version: 66.06
glider: 139
mission: 7
dive: 320
start: 5 20 110 2 12 22
data:
$ID,139
$MISSION,7
$DIVE,320
$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,-2132365.2
$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
$GPS1,014646,2106.999,-15750.357,81,2.9,100,9.8
$_CALLS,5
$_XMS_NAKs,25
$_XMS_TOUTs,1
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-70.3
$GPS2,021131,2106.944,-15750.369,124,1.0,124,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.176,-0.053
$KALMAN_X,3187.0,-157.4,569.8,4285.7,-790.0
$KALMAN_Y,16018.8,-89.0,-56.8,-15803.8,397.8
$MHEAD_RNG_PITCHd_Wd,96.9,13044,-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,-53.15,0.000,2,0.000,0.000,422,1896,3252,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.8,-7.1,10,95,10.62,2.53,-2.25,0.000,4,0.136,0.054,2401,463,3370,0,0,0,0,0,0
$GC,129,-1.10,-77.9,20.5,-23.6,21,135,0.35,2.30,0.00,0.000,6,0.087,0.020,2471,1901,3371,0,0,0,0,0,0
$GC,336,-1.10,-77.9,46.8,-12.5,46,341,0.00,2.47,0.00,0.000,4,0.000,0.044,2472,468,3372,0,0,0,0,0,0
$GC,362,-1.06,-77.9,50.1,-12.9,48,366,0.00,2.25,0.00,0.000,6,0.000,0.020,2470,1891,3371,0,0,0,0,0,0
$GC,625,-1.14,-77.9,75.3,-8.3,72,629,0.00,2.45,0.00,0.000,4,0.000,0.043,2472,463,3371,0,0,0,0,0,0
$GC,724,-1.18,-77.9,85.2,-9.9,82,731,0.00,2.28,0.00,0.000,6,0.000,0.019,2471,1873,3372,0,0,0,0,0,0
$GC,987,-1.28,-77.9,107.1,-8.9,107,992,0.17,2.42,0.00,0.000,4,0.052,0.044,2417,463,3372,0,0,0,0,0,0
$GC,1098,-1.22,-77.9,122.4,-13.7,118,1104,0.10,2.28,0.00,0.000,6,0.074,0.020,2444,1870,3372,0,0,0,0,0,0
$GC,1359,-1.25,-77.9,149.2,-9.5,143,1363,0.00,2.30,0.00,0.000,4,0.000,0.027,2442,3263,3372,0,0,0,0,0,0
$GC,1384,-1.34,-77.9,151.5,-9.1,145,1389,0.00,2.33,0.00,0.000,6,0.000,0.028,2440,1868,3372,0,0,0,0,0,0
$GC,1647,-1.40,-77.9,175.9,-8.3,169,1652,0.15,2.38,0.00,0.000,4,0.057,0.044,2396,471,3373,0,0,0,0,0,0
$GC,1720,-1.30,-77.9,184.5,-12.2,176,1727,0.12,2.25,0.00,0.000,6,0.072,0.021,2425,1865,3373,0,0,0,0,0,0
$GC,1991,-1.37,-77.9,210.2,-10.0,197,1995,0.00,2.40,0.00,0.000,4,0.000,0.044,2427,468,3372,0,0,0,0,0,0
$GC,2069,-1.40,-77.9,218.6,-9.9,200,2073,0.00,2.22,0.00,0.000,6,0.000,0.021,2426,1878,3373,0,0,0,0,0,0
$GC,2385,-1.49,-77.9,245.8,-8.3,215,2387,0.17,0.00,0.00,0.000,6,0.052,0.000,2373,1882,3372,0,0,0,0,0,0
$GC,2693,-1.49,-77.9,277.3,-9.5,230,2697,0.00,2.40,0.00,0.000,4,0.000,0.046,2373,473,3372,0,0,0,0,0,0
