version: 66.06
glider: 139
mission: 7
dive: 405
start: 5 30 110 19 37 22
data:
$ID,139
$MISSION,7
$DIVE,405
$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,-2135309.8
$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
$GPS1,192651,2105.465,-15749.438,69,2.9,88,9.8
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.7
$GPS2,193631,2105.455,-15749.415,38,1.4,39,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.168,0.075
$KALMAN_X,-74760.1,-466.4,-285.6,85042.2,-566.2
$KALMAN_Y,31604.3,37.8,121.0,-34458.3,-762.7
$MHEAD_RNG_PITCHd_Wd,56.1,11245,-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,-77.9,0.0,0.0,0,71,0.00,0.00,-52.53,0.000,2,0.000,0.000,427,1846,3195,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.0,-4.1,10,95,10.60,2.45,-3.50,0.000,4,0.134,0.035,2404,3307,3371,0,0,0,0,0,0
$GC,129,-1.31,-77.9,18.0,-20.3,21,136,0.12,2.45,0.00,0.000,6,0.104,0.031,2428,1867,3372,0,0,0,0,0,0
$GC,340,-1.21,-77.9,50.2,-14.3,47,345,0.10,2.40,0.00,0.000,4,0.119,0.045,2448,469,3373,0,0,0,0,0,0
$GC,375,-1.06,-77.9,56.1,-15.7,50,380,0.15,2.33,0.00,0.000,6,0.105,0.020,2478,1914,3373,0,0,0,0,0,0
$GC,637,-1.13,-77.9,85.7,-8.5,74,641,0.00,2.50,0.00,0.000,4,0.000,0.041,2478,461,3374,0,0,0,0,0,0
$GC,782,-1.17,-77.9,99.7,-10.1,89,786,0.00,2.28,0.00,0.000,6,0.000,0.019,2478,1883,3374,0,0,0,0,0,0
$GC,1049,-1.27,-77.9,126.9,-9.5,114,1054,0.20,2.42,0.00,0.000,4,0.048,0.042,2417,466,3375,0,0,0,0,0,0
$GC,1122,-1.21,-77.9,135.9,-11.9,121,1128,0.15,2.25,0.00,0.000,6,0.094,0.019,2449,1876,3375,0,0,0,0,0,0
$GC,1383,-1.27,-77.9,158.9,-8.3,146,1387,0.00,2.42,0.00,0.000,4,0.000,0.043,2448,463,3376,0,0,0,0,0,0
$GC,1430,-1.31,-77.9,163.3,-10.1,151,1434,0.00,2.25,0.00,0.000,6,0.000,0.020,2448,1880,3376,0,0,0,0,0,0
$GC,1695,-1.39,-77.9,190.2,-10.6,175,1700,0.17,2.45,0.00,0.000,4,0.051,0.044,2393,466,3376,0,0,0,0,0,0
$GC,1721,-1.32,-77.9,193.8,-14.0,177,1726,0.15,2.28,0.00,0.000,6,0.096,0.020,2423,1887,3377,0,0,0,0,0,0
$GC,1987,-1.36,-77.9,224.8,-11.0,192,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1893,3377,0,0,0,0,0,0
$GC,2298,-1.42,-77.9,252.8,-8.3,207,2302,0.00,2.42,0.00,0.000,4,0.000,0.044,2423,467,3377,0,0,0,0,0,0
$GC,2410,-1.46,-77.9,262.2,-7.5,212,2415,0.12,2.28,0.00,0.000,6,0.064,0.021,2383,1880,3377,0,0,0,0,0,0
$GC,2741,-1.46,-77.9,289.8,-8.1,228,2745,0.00,2.42,0.00,0.000,4,0.000,0.046,2382,463,3376,0,0,0,0,0,0
