version: 66.06
glider: 139
mission: 7
dive: 401
start: 5 30 110 7 50 46
data:
$ID,139
$MISSION,7
$DIVE,401
$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,-2135164.8
$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
$GPS1,072634,2105.584,-15749.443,57,2.8,76,9.8
$_CALLS,5
$_XMS_NAKs,26
$_XMS_TOUTs,2
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.1
$GPS2,074955,2105.602,-15749.259,13,1.8,25,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.180,0.039
$KALMAN_X,-67968.8,639.1,-203.8,77327.9,-1091.1
$KALMAN_Y,34888.5,-58.3,8.4,-37263.0,-402.7
$MHEAD_RNG_PITCHd_Wd,68.0,10963,-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,16,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-52.58,0.000,2,0.000,0.000,426,1857,3212,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.4,-5.9,10,96,10.55,2.42,-3.08,0.000,4,0.132,0.038,2401,3293,3370,0,0,0,0,0,0
$GC,160,-1.34,-77.9,23.2,-16.4,28,167,0.00,2.42,0.00,0.000,6,0.000,0.032,2401,1877,3371,0,0,0,0,0,0
$GC,361,-1.20,-77.9,57.9,-16.6,50,366,0.25,2.42,0.00,0.000,4,0.092,0.044,2456,466,3371,0,0,0,0,0,0
$GC,388,-1.05,-77.9,62.3,-16.1,52,393,0.15,2.33,0.00,0.000,6,0.097,0.019,2485,1911,3371,0,0,0,0,0,0
$GC,650,-1.14,-77.9,89.6,-10.0,76,655,0.00,2.50,0.00,0.000,4,0.000,0.043,2486,458,3372,0,0,0,0,0,0
$GC,732,-1.21,-77.9,99.9,-12.4,84,740,0.12,2.28,0.00,0.000,6,0.031,0.019,2437,1871,3372,0,0,0,0,0,0
$GC,995,-1.21,-77.9,132.8,-10.6,109,999,0.00,2.40,0.00,0.000,4,0.000,0.043,2438,465,3373,0,0,0,0,0,0
$GC,1058,-1.21,-77.9,140.4,-10.6,115,1064,0.00,2.22,0.00,0.000,6,0.000,0.020,2437,1872,3373,0,0,0,0,0,0
$GC,1321,-1.24,-77.9,165.1,-9.5,140,1325,0.00,2.40,0.00,0.000,4,0.000,0.043,2437,463,3373,0,0,0,0,0,0
$GC,1380,-1.24,-77.9,171.4,-10.0,146,1384,0.00,2.25,0.00,0.000,6,0.000,0.020,2437,1885,3373,0,0,0,0,0,0
$GC,1642,-1.32,-77.9,197.7,-10.2,170,1647,0.00,2.45,0.00,0.000,4,0.000,0.044,2437,459,3374,0,0,0,0,0,0
$GC,1697,-1.35,-77.9,203.6,-10.0,173,1701,0.00,2.25,0.00,0.000,6,0.000,0.020,2437,1881,3373,0,0,0,0,0,0
$GC,2013,-1.44,-77.9,230.6,-8.5,188,2018,0.17,2.45,0.00,0.000,4,0.051,0.044,2383,466,3374,0,0,0,0,0,0
$GC,2122,-1.35,-77.9,243.4,-11.4,192,2129,0.12,2.28,0.00,0.000,6,0.073,0.021,2414,1872,3374,0,0,0,0,0,0
$GC,2437,-1.42,-77.9,275.4,-9.2,208,2441,0.00,2.42,0.00,0.000,4,0.000,0.045,2414,466,3373,0,0,0,0,0,0
$GC,2497,-1.42,-77.9,281.5,-9.2,210,2504,0.00,2.30,0.00,0.000,6,0.000,0.022,2414,1878,3373,0,0,0,0,0,0
