version: 66.06
glider: 139
mission: 7
dive: 403
start: 5 30 110 13 39 52
data:
$ID,139
$MISSION,7
$DIVE,403
$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,-2135230.5
$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
$GPS1,133257,2105.324,-15749.109,89,4.6,108,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.9
$GPS2,133900,2105.299,-15749.198,48,2.0,48,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.169,0.073
$KALMAN_X,-71478.6,-144.5,309.1,81215.5,-3358.1
$KALMAN_Y,33065.4,2.2,-82.2,-35967.9,-946.2
$MHEAD_RNG_PITCHd_Wd,56.8,10894,-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,-53.45,0.000,2,0.000,0.000,426,1846,3228,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.6,-6.1,10,96,10.55,2.45,-2.70,0.000,4,0.133,0.038,2401,3297,3371,0,0,0,0,0,0
$GC,183,-1.35,-77.9,29.0,-17.5,33,188,0.00,2.42,0.00,0.000,6,0.000,0.031,2398,1866,3372,0,0,0,0,0,0
$GC,381,-1.21,-77.9,61.7,-14.8,52,383,0.25,0.00,0.00,0.000,6,0.091,0.000,2451,1866,3373,0,0,0,0,0,0
$GC,634,-1.21,-77.9,90.7,-11.4,76,638,0.00,2.38,0.00,0.000,4,0.000,0.044,2452,466,3374,0,0,0,0,0,0
$GC,704,-1.21,-77.9,98.6,-11.7,83,708,0.00,2.30,0.00,0.000,6,0.000,0.020,2448,1914,3374,0,0,0,0,0,0
$GC,968,-1.27,-77.9,126.7,-10.3,107,973,0.00,2.47,0.00,0.000,4,0.000,0.043,2452,467,3375,0,0,0,0,0,0
$GC,1031,-1.33,-77.9,134.1,-10.3,113,1036,0.12,2.28,0.00,0.000,6,0.063,0.020,2409,1885,3376,0,0,0,0,0,0
$GC,1293,-1.30,-77.9,166.7,-12.8,137,1298,0.12,2.45,0.00,0.000,4,0.100,0.045,2435,465,3376,0,0,0,0,0,0
$GC,1337,-1.27,-77.9,172.1,-11.3,141,1341,0.00,2.28,0.00,0.000,6,0.000,0.020,2433,1883,3376,0,0,0,0,0,0
$GC,1601,-1.31,-77.9,197.7,-9.8,165,1605,0.00,2.42,0.00,0.000,4,0.000,0.044,2434,462,3376,0,0,0,0,0,0
$GC,1680,-1.34,-77.9,205.2,-8.3,169,1684,0.00,2.28,0.00,0.000,6,0.000,0.020,2435,1880,3377,0,0,0,0,0,0
$GC,1996,-1.41,-77.9,230.9,-7.8,184,2001,0.12,2.45,0.00,0.000,4,0.064,0.045,2393,468,3377,0,0,0,0,0,0
$GC,2105,-1.36,-77.9,241.1,-9.4,188,2112,0.08,2.28,0.00,0.000,6,0.077,0.021,2414,1872,3377,0,0,0,0,0,0
$GC,2421,-1.39,-77.9,269.1,-9.2,204,2426,0.00,2.40,0.00,0.000,4,0.000,0.045,2414,467,3377,0,0,0,0,0,0
$GC,2453,-1.39,-77.9,272.3,-9.2,205,2457,0.00,2.28,0.00,0.000,6,0.000,0.022,2413,1882,3377,0,0,0,0,0,0
$GC,2771,-1.44,-77.9,300.5,-9.8,220,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1885,3377,0,0,0,0,0,0
$GC,3093,-1.51,-77.9,333.4,-10.1,228,3098,0.12,2.47,0.00,0.000,4,0.066,0.049,2375,468,3375,0,0,0,0,0,0
$GC,3223,-1.47,-77.9,347.6,-10.2,230,3229,0.00,2.28,0.00,0.000,6,0.000,0.024,2376,1867,3375,0,0,0,0,0,0
$GC,3553,-1.47,-77.9,376.4,-8.4,239,3558,0.00,2.45,0.00,0.000,4,0.000,0.050,2376,462,3373,0,0,0,0,0,0
$GC,3600,-1.42,-77.9,380.7,-9.3,240,3605,0.15,2.33,0.00,0.000,6,0.096,0.025,2407,1879,3373,0,0,0,0,0,0
$GC,3926,-1.48,-77.9,403.9,-7.3,248,3931,0.00,2.47,0.00,0.000,4,0.000,0.051,2406,467,3371,0,0,0,0,0,0
$GC,4004,-1.48,-77.9,410.9,-8.1,249,4009,0.00,2.33,0.00,0.000,6,0.000,0.027,2407,1880,3371,0,0,0,0,0,0
$GC,4336,-1.54,-77.9,438.1,-8.4,257,4341,0.12,2.50,0.00,0.000,4,0.069,0.054,2370,470,3368,0,0,0,0,0,0
$STATE,4446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4446,begin apogee
$GC,4454,-0.31,0.0,450.0,10.4,259,4522,1.27,0.00,64.80,0.879,6,0.081,0.000,2642,2011,3050,0,0,0,0,0,0
$STATE,4523,end apogee,CONTROL_FINISHED_OK
$STATE,4523,begin climb
$GC,4525,1.40,77.9,451.3,0.0,261,4600,1.65,2.53,64.75,0.859,4,0.035,0.044,3027,3409,2731,0,0,0,0,0,0