$GC,2795,-1.41,-77.9,288.5,-11.9,234,2800,0.15,2.25,0.00,0.000,6,0.094,0.023,2405,1879,3372,0,0,0,0,0,0
$GC,3127,-1.46,-77.9,319.9,-9.2,245,3132,0.00,2.42,0.00,0.000,4,0.000,0.048,2405,466,3370,0,0,0,0,0,0
$GC,3164,-1.46,-77.9,323.7,-10.0,245,3168,0.00,2.28,0.00,0.000,6,0.000,0.024,2405,1881,3370,0,0,0,0,0,0
$GC,3499,-1.50,-77.9,353.4,-8.6,254,3504,0.00,2.45,0.00,0.000,4,0.000,0.049,2405,470,3368,0,0,0,0,0,0
$GC,3582,-1.53,-77.9,361.1,-9.2,255,3588,0.12,2.30,0.00,0.000,6,0.067,0.025,2366,1879,3368,0,0,0,0,0,0
$GC,3913,-1.53,-77.9,393.7,-9.8,264,3917,0.00,2.45,0.00,0.000,4,0.000,0.051,2366,475,3364,0,0,0,0,0,0
$GC,3963,-1.48,-77.9,399.2,-11.0,265,3968,0.12,2.30,0.00,0.000,6,0.104,0.027,2392,1874,3364,0,0,0,0,0,0
$GC,4282,-1.48,-77.9,430.0,-9.7,273,4286,0.00,2.45,0.00,0.000,4,0.000,0.053,2391,475,3361,0,0,0,0,0,0
$GC,4304,-1.48,-77.9,432.5,-10.7,273,4308,0.00,2.30,0.00,0.000,6,0.000,0.028,2392,1881,3361,0,0,0,0,0,0
$STATE,4520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4520,begin apogee
$GC,4525,-0.31,0.0,452.5,8.9,279,4592,1.20,0.00,63.30,0.875,6,0.078,0.000,2647,2029,3049,0,0,0,0,0,0
$STATE,4593,end apogee,CONTROL_FINISHED_OK
$STATE,4593,begin climb
$GC,4595,1.40,77.9,453.4,0.0,280,4669,1.62,2.45,64.47,0.853,4,0.032,0.044,3022,3381,2732,0,0,0,0,0,0
$GC,4933,1.22,112.6,442.6,5.6,287,4971,0.25,2.35,29.52,0.836,6,0.112,0.037,2981,2006,2590,0,0,0,0,0,0
$GC,5285,1.11,112.6,414.4,8.8,296,5290,0.12,2.42,0.00,0.000,4,0.127,0.040,2958,3394,2585,0,0,0,0,0,0
$GC,5393,1.05,118.7,405.5,7.6,298,5405,0.00,2.40,5.82,0.653,6,0.000,0.037,2960,2006,2565,0,0,0,0,0,0
$GC,5746,1.03,149.0,381.7,5.9,307,5778,0.00,2.58,26.73,0.824,4,0.000,0.053,2955,600,2441,0,0,0,0,0,0
$GC,5808,0.92,149.9,377.3,8.0,308,5813,0.22,2.38,0.00,0.000,6,0.114,0.030,2918,1995,2438,0,0,0,0,0,0
$GC,6158,1.02,181.8,355.5,5.8,317,6189,0.00,0.00,29.25,0.813,6,0.000,0.000,2918,1999,2309,0,0,0,0,0,0
$GC,6482,1.09,181.8,329.0,8.8,325,6487,0.15,2.47,0.00,0.000,4,0.071,0.054,2953,604,2303,0,0,0,0,0,0
$GC,6677,1.04,181.8,305.8,11.7,329,6681,0.00,2.38,0.00,0.000,6,0.000,0.030,2954,2013,2299,0,0,0,0,0,0
$GC,6995,1.07,208.1,282.8,6.2,343,7023,0.00,2.58,23.08,0.763,4,0.000,0.052,2952,599,2201,0,0,0,0,0,0
$GC,7110,1.04,208.1,271.4,10.9,348,7115,0.00,2.38,0.00,0.000,6,0.000,0.029,2954,2018,2196,0,0,0,0,0,0
$GC,7435,1.07,208.1,235.0,11.1,364,7439,0.00,2.50,0.00,0.000,4,0.000,0.051,2953,599,2195,0,0,0,0,0,0
