version: 66.06
glider: 139
mission: 7
dive: 328
start: 5 21 110 2 53 27
data:
$ID,139
$MISSION,7
$DIVE,328
$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,-2132717.2
$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
$GPS1,024556,2106.188,-15746.210,71,2.5,90,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-61.9
$GPS2,025236,2106.165,-15746.192,29,1.6,29,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.180,-0.038
$KALMAN_X,-5697.3,87.1,582.9,20128.5,-1519.1
$KALMAN_Y,18662.3,-20.3,-123.5,-19896.8,366.4
$MHEAD_RNG_PITCHd_Wd,92.1,5694,-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,-77.9,0.0,0.0,0,123,0.00,0.00,-105.60,0.000,2,0.000,0.000,424,1899,3309,0,0,0,0,0,0
$GC,126,-1.40,-77.9,3.9,-7.4,20,144,10.68,2.45,-1.12,0.000,4,0.137,0.049,2403,466,3369,0,0,0,0,0,0
$GC,214,-1.17,-77.9,27.7,-19.4,38,221,0.22,2.35,0.00,0.000,6,0.084,0.020,2452,1911,3369,0,0,0,0,0,0
$GC,419,-1.17,-77.9,54.8,-12.1,58,423,0.00,2.47,0.00,0.000,4,0.000,0.044,2453,469,3369,0,0,0,0,0,0
$GC,447,-1.11,-77.9,58.4,-12.1,60,454,0.00,2.28,0.00,0.000,6,0.000,0.019,2451,1879,3370,0,0,0,0,0,0
$GC,709,-1.11,-77.9,87.5,-11.4,85,714,0.10,2.45,0.00,0.000,4,0.114,0.043,2472,469,3370,0,0,0,0,0,0
$GC,826,-1.16,-77.9,101.0,-11.7,97,830,0.00,2.25,0.00,0.000,6,0.000,0.019,2472,1872,3370,0,0,0,0,0,0
$GC,1091,-1.27,-77.9,125.9,-9.1,121,1096,0.17,2.42,0.00,0.000,4,0.051,0.044,2418,461,3370,0,0,0,0,0,0
$GC,1117,-1.23,-77.9,129.0,-11.9,123,1122,0.12,2.28,0.00,0.000,6,0.100,0.019,2442,1883,3371,0,0,0,0,0,0
$GC,1379,-1.29,-77.9,154.9,-8.8,147,1383,0.00,2.42,0.00,0.000,4,0.000,0.044,2444,463,3371,0,0,0,0,0,0
$GC,1467,-1.29,-77.9,163.9,-9.6,156,1471,0.00,2.28,0.00,0.000,6,0.000,0.020,2443,1881,3371,0,0,0,0,0,0
$GC,1728,-1.35,-77.9,188.6,-8.7,180,1733,0.12,2.45,0.00,0.000,4,0.064,0.044,2402,467,3371,0,0,0,0,0,0
$GC,1757,-1.28,-77.9,191.7,-10.7,182,1764,0.12,2.28,0.00,0.000,6,0.073,0.021,2430,1877,3371,0,0,0,0,0,0
$GC,2015,-1.32,-77.9,215.7,-9.3,199,2019,0.00,2.40,0.00,0.000,4,0.000,0.044,2433,468,3371,0,0,0,0,0,0
$GC,2042,-1.32,-77.9,218.7,-10.4,200,2046,0.00,2.22,0.00,0.000,6,0.000,0.021,2432,1870,3371,0,0,0,0,0,0
$GC,2364,-1.39,-77.9,246.9,-8.9,216,2368,0.00,2.40,0.00,0.000,4,0.000,0.045,2433,465,3371,0,0,0,0,0,0
$GC,2430,-1.46,-77.9,253.2,-9.2,219,2435,0.17,2.25,0.00,0.000,6,0.052,0.021,2380,1876,3371,0,0,0,0,0,0
$GC,2764,-1.42,-77.9,291.6,-11.8,235,2768,0.12,2.45,0.00,0.000,4,0.101,0.046,2405,466,3370,0,0,0,0,0,0
