version: 66.06
glider: 139
mission: 7
dive: 331
start: 5 21 110 12 35 43
data:
$ID,139
$MISSION,7
$DIVE,331
$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,-2132832
$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
$GPS1,122227,2106.004,-15745.510,47,3.1,66,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-61.7
$GPS2,123452,2106.133,-15745.456,14,2.8,33,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,0.002
$KALMAN_X,-9809.7,33.8,42.1,26107.9,-1044.9
$KALMAN_Y,19607.4,129.9,253.8,-21431.0,-155.4
$MHEAD_RNG_PITCHd_Wd,79.7,4425,-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,15,-1.40,-77.9,0.0,0.0,0,118,0.00,0.00,-100.60,0.000,2,0.000,0.000,421,1860,3161,0,0,0,0,0,0
$GC,121,-1.40,-77.9,3.1,-5.4,19,143,10.62,2.40,-4.18,0.000,4,0.134,0.053,2404,463,3369,0,0,0,0,0,0
$GC,166,-0.99,-77.9,16.8,-24.9,28,174,0.40,2.35,0.00,0.000,6,0.082,0.020,2491,1917,3370,0,0,0,0,0,0
$GC,372,-1.03,-77.9,43.3,-12.0,55,377,0.00,2.50,0.00,0.000,4,0.000,0.042,2491,468,3370,0,0,0,0,0,0
$GC,399,-0.98,-77.9,47.1,-13.8,57,406,0.00,2.25,0.00,0.000,6,0.000,0.019,2490,1869,3371,0,0,0,0,0,0
$GC,662,-1.07,-77.9,74.0,-10.4,82,666,0.00,2.40,0.00,0.000,4,0.000,0.043,2491,464,3371,0,0,0,0,0,0
$GC,722,-1.18,-77.9,80.5,-9.8,88,727,0.15,2.22,0.00,0.000,6,0.055,0.019,2442,1870,3370,0,0,0,0,0,0
$GC,982,-1.18,-77.9,111.1,-11.2,112,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1876,3371,0,0,0,0,0,0
$GC,1237,-1.18,-77.9,138.4,-11.1,136,1241,0.00,2.42,0.00,0.000,4,0.000,0.043,2442,460,3371,0,0,0,0,0,0
$GC,1260,-1.18,-77.9,140.9,-11.0,138,1264,0.00,2.25,0.00,0.000,6,0.000,0.019,2442,1881,3371,0,0,0,0,0,0
$GC,1523,-1.24,-77.9,162.4,-7.8,162,1528,0.00,2.40,0.00,0.000,4,0.000,0.044,2442,468,3372,0,0,0,0,0,0
$GC,1631,-1.24,-77.9,172.9,-9.0,173,1637,0.00,2.22,0.00,0.000,6,0.000,0.020,2442,1876,3372,0,0,0,0,0,0
$GC,1893,-1.30,-77.9,196.5,-9.1,198,1897,0.00,2.40,0.00,0.000,4,0.000,0.044,2443,466,3371,0,0,0,0,0,0
$GC,1990,-1.33,-77.9,206.6,-10.5,204,1994,0.00,2.22,0.00,0.000,6,0.000,0.021,2442,1875,3371,0,0,0,0,0,0
$GC,2309,-1.41,-77.9,233.8,-8.7,220,2314,0.17,2.42,0.00,0.000,4,0.052,0.045,2388,463,3371,0,0,0,0,0,0
$GC,2360,-1.34,-77.9,239.5,-12.6,222,2365,0.17,2.25,0.00,0.000,6,0.089,0.021,2424,1879,3371,0,0,0,0,0,0
$GC,2687,-1.41,-77.9,269.4,-9.0,238,2691,0.00,2.40,0.00,0.000,4,0.000,0.045,2424,470,3370,0,0,0,0,0,0
$GC,2779,-1.47,-77.9,279.1,-9.8,242,2784,0.12,2.25,0.00,0.000,6,0.064,0.021,2383,1872,3370,0,0,0,0,0,0
