version: 66.06
glider: 139
mission: 7
dive: 742
start: 7 14 110 8 58 44
data:
$ID,139
$MISSION,7
$DIVE,742
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$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,111
$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,-2148679.8
$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
$GPS1,085138,2112.564,-15753.737,26,1.7,26,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.4
$GPS2,085754,2112.556,-15753.724,43,1.5,43,9.8
$SPEED_LIMITS,0.156,0.190
$TGT_NAME,WAIT
$TGT_LATLONG,2113.500,-15753.630
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.049,0.183
$KALMAN_X,-384129.7,431.4,-474.7,386258.6,431.3
$KALMAN_Y,-8884.0,-483.4,-66.3,19892.6,-129.7
$MHEAD_RNG_PITCHd_Wd,335.1,1756,-22.9,-9.009
$D_GRID,300
$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,16,-1.53,-77.9,0.0,0.0,0,73,0.00,0.00,-54.90,0.000,2,0.000,0.000,425,1895,3228,0,0,0,0,0,0
$GC,77,-1.53,-77.9,3.9,-8.3,11,96,10.35,2.33,-2.78,0.000,4,0.130,0.037,2376,3301,3369,0,0,0,0,0,0
$GC,122,-1.33,-77.9,15.2,-17.5,20,128,0.22,2.42,0.00,0.000,6,0.091,0.028,2421,1862,3370,0,0,0,0,0,0
$GC,331,-1.28,-77.9,41.8,-12.5,49,333,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,1862,3371,0,0,0,0,0,0
$GC,587,-1.28,-77.9,74.2,-12.9,73,591,0.00,2.38,0.00,0.000,4,0.000,0.041,2421,468,3372,0,0,0,0,0,0
$GC,657,-1.28,-77.9,82.9,-12.0,80,661,0.00,2.30,0.00,0.000,6,0.000,0.019,2421,1915,3372,0,0,0,0,0,0
$GC,921,-1.33,-77.9,109.1,-8.3,104,925,0.00,2.47,0.00,0.000,4,0.000,0.040,2421,469,3373,0,0,0,0,0,0
$GC,973,-1.33,-77.9,113.9,-9.1,109,977,0.00,2.22,0.00,0.000,6,0.000,0.019,2419,1882,3373,0,0,0,0,0,0
$GC,1237,-1.38,-77.9,135.2,-8.8,133,1241,0.00,2.42,0.00,0.000,4,0.000,0.041,2420,465,3374,0,0,0,0,0,0
$GC,1274,-1.38,-77.9,138.9,-9.5,136,1280,0.00,2.25,0.00,0.000,6,0.000,0.019,2420,1877,3374,0,0,0,0,0,0
$GC,1539,-1.44,-77.9,160.7,-7.4,161,1543,0.00,2.40,0.00,0.000,4,0.000,0.041,2421,471,3375,0,0,0,0,0,0
$GC,1559,-1.48,-77.9,162.4,-7.3,162,1565,0.12,2.22,0.00,0.000,6,0.063,0.019,2379,1887,3375,0,0,0,0,0,0
$GC,1820,-1.48,-77.9,184.2,-9.5,187,1824,0.00,2.40,0.00,0.000,4,0.000,0.041,2378,469,3375,0,0,0,0,0,0
$GC,1876,-1.48,-77.9,189.9,-10.3,192,1881,0.00,2.22,0.00,0.000,6,0.000,0.019,2379,1878,3375,0,0,0,0,0,0
$GC,2143,-1.48,-77.9,212.0,-7.8,211,2148,0.00,2.40,0.00,0.000,4,0.000,0.041,2379,471,3376,0,0,0,0,0,0
$GC,2182,-1.45,-77.9,215.2,-8.3,212,2188,0.00,2.22,0.00,0.000,6,0.000,0.020,2380,1876,3376,0,0,0,0,0,0
$GC,2498,-1.45,-77.9,239.6,-8.5,228,2502,0.00,2.25,0.00,0.000,4,0.000,0.027,2379,3264,3375,0,0,0,0,0,0
$GC,2520,-1.49,-77.9,241.5,-8.8,228,2526,0.00,2.33,0.00,0.000,6,0.000,0.027,2380,1866,3375,0,0,0,0,0,0
$GC,2836,-1.52,-77.9,267.7,-8.4,244,2840,0.00,2.38,0.00,0.000,4,0.000,0.042,2379,469,3375,0,0,0,0,0,0
$GC,2933,-1.52,-77.9,277.3,-9.7,248,2938,0.00,2.22,0.00,0.000,6,0.000,0.021,2380,1873,3375,0,0,0,0,0,0
$STATE,3210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3210,begin apogee
