version: 66.06
glider: 139
mission: 7
dive: 327
start: 5 20 110 23 58 57
data:
$ID,139
$MISSION,7
$DIVE,327
$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,637.77997
$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,-2132687
$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
$GPS1,234051,2106.272,-15747.340,116,2.5,135,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-69.4
$GPS2,235806,2106.378,-15747.187,17,2.3,36,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.179,-0.041
$KALMAN_X,-4482.7,-240.5,-14.2,18118.8,-34.1
$KALMAN_Y,18418.8,-167.8,201.9,-19435.8,180.5
$MHEAD_RNG_PITCHd_Wd,93.1,7449,-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,-52.53,0.000,2,0.000,0.000,423,1897,3200,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.2,-5.1,10,94,10.62,2.35,-3.35,0.000,4,0.136,0.038,2404,3296,3370,0,0,0,0,0,0
$GC,119,-1.12,-77.9,16.5,-24.5,19,125,0.30,2.40,0.00,0.000,6,0.088,0.031,2465,1867,3371,0,0,0,0,0,0
$GC,327,-1.12,-77.9,44.1,-13.4,47,331,0.00,2.40,0.00,0.000,4,0.000,0.044,2465,469,3372,0,0,0,0,0,0
$GC,363,-1.09,-77.9,48.9,-12.9,50,369,0.00,2.33,0.00,0.000,6,0.000,0.020,2462,1906,3371,0,0,0,0,0,0
$GC,626,-1.14,-77.9,77.4,-10.4,75,630,0.00,2.45,0.00,0.000,4,0.000,0.044,2465,470,3372,0,0,0,0,0,0
$GC,704,-1.14,-77.9,86.5,-11.7,83,708,0.00,2.25,0.00,0.000,6,0.000,0.019,2464,1876,3372,0,0,0,0,0,0
$GC,967,-1.23,-77.9,114.5,-9.0,107,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1881,3373,0,0,0,0,0,0
$GC,1221,-1.32,-77.9,135.2,-8.5,131,1226,0.17,2.42,0.00,0.000,4,0.051,0.044,2410,463,3373,0,0,0,0,0,0
$GC,1297,-1.27,-77.9,144.1,-12.8,138,1304,0.08,2.28,0.00,0.000,6,0.077,0.020,2432,1870,3374,0,0,0,0,0,0
$GC,1558,-1.27,-77.9,171.6,-9.5,163,1562,0.00,2.28,0.00,0.000,4,0.000,0.026,2431,3274,3374,0,0,0,0,0,0
$GC,1612,-1.39,-77.9,176.5,-9.0,168,1616,0.00,2.33,0.00,0.000,6,0.000,0.029,2429,1871,3374,0,0,0,0,0,0
$GC,1873,-1.45,-77.9,198.4,-8.2,192,1878,0.15,2.40,0.00,0.000,4,0.058,0.044,2385,462,3374,0,0,0,0,0,0
$GC,1948,-1.35,-77.9,207.4,-12.6,196,1953,0.17,2.28,0.00,0.000,6,0.091,0.020,2420,1882,3374,0,0,0,0,0,0
$GC,2270,-1.38,-77.9,242.2,-11.4,212,2274,0.00,2.42,0.00,0.000,4,0.000,0.046,2421,464,3374,0,0,0,0,0,0
$GC,2371,-1.38,-77.9,253.7,-9.9,216,2375,0.00,2.25,0.00,0.000,6,0.000,0.021,2421,1884,3374,0,0,0,0,0,0
$GC,2687,-1.45,-77.9,282.5,-9.0,231,2691,0.00,2.42,0.00,0.000,4,0.000,0.047,2421,470,3374,0,0,0,0,0,0
$GC,2835,-1.49,-77.9,298.0,-9.8,237,2840,0.15,2.25,0.00,0.000,6,0.058,0.022,2375,1881,3373,0,0,0,0,0,0
$GC,3145,-1.46,-77.9,333.4,-11.5,245,3150,0.10,2.47,0.00,0.000,4,0.114,0.048,2395,464,3372,0,0,0,0,0,0
$GC,3208,-1.46,-77.9,340.3,-11.1,246,3212,0.00,2.30,0.00,0.000,6,0.000,0.024,2395,1876,3372,0,0,0,0,0,0
$GC,3557,-1.46,-77.9,375.2,-9.6,255,3561,0.00,2.42,0.00,0.000,4,0.000,0.050,2395,472,3370,0,0,0,0,0,0
$GC,3602,-1.46,-77.9,380.0,-11.0,256,3607,0.00,2.30,0.00,0.000,6,0.000,0.025,2394,1877,3370,0,0,0,0,0,0
$GC,3931,-1.49,-77.9,409.1,-8.4,264,3936,0.00,2.45,0.00,0.000,4,0.000,0.051,2395,473,3368,0,0,0,0,0,0
$GC,3982,-1.49,-77.9,414.7,-10.7,265,3986,0.00,2.28,0.00,0.000,6,0.000,0.027,2395,1877,3368,0,0,0,0,0,0
$GC,4300,-1.53,-77.9,442.2,-9.0,273,4305,0.00,2.47,0.00,0.000,4,0.000,0.053,2394,469,3364,0,0,0,0,0,0
$GC,4346,-1.53,-77.9,446.5,-8.6,274,4350,0.00,2.33,0.00,0.000,6,0.000,0.028,2396,1873,3365,0,0,0,0,0,0
$STATE,4422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4422,begin apogee
$GC,4428,-0.31,0.0,453.0,8.8,276,4495,1.15,0.00,64.12,0.870,6,0.073,0.000,2643,2035,3050,0,0,0,0,0,0
$STATE,4496,end apogee,CONTROL_FINISHED_OK
$STATE,4496,begin climb
