version: 66.06
glider: 139
mission: 7
dive: 402
start: 5 30 110 10 41 24
data:
$ID,139
$MISSION,7
$DIVE,402
$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,-2135181.2
$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
$GPS1,103507,2105.414,-15748.783,95,1.8,95,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.6
$GPS2,104032,2105.383,-15748.774,15,2.0,15,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.167,0.076
$KALMAN_X,-69797.8,278.6,812.9,79344.0,-2976.1
$KALMAN_Y,33940.7,-51.8,112.9,-36825.4,-943.0
$MHEAD_RNG_PITCHd_Wd,55.7,10151,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-53.17,0.000,2,0.000,0.000,428,1860,3201,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.3,-4.9,10,96,10.60,2.42,-3.33,0.000,4,0.135,0.040,2403,3291,3370,0,0,0,0,0,0
$GC,115,-0.91,-77.9,16.2,-28.8,18,123,0.47,2.42,0.00,0.000,6,0.077,0.031,2513,1879,3371,0,0,0,0,0,0
$GC,326,-1.03,-77.9,38.6,-8.0,47,331,0.10,2.42,0.00,0.000,4,0.076,0.043,2477,462,3372,0,0,0,0,0,0
$GC,370,-1.07,-77.9,43.3,-11.5,51,375,0.00,2.33,0.00,0.000,6,0.000,0.020,2477,1903,3372,0,0,0,0,0,0
$GC,633,-1.16,-77.9,66.3,-8.7,75,638,0.00,2.47,0.00,0.000,4,0.000,0.044,2477,459,3373,0,0,0,0,0,0
$GC,730,-1.21,-77.9,75.4,-9.2,85,735,0.12,2.28,0.00,0.000,6,0.064,0.019,2435,1886,3374,0,0,0,0,0,0
$GC,992,-1.21,-77.9,102.9,-10.5,109,996,0.00,2.45,0.00,0.000,4,0.000,0.042,2434,462,3374,0,0,0,0,0,0
$GC,1104,-1.18,-77.9,115.1,-11.4,121,1109,0.10,2.25,0.00,0.000,6,0.106,0.020,2456,1876,3375,0,0,0,0,0,0
$GC,1366,-1.25,-77.9,139.6,-9.9,145,1373,0.00,2.40,0.00,0.000,4,0.000,0.043,2456,465,3376,0,0,0,0,0,0
$GC,1401,-1.29,-77.9,143.6,-11.1,148,1408,0.00,2.28,0.00,0.000,6,0.000,0.020,2455,1875,3376,0,0,0,0,0,0
$GC,1665,-1.37,-77.9,170.0,-9.6,173,1670,0.17,2.42,0.00,0.000,4,0.051,0.044,2400,463,3376,0,0,0,0,0,0
$GC,1735,-1.31,-77.9,179.0,-12.4,180,1740,0.12,2.28,0.00,0.000,6,0.100,0.020,2426,1882,3376,0,0,0,0,0,0
$GC,1994,-1.35,-77.9,204.1,-10.2,202,1999,0.00,2.45,0.00,0.000,4,0.000,0.044,2427,459,3377,0,0,0,0,0,0
$GC,2090,-1.35,-77.9,214.7,-10.7,206,2094,0.00,2.28,0.00,0.000,6,0.000,0.021,2427,1881,3377,0,0,0,0,0,0
$GC,2412,-1.41,-77.9,243.2,-7.9,222,2416,0.00,2.42,0.00,0.000,4,0.000,0.044,2426,460,3377,0,0,0,0,0,0
$GC,2471,-1.41,-77.9,248.5,-8.6,224,2477,0.00,2.30,0.00,0.000,6,0.000,0.021,2426,1872,3377,0,0,0,0,0,0
$GC,2786,-1.48,-77.9,271.1,-7.6,240,2791,0.15,2.42,0.00,0.000,4,0.058,0.046,2380,464,3376,0,0,0,0,0,0
