version: 66.06
glider: 139
mission: 7
dive: 273
start: 5 14 110 7 26 44
data:
$ID,139
$MISSION,7
$DIVE,273
$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,-2130669.5
$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
$GPS1,070926,2106.657,-15745.709,32,1.8,32,9.8
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.5
$GPS2,072552,2106.751,-15745.473,14,2.5,33,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.126,-0.134
$KALMAN_X,500.7,319.8,245.7,15268.3,689.8
$KALMAN_Y,3973.6,1.0,76.3,-4346.3,682.4
$MHEAD_RNG_PITCHd_Wd,127.1,4742,-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,-53.47,0.000,2,0.000,0.000,423,1869,3247,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.5,-6.4,10,95,10.70,2.47,-2.38,0.000,4,0.138,0.052,2403,458,3371,0,0,0,0,0,0
$GC,138,-1.16,-77.9,21.9,-23.1,23,144,0.28,2.33,0.00,0.000,6,0.090,0.021,2459,1897,3371,0,0,0,0,0,0
$GC,340,-1.16,-77.9,49.8,-12.6,46,344,0.00,2.47,0.00,0.000,4,0.000,0.044,2458,464,3371,0,0,0,0,0,0
$GC,365,-1.13,-77.9,53.5,-14.4,48,370,0.00,2.30,0.00,0.000,6,0.000,0.019,2459,1898,3372,0,0,0,0,0,0
$GC,628,-1.18,-77.9,80.5,-9.9,72,632,0.00,2.47,0.00,0.000,4,0.000,0.044,2458,461,3372,0,0,0,0,0,0
$GC,691,-1.18,-77.9,88.6,-12.3,78,698,0.00,2.28,0.00,0.000,6,0.000,0.020,2458,1869,3373,0,0,0,0,0,0
$GC,954,-1.24,-77.9,117.2,-8.8,103,959,0.00,2.42,0.00,0.000,4,0.000,0.044,2459,459,3373,0,0,0,0,0,0
$GC,999,-1.31,-77.9,122.0,-9.9,107,1005,0.15,2.28,0.00,0.000,6,0.058,0.020,2411,1875,3374,0,0,0,0,0,0
$GC,1259,-1.31,-77.9,154.5,-12.3,132,1263,0.00,2.40,0.00,0.000,4,0.000,0.043,2411,466,3374,0,0,0,0,0,0
$GC,1330,-1.24,-77.9,163.4,-12.6,139,1334,0.15,2.25,0.00,0.000,6,0.095,0.020,2442,1881,3374,0,0,0,0,0,0
$GC,1592,-1.31,-77.9,190.7,-10.9,163,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1886,3374,0,0,0,0,0,0
$GC,1841,-1.38,-77.9,217.4,-10.0,179,1846,0.12,2.42,0.00,0.000,4,0.064,0.045,2400,469,3374,0,0,0,0,0,0
$GC,1861,-1.38,-77.9,219.7,-11.0,180,1866,0.00,2.25,0.00,0.000,6,0.000,0.021,2401,1887,3374,0,0,0,0,0,0
$GC,2195,-1.38,-77.9,252.3,-9.4,196,2199,0.00,2.42,0.00,0.000,4,0.000,0.045,2400,466,3374,0,0,0,0,0,0
$GC,2291,-1.38,-77.9,262.8,-11.1,200,2295,0.00,2.25,0.00,0.000,6,0.000,0.022,2401,1871,3374,0,0,0,0,0,0
$GC,2615,-1.38,-77.9,294.1,-8.9,216,2619,0.00,2.42,0.00,0.000,4,0.000,0.048,2399,470,3374,0,0,0,0,0,0
