version: 66.06
glider: 139
mission: 7
dive: 114
start: 4 25 110 6 6 18
data:
$ID,139
$MISSION,7
$DIVE,114
$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,-2122619.2
$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,1900
$C_ROLL_CLIMB,2035
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$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
$GPS1,060036,2106.876,-15800.562,88,1.9,88,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.3
$GPS2,060528,2106.872,-15800.581,11,2.3,30,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.106,-0.150
$KALMAN_X,-14586.0,-306.9,318.1,-10971.3,240.5
$KALMAN_Y,-14400.9,-8.2,-95.1,19723.9,406.1
$MHEAD_RNG_PITCHd_Wd,135.0,24874,-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,-77.9,0.0,0.0,0,77,0.00,0.00,-58.53,0.000,6,0.000,0.000,427,1937,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,4.1,-7.5,11,98,10.73,2.33,0.00,0.000,4,0.139,0.025,2404,3325,3370,0,0,0,0,0,0
$GC,105,-0.11,-77.9,14.9,-33.9,15,113,1.30,2.45,0.00,0.000,6,0.081,0.033,2686,1901,3371,0,0,0,0,0,0
$GC,307,-0.76,-77.9,27.4,-7.7,52,314,0.60,2.42,0.00,0.000,4,0.047,0.042,2542,485,3372,0,0,0,0,0,0
$GC,365,-0.99,-77.9,31.3,-6.9,62,370,0.20,2.35,0.00,0.000,6,0.048,0.020,2480,1941,3372,0,0,0,0,0,0
$GC,628,-1.06,-77.9,57.4,-11.0,86,632,0.00,2.53,0.00,0.000,4,0.000,0.045,2480,485,3373,0,0,0,0,0,0
$GC,663,-1.06,-77.9,62.3,-12.5,89,669,0.00,2.30,0.00,0.000,6,0.000,0.020,2480,1897,3372,0,0,0,0,0,0
$GC,924,-1.13,-77.9,92.1,-10.3,114,928,0.00,2.42,0.00,0.000,4,0.000,0.046,2480,491,3374,0,0,0,0,0,0
$GC,987,-1.18,-77.9,100.1,-12.2,120,995,0.08,2.28,0.00,0.000,6,0.038,0.020,2443,1896,3374,0,0,0,0,0,0
$GC,1249,-1.23,-77.9,131.7,-10.6,145,1253,0.00,2.42,0.00,0.000,4,0.000,0.045,2443,490,3375,0,0,0,0,0,0
$GC,1337,-1.23,-77.9,141.9,-11.5,154,1341,0.00,2.28,0.00,0.000,6,0.000,0.020,2443,1906,3375,0,0,0,0,0,0
$GC,1598,-1.31,-77.9,168.9,-8.9,178,1603,0.00,2.40,0.00,0.000,4,0.000,0.044,2443,493,3375,0,0,0,0,0,0
$GC,1651,-1.36,-77.9,173.8,-9.6,183,1656,0.12,2.28,0.00,0.000,6,0.064,0.020,2400,1909,3376,0,0,0,0,0,0
$GC,1921,-1.36,-77.9,205.6,-11.5,206,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1913,3376,0,0,0,0,0,0
$GC,2231,-1.36,-77.9,241.5,-11.1,221,2236,0.00,2.45,0.00,0.000,4,0.000,0.046,2394,490,3376,0,0,0,0,0,0
$GC,2265,-1.32,-77.9,245.8,-12.8,222,2270,0.15,2.28,0.00,0.000,6,0.095,0.021,2429,1900,3376,0,0,0,0,0,0
$GC,2583,-1.42,-77.9,271.0,-7.1,237,2587,0.12,2.42,0.00,0.000,4,0.067,0.048,2391,494,3376,0,0,0,0,0,0
$GC,2616,-1.36,-77.9,274.2,-9.6,238,2620,0.12,2.28,0.00,0.000,6,0.101,0.023,2416,1899,3377,0,0,0,0,0,0
