version: 66.06
glider: 139
mission: 7
dive: 323
start: 5 20 110 11 34 10
data:
$ID,139
$MISSION,7
$DIVE,323
$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,-2132494
$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
$GPS1,111416,2106.582,-15749.147,57,2.3,76,9.8
$_CALLS,5
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.9
$GPS2,113319,2106.671,-15749.110,51,1.7,60,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.011
$KALMAN_X,-379.0,316.0,7.0,10114.6,-746.9
$KALMAN_Y,17075.2,165.6,194.3,-17875.8,-72.4
$MHEAD_RNG_PITCHd_Wd,83.6,10817,-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,-77.9,0.0,0.0,0,70,0.00,0.00,-52.60,0.000,2,0.000,0.000,428,1863,3232,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.7,-7.5,10,95,10.57,2.45,-2.60,0.000,4,0.134,0.038,2401,3308,3371,0,0,0,0,0,0
$GC,182,-1.36,-77.9,28.3,-16.6,33,187,0.00,2.45,0.00,0.000,6,0.000,0.033,2401,1868,3372,0,0,0,0,0,0
$GC,386,-1.24,-77.9,64.1,-16.7,53,388,0.20,0.00,0.00,0.000,6,0.097,0.000,2442,1868,3372,0,0,0,0,0,0
$GC,640,-1.24,-77.9,94.7,-12.2,77,644,0.00,2.40,0.00,0.000,4,0.000,0.044,2442,468,3373,0,0,0,0,0,0
$GC,666,-1.17,-77.9,98.1,-13.5,79,670,0.00,2.30,0.00,0.000,6,0.000,0.019,2441,1916,3374,0,0,0,0,0,0
$GC,928,-1.17,-77.9,129.7,-12.5,103,932,0.00,2.50,0.00,0.000,4,0.000,0.044,2441,466,3374,0,0,0,0,0,0
$GC,997,-1.17,-77.9,139.3,-13.6,110,1005,0.00,2.22,0.00,0.000,6,0.000,0.020,2441,1874,3374,0,0,0,0,0,0
$GC,1267,-1.22,-77.9,169.4,-9.7,135,1271,0.00,2.42,0.00,0.000,4,0.000,0.043,2441,460,3374,0,0,0,0,0,0
$GC,1292,-1.22,-77.9,172.0,-10.3,137,1296,0.00,2.25,0.00,0.000,6,0.000,0.020,2441,1880,3374,0,0,0,0,0,0
$GC,1556,-1.28,-77.9,197.6,-9.5,161,1560,0.00,2.42,0.00,0.000,4,0.000,0.044,2442,466,3375,0,0,0,0,0,0
$GC,1603,-1.31,-77.9,202.8,-10.7,164,1607,0.00,2.25,0.00,0.000,6,0.000,0.020,2441,1872,3375,0,0,0,0,0,0
$GC,1928,-1.40,-77.9,230.3,-8.1,180,1932,0.15,2.42,0.00,0.000,4,0.058,0.044,2395,459,3375,0,0,0,0,0,0
$GC,2008,-1.40,-77.9,240.1,-12.3,183,2012,0.00,2.25,0.00,0.000,6,0.000,0.021,2389,1878,3375,0,0,0,0,0,0
$GC,2322,-1.40,-77.9,274.9,-10.4,198,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1882,3374,0,0,0,0,0,0
$GC,2631,-1.40,-77.9,304.9,-9.0,212,2635,0.00,2.42,0.00,0.000,4,0.000,0.048,2392,464,3374,0,0,0,0,0,0
$GC,2674,-1.34,-77.9,308.6,-8.7,213,2679,0.12,2.30,0.00,0.000,6,0.100,0.024,2420,1880,3374,0,0,0,0,0,0
