version: 66.06
glider: 139
mission: 7
dive: 311
start: 5 18 110 22 50 27
data:
$ID,139
$MISSION,7
$DIVE,311
$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,-2132059
$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
$GPS1,224412,2108.120,-15757.474,84,1.6,101,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.2
$GPS2,224936,2108.096,-15757.487,37,1.7,41,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.178,-0.045
$KALMAN_X,8989.0,-490.1,15.9,-12925.6,169.8
$KALMAN_Y,11554.3,-1.6,105.0,-9459.2,139.4
$MHEAD_RNG_PITCHd_Wd,94.3,25525,-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,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-52.80,0.000,2,0.000,0.000,427,1894,3184,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.1,-4.7,10,95,10.57,2.45,-3.80,0.000,4,0.135,0.051,2403,458,3370,0,0,0,0,0,0
$GC,114,-0.83,-77.9,15.0,-26.5,18,121,0.57,2.38,0.00,0.000,6,0.083,0.020,2533,1906,3371,0,0,0,0,0,0
$GC,325,-0.97,-77.9,36.4,-9.9,50,330,0.15,2.50,0.00,0.000,4,0.056,0.044,2484,460,3372,0,0,0,0,0,0
$GC,386,-0.97,-77.9,44.3,-13.2,56,390,0.00,2.28,0.00,0.000,6,0.000,0.019,2483,1888,3372,0,0,0,0,0,0
$GC,648,-1.01,-77.9,78.4,-13.0,80,652,0.00,2.45,0.00,0.000,4,0.000,0.044,2483,470,3373,0,0,0,0,0,0
$GC,739,-1.08,-77.9,88.8,-9.5,89,744,0.00,2.25,0.00,0.000,6,0.000,0.018,2483,1883,3373,0,0,0,0,0,0
$GC,1000,-1.18,-77.9,114.1,-9.9,114,1005,0.12,2.45,0.00,0.000,4,0.064,0.044,2441,468,3374,0,0,0,0,0,0
$GC,1071,-1.18,-77.9,122.9,-12.9,121,1075,0.00,2.22,0.00,0.000,6,0.000,0.019,2440,1875,3374,0,0,0,0,0,0
$GC,1334,-1.22,-77.9,151.2,-11.4,145,1338,0.00,2.42,0.00,0.000,4,0.000,0.044,2440,464,3375,0,0,0,0,0,0
$GC,1407,-1.22,-77.9,160.2,-11.0,152,1414,0.00,2.28,0.00,0.000,6,0.000,0.020,2440,1877,3375,0,0,0,0,0,0
$GC,1672,-1.26,-77.9,183.6,-8.2,177,1676,0.00,2.40,0.00,0.000,4,0.000,0.043,2440,464,3375,0,0,0,0,0,0
$GC,1744,-1.26,-77.9,190.4,-9.0,184,1751,0.00,2.28,0.00,0.000,6,0.000,0.020,2440,1873,3376,0,0,0,0,0,0
$GC,2004,-1.32,-77.9,208.4,-6.5,203,2008,0.00,2.42,0.00,0.000,4,0.000,0.044,2440,460,3376,0,0,0,0,0,0
$GC,2049,-1.32,-77.9,212.1,-8.1,205,2053,0.00,2.25,0.00,0.000,6,0.000,0.021,2440,1883,3376,0,0,0,0,0,0
$GC,2375,-1.39,-77.9,237.8,-8.3,221,2380,0.12,2.42,0.00,0.000,4,0.065,0.045,2398,469,3376,0,0,0,0,0,0
$GC,2466,-1.35,-77.9,247.2,-10.9,225,2471,0.10,2.25,0.00,0.000,6,0.109,0.021,2417,1875,3376,0,0,0,0,0,0
$GC,2803,-1.43,-77.9,276.6,-7.2,241,2807,0.00,2.42,0.00,0.000,4,0.000,0.046,2418,467,3376,0,0,0,0,0,0
