version: 66.06
glider: 139
mission: 7
dive: 315
start: 5 19 110 10 56 24
data:
$ID,139
$MISSION,7
$DIVE,315
$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,-2132136.2
$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
$GPS1,105025,2108.320,-15753.647,118,1.6,118,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-71.6
$GPS2,105532,2108.319,-15753.635,14,1.6,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.177,-0.049
$KALMAN_X,6630.9,608.4,-30.0,-4972.0,-531.8
$KALMAN_Y,13887.8,175.9,135.6,-11591.5,191.2
$MHEAD_RNG_PITCHd_Wd,95.8,19089,-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,-53.28,0.000,2,0.000,0.000,423,1900,3221,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.6,-6.2,10,96,10.68,2.50,-2.83,0.000,4,0.137,0.054,2402,469,3370,0,0,0,0,0,0
$GC,121,-0.96,-77.9,19.0,-29.3,19,128,0.50,2.30,0.00,0.000,6,0.096,0.020,2503,1909,3372,0,0,0,0,0,0
$GC,330,-1.01,-77.9,44.2,-10.5,45,334,0.00,2.47,0.00,0.000,4,0.000,0.044,2502,467,3372,0,0,0,0,0,0
$GC,381,-1.01,-77.9,50.2,-12.1,50,385,0.00,2.25,0.00,0.000,6,0.000,0.020,2502,1872,3373,0,0,0,0,0,0
$GC,644,-1.15,-77.9,76.6,-9.8,74,648,0.17,2.45,0.00,0.000,4,0.051,0.044,2446,463,3374,0,0,0,0,0,0
$GC,689,-1.15,-77.9,82.6,-13.2,78,696,0.00,2.30,0.00,0.000,6,0.000,0.019,2445,1886,3373,0,0,0,0,0,0
$GC,952,-1.15,-77.9,112.4,-10.2,103,956,0.00,2.42,0.00,0.000,4,0.000,0.043,2446,463,3374,0,0,0,0,0,0
$GC,1006,-1.15,-77.9,118.2,-9.5,108,1013,0.00,2.28,0.00,0.000,6,0.000,0.019,2445,1872,3374,0,0,0,0,0,0
$GC,1268,-1.20,-77.9,142.6,-9.6,133,1272,0.00,2.40,0.00,0.000,4,0.000,0.043,2446,468,3375,0,0,0,0,0,0
$GC,1304,-1.20,-77.9,146.6,-10.4,136,1311,0.00,2.28,0.00,0.000,6,0.000,0.020,2445,1880,3375,0,0,0,0,0,0
$GC,1567,-1.27,-77.9,168.7,-8.3,161,1571,0.00,2.40,0.00,0.000,4,0.000,0.043,2445,467,3376,0,0,0,0,0,0
$GC,1636,-1.27,-77.9,175.5,-8.8,168,1640,0.00,2.25,0.00,0.000,6,0.000,0.020,2445,1879,3376,0,0,0,0,0,0
$GC,1897,-1.34,-77.9,198.1,-8.5,192,1902,0.12,2.45,0.00,0.000,4,0.064,0.044,2402,466,3376,0,0,0,0,0,0
$GC,1942,-1.26,-77.9,203.0,-12.1,195,1947,0.17,2.22,0.00,0.000,6,0.092,0.021,2439,1869,3376,0,0,0,0,0,0
$GC,2274,-1.34,-77.9,231.6,-8.1,211,2279,0.00,2.42,0.00,0.000,4,0.000,0.045,2439,461,3376,0,0,0,0,0,0
$GC,2417,-1.37,-77.9,246.9,-10.7,217,2422,0.10,2.28,0.00,0.000,6,0.075,0.021,2403,1877,3376,0,0,0,0,0,0
$GC,2738,-1.37,-77.9,279.5,-10.1,233,2743,0.00,2.40,0.00,0.000,4,0.000,0.046,2403,469,3376,0,0,0,0,0,0