$GC,3218,-0.31,0.0,300.1,7.5,262,3286,1.23,0.00,64.55,0.700,6,0.070,0.000,2645,2041,3050,0,0,0,0,0,0
$STATE,3287,end apogee,CONTROL_FINISHED_OK
$STATE,3287,begin climb
$GC,3289,1.53,77.9,301.0,0.0,263,3365,1.73,2.28,63.03,0.689,4,0.027,0.029,3056,3378,2731,0,0,0,0,0,0
$GC,3500,1.42,154.9,299.8,3.1,267,3573,0.17,2.30,63.25,0.689,6,0.115,0.028,3024,2002,2418,0,0,0,0,0,0
$GC,3889,1.34,157.9,268.8,8.8,286,3893,0.00,2.40,0.00,0.000,4,0.000,0.044,3023,602,2412,0,0,0,0,0,0
$GC,4022,1.18,161.6,256.8,8.7,291,4036,0.28,2.28,5.80,0.516,6,0.106,0.022,2972,1996,2391,0,0,0,0,0,0
$GC,4361,1.24,176.5,231.1,7.9,308,4383,0.00,2.47,13.85,0.624,4,0.000,0.044,2972,612,2329,0,0,0,0,0,0
$GC,4648,1.29,216.9,211.1,5.9,320,4689,0.10,2.30,35.45,0.653,6,0.079,0.023,3002,2013,2165,0,0,0,0,0,0
$GC,5010,1.29,216.9,179.3,9.3,347,5014,0.00,2.42,0.00,0.000,4,0.000,0.045,3002,604,2160,0,0,0,0,0,0
$GC,5229,1.26,216.9,157.6,9.1,370,5233,0.00,2.30,0.00,0.000,6,0.000,0.023,3001,2005,2155,0,0,0,0,0,0
$GC,5493,1.35,239.7,136.3,7.2,394,5520,0.00,2.47,19.77,0.592,4,0.000,0.044,3002,609,2071,0,0,0,0,0,0
$GC,5572,1.36,247.6,129.8,8.4,402,5588,0.00,2.33,7.93,0.515,6,0.000,0.023,3002,2021,2040,0,0,0,0,0,0
$GC,5842,1.46,260.8,109.3,8.0,428,5861,0.12,2.45,13.10,0.549,4,0.064,0.041,3040,610,1985,0,0,0,0,0,0
$GC,5924,1.43,260.8,101.9,10.0,436,5930,0.00,2.30,0.00,0.000,6,0.000,0.022,3040,2008,1981,0,0,0,0,0,0
$GC,6189,1.50,283.7,80.7,7.2,461,6215,0.00,2.45,20.48,0.550,4,0.000,0.041,3040,606,1892,0,0,0,0,0,0
$GC,6338,1.51,291.5,68.7,8.4,477,6350,0.00,2.30,7.60,0.472,6,0.000,0.021,3040,2022,1861,0,0,0,0,0,0
$GC,6612,1.58,291.5,44.3,9.1,503,6616,0.00,2.42,0.00,0.000,4,0.000,0.042,3040,602,1859,0,0,0,0,0,0
$GC,6756,1.58,291.5,30.2,9.9,518,6760,0.00,2.28,0.00,0.000,6,0.000,0.020,3040,2006,1857,0,0,0,0,0,0
$GC,7032,1.66,300.9,7.5,8.3,566,7048,0.15,2.40,9.50,0.455,4,0.057,0.038,3087,605,1822,0,0,0,0,0,0
$STATE,7075,end climb,SURFACE_DEPTH_REACHED
$STATE,7075,begin surface coast
$FINISH,0.7,1.012560
$STATE,7102,end surface coast,CONTROL_FINISHED_OK
$STATE,7102,begin surface
$SM_CCo,7186,0.00,0.000,0,0,1813,303.19
$SM_GC,1.63,11.45,0.00,0.00,0.025,0.000,0.000,425,1874,1813,-10.45,-0.03,303.19
$IRIDIUM_FIX,2104.07,-15755.17,081099,050555
$TT8_MAMPS,0.029146
$HUMID,53.11
$INTERNAL_PRESSURE,9.76254
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,23.4,66.625
$10V_AH,10.0,56.149
$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,25.925,84.250,324.300,0.000,0.000,27.589,31.104,159.631,3.000,0.000,43.386,1052.842,4406.642,360.770,1296.365,436.625,33.379,1064.066,0.000,1239.713,0.000,18.272,0.000
$DEVICE_MAMPS,129.623,49.088,699.504,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,387.760,426.817,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355804
$DATA_FILE_SIZE,31738,580
$CAP_FILE_SIZE,93945,0
$CFSIZE,260165632,214691840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140710,105958,2112.951,-15753.176,31,2.2,50,9.8