$GC,2897,-1.46,-77.9,284.4,-8.9,245,2901,0.00,2.25,0.00,0.000,6,0.000,0.022,2418,1877,3376,0,0,0,0,0,0
$GC,3219,-1.52,-77.9,309.3,-7.2,258,3224,0.15,2.45,0.00,0.000,4,0.059,0.048,2372,461,3375,0,0,0,0,0,0
$GC,3257,-1.42,-77.9,312.8,-9.7,258,3264,0.15,2.30,0.00,0.000,6,0.097,0.025,2403,1872,3375,0,0,0,0,0,0
$GC,3588,-1.45,-77.9,335.2,-6.6,267,3592,0.00,2.45,0.00,0.000,4,0.000,0.050,2403,466,3373,0,0,0,0,0,0
$GC,3644,-1.45,-77.9,340.2,-9.7,268,3648,0.00,2.30,0.00,0.000,6,0.000,0.026,2403,1878,3373,0,0,0,0,0,0
$GC,3962,-1.49,-77.9,369.5,-9.6,276,3966,0.00,2.45,0.00,0.000,4,0.000,0.051,2402,464,3371,0,0,0,0,0,0
$GC,4044,-1.49,-77.9,378.6,-10.3,277,4050,0.00,2.33,0.00,0.000,6,0.000,0.027,2404,1882,3371,0,0,0,0,0,0
$GC,4375,-1.55,-77.9,410.8,-9.7,286,4380,0.12,2.47,0.00,0.000,4,0.070,0.054,2367,471,3368,0,0,0,0,0,0
$GC,4460,-1.47,-77.9,420.8,-11.9,287,4466,0.12,2.33,0.00,0.000,6,0.104,0.028,2393,1878,3367,0,0,0,0,0,0
$STATE,4788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4788,begin apogee
$GC,4794,-0.31,0.0,451.2,8.6,296,4862,1.17,0.00,64.40,0.877,6,0.074,0.000,2645,2039,3049,0,0,0,0,0,0
$STATE,4862,end apogee,CONTROL_FINISHED_OK
$STATE,4862,begin climb
$GC,4864,1.40,77.9,452.2,0.0,297,4939,1.62,2.42,64.40,0.857,4,0.033,0.045,3023,3381,2732,0,0,0,0,0,0
$GC,5203,1.22,112.0,439.2,5.7,304,5240,0.22,2.38,29.02,0.840,6,0.112,0.038,2983,2010,2592,0,0,0,0,0,0
$GC,5554,1.14,149.2,418.0,5.5,313,5595,0.00,2.53,32.30,0.840,4,0.000,0.051,2981,600,2439,0,0,0,0,0,0
$GC,5620,0.96,149.2,413.2,9.1,314,5625,0.30,2.38,0.00,0.000,6,0.107,0.030,2927,1994,2437,0,0,0,0,0,0
$GC,5965,0.96,149.2,385.9,8.3,323,5969,0.00,2.47,0.00,0.000,4,0.000,0.053,2927,604,2434,0,0,0,0,0,0
$GC,6056,0.96,149.2,376.2,10.9,325,6061,0.00,2.35,0.00,0.000,6,0.000,0.031,2927,2011,2432,0,0,0,0,0,0
$GC,6379,1.00,149.2,347.1,8.8,333,6383,0.00,2.50,0.00,0.000,4,0.000,0.052,2926,599,2431,0,0,0,0,0,0
$GC,6514,1.00,149.2,333.2,9.6,336,6518,0.00,2.38,0.00,0.000,6,0.000,0.030,2927,2023,2429,0,0,0,0,0,0
$GC,6842,1.05,154.8,307.1,7.6,344,6851,0.00,2.53,3.83,0.486,4,0.000,0.051,2926,601,2418,0,0,0,0,0,0
$GC,6981,1.05,154.8,294.6,8.8,348,6985,0.00,2.35,0.00,0.000,6,0.000,0.030,2927,2013,2417,0,0,0,0,0,0
$GC,7305,1.10,156.7,270.4,7.9,364,7310,0.12,2.50,0.00,0.000,4,0.077,0.051,2957,599,2417,0,0,0,0,0,0
$GC,7441,1.03,156.7,257.4,10.4,370,7445,0.00,2.38,0.00,0.000,6,0.000,0.029,2957,2021,2415,0,0,0,0,0,0
$GC,7770,1.12,229.7,240.6,3.0,386,7841,0.00,2.55,65.95,0.757,4,0.000,0.050,2957,603,2113,0,0,0,0,0,0