$GC,2933,-1.43,-77.9,299.1,-7.4,253,2937,0.00,2.33,0.00,0.000,4,0.000,0.034,2416,3291,3376,0,0,0,0,0,0
$GC,2960,-1.55,-77.9,301.5,-8.1,254,2965,0.17,2.35,0.00,0.000,6,0.055,0.035,2367,1900,3376,0,0,0,0,0,0
$GC,3296,-1.55,-77.9,335.9,-10.9,263,3300,0.00,2.45,0.00,0.000,4,0.000,0.051,2340,491,3374,0,0,0,0,0,0
$GC,3328,-1.47,-77.9,339.6,-11.9,263,3333,0.12,2.30,0.00,0.000,6,0.106,0.025,2391,1892,3374,0,0,0,0,0,0
$GC,3659,-1.51,-77.9,370.5,-9.1,271,3663,0.00,2.42,0.00,0.000,4,0.000,0.053,2390,497,3373,0,0,0,0,0,0
$GC,3727,-1.51,-77.9,377.3,-9.8,272,3731,0.00,2.30,0.00,0.000,6,0.000,0.027,2391,1902,3373,0,0,0,0,0,0
$GC,4067,-1.55,-77.9,405.2,-8.1,281,4071,0.00,2.47,0.00,0.000,4,0.000,0.056,2391,497,3370,0,0,0,0,0,0
$GC,4140,-1.55,-77.9,412.1,-10.0,282,4145,0.00,2.30,0.00,0.000,6,0.000,0.028,2391,1897,3370,0,0,0,0,0,0
$GC,4476,-1.60,-77.9,441.3,-8.6,291,4481,0.12,2.50,0.00,0.000,4,0.074,0.058,2357,498,3368,0,0,0,0,0,0
$GC,4532,-1.53,-77.9,447.3,-11.0,292,4537,0.12,2.35,0.00,0.000,6,0.113,0.030,2380,1905,3367,0,0,0,0,0,0
$STATE,4559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4559,begin apogee
$GC,4564,-0.31,0.0,450.1,9.3,293,4633,1.25,0.00,65.05,0.881,6,0.080,0.000,2644,2061,3050,0,0,0,0,0,0
$STATE,4633,end apogee,CONTROL_FINISHED_OK
$STATE,4634,begin climb
$GC,4635,1.40,77.9,451.1,0.0,294,4710,1.65,2.47,64.95,0.859,4,0.035,0.049,3027,3413,2732,0,0,0,0,0,0
$GC,4974,1.21,106.5,439.5,6.1,301,5007,0.25,2.40,24.62,0.838,6,0.122,0.040,2981,2026,2615,0,0,0,0,0,0
$GC,5325,1.09,106.5,412.2,8.2,310,5330,0.15,2.45,0.00,0.000,4,0.125,0.044,2956,3414,2611,0,0,0,0,0,0
$GC,5344,1.02,108.1,410.6,7.9,310,5349,0.00,2.40,0.00,0.000,6,0.000,0.041,2957,2031,2611,0,0,0,0,0,0
$GC,5689,0.99,134.1,387.5,6.2,319,5715,0.15,0.00,23.48,0.832,6,0.123,0.000,2930,2031,2503,0,0,0,0,0,0
$GC,6014,1.00,140.6,363.5,7.6,327,6026,0.00,2.58,6.72,0.689,4,0.000,0.058,2929,627,2476,0,0,0,0,0,0
$GC,6267,0.96,141.4,344.0,8.0,332,6271,0.00,2.33,0.00,0.000,6,0.000,0.031,2929,2021,2472,0,0,0,0,0,0
$GC,6611,0.99,167.8,320.8,6.2,341,6643,0.00,2.55,24.42,0.805,4,0.000,0.054,2929,625,2363,0,0,0,0,0,0
$GC,6704,0.99,167.8,313.1,9.2,343,6708,0.00,2.40,0.00,0.000,6,0.000,0.029,2929,2043,2360,0,0,0,0,0,0
$GC,7028,1.04,171.2,290.8,7.8,354,7032,0.00,2.50,0.00,0.000,4,0.000,0.054,2929,625,2358,0,0,0,0,0,0
$GC,7064,1.04,171.2,287.3,8.6,355,7070,0.00,2.38,0.00,0.000,6,0.000,0.029,2929,2037,2357,0,0,0,0,0,0
$GC,7381,1.10,171.2,260.9,8.6,371,7386,0.10,2.50,0.00,0.000,4,0.088,0.054,2953,626,2356,0,0,0,0,0,0