$GC,2771,-1.37,-77.9,283.3,-11.0,234,2775,0.00,2.28,0.00,0.000,6,0.000,0.022,2403,1878,3376,0,0,0,0,0,0
$GC,3109,-1.37,-77.9,314.6,-8.6,247,3114,0.00,2.45,0.00,0.000,4,0.000,0.048,2402,465,3375,0,0,0,0,0,0
$GC,3183,-1.37,-77.9,321.1,-8.7,248,3187,0.00,2.30,0.00,0.000,6,0.000,0.025,2402,1880,3375,0,0,0,0,0,0
$GC,3518,-1.42,-77.9,347.9,-8.2,257,3522,0.00,2.45,0.00,0.000,4,0.000,0.051,2403,462,3373,0,0,0,0,0,0
$GC,3653,-1.42,-77.9,361.9,-10.8,260,3657,0.00,2.30,0.00,0.000,6,0.000,0.026,2402,1877,3373,0,0,0,0,0,0
$GC,3981,-1.46,-77.9,394.3,-9.6,268,3986,0.00,2.45,0.00,0.000,4,0.000,0.052,2401,467,3371,0,0,0,0,0,0
$GC,4008,-1.46,-77.9,397.1,-9.7,268,4012,0.00,2.30,0.00,0.000,6,0.000,0.028,2402,1876,3371,0,0,0,0,0,0
$GC,4345,-1.51,-77.9,425.0,-8.1,277,4349,0.00,2.45,0.00,0.000,4,0.000,0.054,2398,472,3368,0,0,0,0,0,0
$GC,4466,-1.51,-77.9,435.3,-7.9,279,4470,0.00,2.33,0.00,0.000,6,0.000,0.029,2402,1878,3367,0,0,0,0,0,0
$STATE,4679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4679,begin apogee
$GC,4684,-0.31,0.0,450.9,7.3,285,4752,1.12,0.00,64.62,0.878,6,0.077,0.000,2641,2035,3050,0,0,0,0,0,0
$STATE,4753,end apogee,CONTROL_FINISHED_OK
$STATE,4753,begin climb
$GC,4755,1.40,77.9,451.9,0.0,286,4829,1.65,2.45,64.88,0.856,4,0.035,0.047,3022,3382,2732,0,0,0,0,0,0
$GC,5019,1.23,121.2,446.8,5.0,291,5066,0.22,2.38,37.10,0.845,6,0.115,0.038,2983,2010,2555,0,0,0,0,0,0
$GC,5390,1.12,121.2,412.8,10.1,301,5392,0.12,0.00,0.00,0.000,6,0.124,0.000,2961,2010,2548,0,0,0,0,0,0
$GC,5716,1.07,130.7,386.5,7.4,309,5729,0.00,2.50,7.90,0.718,4,0.000,0.054,2958,604,2517,0,0,0,0,0,0
$GC,5877,0.95,130.7,374.0,8.6,312,5882,0.20,2.35,0.00,0.000,6,0.114,0.031,2924,1996,2514,0,0,0,0,0,0
$GC,6217,1.00,169.9,355.5,5.3,321,6257,0.00,0.00,35.28,0.825,6,0.000,0.000,2924,2000,2356,0,0,0,0,0,0
$GC,6583,1.05,169.9,327.7,8.3,330,6587,0.00,2.47,0.00,0.000,4,0.000,0.052,2924,603,2349,0,0,0,0,0,0
$GC,6694,1.05,169.9,314.8,11.8,332,6698,0.00,2.35,0.00,0.000,6,0.000,0.031,2924,2009,2346,0,0,0,0,0,0
$GC,7020,1.15,202.8,289.1,5.8,344,7057,0.17,2.58,28.95,0.782,4,0.066,0.051,2965,611,2222,0,0,0,0,0,0
$GC,7099,1.07,202.8,282.7,9.6,347,7103,0.00,2.38,0.00,0.000,6,0.000,0.030,2966,2011,2218,0,0,0,0,0,0
$GC,7414,1.07,202.8,256.4,9.4,362,7415,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2016,2216,0,0,0,0,0,0
$GC,7724,1.07,202.8,221.1,10.3,377,7726,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2016,2215,0,0,0,0,0,0