$GC,3003,-1.43,-77.9,332.2,-7.2,221,3007,0.00,2.45,0.00,0.000,4,0.000,0.049,2420,470,3372,0,0,0,0,0,0
$GC,3065,-1.48,-77.9,337.1,-7.9,222,3070,0.12,2.28,0.00,0.000,6,0.066,0.025,2381,1880,3372,0,0,0,0,0,0
$GC,3415,-1.48,-77.9,370.1,-9.1,231,3419,0.00,2.45,0.00,0.000,4,0.000,0.051,2371,466,3370,0,0,0,0,0,0
$GC,3558,-1.44,-77.9,385.3,-11.0,234,3562,0.00,2.30,0.00,0.000,6,0.000,0.027,2381,1869,3369,0,0,0,0,0,0
$GC,3876,-1.44,-77.9,417.0,-10.3,242,3881,0.00,2.45,0.00,0.000,4,0.000,0.053,2377,463,3366,0,0,0,0,0,0
$GC,3960,-1.39,-77.9,426.3,-10.8,243,3966,0.15,2.33,0.00,0.000,6,0.098,0.028,2411,1880,3365,0,0,0,0,0,0
$STATE,4290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4290,begin apogee
$GC,4295,-0.31,0.0,450.6,7.2,252,4362,1.08,0.00,63.90,0.877,6,0.073,0.000,2643,2026,3050,0,0,0,0,0,0
$STATE,4363,end apogee,CONTROL_FINISHED_OK
$STATE,4363,begin climb
$GC,4365,1.40,77.9,451.2,0.0,253,4440,1.65,2.47,64.47,0.854,4,0.033,0.046,3027,3389,2732,0,0,0,0,0,0
$GC,4704,1.19,97.6,435.9,6.7,260,4728,0.28,2.38,17.38,0.811,6,0.110,0.036,2974,2009,2650,0,0,0,0,0,0
$GC,5056,1.11,121.5,412.4,6.4,269,5084,0.00,2.53,20.70,0.823,4,0.000,0.051,2972,602,2553,0,0,0,0,0,0
$GC,5162,0.94,121.5,404.5,8.3,271,5168,0.30,2.35,0.00,0.000,6,0.105,0.030,2919,1993,2550,0,0,0,0,0,0
$GC,5512,0.97,147.8,383.6,6.2,280,5537,0.00,0.00,23.15,0.825,6,0.000,0.000,2919,1997,2447,0,0,0,0,0,0
$GC,5838,1.02,158.8,359.7,7.3,288,5855,0.00,2.55,10.38,0.753,4,0.000,0.054,2918,605,2402,0,0,0,0,0,0
$GC,5984,1.03,163.4,347.6,7.7,291,5996,0.00,2.38,5.22,0.615,6,0.000,0.031,2918,2020,2382,0,0,0,0,0,0
$GC,6306,1.10,171.8,323.4,7.4,299,6322,0.15,2.53,8.73,0.718,4,0.072,0.052,2954,604,2349,0,0,0,0,0,0
$GC,6414,1.04,171.8,312.7,10.3,301,6419,0.00,2.38,0.00,0.000,6,0.000,0.031,2954,2007,2346,0,0,0,0,0,0
$GC,6746,1.04,171.8,282.0,9.5,314,6750,0.00,2.50,0.00,0.000,4,0.000,0.052,2954,597,2344,0,0,0,0,0,0
$GC,6759,1.04,171.8,280.5,9.5,314,6766,0.00,2.40,0.00,0.000,6,0.000,0.031,2955,2006,2344,0,0,0,0,0,0
$GC,7074,1.07,198.0,257.7,6.2,330,7100,0.00,0.00,23.90,0.759,6,0.000,0.000,2955,2011,2242,0,0,0,0,0,0
$GC,7406,1.11,198.0,227.9,10.1,346,7410,0.00,2.47,0.00,0.000,4,0.000,0.051,2954,604,2237,0,0,0,0,0,0
$GC,7479,1.08,198.0,220.1,10.2,349,7483,0.00,2.33,0.00,0.000,6,0.000,0.028,2954,2015,2234,0,0,0,0,0,0
$GC,7803,1.11,198.0,191.7,8.4,369,7808,0.00,2.47,0.00,0.000,4,0.000,0.048,2954,604,2234,0,0,0,0,0,0