$GC,7911,1.12,229.7,231.3,10.7,392,7915,0.00,2.35,0.00,0.000,6,0.000,0.028,2957,2012,2106,0,0,0,0,0,0
$GC,8231,1.17,229.7,200.1,10.5,408,8235,0.00,2.50,0.00,0.000,4,0.000,0.049,2958,595,2104,0,0,0,0,0,0
$GC,8273,1.17,229.7,194.9,12.7,412,8277,0.00,2.38,0.00,0.000,6,0.000,0.027,2958,2013,2101,0,0,0,0,0,0
$GC,8534,1.22,229.7,164.4,10.1,436,8539,0.10,2.45,0.00,0.000,4,0.082,0.048,2986,599,2101,0,0,0,0,0,0
$GC,8636,1.15,229.7,151.9,12.6,446,8643,0.08,2.35,0.00,0.000,6,0.097,0.025,2969,2009,2099,0,0,0,0,0,0
$GC,8899,1.19,229.7,127.4,8.1,471,8904,0.00,2.45,0.00,0.000,4,0.000,0.045,2968,601,2099,0,0,0,0,0,0
$GC,8933,1.19,229.7,123.9,10.9,474,8937,0.00,2.30,0.00,0.000,6,0.000,0.024,2968,2016,2098,0,0,0,0,0,0
$GC,9194,1.23,229.7,100.6,8.5,498,9198,0.00,2.45,0.00,0.000,4,0.000,0.045,2969,592,2099,0,0,0,0,0,0
$GC,9290,1.23,229.7,91.7,9.5,508,9295,0.00,2.30,0.00,0.000,6,0.000,0.022,2968,2016,2098,0,0,0,0,0,0
$GC,9553,1.30,229.7,68.8,8.3,532,9558,0.12,2.45,0.00,0.000,4,0.068,0.043,3005,592,2098,0,0,0,0,0,0
$GC,9632,1.22,229.7,61.2,10.5,540,9637,0.12,2.30,0.00,0.000,6,0.108,0.021,2982,2019,2098,0,0,0,0,0,0
$GC,9901,1.32,242.2,40.2,7.2,565,9921,0.00,2.45,10.12,0.506,4,0.000,0.041,2981,598,2061,0,0,0,0,0,0
$GC,10102,1.32,242.2,23.6,8.8,595,10108,0.00,2.30,0.00,0.000,6,0.000,0.020,2982,2021,2059,0,0,0,0,0,0
$GC,10307,1.39,242.2,5.4,8.6,632,10314,0.15,2.50,0.00,0.000,4,0.059,0.043,3026,595,2059,0,0,0,0,0,0
$STATE,10333,end climb,SURFACE_DEPTH_REACHED
$STATE,10333,begin surface coast
$FINISH,0.5,1.010854
$STATE,10361,end surface coast,CONTROL_FINISHED_OK
$STATE,10361,begin surface
$SM_CCo,10382,30.83,0.513,0,0,1826,300.00
$SM_GC,0.89,0.00,0.00,30.83,0.000,0.000,0.513,427,1901,1826,-10.52,0.74,300.00
$IRIDIUM_FIX,2059.45,-15759.05,120899,191958
$TT8_MAMPS,0.029146
$HUMID,46.69
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.70
$XPDR_PINGS,5
$24V_AH,23.4,27.390
$10V_AH,10.0,26.303
$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,27.300,128.975,270.025,30.825,0.000,22.259,28.144,145.961,5.750,0.000,41.429,1274.065,6669.236,372.033,2042.581,381.140,33.358,1258.631,0.000,1988.828,0.000,29.248,0.000
$DEVICE_MAMPS,134.992,53.690,876.681,513.123,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.917,413.116,810.066,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,34938,643
$CAP_FILE_SIZE,123445,0
$CFSIZE,260165632,240746496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190510,014646,2108.138,-15756.078,109,2.7,128,9.8