version: 66.06
glider: 139
mission: 7
dive: 324
start: 5 20 110 14 33 14
data:
$ID,139
$MISSION,7
$DIVE,324
$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,-2132561.8
$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
$GPS1,142545,2106.565,-15748.345,125,8.1,144,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.3
$GPS2,143222,2106.559,-15748.328,47,7.9,66,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,-0.006
$KALMAN_X,-1415.6,-26.3,677.1,12173.4,-2120.4
$KALMAN_Y,17407.2,37.2,-94.8,-17998.2,78.2
$MHEAD_RNG_PITCHd_Wd,82.1,9449,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.40,-77.9,0.0,0.0,0,76,0.00,0.00,-58.58,0.000,6,0.000,0.000,426,1884,3368,0,0,0,0,0,0
$GC,78,-1.40,-77.9,3.7,-6.5,11,93,10.68,0.00,0.00,0.000,6,0.138,0.000,2400,1884,3370,0,0,0,0,0,0
$GC,296,-1.23,-77.9,51.8,-18.0,40,298,0.22,0.00,0.00,0.000,6,0.104,0.000,2444,1884,3372,0,0,0,0,0,0
$GC,548,-1.23,-77.9,82.5,-11.7,64,553,0.00,2.45,0.00,0.000,4,0.000,0.044,2445,460,3373,0,0,0,0,0,0
$GC,583,-1.18,-77.9,86.6,-12.6,67,587,0.00,2.30,0.00,0.000,6,0.000,0.020,2444,1905,3373,0,0,0,0,0,0
$GC,845,-1.18,-77.9,112.6,-10.5,91,849,0.00,2.47,0.00,0.000,4,0.000,0.044,2445,470,3373,0,0,0,0,0,0
$GC,895,-1.18,-77.9,118.7,-11.2,96,900,0.00,2.25,0.00,0.000,6,0.000,0.019,2444,1891,3373,0,0,0,0,0,0
$GC,1156,-1.24,-77.9,145.9,-9.6,120,1160,0.00,2.45,0.00,0.000,4,0.000,0.043,2445,464,3375,0,0,0,0,0,0
$GC,1252,-1.30,-77.9,155.6,-10.6,130,1257,0.00,2.25,0.00,0.000,6,0.000,0.020,2444,1873,3375,0,0,0,0,0,0
$GC,1514,-1.37,-77.9,181.2,-9.6,154,1519,0.12,2.42,0.00,0.000,4,0.062,0.044,2401,460,3375,0,0,0,0,0,0
$GC,1535,-1.33,-77.9,183.6,-11.5,155,1541,0.12,2.25,0.00,0.000,6,0.111,0.020,2424,1880,3375,0,0,0,0,0,0
$GC,1796,-1.38,-77.9,210.8,-10.3,175,1800,0.00,2.42,0.00,0.000,4,0.000,0.044,2425,467,3375,0,0,0,0,0,0
$GC,1855,-1.38,-77.9,217.3,-9.6,177,1861,0.00,2.25,0.00,0.000,6,0.000,0.021,2425,1877,3375,0,0,0,0,0,0
$GC,2171,-1.44,-77.9,244.8,-9.0,193,2176,0.00,2.42,0.00,0.000,4,0.000,0.044,2425,467,3376,0,0,0,0,0,0
$GC,2237,-1.48,-77.9,251.3,-9.9,196,2242,0.15,2.25,0.00,0.000,6,0.057,0.021,2376,1870,3376,0,0,0,0,0,0
$GC,2567,-1.44,-77.9,291.6,-13.0,212,2572,0.12,2.42,0.00,0.000,4,0.114,0.047,2399,464,3375,0,0,0,0,0,0
$GC,2582,-1.39,-77.9,293.7,-12.9,212,2588,0.00,2.30,0.00,0.000,6,0.000,0.023,2399,1875,3376,0,0,0,0,0,0
$GC,2894,-1.39,-77.9,324.8,-9.4,222,2898,0.00,2.42,0.00,0.000,4,0.000,0.048,2399,466,3374,0,0,0,0,0,0