$GC,2829,-1.42,-77.9,299.0,-10.2,238,2833,0.00,2.28,0.00,0.000,6,0.000,0.023,2406,1875,3369,0,0,0,0,0,0
$GC,3178,-1.46,-77.9,332.0,-9.1,247,3179,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,1880,3368,0,0,0,0,0,0
$GC,3504,-1.50,-77.9,355.7,-7.2,255,3508,0.00,2.45,0.00,0.000,4,0.000,0.052,2406,464,3366,0,0,0,0,0,0
$GC,3578,-1.50,-77.9,362.3,-9.3,256,3582,0.00,2.30,0.00,0.000,6,0.000,0.025,2406,1870,3366,0,0,0,0,0,0
$GC,3915,-1.55,-77.9,388.4,-8.1,265,3920,0.15,2.45,0.00,0.000,4,0.063,0.052,2362,468,3363,0,0,0,0,0,0
$GC,3971,-1.48,-77.9,394.8,-11.3,266,3976,0.12,2.30,0.00,0.000,6,0.105,0.027,2389,1877,3363,0,0,0,0,0,0
$GC,4285,-1.48,-77.9,423.6,-9.2,274,4290,0.00,2.47,0.00,0.000,4,0.000,0.054,2389,468,3361,0,0,0,0,0,0
$GC,4354,-1.48,-77.9,430.7,-9.9,275,4358,0.00,2.30,0.00,0.000,6,0.000,0.028,2389,1870,3360,0,0,0,0,0,0
$STATE,4611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4611,begin apogee
$GC,4616,-0.31,0.0,452.8,8.6,282,4682,1.20,0.00,63.08,0.877,6,0.077,0.000,2644,2030,3050,0,0,0,0,0,0
$STATE,4683,end apogee,CONTROL_FINISHED_OK
$STATE,4683,begin climb
$GC,4685,1.40,77.9,453.8,0.0,283,4760,1.62,2.45,64.72,0.855,4,0.035,0.045,3021,3383,2732,0,0,0,0,0,0
$GC,5023,1.23,118.3,442.7,5.2,290,5064,0.20,2.35,34.38,0.844,6,0.117,0.038,2985,2010,2567,0,0,0,0,0,0
$GC,5374,1.13,120.7,416.0,7.9,299,5378,0.15,2.40,0.00,0.000,4,0.119,0.042,2959,3387,2560,0,0,0,0,0,0
$GC,5467,1.07,120.7,408.3,8.7,301,5472,0.00,2.40,0.00,0.000,6,0.000,0.038,2959,2001,2560,0,0,0,0,0,0
$GC,5790,1.04,130.9,383.7,7.3,309,5807,0.00,2.55,10.27,0.759,4,0.000,0.054,2957,604,2515,0,0,0,0,0,0
$GC,5867,0.92,130.9,376.9,9.4,310,5872,0.22,2.35,0.00,0.000,6,0.112,0.030,2917,1993,2514,0,0,0,0,0,0
$GC,6204,0.99,147.4,352.1,6.9,319,6222,0.00,0.00,15.45,0.789,6,0.000,0.000,2917,1998,2448,0,0,0,0,0,0
$GC,6529,1.10,175.6,332.5,6.1,327,6562,0.17,2.53,25.20,0.802,4,0.067,0.051,2956,605,2334,0,0,0,0,0,0
$GC,6711,1.03,175.6,314.3,11.7,331,6715,0.00,2.38,0.00,0.000,6,0.000,0.030,2958,2010,2328,0,0,0,0,0,0
$GC,7041,1.03,177.6,284.8,7.9,343,7045,0.00,2.45,0.00,0.000,4,0.000,0.050,2957,603,2327,0,0,0,0,0,0
$GC,7107,0.99,177.6,277.7,10.6,346,7112,0.15,2.35,0.00,0.000,6,0.120,0.030,2931,2014,2325,0,0,0,0,0,0
$GC,7438,1.06,179.9,251.9,7.9,362,7445,0.00,0.00,3.67,0.464,6,0.000,0.000,2932,2018,2316,0,0,0,0,0,0