$GC,2801,-1.40,-77.9,296.0,-10.1,230,2808,0.10,2.30,0.00,0.000,6,0.077,0.023,2407,1867,3376,0,0,0,0,0,0
$GC,3133,-1.45,-77.9,329.6,-10.9,240,3137,0.00,2.40,0.00,0.000,4,0.000,0.048,2407,470,3375,0,0,0,0,0,0
$GC,3211,-1.45,-77.9,340.0,-13.8,241,3218,0.00,2.30,0.00,0.000,6,0.000,0.024,2408,1883,3374,0,0,0,0,0,0
$GC,3551,-1.50,-77.9,374.1,-9.0,250,3555,0.00,2.47,0.00,0.000,4,0.000,0.050,2408,464,3372,0,0,0,0,0,0
$GC,3626,-1.50,-77.9,380.2,-7.5,251,3630,0.00,2.30,0.00,0.000,6,0.000,0.026,2408,1881,3372,0,0,0,0,0,0
$GC,3967,-1.56,-77.9,403.1,-6.4,260,3972,0.15,2.47,0.00,0.000,4,0.061,0.051,2365,463,3370,0,0,0,0,0,0
$GC,4047,-1.48,-77.9,410.9,-9.8,261,4052,0.12,2.30,0.00,0.000,6,0.104,0.027,2390,1871,3369,0,0,0,0,0,0
$GC,4380,-1.48,-77.9,441.0,-9.3,269,4384,0.00,2.47,0.00,0.000,4,0.000,0.053,2389,463,3367,0,0,0,0,0,0
$GC,4413,-1.44,-77.9,444.6,-10.5,269,4417,0.00,2.33,0.00,0.000,6,0.000,0.028,2389,1872,3366,0,0,0,0,0,0
$STATE,4502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4503,begin apogee
$GC,4508,-0.31,0.0,453.1,9.4,272,4576,1.17,0.00,64.88,0.874,6,0.073,0.000,2643,2032,3050,0,0,0,0,0,0
$STATE,4577,end apogee,CONTROL_FINISHED_OK
$STATE,4577,begin climb
$GC,4579,1.40,77.9,454.2,0.0,273,4654,1.62,2.42,65.18,0.853,4,0.033,0.042,3021,3378,2731,0,0,0,0,0,0
$GC,4748,1.22,118.8,452.5,5.2,276,4789,0.22,2.35,35.35,0.839,6,0.111,0.036,2980,2009,2565,0,0,0,0,0,0
$GC,5120,1.12,118.8,420.9,9.4,286,5125,0.12,2.50,0.00,0.000,4,0.121,0.052,2956,602,2559,0,0,0,0,0,0
$GC,5366,0.99,118.8,398.9,8.7,291,5371,0.15,2.35,0.00,0.000,6,0.120,0.030,2932,1997,2555,0,0,0,0,0,0
$GC,5716,0.99,125.0,372.7,7.6,300,5728,0.00,2.50,4.82,0.601,4,0.000,0.050,2931,594,2538,0,0,0,0,0,0
$GC,5739,0.97,133.9,371.0,7.4,300,5755,0.00,2.38,9.07,0.734,6,0.000,0.031,2932,2016,2504,0,0,0,0,0,0
$GC,6086,0.98,141.8,343.3,7.5,309,6096,0.00,0.00,8.45,0.719,6,0.000,0.000,2932,2016,2471,0,0,0,0,0,0
$GC,6411,1.05,168.3,320.9,6.2,317,6441,0.00,2.53,24.27,0.797,4,0.000,0.050,2931,604,2361,0,0,0,0,0,0
$GC,6570,1.05,168.3,308.5,8.8,320,6574,0.00,2.35,0.00,0.000,6,0.000,0.030,2932,2009,2357,0,0,0,0,0,0
$GC,6895,1.10,168.3,281.1,8.7,333,6900,0.10,2.47,0.00,0.000,4,0.087,0.051,2956,604,2356,0,0,0,0,0,0
$GC,7008,1.04,168.3,270.0,10.1,338,7012,0.00,2.38,0.00,0.000,6,0.000,0.030,2957,2015,2354,0,0,0,0,0,0
$GC,7337,1.08,198.2,246.5,6.0,354,7370,0.00,2.55,26.05,0.746,4,0.000,0.048,2957,601,2241,0,0,0,0,0,0