$GC,2831,-1.48,-77.9,311.6,-8.9,224,2836,0.00,2.42,0.00,0.000,4,0.000,0.048,2414,466,3372,0,0,0,0,0,0
$GC,2863,-1.48,-77.9,315.0,-9.6,224,2868,0.00,2.28,0.00,0.000,6,0.000,0.024,2414,1881,3372,0,0,0,0,0,0
$GC,3194,-1.54,-77.9,346.2,-9.9,232,3199,0.17,2.47,0.00,0.000,4,0.055,0.049,2364,467,3370,0,0,0,0,0,0
$GC,3228,-1.45,-77.9,350.2,-13.2,232,3233,0.17,2.28,0.00,0.000,6,0.093,0.025,2400,1875,3370,0,0,0,0,0,0
$GC,3559,-1.49,-77.9,384.8,-10.3,240,3563,0.00,2.45,0.00,0.000,4,0.000,0.051,2399,460,3367,0,0,0,0,0,0
$GC,3642,-1.49,-77.9,393.7,-10.0,241,3648,0.00,2.30,0.00,0.000,6,0.000,0.027,2400,1879,3367,0,0,0,0,0,0
$GC,3974,-1.53,-77.9,421.9,-8.2,250,3978,0.00,2.45,0.00,0.000,4,0.000,0.051,2399,467,3364,0,0,0,0,0,0
$GC,4075,-1.53,-77.9,430.7,-8.7,252,4079,0.00,2.30,0.00,0.000,6,0.000,0.028,2399,1875,3363,0,0,0,0,0,0
$STATE,4345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4345,begin apogee
$GC,4351,-0.31,0.0,451.5,7.7,259,4419,1.15,0.00,64.00,0.875,6,0.073,0.000,2647,2035,3050,0,0,0,0,0,0
$STATE,4419,end apogee,CONTROL_FINISHED_OK
$STATE,4420,begin climb
$GC,4421,1.40,77.9,452.2,0.0,260,4497,1.62,2.42,64.80,0.853,4,0.032,0.044,3029,3379,2732,0,0,0,0,0,0
$GC,4600,1.23,134.7,449.3,4.1,264,4657,0.25,2.35,48.75,0.848,6,0.111,0.035,2983,2005,2499,0,0,0,0,0,0
$GC,4973,1.13,134.7,414.0,10.6,273,4977,0.12,2.38,0.00,0.000,4,0.123,0.039,2960,3384,2491,0,0,0,0,0,0
$GC,4992,1.07,134.7,412.0,9.5,273,4996,0.00,2.38,0.00,0.000,6,0.000,0.038,2958,2014,2491,0,0,0,0,0,0
$GC,5341,1.02,134.7,379.5,9.2,282,5346,0.12,2.38,0.00,0.000,4,0.122,0.041,2939,3391,2489,0,0,0,0,0,0
$GC,5388,1.02,134.7,375.4,8.4,283,5392,0.00,2.40,0.00,0.000,6,0.000,0.037,2938,2005,2489,0,0,0,0,0,0
$GC,5710,1.03,146.2,351.2,7.2,291,5726,0.00,2.50,8.82,0.723,4,0.000,0.053,2938,595,2453,0,0,0,0,0,0
$GC,5784,0.98,146.2,345.4,8.5,292,5788,0.00,2.38,0.00,0.000,6,0.000,0.031,2938,1998,2451,0,0,0,0,0,0
$GC,6124,1.03,187.0,325.7,5.2,301,6166,0.00,2.53,36.55,0.806,4,0.000,0.051,2938,596,2286,0,0,0,0,0,0
$GC,6176,1.06,212.6,322.6,6.3,302,6206,0.00,2.42,23.95,0.773,6,0.000,0.030,2939,2019,2183,0,0,0,0,0,0
$GC,6515,1.11,212.6,289.3,10.8,311,6516,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2019,2176,0,0,0,0,0,0
$GC,6822,1.19,212.6,256.5,10.0,326,6827,0.15,2.47,0.00,0.000,4,0.071,0.051,2977,598,2174,0,0,0,0,0,0
$GC,6993,1.12,212.6,238.0,11.8,333,6997,0.00,2.38,0.00,0.000,6,0.000,0.028,2976,2016,2169,0,0,0,0,0,0