$GC,4498,1.40,77.9,454.0,0.0,277,4572,1.65,2.42,64.65,0.849,4,0.033,0.046,3028,3376,2732,0,0,0,0,0,0
$GC,4601,1.27,160.5,454.3,2.3,279,4680,0.20,2.38,70.43,0.846,6,0.114,0.037,2992,2005,2395,0,0,0,0,0,0
$GC,4998,1.16,160.5,411.9,11.7,289,5003,0.12,2.47,0.00,0.000,4,0.125,0.055,2968,599,2384,0,0,0,0,0,0
$GC,5077,1.04,160.5,402.4,12.6,290,5082,0.15,2.35,0.00,0.000,6,0.128,0.030,2942,1988,2382,0,0,0,0,0,0
$GC,5407,1.04,160.5,370.5,9.5,298,5412,0.00,2.47,0.00,0.000,4,0.000,0.053,2941,597,2380,0,0,0,0,0,0
$GC,5500,0.99,160.5,360.4,10.3,300,5504,0.00,2.40,0.00,0.000,6,0.000,0.030,2944,2019,2378,0,0,0,0,0,0
$GC,5822,0.99,160.5,331.3,8.9,308,5823,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2024,2377,0,0,0,0,0,0
$GC,6147,0.99,160.5,302.8,8.6,316,6151,0.00,2.47,0.00,0.000,4,0.000,0.051,2943,602,2375,0,0,0,0,0,0
$GC,6221,0.95,160.5,296.0,9.3,318,6226,0.12,2.35,0.00,0.000,6,0.124,0.029,2923,2016,2373,0,0,0,0,0,0
$GC,6543,1.06,191.3,273.6,5.9,334,6569,0.00,0.00,23.98,0.759,6,0.000,0.000,2922,2021,2270,0,0,0,0,0,0
$GC,6871,1.17,203.5,248.8,7.2,350,6889,0.20,2.53,11.75,0.690,4,0.061,0.050,2968,599,2220,0,0,0,0,0,0
$GC,6991,1.10,203.5,236.5,11.5,354,6996,0.00,2.38,0.00,0.000,6,0.000,0.027,2970,2017,2216,0,0,0,0,0,0
$GC,7311,1.10,203.5,207.2,9.7,370,7315,0.00,2.47,0.00,0.000,4,0.000,0.048,2970,603,2215,0,0,0,0,0,0
$GC,7347,1.04,203.5,202.9,11.6,371,7353,0.15,2.35,0.00,0.000,6,0.120,0.026,2944,2019,2214,0,0,0,0,0,0
$GC,7670,1.11,203.5,174.2,8.5,400,7671,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2023,2214,0,0,0,0,0,0
$GC,7925,1.19,206.9,152.7,7.8,424,7927,0.12,0.00,0.00,0.000,6,0.072,0.000,2978,2023,2214,0,0,0,0,0,0
$GC,8180,1.19,206.9,130.1,8.5,448,8184,0.00,2.42,0.00,0.000,4,0.000,0.044,2978,601,2214,0,0,0,0,0,0
$GC,8287,1.15,206.9,119.8,10.3,459,8291,0.00,2.33,0.00,0.000,6,0.000,0.022,2977,2026,2213,0,0,0,0,0,0
$GC,8551,1.17,226.2,99.1,6.7,483,8579,0.00,2.53,20.05,0.589,4,0.000,0.043,2978,608,2126,0,0,0,0,0,0
$GC,8608,1.17,226.2,94.3,9.5,489,8613,0.00,2.30,0.00,0.000,6,0.000,0.021,2978,2023,2124,0,0,0,0,0,0
$GC,8873,1.21,226.2,72.6,8.5,513,8877,0.00,2.47,0.00,0.000,4,0.000,0.043,2978,592,2124,0,0,0,0,0,0
$GC,8976,1.21,226.2,62.1,9.8,524,8980,0.00,2.30,0.00,0.000,6,0.000,0.021,2978,2020,2122,0,0,0,0,0,0
$GC,9244,1.29,226.2,39.1,9.9,549,9248,0.00,2.42,0.00,0.000,4,0.000,0.042,2978,601,2122,0,0,0,0,0,0
$GC,9352,1.33,226.2,29.5,8.7,561,9358,0.12,2.28,0.00,0.000,6,0.067,0.020,3015,2014,2122,0,0,0,0,0,0
$GC,9557,1.34,236.1,11.2,7.3,598,9574,0.00,2.45,9.62,0.473,4,0.000,0.038,3015,603,2087,0,0,0,0,0,0
$STATE,9640,end climb,SURFACE_DEPTH_REACHED
$STATE,9640,begin surface coast
$FINISH,0.5,1.008172
$STATE,9665,end surface coast,CONTROL_FINISHED_OK
$STATE,9666,begin surface
$SM_CCo,9686,206.05,0.509,0,0,450,637.78
$SM_GC,1.11,0.00,0.00,206.05,0.000,0.000,0.509,424,1899,450,-10.53,0.68,637.78
$IRIDIUM_FIX,2057.14,-15746.61,150899,000012
$TT8_MAMPS,0.029146
$HUMID,44.76
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,21.60
$XPDR_PINGS,1
$24V_AH,23.4,28.871
$10V_AH,10.1,27.628
$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,26.900,109.350,264.600,206.050,0.000,140.171,261.852,204.219,4.750,0.000,37.775,1200.557,6536.303,534.562,1828.941,827.217,33.374,1313.320,0.000,1778.882,0.000,29.262,0.000
$DEVICE_MAMPS,135.759,55.224,869.778,508.521,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.315,402.396,797.452,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,34944,621
$CAP_FILE_SIZE,118597,0
$CFSIZE,260165632,239779840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210510,024556,2106.188,-15746.210,71,2.5,90,9.8