$GC,4629,1.26,149.4,450.2,3.1,263,4696,0.17,2.42,61.03,0.850,6,0.116,0.035,2992,2008,2441,0,0,0,0,0,0
$GC,5020,1.14,149.4,406.2,12.7,273,5025,0.15,2.47,0.00,0.000,4,0.117,0.052,2967,605,2432,0,0,0,0,0,0
$GC,5104,1.02,149.4,395.8,11.9,274,5111,0.17,2.38,0.00,0.000,6,0.117,0.029,2936,2016,2429,0,0,0,0,0,0
$GC,5435,1.03,153.9,368.6,7.7,283,5439,0.00,2.47,0.00,0.000,4,0.000,0.051,2936,607,2427,0,0,0,0,0,0
$GC,5454,0.99,153.9,367.0,8.3,283,5458,0.00,2.35,0.00,0.000,6,0.000,0.030,2936,2012,2426,0,0,0,0,0,0
$GC,5803,1.01,174.2,343.6,6.6,292,5830,0.00,2.55,20.27,0.796,4,0.000,0.051,2936,598,2337,0,0,0,0,0,0
$GC,5876,1.01,174.2,337.0,9.8,293,5880,0.00,2.40,0.00,0.000,6,0.000,0.030,2936,2013,2334,0,0,0,0,0,0
$GC,6212,1.05,175.9,309.9,7.9,302,6217,0.00,2.47,0.00,0.000,4,0.000,0.051,2936,604,2332,0,0,0,0,0,0
$GC,6304,1.05,175.9,301.5,9.7,304,6308,0.00,2.38,0.00,0.000,6,0.000,0.030,2936,2014,2330,0,0,0,0,0,0
$GC,6634,1.13,200.2,277.8,6.3,319,6663,0.10,2.45,22.88,0.764,4,0.089,0.038,2961,3398,2232,0,0,0,0,0,0
$GC,6738,1.17,200.2,268.3,9.5,323,6743,0.00,2.40,0.00,0.000,6,0.000,0.035,2962,2007,2232,0,0,0,0,0,0
$GC,7054,1.17,200.2,234.8,10.9,338,7055,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2007,2229,0,0,0,0,0,0
$GC,7364,1.23,228.5,211.7,6.1,353,7397,0.00,2.55,25.65,0.710,4,0.000,0.049,2961,604,2116,0,0,0,0,0,0
$GC,7515,1.23,228.5,199.0,9.8,359,7521,0.00,2.35,0.00,0.000,6,0.000,0.026,2961,2013,2111,0,0,0,0,0,0
$GC,7840,1.28,228.5,166.8,11.1,390,7845,0.15,2.47,0.00,0.000,4,0.064,0.047,3001,596,2110,0,0,0,0,0,0
$GC,7949,1.20,228.5,153.2,13.4,401,7954,0.12,2.35,0.00,0.000,6,0.111,0.025,2978,2016,2108,0,0,0,0,0,0
$GC,8211,1.22,242.8,128.6,7.0,425,8231,0.00,0.00,12.55,0.597,6,0.000,0.000,2978,2021,2060,0,0,0,0,0,0
$GC,8487,1.26,242.8,109.0,8.5,451,8491,0.00,2.45,0.00,0.000,4,0.000,0.044,2978,603,2059,0,0,0,0,0,0
$GC,8542,1.26,242.8,103.5,9.2,456,8549,0.00,2.33,0.00,0.000,6,0.000,0.022,2978,2009,2057,0,0,0,0,0,0
$GC,8805,1.35,245.8,80.3,7.8,481,8807,0.12,0.00,0.00,0.000,6,0.067,0.000,3015,2013,2057,0,0,0,0,0,0
$GC,9059,1.35,245.8,59.2,8.4,505,9070,0.00,2.35,3.97,0.377,4,0.000,0.028,3015,3403,2048,0,0,0,0,0,0
$GC,9084,1.38,245.8,56.8,8.6,507,9091,0.00,2.35,0.00,0.000,6,0.000,0.028,3015,2013,2047,0,0,0,0,0,0
$GC,9346,1.38,245.8,33.3,9.0,532,9350,0.00,2.38,0.00,0.000,4,0.000,0.041,3015,604,2047,0,0,0,0,0,0
$GC,9371,1.31,245.8,31.0,9.1,534,9375,0.00,2.30,0.00,0.000,6,0.000,0.021,3015,2034,2046,0,0,0,0,0,0
$STATE,9637,end climb,SURFACE_DEPTH_REACHED
$STATE,9638,begin surface coast
$FINISH,0.4,1.011107
$STATE,9672,end surface coast,CONTROL_FINISHED_OK
$STATE,9672,begin surface
$SM_CCo,9692,28.77,0.510,0,0,1827,300.00
$SM_GC,0.87,0.00,0.00,28.77,0.000,0.000,0.510,421,1864,1827,-10.55,-0.34,300.00
$IRIDIUM_FIX,2054.83,-15746.61,240899,101032
$TT8_MAMPS,0.029146
$HUMID,47.71
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.4,35.729
$10V_AH,10.0,33.847
$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,26.650,105.975,275.900,28.775,0.000,27.687,29.021,168.536,4.500,0.000,48.396,1139.092,6429.603,359.512,1751.498,406.001,33.374,1119.802,0.000,1697.171,0.000,29.245,0.000
$DEVICE_MAMPS,132.691,53.690,878.982,510.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.767,375.038,732.436,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,31751,588
$CAP_FILE_SIZE,109058,0
$CFSIZE,260165632,235290624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300510,162451,2105.277,-15749.660,121,3.0,140,9.8