$GC,7466,1.08,198.2,236.9,8.4,359,7472,0.00,2.38,0.00,0.000,6,0.000,0.028,2957,2014,2236,0,0,0,0,0,0
$GC,7783,1.12,198.2,212.3,8.1,375,7787,0.00,2.45,0.00,0.000,4,0.000,0.048,2957,604,2235,0,0,0,0,0,0
$GC,7874,1.12,198.2,203.4,9.5,379,7878,0.00,2.35,0.00,0.000,6,0.000,0.027,2957,2026,2233,0,0,0,0,0,0
$GC,8201,1.16,198.2,173.1,9.7,408,8205,0.00,2.50,0.00,0.000,4,0.000,0.046,2956,593,2233,0,0,0,0,0,0
$GC,8279,1.16,198.2,164.8,11.4,416,8283,0.00,2.35,0.00,0.000,6,0.000,0.025,2957,2015,2232,0,0,0,0,0,0
$GC,8541,1.21,198.2,136.9,11.0,440,8545,0.00,2.45,0.00,0.000,4,0.000,0.045,2957,591,2232,0,0,0,0,0,0
$GC,8568,1.21,198.2,133.3,12.1,442,8575,0.00,2.35,0.00,0.000,6,0.000,0.025,2957,2011,2232,0,0,0,0,0,0
$GC,8832,1.29,205.7,109.8,7.5,467,8845,0.17,2.50,6.62,0.521,4,0.059,0.044,3004,597,2211,0,0,0,0,0,0
$GC,8864,1.20,205.7,106.8,9.0,470,8872,0.12,2.35,0.00,0.000,6,0.086,0.023,2976,2011,2210,0,0,0,0,0,0
$GC,9128,1.27,232.6,89.7,6.2,495,9158,0.00,2.47,25.15,0.594,4,0.000,0.044,2976,602,2100,0,0,0,0,0,0
$GC,9188,1.27,232.6,85.0,8.9,501,9192,0.00,2.30,0.00,0.000,6,0.000,0.022,2976,2015,2097,0,0,0,0,0,0
$GC,9452,1.32,232.6,62.8,9.6,525,9457,0.12,2.47,0.00,0.000,4,0.067,0.044,3013,597,2097,0,0,0,0,0,0
$GC,9710,1.28,232.6,35.1,10.0,553,9716,0.00,2.33,0.00,0.000,6,0.000,0.021,3014,2018,2095,0,0,0,0,0,0
$GC,9978,1.28,232.6,13.9,8.9,596,9983,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2023,2095,0,0,0,0,0,0
$STATE,10097,end climb,SURFACE_DEPTH_REACHED
$STATE,10097,begin surface coast
$FINISH,0.6,1.023347
$STATE,10129,end surface coast,CONTROL_FINISHED_OK
$STATE,10129,begin surface
$SM_CCo,10149,33.45,0.510,0,0,1826,300.00
$SM_GC,1.63,0.00,0.00,33.45,0.000,0.000,0.510,426,1847,1826,-10.52,-0.82,300.00
$IRIDIUM_FIX,2059.45,-15748.75,240899,191916
$TT8_MAMPS,0.029146
$HUMID,49.37
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,35.903
$10V_AH,10.0,34.008
$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,27.075,115.425,269.850,33.450,0.000,52.839,61.475,263.089,4.500,0.000,39.083,1227.585,6660.234,367.976,1907.480,599.128,33.366,1198.684,0.000,1864.016,0.000,29.270,0.000
$DEVICE_MAMPS,134.225,52.923,873.613,510.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,420.668,402.571,777.817,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,34915,623
$CAP_FILE_SIZE,121815,0
$CFSIZE,260165632,235159552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300510,222927,2105.471,-15748.693,86,9.1,105,9.8