$GC,8036,1.08,213.7,194.7,7.3,395,8056,0.00,2.47,9.60,0.643,4,0.000,0.047,2966,604,2177,0,0,0,0,0,0
$GC,8212,1.04,213.7,179.4,10.5,414,8217,0.12,2.33,0.00,0.000,6,0.120,0.026,2945,2017,2173,0,0,0,0,0,0
$GC,8472,1.12,213.7,153.2,11.3,438,8477,0.00,2.47,0.00,0.000,4,0.000,0.046,2944,599,2174,0,0,0,0,0,0
$GC,8500,1.12,213.7,149.8,12.5,440,8506,0.00,2.35,0.00,0.000,6,0.000,0.025,2944,2008,2173,0,0,0,0,0,0
$GC,8763,1.21,221.0,124.0,7.5,465,8776,0.15,2.47,7.22,0.547,4,0.066,0.046,2983,603,2149,0,0,0,0,0,0
$GC,8829,1.16,221.0,118.4,8.8,472,8834,0.00,2.30,0.00,0.000,6,0.000,0.024,2984,2011,2147,0,0,0,0,0,0
$GC,9091,1.17,224.5,96.7,7.8,496,9102,0.00,2.45,4.88,0.456,4,0.000,0.044,2984,602,2133,0,0,0,0,0,0
$GC,9152,1.12,224.5,90.5,10.7,502,9160,0.10,2.33,0.00,0.000,6,0.091,0.023,2961,2015,2132,0,0,0,0,0,0
$GC,9415,1.19,224.5,68.9,8.4,527,9419,0.00,2.42,0.00,0.000,4,0.000,0.043,2961,599,2132,0,0,0,0,0,0
$GC,9500,1.19,224.5,61.2,8.8,536,9505,0.00,2.28,0.00,0.000,6,0.000,0.021,2961,2015,2131,0,0,0,0,0,0
$GC,9763,1.30,224.5,38.5,8.3,560,9768,0.15,2.45,0.00,0.000,4,0.061,0.042,3005,601,2131,0,0,0,0,0,0
$GC,9807,1.30,224.5,34.2,10.8,564,9811,0.00,2.25,0.00,0.000,6,0.000,0.021,3005,2009,2131,0,0,0,0,0,0
$GC,10075,1.30,224.5,12.4,9.3,608,10082,0.00,2.45,0.00,0.000,4,0.000,0.042,3005,595,2131,0,0,0,0,0,0
$GC,10120,1.25,224.5,8.3,10.4,617,10126,0.00,2.28,0.00,0.000,6,0.000,0.021,3005,2026,2132,0,0,0,0,0,0
$STATE,10175,end climb,SURFACE_DEPTH_REACHED
$STATE,10175,begin surface coast
$FINISH,0.5,1.023424
$STATE,10202,end surface coast,CONTROL_FINISHED_OK
$STATE,10202,begin surface
$SM_CCo,10221,38.22,0.515,0,0,1827,300.00
$SM_GC,1.55,0.00,0.00,38.22,0.000,0.000,0.515,430,1858,1827,-10.50,-0.48,300.00
$IRIDIUM_FIX,2101.76,-15753.03,130899,070756
$TT8_MAMPS,0.029146
$HUMID,47.40
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,27.711
$10V_AH,10.0,26.626
$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,26.825,114.600,260.425,38.225,0.000,24.971,31.181,152.008,4.500,0.000,14.371,1225.348,6741.235,388.165,1839.117,373.817,33.364,1185.784,0.000,1817.656,0.000,29.256,0.000
$DEVICE_MAMPS,137.293,54.457,878.215,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.824,406.322,795.315,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,34894,632
$CAP_FILE_SIZE,114486,0
$CFSIZE,260165632,240513024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190510,134921,2108.242,-15752.577,62,7.2,81,9.8