version: 66.06
glider: 139
mission: 7
dive: 386
start: 5 28 110 10 47 10
data:
$ID,139
$MISSION,7
$DIVE,386
$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,-2134792.8
$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
$GPS1,103804,2107.259,-15753.510,43,2.9,62,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-72.0
$GPS2,104619,2107.287,-15753.492,10,1.5,10,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.021
$KALMAN_X,-45355.9,-15.0,711.7,47142.3,-3217.7
$KALMAN_Y,37750.5,-31.6,8.6,-37030.1,409.3
$MHEAD_RNG_PITCHd_Wd,86.7,18474,-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,-77.9,0.0,0.0,0,71,0.00,0.00,-53.20,0.000,2,0.000,0.000,424,1824,3236,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.7,-6.4,10,95,10.62,2.47,-2.53,0.000,4,0.134,0.036,2403,3300,3371,0,0,0,0,0,0
$GC,268,-1.35,-77.9,41.7,-13.5,44,275,0.00,2.42,0.00,0.000,6,0.000,0.031,2399,1880,3373,0,0,0,0,0,0
$GC,531,-1.27,-77.9,84.4,-15.9,69,536,0.17,2.45,0.00,0.000,4,0.096,0.044,2439,466,3373,0,0,0,0,0,0
$GC,587,-1.18,-77.9,93.9,-15.1,74,593,0.00,2.33,0.00,0.000,6,0.000,0.020,2439,1901,3374,0,0,0,0,0,0
$GC,851,-1.22,-77.9,115.4,-7.2,99,855,0.00,2.45,0.00,0.000,4,0.000,0.043,2439,467,3375,0,0,0,0,0,0
$GC,941,-1.22,-77.9,124.3,-10.2,108,948,0.00,2.28,0.00,0.000,6,0.000,0.020,2439,1876,3375,0,0,0,0,0,0
$GC,1204,-1.27,-77.9,148.7,-9.8,133,1208,0.00,2.40,0.00,0.000,4,0.000,0.044,2439,467,3376,0,0,0,0,0,0
$GC,1249,-1.27,-77.9,154.0,-10.6,137,1255,0.00,2.25,0.00,0.000,6,0.000,0.020,2439,1885,3376,0,0,0,0,0,0
$GC,1511,-1.32,-77.9,177.5,-8.0,162,1516,0.00,2.45,0.00,0.000,4,0.000,0.044,2439,464,3376,0,0,0,0,0,0
$GC,1582,-1.32,-77.9,183.7,-8.6,169,1586,0.00,2.28,0.00,0.000,6,0.000,0.021,2439,1881,3376,0,0,0,0,0,0
$GC,1854,-1.39,-77.9,205.1,-8.2,191,1859,0.12,2.47,0.00,0.000,4,0.064,0.046,2397,460,3376,0,0,0,0,0,0
$GC,1933,-1.34,-77.9,215.1,-13.9,194,1938,0.12,2.25,0.00,0.000,6,0.097,0.021,2423,1873,3376,0,0,0,0,0,0
$GC,2251,-1.39,-77.9,247.4,-9.6,209,2255,0.00,2.28,0.00,0.000,4,0.000,0.028,2422,3269,3376,0,0,0,0,0,0
$GC,2274,-1.48,-77.9,249.7,-8.6,210,2279,0.15,2.33,0.00,0.000,6,0.057,0.030,2376,1868,3376,0,0,0,0,0,0
$GC,2601,-1.44,-77.9,280.2,-9.5,226,2605,0.10,2.42,0.00,0.000,4,0.110,0.048,2396,470,3376,0,0,0,0,0,0
$GC,2715,-1.44,-77.9,294.1,-12.1,231,2719,0.00,2.28,0.00,0.000,6,0.000,0.023,2396,1876,3376,0,0,0,0,0,0