$GC,2843,-1.43,-77.9,276.9,-10.0,242,2847,0.10,2.30,0.00,0.000,6,0.110,0.022,2399,1884,3376,0,0,0,0,0,0
$GC,3157,-1.43,-77.9,305.9,-9.8,256,3161,0.00,2.45,0.00,0.000,4,0.000,0.048,2400,467,3375,0,0,0,0,0,0
$GC,3194,-1.43,-77.9,310.2,-11.4,256,3200,0.00,2.30,0.00,0.000,6,0.000,0.023,2401,1883,3375,0,0,0,0,0,0
$GC,3525,-1.48,-77.9,348.9,-12.4,265,3529,0.00,2.45,0.00,0.000,4,0.000,0.048,2400,460,3374,0,0,0,0,0,0
$GC,3570,-1.48,-77.9,355.1,-13.7,266,3575,0.00,2.28,0.00,0.000,6,0.000,0.025,2401,1878,3374,0,0,0,0,0,0
$GC,3894,-1.52,-77.9,391.3,-10.5,274,3898,0.00,2.45,0.00,0.000,4,0.000,0.050,2400,460,3372,0,0,0,0,0,0
$GC,3984,-1.52,-77.9,400.3,-9.9,276,3989,0.00,2.33,0.00,0.000,6,0.000,0.026,2400,1876,3372,0,0,0,0,0,0
$GC,4313,-1.57,-77.9,422.6,-6.3,284,4318,0.15,2.50,0.00,0.000,4,0.061,0.053,2358,460,3369,0,0,0,0,0,0
$GC,4404,-1.50,-77.9,431.5,-10.8,286,4409,0.15,2.33,0.00,0.000,6,0.100,0.028,2388,1870,3369,0,0,0,0,0,0
$STATE,4648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4648,begin apogee
$GC,4654,-0.31,0.0,450.4,7.5,292,4723,1.20,0.00,65.10,0.875,6,0.074,0.000,2645,2028,3050,0,0,0,0,0,0
$STATE,4724,end apogee,CONTROL_FINISHED_OK
$STATE,4724,begin climb
$GC,4726,1.40,77.9,451.0,0.0,293,4801,1.62,2.45,64.97,0.854,4,0.032,0.043,3026,3387,2731,0,0,0,0,0,0
$GC,4894,1.25,142.7,448.8,3.6,296,4956,0.17,2.38,55.30,0.849,6,0.117,0.035,2990,2002,2468,0,0,0,0,0,0
$GC,5271,1.13,142.7,414.6,9.7,306,5276,0.15,2.40,0.00,0.000,4,0.114,0.041,2965,3387,2460,0,0,0,0,0,0
$GC,5290,1.06,142.7,412.6,10.1,306,5295,0.00,2.38,0.00,0.000,6,0.000,0.038,2963,2008,2460,0,0,0,0,0,0
$GC,5636,1.01,142.7,380.4,9.7,315,5638,0.15,0.00,0.00,0.000,6,0.116,0.000,2936,2008,2456,0,0,0,0,0,0
$GC,5960,1.01,142.7,353.7,8.2,323,5964,0.00,2.45,0.00,0.000,4,0.000,0.053,2938,602,2454,0,0,0,0,0,0
$GC,6002,0.96,142.7,349.9,9.0,324,6007,0.00,2.35,0.00,0.000,6,0.000,0.031,2938,1999,2453,0,0,0,0,0,0
$GC,6330,1.01,179.6,329.0,5.5,332,6362,0.00,0.00,30.52,0.809,6,0.000,0.000,2939,2003,2318,0,0,0,0,0,0
$GC,6654,1.04,207.2,309.9,6.1,340,6682,0.00,0.00,25.50,0.785,6,0.000,0.000,2939,2003,2204,0,0,0,0,0,0
$GC,7008,1.11,207.2,278.5,9.2,353,7012,0.00,2.47,0.00,0.000,4,0.000,0.051,2938,602,2198,0,0,0,0,0,0
$GC,7206,1.11,207.2,256.7,11.3,361,7211,0.00,2.38,0.00,0.000,6,0.000,0.029,2939,2017,2194,0,0,0,0,0,0