$GC,7308,1.12,212.6,207.2,9.2,348,7312,0.00,2.50,0.00,0.000,4,0.000,0.048,2976,595,2169,0,0,0,0,0,0
$GC,7409,1.06,212.6,196.8,11.1,353,7414,0.15,2.38,0.00,0.000,6,0.120,0.027,2949,2021,2168,0,0,0,0,0,0
$GC,7671,1.14,212.6,175.0,8.3,377,7675,0.00,2.47,0.00,0.000,4,0.000,0.047,2948,602,2168,0,0,0,0,0,0
$GC,7767,1.14,212.6,166.9,8.6,387,7772,0.00,2.33,0.00,0.000,6,0.000,0.025,2948,2014,2166,0,0,0,0,0,0
$GC,8032,1.24,232.3,148.6,6.7,411,8055,0.17,2.53,15.85,0.633,4,0.060,0.045,2995,605,2103,0,0,0,0,0,0
$GC,8132,1.16,232.3,138.2,10.8,422,8137,0.15,2.33,0.00,0.000,6,0.109,0.023,2968,2016,2099,0,0,0,0,0,0
$GC,8393,1.21,233.8,117.3,7.9,446,8398,0.00,2.45,0.00,0.000,4,0.000,0.044,2968,590,2099,0,0,0,0,0,0
$GC,8439,1.21,233.8,113.0,9.0,450,8445,0.00,2.35,0.00,0.000,6,0.000,0.023,2968,2008,2098,0,0,0,0,0,0
$GC,8702,1.28,233.8,89.5,9.5,475,8707,0.12,2.42,0.00,0.000,4,0.069,0.043,3004,600,2098,0,0,0,0,0,0
$GC,8814,1.21,233.8,77.6,10.0,486,8821,0.10,2.33,0.00,0.000,6,0.084,0.021,2981,2018,2098,0,0,0,0,0,0
$GC,9077,1.27,233.8,53.6,10.0,511,9081,0.00,2.45,0.00,0.000,4,0.000,0.042,2981,594,2098,0,0,0,0,0,0
$GC,9146,1.27,233.8,46.4,10.9,518,9150,0.00,2.28,0.00,0.000,6,0.000,0.021,2981,2012,2098,0,0,0,0,0,0
$GC,9409,1.36,233.8,25.4,8.7,546,9417,0.12,2.47,0.00,0.000,4,0.066,0.043,3020,597,2098,0,0,0,0,0,0
$GC,9565,1.29,233.8,8.9,10.9,580,9573,0.10,2.30,0.00,0.000,6,0.079,0.021,2996,2002,2098,0,0,0,0,0,0
$STATE,9632,end climb,SURFACE_DEPTH_REACHED
$STATE,9632,begin surface coast
$FINISH,0.6,1.020732
$STATE,9675,end surface coast,CONTROL_FINISHED_OK
$STATE,9675,begin surface
$SM_CCo,9695,34.03,0.510,0,0,1827,300.00
$SM_GC,1.48,0.00,0.00,34.03,0.000,0.000,0.510,428,1860,1827,-10.52,-0.42,300.00
$IRIDIUM_FIX,2057.14,-15748.75,240899,070750
$TT8_MAMPS,0.029146
$HUMID,48.30
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.4,35.567
$10V_AH,10.0,33.692
$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,27.100,119.725,262.725,34.025,0.000,152.560,169.355,684.568,4.500,0.000,25.228,1172.908,6576.115,363.473,1769.339,1247.931,33.375,1151.573,0.000,1745.593,0.000,29.263,0.000
$DEVICE_MAMPS,131.924,55.224,875.147,510.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.417,386.520,749.982,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,34972,599
$CAP_FILE_SIZE,132273,0
$CFSIZE,260165632,235380736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300510,103507,2105.414,-15748.783,95,1.8,95,9.8