$GC,3064,-1.48,-77.9,332.8,-10.6,241,3068,0.00,2.42,0.00,0.000,4,0.000,0.048,2396,467,3374,0,0,0,0,0,0
$GC,3153,-1.48,-77.9,342.5,-11.2,243,3157,0.00,2.28,0.00,0.000,6,0.000,0.025,2396,1875,3374,0,0,0,0,0,0
$GC,3479,-1.48,-77.9,374.7,-9.6,251,3484,0.00,2.45,0.00,0.000,4,0.000,0.051,2396,474,3372,0,0,0,0,0,0
$GC,3535,-1.48,-77.9,380.6,-10.2,252,3539,0.00,2.30,0.00,0.000,6,0.000,0.026,2396,1876,3372,0,0,0,0,0,0
$GC,3848,-1.51,-77.9,408.3,-8.7,260,3852,0.00,2.45,0.00,0.000,4,0.000,0.052,2395,467,3370,0,0,0,0,0,0
$GC,3909,-1.51,-77.9,414.4,-10.5,261,3913,0.00,2.30,0.00,0.000,6,0.000,0.028,2395,1876,3370,0,0,0,0,0,0
$GC,4259,-1.55,-77.9,449.7,-10.3,270,4263,0.00,2.08,0.00,0.000,3,0.000,0.051,2395,683,3367,0,0,0,0,0,0
$STATE,4263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4263,begin apogee
$GC,4271,-0.31,0.0,450.2,10.4,270,4339,1.12,0.00,64.38,0.876,6,0.076,0.000,2640,2022,3050,0,0,0,0,0,0
$STATE,4340,end apogee,CONTROL_FINISHED_OK
$STATE,4340,begin climb
$GC,4342,1.40,77.9,452.5,0.0,271,4417,1.65,2.50,64.78,0.855,4,0.033,0.044,3026,3398,2732,0,0,0,0,0,0
$GC,4681,1.19,92.7,443.7,7.0,278,4704,0.28,2.40,13.18,0.790,6,0.112,0.038,2974,2012,2672,0,0,0,0,0,0
$GC,5029,1.11,110.8,419.5,6.8,287,5051,0.00,2.47,16.05,0.811,4,0.000,0.041,2972,3401,2598,0,0,0,0,0,0
$GC,5061,1.02,125.4,417.2,7.0,287,5082,0.20,2.42,14.27,0.790,6,0.109,0.038,2939,2012,2537,0,0,0,0,0,0
$GC,5401,1.03,133.7,391.3,7.4,296,5414,0.00,2.53,7.68,0.713,4,0.000,0.053,2933,604,2504,0,0,0,0,0,0
$GC,5485,0.96,133.7,384.1,8.9,297,5491,0.00,2.35,0.00,0.000,6,0.000,0.030,2937,2009,2502,0,0,0,0,0,0
$GC,5815,1.01,172.5,364.6,5.4,306,5858,0.00,2.60,34.55,0.830,4,0.000,0.052,2938,599,2345,0,0,0,0,0,0
$GC,5892,0.96,174.6,359.8,7.9,307,5896,0.00,2.38,0.00,0.000,6,0.000,0.031,2939,2012,2342,0,0,0,0,0,0
$GC,6227,0.96,174.6,334.2,8.1,316,6231,0.00,2.47,0.00,0.000,4,0.000,0.052,2939,604,2339,0,0,0,0,0,0
$GC,6245,0.96,174.6,332.5,9.0,316,6249,0.00,2.35,0.00,0.000,6,0.000,0.030,2938,2014,2337,0,0,0,0,0,0
$GC,6590,1.00,174.6,300.5,9.0,325,6594,0.00,2.50,0.00,0.000,4,0.000,0.051,2939,602,2337,0,0,0,0,0,0
$GC,6645,1.00,174.6,295.3,9.4,326,6649,0.00,2.38,0.00,0.000,6,0.000,0.030,2938,2013,2335,0,0,0,0,0,0
$GC,6962,1.04,174.8,269.2,8.0,341,6967,0.00,2.50,0.00,0.000,4,0.000,0.051,2939,597,2335,0,0,0,0,0,0
$GC,7091,1.04,174.8,257.3,8.5,346,7098,0.00,2.40,0.00,0.000,6,0.000,0.030,2939,2009,2334,0,0,0,0,0,0