$GC,7517,1.07,208.1,225.3,11.1,367,7522,0.00,2.38,0.00,0.000,6,0.000,0.028,2954,2015,2192,0,0,0,0,0,0
$GC,7835,1.13,217.6,200.7,7.4,383,7850,0.00,2.38,8.50,0.630,4,0.000,0.035,2954,3412,2162,0,0,0,0,0,0
$GC,7862,1.20,221.3,198.6,7.8,385,7873,0.00,2.42,5.12,0.530,6,0.000,0.035,2954,2006,2147,0,0,0,0,0,0
$GC,8127,1.26,221.3,175.7,8.7,410,8132,0.15,2.45,0.00,0.000,4,0.066,0.049,2993,598,2145,0,0,0,0,0,0
$GC,8296,1.17,221.3,153.8,13.3,428,8301,0.12,2.33,0.00,0.000,6,0.114,0.025,2971,2016,2142,0,0,0,0,0,0
$GC,8557,1.21,221.3,127.8,9.2,452,8561,0.00,2.33,0.00,0.000,4,0.000,0.033,2970,3401,2142,0,0,0,0,0,0
$GC,8628,1.28,221.3,120.4,10.2,459,8633,0.10,2.35,0.00,0.000,6,0.079,0.031,2998,2001,2142,0,0,0,0,0,0
$GC,8890,1.28,221.3,93.3,10.8,483,8894,0.00,2.40,0.00,0.000,4,0.000,0.045,2999,604,2142,0,0,0,0,0,0
$GC,8969,1.22,221.3,83.5,12.7,491,8974,0.00,2.30,0.00,0.000,6,0.000,0.023,2999,2014,2141,0,0,0,0,0,0
$GC,9233,1.23,228.9,60.1,7.5,515,9247,0.00,2.50,7.78,0.502,4,0.000,0.043,2999,599,2116,0,0,0,0,0,0
$GC,9387,1.24,241.9,47.1,7.1,532,9404,0.00,2.33,12.50,0.528,6,0.000,0.021,3000,2025,2064,0,0,0,0,0,0
$GC,9658,1.31,244.0,27.3,7.9,560,9665,0.00,2.45,0.00,0.000,4,0.000,0.042,3000,611,2063,0,0,0,0,0,0
$GC,9847,1.29,260.2,11.8,6.9,601,9873,0.00,2.25,17.42,0.511,6,0.000,0.020,3000,2030,1987,0,0,0,0,0,0
$STATE,9934,end climb,SURFACE_DEPTH_REACHED
$STATE,9934,begin surface coast
$FINISH,0.5,1.004406
$STATE,9961,end surface coast,CONTROL_FINISHED_OK
$STATE,9961,begin surface
$SM_CCo,9980,22.12,0.506,0,0,1827,300.00
$SM_GC,1.29,0.00,0.00,22.12,0.000,0.000,0.506,430,1862,1827,-10.51,-0.37,300.00
$IRIDIUM_FIX,2057.14,-15748.75,140899,020210
$TT8_MAMPS,0.029146
$HUMID,47.83
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,28.176
$10V_AH,10.1,27.044
$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,27.075,114.600,293.500,22.125,0.000,140.955,198.874,643.510,4.500,0.000,124.687,1219.455,6679.419,376.334,2001.645,1210.916,33.369,1205.846,0.000,1869.307,0.000,29.265,0.000
$DEVICE_MAMPS,135.759,54.457,875.147,506.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.605,399.334,794.623,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34860,622
$CAP_FILE_SIZE,135777,0
$CFSIZE,260165632,240197632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200510,050116,2106.780,-15749.951,75,5.1,94,9.8