$GC,7771,1.14,194.4,228.3,7.0,378,7795,0.12,2.55,14.32,0.698,4,0.076,0.049,2962,610,2256,0,0,0,0,0,0
$GC,7915,1.10,194.4,212.6,11.5,384,7919,0.00,2.35,0.00,0.000,6,0.000,0.027,2962,2022,2252,0,0,0,0,0,0
$GC,8240,1.10,194.4,181.9,9.2,408,8244,0.00,2.47,0.00,0.000,4,0.000,0.047,2963,602,2251,0,0,0,0,0,0
$GC,8292,1.06,194.4,177.1,9.1,413,8296,0.00,2.33,0.00,0.000,6,0.000,0.025,2963,2022,2250,0,0,0,0,0,0
$GC,8555,1.11,204.3,157.2,7.3,437,8567,0.00,0.00,9.40,0.600,6,0.000,0.000,2963,2028,2216,0,0,0,0,0,0
$GC,8818,1.16,204.3,134.8,9.2,462,8822,0.00,2.47,0.00,0.000,4,0.000,0.044,2963,598,2216,0,0,0,0,0,0
$GC,8944,1.16,204.3,122.4,10.1,475,8948,0.00,2.30,0.00,0.000,6,0.000,0.023,2963,2014,2213,0,0,0,0,0,0
$GC,9207,1.24,220.9,103.0,6.9,499,9228,0.00,0.00,15.77,0.586,6,0.000,0.000,2963,2019,2148,0,0,0,0,0,0
$GC,9485,1.33,233.0,82.6,7.2,525,9505,0.17,2.50,11.73,0.545,4,0.058,0.044,3011,605,2099,0,0,0,0,0,0
$GC,9662,1.26,233.0,63.5,11.1,544,9667,0.12,2.28,0.00,0.000,6,0.107,0.021,2988,2011,2096,0,0,0,0,0,0
$GC,9927,1.34,243.7,42.8,7.3,568,9948,0.00,2.30,10.52,0.503,4,0.000,0.026,2988,3401,2055,0,0,0,0,0,0
$GC,9968,1.44,243.7,39.0,8.7,572,9973,0.17,2.35,0.00,0.000,6,0.054,0.028,3037,2003,2055,0,0,0,0,0,0
$GC,10235,1.42,256.7,11.7,7.1,612,10253,0.00,2.47,12.80,0.492,4,0.000,0.041,3037,598,2001,0,0,0,0,0,0
$GC,10295,1.32,256.7,7.1,10.0,624,10302,0.15,2.33,0.00,0.000,6,0.077,0.020,3003,2012,1998,0,0,0,0,0,0
$STATE,10339,end climb,SURFACE_DEPTH_REACHED
$STATE,10339,begin surface coast
$FINISH,0.5,1.018286
$STATE,10371,end surface coast,CONTROL_FINISHED_OK
$STATE,10371,begin surface
$SM_CCo,10390,23.27,0.504,0,0,1827,300.00
$SM_GC,1.40,0.00,0.00,23.27,0.000,0.000,0.504,425,1868,1827,-10.53,-0.20,300.00
$IRIDIUM_FIX,2059.45,-15745.74,150899,000041
$TT8_MAMPS,0.029146
$HUMID,47.20
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.4,28.955
$10V_AH,10.1,27.709
$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,27.725,109.975,291.325,23.275,0.000,28.708,31.254,225.098,4.500,0.000,29.434,1236.675,6792.941,402.484,1911.397,471.278,33.369,1253.442,0.000,1877.048,0.000,29.247,0.000
$DEVICE_MAMPS,136.526,53.690,877.448,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,429.145,403.299,790.139,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,34963,637
$CAP_FILE_SIZE,121491,0
$CFSIZE,260165632,239738880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210510,054922,2106.049,-15745.988,86,2.9,105,9.8