version: 66.06
glider: 139
mission: 7
dive: 318
start: 5 19 110 19 55 12
data:
$ID,139
$MISSION,7
$DIVE,318
$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,-2132200.8
$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
$GPS1,194538,2107.848,-15752.227,47,1.9,47,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.8
$GPS2,195420,2107.904,-15752.276,12,1.9,12,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.143,-0.115
$KALMAN_X,4970.7,-658.4,-656.1,931.7,-84.5
$KALMAN_Y,15600.5,-311.3,-32.2,-13415.4,927.8
$MHEAD_RNG_PITCHd_Wd,119.0,16627,-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,-53.28,0.000,2,0.000,0.000,425,1910,3210,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.2,-5.0,10,95,10.68,2.50,-3.15,0.000,4,0.137,0.051,2402,470,3370,0,0,0,0,0,0
$GC,138,-1.13,-77.9,22.2,-24.0,23,144,0.32,2.33,0.00,0.000,6,0.096,0.020,2466,1906,3371,0,0,0,0,0,0
$GC,345,-1.10,-77.9,54.3,-14.9,46,350,0.00,2.47,0.00,0.000,4,0.000,0.043,2466,464,3372,0,0,0,0,0,0
$GC,371,-1.03,-77.9,58.3,-15.3,48,376,0.12,2.28,0.00,0.000,6,0.108,0.019,2491,1888,3372,0,0,0,0,0,0
$GC,633,-1.14,-77.9,80.3,-9.0,72,638,0.12,2.45,0.00,0.000,4,0.064,0.044,2448,466,3373,0,0,0,0,0,0
$GC,735,-1.10,-77.9,92.7,-12.1,82,742,0.08,2.25,0.00,0.000,6,0.074,0.020,2468,1853,3373,0,0,0,0,0,0
$GC,997,-1.17,-77.9,118.9,-9.8,107,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1857,3374,0,0,0,0,0,0
$GC,1255,-1.28,-77.9,144.6,-9.7,131,1260,0.15,2.40,0.00,0.000,4,0.058,0.044,2420,464,3375,0,0,0,0,0,0
$GC,1328,-1.22,-77.9,154.1,-12.4,138,1336,0.10,2.30,0.00,0.000,6,0.073,0.020,2445,1886,3375,0,0,0,0,0,0
$GC,1590,-1.28,-77.9,183.4,-11.3,163,1594,0.00,2.42,0.00,0.000,4,0.000,0.044,2446,465,3375,0,0,0,0,0,0
$GC,1625,-1.28,-77.9,188.0,-12.5,166,1632,0.00,2.28,0.00,0.000,6,0.000,0.020,2445,1872,3376,0,0,0,0,0,0
$GC,1894,-1.36,-77.9,214.0,-9.4,185,1899,0.12,2.45,0.00,0.000,4,0.064,0.044,2403,459,3376,0,0,0,0,0,0
$GC,1914,-1.36,-77.9,216.3,-10.4,186,1918,0.00,2.28,0.00,0.000,6,0.000,0.021,2400,1880,3376,0,0,0,0,0,0
$GC,2242,-1.36,-77.9,250.3,-10.4,202,2246,0.00,2.40,0.00,0.000,4,0.000,0.044,2403,467,3376,0,0,0,0,0,0
$GC,2289,-1.36,-77.9,255.2,-10.2,204,2293,0.00,2.25,0.00,0.000,6,0.000,0.021,2402,1869,3376,0,0,0,0,0,0
$GC,2612,-1.36,-77.9,291.4,-11.6,220,2617,0.00,2.40,0.00,0.000,4,0.000,0.046,2402,464,3376,0,0,0,0,0,0
$GC,2658,-1.36,-77.9,296.9,-12.0,222,2662,0.00,2.28,0.00,0.000,6,0.000,0.022,2403,1878,3376,0,0,0,0,0,0