$GC,7407,1.11,194.4,233.6,6.7,362,7431,0.00,2.42,18.40,0.726,4,0.000,0.036,2939,3409,2256,0,0,0,0,0,0
$GC,7506,1.24,224.4,226.7,6.0,366,7541,0.20,2.42,28.00,0.726,6,0.058,0.034,2989,2001,2133,0,0,0,0,0,0
$GC,7858,1.24,224.4,191.3,13.1,386,7862,0.00,2.45,0.00,0.000,4,0.000,0.049,2987,602,2128,0,0,0,0,0,0
$GC,8045,1.16,224.4,167.0,11.2,406,8049,0.00,2.35,0.00,0.000,6,0.000,0.026,2988,2027,2124,0,0,0,0,0,0
$GC,8306,1.16,224.4,137.6,12.6,430,8311,0.00,2.50,0.00,0.000,4,0.000,0.046,2987,596,2125,0,0,0,0,0,0
$GC,8396,1.11,224.4,125.0,14.6,439,8401,0.17,2.35,0.00,0.000,6,0.104,0.024,2956,2023,2123,0,0,0,0,0,0
$GC,8658,1.20,228.9,100.8,7.7,463,8662,0.00,2.47,0.00,0.000,4,0.000,0.044,2956,595,2123,0,0,0,0,0,0
$GC,8697,1.24,228.9,97.9,8.0,466,8704,0.08,2.35,0.00,0.000,6,0.048,0.023,2984,2013,2123,0,0,0,0,0,0
$GC,8960,1.31,261.4,81.6,5.8,491,8997,0.00,2.50,31.67,0.594,4,0.000,0.041,2984,594,1983,0,0,0,0,0,0
$GC,9026,1.31,261.4,76.1,9.5,498,9031,0.00,2.35,0.00,0.000,6,0.000,0.022,2985,2017,1980,0,0,0,0,0,0
$GC,9289,1.40,266.8,57.0,7.6,522,9302,0.15,2.45,5.70,0.449,4,0.060,0.042,3029,601,1961,0,0,0,0,0,0
$GC,9385,1.32,266.8,46.7,11.6,532,9390,0.15,2.30,0.00,0.000,6,0.099,0.021,3000,2014,1959,0,0,0,0,0,0
$GC,9649,1.37,266.8,21.7,9.5,564,9656,0.00,2.45,0.00,0.000,4,0.000,0.042,3000,606,1959,0,0,0,0,0,0
$GC,9730,1.37,266.8,13.2,11.1,581,9736,0.00,2.25,0.00,0.000,6,0.000,0.020,3000,2013,1959,0,0,0,0,0,0
$STATE,9830,end climb,SURFACE_DEPTH_REACHED
$STATE,9830,begin surface coast
$FINISH,0.5,1.010729
$STATE,9858,end surface coast,CONTROL_FINISHED_OK
$STATE,9858,begin surface
$SM_CCo,9878,18.58,0.501,0,0,1827,300.00
$SM_GC,1.76,0.00,0.00,18.58,0.000,0.000,0.501,423,1851,1827,-10.54,-0.68,300.00
$IRIDIUM_FIX,2101.76,-15753.03,220899,101030
$TT8_MAMPS,0.029146
$HUMID,48.38
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,34.305
$10V_AH,10.0,32.489
$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,26.300,124.450,298.650,18.575,0.000,58.230,55.078,211.938,4.500,0.000,10.258,1186.501,6472.477,364.104,1848.801,519.408,33.362,1205.681,0.000,1822.992,0.000,29.245,0.000
$DEVICE_MAMPS,134.225,52.923,875.914,500.851,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.592,384.882,744.807,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,34892,604
$CAP_FILE_SIZE,120409,0
$CFSIZE,260165632,236285952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280510,133357,2107.317,-15754.146,54,5.0,73,9.8