,243.1,-8.1,196,2217,0.15,2.45,0.00,0.000,4,0.058,0.046,2391,466,3375,0,0,0,0,0,0
$GC,2272,-1.30,-77.9,251.4,-15.1,198,2280,0.15,2.28,0.00,0.000,6,0.073,0.021,2427,1867,3376,0,0,0,0,0,0
$GC,2590,-1.36,-77.9,281.7,-8.8,214,2594,0.00,2.40,0.00,0.000,4,0.000,0.046,2427,461,3376,0,0,0,0,0,0
$GC,2687,-1.43,-77.9,289.4,-7.4,218,2692,0.12,2.28,0.00,0.000,6,0.064,0.022,2386,1879,3376,0,0,0,0,0,0
$GC,3025,-1.43,-77.9,319.7,-9.2,230,3030,0.00,2.42,0.00,0.000,4,0.000,0.048,2386,466,3376,0,0,0,0,0,0
$GC,3068,-1.36,-77.9,323.8,-9.5,230,3074,0.15,2.25,0.00,0.000,6,0.094,0.024,2418,1870,3375,0,0,0,0,0,0
$GC,3400,-1.43,-77.9,347.1,-7.0,239,3404,0.00,2.42,0.00,0.000,4,0.000,0.049,2418,463,3374,0,0,0,0,0,0
$GC,3465,-1.46,-77.9,352.4,-8.1,240,3469,0.00,2.30,0.00,0.000,6,0.000,0.025,2417,1872,3374,0,0,0,0,0,0
$GC,3810,-1.54,-77.9,376.9,-7.0,249,3815,0.17,2.47,0.00,0.000,4,0.056,0.052,2363,469,3372,0,0,0,0,0,0
$GC,3922,-1.48,-77.9,389.9,-11.5,251,3927,0.10,2.28,0.00,0.000,6,0.110,0.027,2389,1871,3371,0,0,0,0,0,0
$GC,4267,-1.48,-77.9,417.8,-7.6,260,4271,0.00,2.45,0.00,0.000,4,0.000,0.052,2388,472,3368,0,0,0,0,0,0
$GC,4299,-1.48,-77.9,420.3,-7.6,260,4303,0.00,2.30,0.00,0.000,6,0.000,0.028,2389,1881,3369,0,0,0,0,0,0
$STATE,4629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4629,begin apogee
$GC,4634,-0.31,0.0,451.7,10.6,268,4702,1.20,0.00,64.55,0.877,6,0.074,0.000,2646,2026,3050,0,0,0,0,0,0
$STATE,4703,end apogee,CONTROL_FINISHED_OK
$STATE,4703,begin climb
$GC,4705,1.40,77.9,453.5,0.0,269,4779,1.62,2.45,64.72,0.856,4,0.035,0.045,3021,3376,2731,0,0,0,0,0,0
$GC,4984,1.23,114.4,447.3,5.5,275,5021,0.20,2.35,31.42,0.840,6,0.119,0.038,2986,2011,2582,0,0,0,0,0,0
$GC,5348,1.10,114.4,418.4,8.4,284,5353,0.17,2.42,0.00,0.000,4,0.119,0.041,2955,3391,2576,0,0,0,0,0,0
$GC,5363,1.01,114.4,417.2,8.2,284,5367,0.00,2.40,0.00,0.000,6,0.000,0.038,2953,2008,2576,0,0,0,0,0,0
$GC,5712,0.97,122.5,392.0,7.5,293,5725,0.15,2.45,6.70,0.690,4,0.117,0.041,2927,3382,2550,0,0,0,0,0,0
$GC,5767,0.99,140.1,387.8,6.8,294,5790,0.00,2.38,16.70,0.804,6,0.000,0.038,2928,2002,2478,0,0,0,0,0,0
$GC,6126,1.02,163.7,363.0,6.4,303,6154,0.00,2.53,21.23,0.810,4,0.000,0.052,2928,605,2380,0,0,0,0,0,0
$GC,6216,1.02,163.7,355.6,9.4,305,6221,0.00,2.35,0.00,0.000,6,0.000,0.031,2927,1994,2377,0,0,0,0,0,0
$GC,6544,1.10,193.7,332.7,6.0,313,6577,0.12,2.55,26.73,0.803,4,0.078,0.053,2957,607,2260,0,0,0,0,0,0
$GC,6800,1.04,193.7,309.4,10.6,318,6805,0.00,2.35,0.00,0.000,6,0.000,0.030,2958,2011,2252,0,0,0,0,0,0
$GC,7123,1.04,193.7,276.7,10.4,332,7127,0.00,2.50,0.00,0.000,4,0.000,0.051,2957,598,2252,0,0,0,0,0,0