$GC,3102,-1.47,-77.9,313.7,-10.5,255,3106,0.00,2.42,0.00,0.000,4,0.000,0.047,2382,470,3369,0,0,0,0,0,0
$GC,3166,-1.41,-77.9,320.8,-11.4,256,3171,0.12,2.25,0.00,0.000,6,0.102,0.024,2408,1877,3369,0,0,0,0,0,0
$GC,3511,-1.46,-77.9,352.9,-9.4,265,3515,0.00,2.45,0.00,0.000,4,0.000,0.049,2408,470,3366,0,0,0,0,0,0
$GC,3638,-1.46,-77.9,366.2,-10.1,267,3642,0.00,2.30,0.00,0.000,6,0.000,0.025,2408,1879,3366,0,0,0,0,0,0
$GC,3970,-1.52,-77.9,394.3,-8.0,275,3975,0.12,2.45,0.00,0.000,4,0.067,0.051,2370,471,3363,0,0,0,0,0,0
$GC,4035,-1.44,-77.9,400.9,-10.3,276,4040,0.15,2.30,0.00,0.000,6,0.097,0.027,2401,1880,3363,0,0,0,0,0,0
$GC,4381,-1.49,-77.9,425.5,-6.9,285,4385,0.00,2.45,0.00,0.000,4,0.000,0.052,2400,470,3360,0,0,0,0,0,0
$GC,4463,-1.49,-77.9,432.5,-8.4,286,4469,0.00,2.30,0.00,0.000,6,0.000,0.028,2401,1872,3360,0,0,0,0,0,0
$STATE,4712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4712,begin apogee
$GC,4718,-0.31,0.0,451.9,7.8,293,4784,1.12,0.00,63.10,0.867,6,0.073,0.000,2642,2035,3050,0,0,0,0,0,0
$STATE,4785,end apogee,CONTROL_FINISHED_OK
$STATE,4785,begin climb
$GC,4787,1.40,77.9,452.8,0.0,294,4862,1.65,2.42,64.95,0.848,4,0.035,0.045,3022,3373,2731,0,0,0,0,0,0
$GC,5126,1.22,120.0,440.6,5.1,301,5168,0.22,2.33,35.85,0.841,6,0.112,0.037,2984,2011,2559,0,0,0,0,0,0
$GC,5513,1.12,120.0,409.3,8.0,311,5517,0.12,2.40,0.00,0.000,4,0.120,0.041,2960,3390,2554,0,0,0,0,0,0
$GC,5635,1.08,133.4,400.6,7.1,313,5651,0.00,2.38,11.38,0.767,6,0.000,0.038,2961,2007,2505,0,0,0,0,0,0
$GC,5980,1.07,155.7,377.8,6.5,322,6002,0.00,0.00,20.33,0.808,6,0.000,0.000,2961,2007,2415,0,0,0,0,0,0
$GC,6304,1.07,155.7,351.1,8.6,330,6308,0.00,2.47,0.00,0.000,4,0.000,0.054,2958,605,2410,0,0,0,0,0,0
$GC,6396,0.98,155.7,341.2,11.2,332,6401,0.17,2.33,0.00,0.000,6,0.117,0.029,2929,1988,2408,0,0,0,0,0,0
$GC,6720,1.04,167.8,315.8,7.2,340,6736,0.00,2.53,10.75,0.732,4,0.000,0.051,2928,599,2366,0,0,0,0,0,0
$GC,6797,1.07,194.1,310.7,6.2,341,6829,0.00,2.38,24.60,0.778,6,0.000,0.029,2930,2025,2258,0,0,0,0,0,0
$GC,7140,1.15,194.1,284.0,8.8,354,7145,0.15,2.53,0.00,0.000,4,0.071,0.051,2964,604,2252,0,0,0,0,0,0
$GC,7255,1.08,194.1,272.0,10.7,359,7260,0.00,2.35,0.00,0.000,6,0.000,0.028,2966,2008,2248,0,0,0,0,0,0
$GC,7585,1.09,196.9,243.6,7.8,375,7587,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2013,2249,0,0,0,0,0,0
$GC,7893,1.09,196.9,218.3,8.9,390,7894,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2013,2248,0,0,0,0,0,0