$GC,2912,-1.39,-77.9,326.9,-10.2,222,2916,0.00,2.30,0.00,0.000,6,0.000,0.025,2399,1882,3374,0,0,0,0,0,0
$GC,3256,-1.39,-77.9,358.3,-8.7,231,3260,0.00,2.45,0.00,0.000,4,0.000,0.049,2399,463,3372,0,0,0,0,0,0
$GC,3311,-1.39,-77.9,364.1,-10.3,232,3315,0.00,2.28,0.00,0.000,6,0.000,0.026,2399,1864,3372,0,0,0,0,0,0
$GC,3624,-1.42,-77.9,393.8,-10.1,240,3628,0.00,2.45,0.00,0.000,4,0.000,0.052,2398,466,3370,0,0,0,0,0,0
$GC,3675,-1.42,-77.9,399.5,-10.6,241,3679,0.00,2.30,0.00,0.000,6,0.000,0.027,2400,1877,3370,0,0,0,0,0,0
$GC,3994,-1.46,-77.9,430.5,-9.5,249,3998,0.00,2.45,0.00,0.000,4,0.000,0.053,2399,469,3367,0,0,0,0,0,0
$GC,4082,-1.46,-77.9,439.7,-11.0,251,4087,0.00,2.30,0.00,0.000,6,0.000,0.028,2397,1871,3367,0,0,0,0,0,0
$STATE,4209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4209,begin apogee
$GC,4214,-0.31,0.0,451.5,9.1,254,4282,1.17,0.00,64.57,0.873,6,0.085,0.000,2645,2032,3050,0,0,0,0,0,0
$STATE,4283,end apogee,CONTROL_FINISHED_OK
$STATE,4283,begin climb
$GC,4285,1.40,77.9,452.6,0.0,255,4360,1.65,2.45,64.47,0.852,4,0.041,0.044,3019,3385,2732,0,0,0,0,0,0
$GC,4592,1.22,109.1,441.8,5.9,261,4625,0.20,2.40,26.80,0.832,6,0.116,0.037,2982,2000,2604,0,0,0,0,0,0
$GC,4970,1.11,111.0,413.4,7.9,271,4972,0.12,0.00,0.00,0.000,6,0.127,0.000,2961,2000,2599,0,0,0,0,0,0
$GC,5295,1.10,156.2,396.1,4.9,279,5341,0.00,2.53,39.83,0.844,4,0.000,0.054,2958,602,2413,0,0,0,0,0,0
$GC,5545,1.00,156.2,370.8,11.8,284,5550,0.15,2.35,0.00,0.000,6,0.130,0.030,2934,1992,2406,0,0,0,0,0,0
$GC,5885,1.00,156.2,338.1,8.8,293,5889,0.00,2.47,0.00,0.000,4,0.000,0.053,2934,598,2404,0,0,0,0,0,0
$GC,5946,0.96,156.2,332.8,8.8,294,5951,0.00,2.38,0.00,0.000,6,0.000,0.030,2933,2019,2402,0,0,0,0,0,0
$GC,6296,1.02,172.7,307.9,6.9,303,6317,0.00,2.45,13.65,0.756,4,0.000,0.038,2935,3405,2346,0,0,0,0,0,0
$GC,6326,1.09,191.2,305.6,6.7,303,6351,0.00,2.40,18.08,0.763,6,0.000,0.035,2935,2010,2270,0,0,0,0,0,0
$GC,6673,1.14,191.2,279.5,8.1,318,6678,0.12,2.47,0.00,0.000,4,0.076,0.053,2965,605,2265,0,0,0,0,0,0
$GC,6815,1.09,191.2,261.6,12.6,324,6820,0.00,2.38,0.00,0.000,6,0.000,0.028,2966,2021,2261,0,0,0,0,0,0
$GC,7135,1.09,191.2,231.0,9.7,340,7139,0.00,2.35,0.00,0.000,4,0.000,0.037,2966,3405,2261,0,0,0,0,0,0
$GC,7167,1.12,191.2,228.0,8.9,341,7171,0.00,2.40,0.00,0.000,6,0.000,0.035,2966,2006,2261,0,0,0,0,0,0
$GC,7482,1.13,200.0,202.5,7.4,356,7494,0.00,2.47,7.78,0.619,4,0.000,0.049,2965,601,2233,0,0,0,0,0,0