$GC,7160,0.99,193.7,271.7,14.5,333,7166,0.15,2.38,0.00,0.000,6,0.117,0.030,2931,2011,2250,0,0,0,0,0,0
$GC,7476,1.07,193.7,241.5,9.2,349,7480,0.00,2.47,0.00,0.000,4,0.000,0.051,2930,603,2250,0,0,0,0,0,0
$GC,7597,1.11,193.7,229.8,8.8,354,7602,0.10,2.35,0.00,0.000,6,0.084,0.028,2957,2021,2248,0,0,0,0,0,0
$GC,7918,1.15,193.7,205.4,8.1,370,7922,0.00,2.47,0.00,0.000,4,0.000,0.048,2957,602,2248,0,0,0,0,0,0
$GC,7963,1.15,193.7,201.5,8.6,372,7968,0.00,2.35,0.00,0.000,6,0.000,0.027,2957,2018,2247,0,0,0,0,0,0
$GC,8297,1.21,212.2,178.8,6.7,402,8319,0.00,2.55,15.57,0.658,4,0.000,0.047,2957,604,2184,0,0,0,0,0,0
$GC,8418,1.21,212.2,167.8,10.0,415,8423,0.00,2.33,0.00,0.000,6,0.000,0.025,2957,2023,2180,0,0,0,0,0,0
$GC,8679,1.27,212.2,141.4,9.8,440,8684,0.15,2.50,0.00,0.000,4,0.064,0.045,2999,594,2180,0,0,0,0,0,0
$GC,8715,1.16,212.2,137.3,12.7,443,8720,0.15,2.33,0.00,0.000,6,0.111,0.024,2970,2014,2179,0,0,0,0,0,0
$GC,8977,1.22,213.8,115.3,7.9,467,8981,0.00,2.42,0.00,0.000,4,0.000,0.045,2970,602,2179,0,0,0,0,0,0
$GC,9105,1.23,228.7,105.5,7.0,480,9130,0.00,2.33,15.12,0.584,6,0.000,0.022,2969,2013,2117,0,0,0,0,0,0
$GC,9386,1.37,259.6,87.4,5.9,507,9423,0.17,2.53,28.17,0.582,4,0.055,0.044,3019,602,1990,0,0,0,0,0,0
$GC,9499,1.31,259.6,74.9,13.2,519,9503,0.00,2.28,0.00,0.000,6,0.000,0.021,3019,2012,1986,0,0,0,0,0,0
$GC,9761,1.31,259.6,47.9,10.4,543,9765,0.00,2.45,0.00,0.000,4,0.000,0.043,3019,595,1986,0,0,0,0,0,0
$GC,9831,1.25,259.6,40.1,11.6,550,9836,0.17,2.28,0.00,0.000,6,0.096,0.020,2985,2014,1985,0,0,0,0,0,0
$GC,10099,1.33,259.6,15.0,9.7,588,10106,0.00,2.45,0.00,0.000,4,0.000,0.042,2985,604,1985,0,0,0,0,0,0
$STATE,10217,end climb,SURFACE_DEPTH_REACHED
$STATE,10217,begin surface coast
$FINISH,0.6,1.000495
$STATE,10249,end surface coast,CONTROL_FINISHED_OK
$STATE,10249,begin surface
$SM_CCo,10271,21.40,0.496,0,0,1826,300.00
$SM_GC,1.06,0.00,0.00,21.40,0.000,0.000,0.496,428,1894,1826,-10.52,0.51,300.00
$IRIDIUM_FIX,2059.45,-15801.19,120899,171704
$TT8_MAMPS,0.029146
$HUMID,46.41
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.20
$XPDR_PINGS,2
$24V_AH,23.4,27.311
$10V_AH,10.0,26.220
$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,27.475,124.100,290.925,21.400,0.000,30.909,30.101,174.240,5.000,0.000,31.107,1229.186,6728.824,371.802,1902.718,415.069,33.353,1217.875,0.000,1862.675,0.000,29.258,0.000
$DEVICE_MAMPS,136.526,55.991,877.448,496.249,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.943,393.826,752.830,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34810,621
$CAP_FILE_SIZE,121056,0
$CFSIZE,260165632,240807936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180510,224412,2108.120,-15757.474,84,1.6,101,9.8