$GC,2979,-1.40,-77.9,321.9,-6.9,231,2983,0.00,2.45,0.00,0.000,4,0.000,0.048,2401,466,3375,0,0,0,0,0,0
$GC,3048,-1.40,-77.9,327.2,-7.1,232,3052,0.00,2.30,0.00,0.000,6,0.000,0.025,2403,1880,3375,0,0,0,0,0,0
$GC,3388,-1.44,-77.9,354.9,-9.0,241,3392,0.00,2.45,0.00,0.000,4,0.000,0.050,2399,463,3373,0,0,0,0,0,0
$GC,3476,-1.44,-77.9,363.8,-10.4,243,3480,0.00,2.33,0.00,0.000,6,0.000,0.026,2403,1878,3373,0,0,0,0,0,0
$GC,3803,-1.49,-77.9,392.2,-8.5,251,3807,0.00,2.45,0.00,0.000,4,0.000,0.052,2399,468,3370,0,0,0,0,0,0
$GC,3848,-1.49,-77.9,396.6,-9.6,252,3853,0.00,2.33,0.00,0.000,6,0.000,0.028,2403,1876,3370,0,0,0,0,0,0
$GC,4171,-1.54,-77.9,425.0,-8.9,260,4176,0.12,2.50,0.00,0.000,4,0.071,0.055,2367,469,3367,0,0,0,0,0,0
$GC,4274,-1.48,-77.9,435.9,-10.0,262,4279,0.12,2.33,0.00,0.000,6,0.107,0.029,2389,1872,3366,0,0,0,0,0,0
$STATE,4464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4464,begin apogee
$GC,4469,-0.31,0.0,451.9,8.3,267,4538,1.17,0.00,64.47,0.875,6,0.076,0.000,2642,2030,3050,0,0,0,0,0,0
$STATE,4538,end apogee,CONTROL_FINISHED_OK
$STATE,4538,begin climb
$GC,4540,1.40,77.9,452.6,0.0,268,4615,1.65,2.45,64.55,0.854,4,0.034,0.046,3026,3381,2732,0,0,0,0,0,0
$GC,4694,1.25,144.8,451.4,3.4,271,4758,0.20,2.40,57.25,0.850,6,0.114,0.037,2989,2001,2459,0,0,0,0,0,0
$GC,5081,1.14,144.8,418.3,9.1,281,5086,0.15,2.40,0.00,0.000,4,0.120,0.041,2963,3384,2451,0,0,0,0,0,0
$GC,5114,1.10,144.8,415.5,8.1,281,5118,0.00,2.40,0.00,0.000,6,0.000,0.039,2962,2010,2450,0,0,0,0,0,0
$GC,5445,1.05,144.8,385.1,9.7,289,5449,0.00,2.47,0.00,0.000,4,0.000,0.053,2961,597,2447,0,0,0,0,0,0
$GC,5535,0.94,144.8,376.0,9.9,291,5540,0.22,2.35,0.00,0.000,6,0.111,0.031,2920,1988,2445,0,0,0,0,0,0
$GC,5864,1.02,174.9,353.6,6.0,299,5896,0.00,2.53,24.77,0.813,4,0.000,0.051,2921,599,2335,0,0,0,0,0,0
$GC,6045,1.02,174.9,337.0,11.6,303,6049,0.00,2.40,0.00,0.000,6,0.000,0.030,2921,2015,2330,0,0,0,0,0,0
$GC,6372,1.08,174.9,305.1,9.4,311,6377,0.12,2.53,0.00,0.000,4,0.078,0.053,2951,593,2329,0,0,0,0,0,0
$GC,6438,1.04,174.9,298.1,10.4,312,6442,0.00,2.40,0.00,0.000,6,0.000,0.030,2951,2012,2327,0,0,0,0,0,0
$GC,6767,1.04,174.9,271.5,8.5,328,6771,0.00,2.50,0.00,0.000,4,0.000,0.051,2951,597,2327,0,0,0,0,0,0
$GC,6787,1.04,174.9,269.8,9.1,329,6791,0.00,2.40,0.00,0.000,6,0.000,0.030,2952,2022,2326,0,0,0,0,0,0