$GC,7523,1.18,207.2,226.0,9.8,377,7528,0.15,2.50,0.00,0.000,4,0.071,0.050,2977,591,2194,0,0,0,0,0,0
$GC,7699,1.12,207.2,207.2,8.8,384,7705,0.00,2.40,0.00,0.000,6,0.000,0.028,2977,2017,2192,0,0,0,0,0,0
$GC,8023,1.12,210.7,182.4,7.8,411,8027,0.00,2.47,0.00,0.000,4,0.000,0.048,2977,600,2192,0,0,0,0,0,0
$GC,8184,1.07,210.7,166.6,9.9,428,8189,0.15,2.35,0.00,0.000,6,0.113,0.025,2949,2024,2191,0,0,0,0,0,0
$GC,8445,1.16,215.3,145.4,7.7,452,8456,0.00,2.50,6.25,0.535,4,0.000,0.044,2949,591,2171,0,0,0,0,0,0
$GC,8560,1.16,215.3,134.8,9.1,464,8567,0.00,2.38,0.00,0.000,6,0.000,0.024,2949,2018,2170,0,0,0,0,0,0
$GC,8823,1.24,215.3,112.4,8.7,489,8828,0.15,2.45,0.00,0.000,4,0.065,0.044,2989,598,2170,0,0,0,0,0,0
$GC,8839,1.24,215.3,110.6,9.4,490,8843,0.00,2.30,0.00,0.000,6,0.000,0.023,2989,2018,2170,0,0,0,0,0,0
$GC,9100,1.24,215.3,86.4,8.7,514,9104,0.00,2.42,0.00,0.000,4,0.000,0.044,2989,598,2170,0,0,0,0,0,0
$GC,9171,1.20,215.3,80.0,9.7,521,9175,0.00,2.30,0.00,0.000,6,0.000,0.021,2989,2019,2170,0,0,0,0,0,0
$GC,9434,1.24,250.3,62.8,5.6,545,9474,0.00,2.55,31.88,0.572,4,0.000,0.043,2989,596,2028,0,0,0,0,0,0
$GC,9688,1.24,250.3,37.4,10.8,573,9692,0.00,2.30,0.00,0.000,6,0.000,0.021,2989,2013,2023,0,0,0,0,0,0
$GC,9960,1.31,254.5,14.3,7.7,614,9972,0.00,2.47,4.20,0.366,4,0.000,0.042,2990,604,2012,0,0,0,0,0,0
$GC,10041,1.31,254.5,6.4,11.3,631,10047,0.00,2.25,0.00,0.000,6,0.000,0.020,2989,2012,2010,0,0,0,0,0,0
$STATE,10074,end climb,SURFACE_DEPTH_REACHED
$STATE,10074,begin surface coast
$FINISH,0.7,1.023162
$STATE,10102,end surface coast,CONTROL_FINISHED_OK
$STATE,10102,begin surface
$SM_CCo,10123,24.80,0.506,0,0,1826,300.00
$SM_GC,1.10,0.00,0.00,24.80,0.000,0.000,0.506,427,1847,1826,-10.52,-0.82,300.00
$IRIDIUM_FIX,2057.14,-15751.76,240899,070747
$TT8_MAMPS,0.029146
$HUMID,48.77
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,23.4,35.648
$10V_AH,10.0,33.772
$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,27.000,115.025,283.725,24.800,0.000,29.583,28.117,156.657,4.750,0.000,15.794,1248.067,6508.711,376.999,1927.166,412.419,33.369,1210.106,0.000,1901.018,0.000,29.254,0.000
$DEVICE_MAMPS,134.992,52.923,875.147,506.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.552,413.021,832.541,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34994,642
$CAP_FILE_SIZE,117339,0
$CFSIZE,260165632,235335680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300510,133257,2105.324,-15749.109,89,4.6,108,9.8