$GC,8206,1.09,196.9,190.3,9.1,410,8210,0.00,2.45,0.00,0.000,4,0.000,0.047,2966,602,2248,0,0,0,0,0,0
$GC,8249,1.05,196.9,186.1,10.4,414,8254,0.12,2.33,0.00,0.000,6,0.120,0.025,2944,2015,2246,0,0,0,0,0,0
$GC,8510,1.16,224.4,167.6,6.1,438,8541,0.00,2.55,25.52,0.661,4,0.000,0.046,2944,604,2134,0,0,0,0,0,0
$GC,8615,1.16,224.4,158.5,9.5,449,8621,0.00,2.33,0.00,0.000,6,0.000,0.024,2944,2015,2130,0,0,0,0,0,0
$GC,8877,1.25,224.4,134.2,9.0,474,8882,0.20,2.47,0.00,0.000,4,0.056,0.044,2996,598,2129,0,0,0,0,0,0
$GC,8968,1.17,224.4,123.7,10.7,483,8973,0.15,2.30,0.00,0.000,6,0.107,0.023,2968,2012,2128,0,0,0,0,0,0
$GC,9230,1.22,224.4,102.0,8.4,507,9234,0.00,2.45,0.00,0.000,4,0.000,0.044,2968,597,2128,0,0,0,0,0,0
$GC,9317,1.22,224.4,94.3,8.2,516,9321,0.00,2.28,0.00,0.000,6,0.000,0.022,2968,2009,2127,0,0,0,0,0,0
$GC,9581,1.30,235.8,73.4,7.2,540,9602,0.12,2.38,10.73,0.528,4,0.068,0.028,3006,3398,2088,0,0,0,0,0,0
$GC,9650,1.30,235.8,66.8,10.2,547,9657,0.00,2.38,0.00,0.000,6,0.000,0.028,3003,2000,2088,0,0,0,0,0,0
$GC,9912,1.30,235.8,43.0,8.7,572,9913,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2000,2088,0,0,0,0,0,0
$GC,10171,1.34,235.8,21.2,8.8,605,10177,0.00,2.38,0.00,0.000,4,0.000,0.041,3006,603,2087,0,0,0,0,0,0
$GC,10249,1.30,235.8,13.4,10.3,622,10256,0.00,2.30,0.00,0.000,6,0.000,0.020,3005,2019,2086,0,0,0,0,0,0
$STATE,10376,end climb,SURFACE_DEPTH_REACHED
$STATE,10376,begin surface coast
$FINISH,0.4,1.011783
$STATE,10415,end surface coast,CONTROL_FINISHED_OK
$STATE,10415,begin surface
$SM_CCo,10434,31.65,0.505,0,0,1827,300.00
$SM_GC,1.13,0.00,0.00,31.65,0.000,0.000,0.505,422,1871,1827,-10.54,-0.08,300.00
$IRIDIUM_FIX,2054.83,-15746.61,150899,121247
$TT8_MAMPS,0.029146
$HUMID,47.28
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,23.4,29.307
$10V_AH,10.1,27.972
$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,27.100,109.425,267.200,31.650,0.000,77.110,103.352,307.467,4.750,0.000,34.835,1252.382,6927.688,393.634,1962.315,675.640,33.369,1244.624,0.000,1914.697,0.000,29.259,0.000
$DEVICE_MAMPS,134.225,61.360,867.477,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,439.119,414.778,820.361,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,38102,652
$CAP_FILE_SIZE,123421,0
$CFSIZE,260165632,239550464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210510,153227,2106.189,-15744.738,82,3.8,101,9.8