$GC,7552,1.09,200.0,196.5,8.9,361,7556,0.00,2.35,0.00,0.000,6,0.000,0.026,2966,2028,2231,0,0,0,0,0,0
$GC,7814,1.09,200.0,174.1,8.8,385,7816,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2032,2231,0,0,0,0,0,0
$GC,8068,1.09,200.0,150.8,9.3,409,8069,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2032,2231,0,0,0,0,0,0
$GC,8324,1.15,218.9,130.4,6.7,433,8347,0.00,2.55,17.50,0.621,4,0.000,0.044,2966,592,2156,0,0,0,0,0,0
$GC,8423,1.15,218.9,121.9,9.7,443,8427,0.00,2.33,0.00,0.000,6,0.000,0.023,2966,2016,2153,0,0,0,0,0,0
$GC,8686,1.21,218.9,97.3,9.1,467,8690,0.00,2.45,0.00,0.000,4,0.000,0.044,2966,591,2153,0,0,0,0,0,0
$GC,8846,1.21,218.9,81.7,10.1,484,8850,0.00,2.33,0.00,0.000,6,0.000,0.021,2966,2019,2152,0,0,0,0,0,0
$GC,9109,1.29,218.9,59.0,9.2,508,9114,0.12,2.28,0.00,0.000,4,0.067,0.028,3005,3396,2152,0,0,0,0,0,0
$GC,9178,1.29,218.9,51.9,10.1,515,9182,0.00,2.30,0.00,0.000,6,0.000,0.028,3003,2004,2152,0,0,0,0,0,0
$GC,9441,1.30,223.6,30.5,7.7,539,9453,0.00,2.40,5.30,0.423,4,0.000,0.041,3004,599,2137,0,0,0,0,0,0
$GC,9495,1.26,223.6,25.4,8.5,549,9501,0.00,2.30,0.00,0.000,6,0.000,0.021,3004,2019,2136,0,0,0,0,0,0
$GC,9700,1.27,229.5,11.7,7.6,586,9712,0.00,2.50,7.05,0.449,4,0.000,0.041,3004,605,2112,0,0,0,0,0,0
$GC,9765,1.21,229.5,5.7,10.2,600,9772,0.10,2.30,0.00,0.000,6,0.087,0.020,2981,2013,2111,0,0,0,0,0,0
$STATE,9793,end climb,SURFACE_DEPTH_REACHED
$STATE,9793,begin surface coast
$FINISH,0.4,1.010242
$STATE,9828,end surface coast,CONTROL_FINISHED_OK
$STATE,9828,begin surface
$SM_CCo,9847,35.75,0.512,0,0,1827,300.00
$SM_GC,1.67,0.00,0.00,35.75,0.000,0.000,0.512,422,1873,1827,-10.54,-0.06,300.00
$IRIDIUM_FIX,2101.76,-15750.89,140899,111145
$TT8_MAMPS,0.029146
$HUMID,46.96
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,28.550
$10V_AH,10.1,27.371
$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,26.100,109.875,265.025,35.750,0.000,29.748,35.223,179.207,4.500,0.000,67.020,1196.214,6453.431,359.293,1870.723,403.043,33.395,1156.910,0.000,1790.715,0.000,29.258,0.000
$DEVICE_MAMPS,138.060,58.292,872.846,511.589,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.787,389.175,762.469,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,34859,611
$CAP_FILE_SIZE,113706,0
$CFSIZE,260165632,239980544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200510,171928,2106.516,-15748.160,35,5.2,54,9.8