$GC,7828,1.11,198.0,189.1,10.4,371,7832,0.00,2.33,0.00,0.000,6,0.000,0.026,2955,2016,2233,0,0,0,0,0,0
$GC,8092,1.18,213.1,168.5,7.0,395,8112,0.00,2.50,13.38,0.645,4,0.000,0.047,2954,598,2180,0,0,0,0,0,0
$GC,8161,1.18,213.1,162.6,8.9,402,8168,0.00,2.38,0.00,0.000,6,0.000,0.025,2955,2012,2177,0,0,0,0,0,0
$GC,8425,1.26,231.2,145.1,6.8,427,8448,0.15,2.53,16.95,0.629,4,0.065,0.046,2994,596,2107,0,0,0,0,0,0
$GC,8499,1.17,231.2,138.0,10.6,434,8507,0.10,2.38,0.00,0.000,6,0.089,0.023,2974,2015,2104,0,0,0,0,0,0
$GC,8762,1.22,231.2,114.5,8.4,459,8767,0.00,2.45,0.00,0.000,4,0.000,0.044,2973,592,2103,0,0,0,0,0,0
$GC,8905,1.22,231.2,100.5,9.7,474,8909,0.00,2.30,0.00,0.000,6,0.000,0.022,2972,2017,2102,0,0,0,0,0,0
$GC,9168,1.27,231.2,77.6,8.3,498,9172,0.00,2.28,0.00,0.000,4,0.000,0.028,2973,3397,2102,0,0,0,0,0,0
$GC,9210,1.35,231.2,73.8,9.5,502,9215,0.15,2.33,0.00,0.000,6,0.061,0.028,3015,1997,2102,0,0,0,0,0,0
$GC,9472,1.36,234.3,49.1,7.8,526,9476,0.00,2.38,0.00,0.000,4,0.000,0.041,3015,601,2101,0,0,0,0,0,0
$GC,9506,1.29,234.3,46.2,8.5,529,9510,0.00,2.28,0.00,0.000,6,0.000,0.021,3015,2025,2101,0,0,0,0,0,0
$GC,9769,1.31,246.0,24.8,7.2,559,9791,0.00,2.50,13.90,0.507,4,0.000,0.041,3015,602,2046,0,0,0,0,0,0
$GC,9811,1.28,246.0,21.4,8.1,567,9818,0.12,2.28,0.00,0.000,6,0.106,0.020,2992,2019,2045,0,0,0,0,0,0
$GC,10018,1.31,246.0,3.5,8.6,604,10025,0.00,2.45,0.00,0.000,4,0.000,0.041,2992,608,2045,0,0,0,0,0,0
$STATE,10029,end climb,SURFACE_DEPTH_REACHED
$STATE,10029,begin surface coast
$FINISH,0.6,1.023377
$STATE,10065,end surface coast,CONTROL_FINISHED_OK
$STATE,10065,begin surface
$SM_CCo,10086,27.23,0.503,0,0,1826,300.00
$SM_GC,1.08,0.00,0.00,27.23,0.000,0.000,0.503,427,1881,1826,-10.52,0.17,300.00
$IRIDIUM_FIX,2057.14,-15748.75,140899,111134
$TT8_MAMPS,0.029146
$HUMID,47.04
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.4,28.470
$10V_AH,10.0,27.292
$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,26.250,114.625,282.050,27.225,0.000,144.856,213.556,356.660,4.500,0.000,60.834,1202.437,6882.681,378.083,1863.944,930.199,33.373,1185.345,0.000,1796.552,0.000,29.262,0.000
$DEVICE_MAMPS,134.225,55.224,876.681,503.152,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.403,389.403,752.818,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,34941,614
$CAP_FILE_SIZE,124896,0
$CFSIZE,260165632,240025600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200510,142545,2106.565,-15748.345,125,8.1,144,9.8