$GC,7450,1.05,171.2,253.9,8.9,374,7454,0.00,2.38,0.00,0.000,6,0.000,0.029,2953,2039,2355,0,0,0,0,0,0
$GC,7774,1.06,184.7,231.1,7.1,390,7798,0.00,2.58,14.65,0.716,4,0.000,0.051,2953,627,2294,0,0,0,0,0,0
$GC,7808,1.08,195.1,228.4,7.3,391,7824,0.00,2.40,10.73,0.676,6,0.000,0.028,2953,2052,2253,0,0,0,0,0,0
$GC,8144,1.12,195.1,198.4,8.9,408,8149,0.00,2.47,0.00,0.000,4,0.000,0.048,2953,625,2250,0,0,0,0,0,0
$GC,8198,1.12,195.1,193.1,9.8,413,8204,0.00,2.35,0.00,0.000,6,0.000,0.026,2953,2035,2248,0,0,0,0,0,0
$GC,8460,1.16,195.1,170.4,10.5,438,8464,0.00,2.47,0.00,0.000,4,0.000,0.048,2952,619,2248,0,0,0,0,0,0
$GC,8595,1.16,195.1,153.9,12.2,452,8602,0.00,2.38,0.00,0.000,6,0.000,0.025,2954,2038,2247,0,0,0,0,0,0
$GC,8858,1.22,195.1,130.8,9.0,477,8863,0.10,2.47,0.00,0.000,4,0.084,0.047,2982,626,2247,0,0,0,0,0,0
$GC,9006,1.15,195.1,114.4,10.5,492,9012,0.00,2.35,0.00,0.000,6,0.000,0.024,2983,2043,2247,0,0,0,0,0,0
$GC,9269,1.18,214.8,93.6,6.7,517,9291,0.00,2.47,17.65,0.594,4,0.000,0.044,2982,625,2173,0,0,0,0,0,0
$GC,9378,1.20,231.3,85.3,6.9,528,9403,0.00,2.35,15.75,0.576,6,0.000,0.022,2983,2045,2106,0,0,0,0,0,0
$GC,9657,1.24,231.3,61.8,8.2,555,9661,0.00,2.45,0.00,0.000,4,0.000,0.044,2983,616,2103,0,0,0,0,0,0
$GC,9777,1.24,231.3,48.7,10.6,568,9785,0.00,2.33,0.00,0.000,6,0.000,0.021,2983,2027,2101,0,0,0,0,0,0
$GC,10040,1.28,231.3,21.8,10.4,600,10046,0.00,2.45,0.00,0.000,4,0.000,0.046,2983,628,2101,0,0,0,0,0,0
$GC,10142,1.28,231.3,10.7,10.1,623,10148,0.00,2.30,0.00,0.000,6,0.000,0.021,2983,2036,2101,0,0,0,0,0,0
$STATE,10213,end climb,SURFACE_DEPTH_REACHED
$STATE,10213,begin surface coast
$FINISH,0.4,1.012719
$STATE,10241,end surface coast,CONTROL_FINISHED_OK
$STATE,10242,begin surface
$SM_CCo,10261,36.35,0.523,0,0,1826,300.00
$SM_GC,1.68,0.00,0.00,36.35,0.000,0.000,0.523,426,1878,1826,-10.52,-0.62,300.00
$IRIDIUM_FIX,2101.76,-15803.33,200799,030310
$TT8_MAMPS,0.029146
$HUMID,43.77
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.40
$XPDR_PINGS,1
$24V_AH,23.4,11.182
$10V_AH,10.0,10.383
$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,28.575,125.250,268.025,36.350,0.000,29.817,27.418,125.532,0.250,0.000,31.717,1247.292,6634.740,383.367,1976.087,349.930,33.353,1232.441,0.000,1956.205,0.000,0.538,0.000
$DEVICE_MAMPS,138.827,58.292,881.283,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.421,414.551,944.927,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,34862,641
$CAP_FILE_SIZE,119037,0
$CFSIZE,260165632,251928576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250410,085924,2106.174,-15800.216,36,1.4,53,9.8