$GC,7118,1.07,177.6,243.9,7.8,345,7119,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2026,2326,0,0,0,0,0,0
$GC,7426,1.13,199.4,221.3,6.5,360,7452,0.00,2.55,20.88,0.713,4,0.000,0.049,2951,594,2236,0,0,0,0,0,0
$GC,7489,1.13,199.4,216.4,8.6,362,7496,0.00,2.40,0.00,0.000,6,0.000,0.028,2951,2006,2233,0,0,0,0,0,0
$GC,7807,1.21,226.4,194.3,6.2,382,7839,0.12,2.55,24.67,0.688,4,0.074,0.047,2985,604,2125,0,0,0,0,0,0
$GC,7913,1.15,226.4,183.6,10.8,393,7919,0.00,2.35,0.00,0.000,6,0.000,0.025,2985,2018,2120,0,0,0,0,0,0
$GC,8175,1.15,226.4,157.4,10.9,418,8179,0.00,2.50,0.00,0.000,4,0.000,0.047,2985,593,2120,0,0,0,0,0,0
$GC,8256,1.09,226.4,147.3,12.0,426,8264,0.15,2.38,0.00,0.000,6,0.091,0.025,2953,2018,2118,0,0,0,0,0,0
$GC,8520,1.17,226.4,119.6,8.9,451,8524,0.00,2.47,0.00,0.000,4,0.000,0.046,2953,597,2118,0,0,0,0,0,0
$GC,8692,1.24,251.9,105.6,6.3,469,8725,0.15,2.30,22.48,0.601,6,0.065,0.022,2994,2018,2022,0,0,0,0,0,0
$GC,8979,1.24,251.9,80.4,10.9,497,8983,0.00,2.42,0.00,0.000,4,0.000,0.043,2994,599,2019,0,0,0,0,0,0
$GC,9013,1.20,251.9,76.4,12.5,500,9017,0.00,2.28,0.00,0.000,6,0.000,0.021,2994,2009,2018,0,0,0,0,0,0
$GC,9280,1.25,251.9,46.4,9.3,525,9285,0.00,2.42,0.00,0.000,4,0.000,0.044,2994,593,2018,0,0,0,0,0,0
$GC,9412,1.25,251.9,33.0,10.7,539,9416,0.00,2.28,0.00,0.000,6,0.000,0.021,2994,2014,2016,0,0,0,0,0,0
$GC,9681,1.31,251.9,9.2,9.7,584,9688,0.00,2.47,0.00,0.000,4,0.000,0.043,2994,592,2016,0,0,0,0,0,0
$STATE,9743,end climb,SURFACE_DEPTH_REACHED
$STATE,9743,begin surface coast
$FINISH,0.5,1.023372
$STATE,9781,end surface coast,CONTROL_FINISHED_OK
$STATE,9781,begin surface
$SM_CCo,9802,24.25,0.503,0,0,1826,300.00
$SM_GC,1.00,0.00,0.00,24.25,0.000,0.000,0.503,424,1901,1826,-10.53,0.74,300.00
$IRIDIUM_FIX,2059.45,-15753.90,130899,191957
$TT8_MAMPS,0.029146
$HUMID,47.87
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,27.970
$10V_AH,10.0,26.866
$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,26.975,119.750,279.075,24.250,0.000,48.961,67.411,234.484,4.500,0.000,12.208,1185.502,6472.693,364.748,1801.762,525.593,33.379,1170.282,0.000,1775.667,0.000,29.253,0.000
$DEVICE_MAMPS,137.293,55.224,875.147,503.152,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.925,383.876,755.326,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,34846,605
$CAP_FILE_SIZE,119045,0
$CFSIZE,260165632,240332800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190510,224127,2107.422,-15751.420,93,3.3,112,9.8