$GC,2691,-1.38,-77.9,301.2,-9.2,219,2695,0.00,2.28,0.00,0.000,6,0.000,0.023,2401,1877,3374,0,0,0,0,0,0
$GC,3022,-1.41,-77.9,332.5,-10.0,227,3026,0.00,2.42,0.00,0.000,4,0.000,0.049,2401,470,3372,0,0,0,0,0,0
$GC,3050,-1.37,-77.9,335.7,-12.1,227,3054,0.00,2.28,0.00,0.000,6,0.000,0.025,2401,1877,3372,0,0,0,0,0,0
$GC,3390,-1.41,-77.9,369.7,-9.9,236,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1881,3370,0,0,0,0,0,0
$GC,3714,-1.46,-77.9,398.0,-8.1,244,3718,0.00,2.45,0.00,0.000,4,0.000,0.053,2398,471,3368,0,0,0,0,0,0
$GC,3738,-1.46,-77.9,400.0,-8.0,244,3742,0.00,2.30,0.00,0.000,6,0.000,0.028,2400,1870,3368,0,0,0,0,0,0
$GC,4083,-1.51,-77.9,430.0,-9.4,253,4087,0.00,2.45,0.00,0.000,4,0.000,0.053,2399,464,3365,0,0,0,0,0,0
$GC,4137,-1.51,-77.9,435.2,-9.4,254,4142,0.00,2.33,0.00,0.000,6,0.000,0.029,2401,1870,3365,0,0,0,0,0,0
$STATE,4331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4331,begin apogee
$GC,4336,-0.31,0.0,451.0,8.0,259,4404,1.12,0.00,64.00,0.874,6,0.075,0.000,2642,2032,3050,0,0,0,0,0,0
$STATE,4405,end apogee,CONTROL_FINISHED_OK
$STATE,4405,begin climb
$GC,4407,1.40,77.9,451.9,0.0,260,4481,1.65,2.45,64.62,0.851,4,0.035,0.045,3026,3386,2732,0,0,0,0,0,0
$GC,4543,1.25,145.1,452.2,3.4,263,4608,0.20,2.40,57.65,0.846,6,0.117,0.037,2987,2003,2457,0,0,0,0,0,0
$GC,4950,1.13,145.1,411.0,10.8,273,4951,0.15,0.00,0.00,0.000,6,0.127,0.000,2962,2003,2449,0,0,0,0,0,0
$GC,5274,1.07,145.1,378.2,9.9,281,5279,0.00,2.38,0.00,0.000,4,0.000,0.042,2963,3383,2445,0,0,0,0,0,0
$GC,5358,1.04,145.1,370.4,9.1,282,5364,0.12,2.35,0.00,0.000,6,0.120,0.038,2941,2010,2445,0,0,0,0,0,0
$GC,5689,1.06,156.9,346.1,7.2,291,5704,0.00,2.40,8.77,0.723,4,0.000,0.041,2941,3387,2409,0,0,0,0,0,0
$GC,5736,1.06,156.9,342.3,8.1,292,5740,0.00,2.40,0.00,0.000,6,0.000,0.038,2941,2003,2409,0,0,0,0,0,0
$GC,6058,1.06,156.9,315.7,8.6,300,6059,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2003,2406,0,0,0,0,0,0
$GC,6365,1.06,157.6,290.7,8.0,310,6369,0.00,2.45,0.00,0.000,4,0.000,0.052,2940,604,2405,0,0,0,0,0,0
$GC,6500,1.02,157.6,278.7,8.6,316,6504,0.00,2.33,0.00,0.000,6,0.000,0.030,2940,1992,2403,0,0,0,0,0,0
$GC,6829,1.07,171.0,255.2,7.1,332,6847,0.00,2.45,12.38,0.714,4,0.000,0.038,2941,3406,2353,0,0,0,0,0,0
$GC,6857,1.13,180.4,253.0,7.4,332,6872,0.00,2.38,10.02,0.679,6,0.000,0.035,2941,2010,2314,0,0,0,0,0,0
$GC,7181,1.19,183.5,227.1,7.8,348,7186,0.15,2.45,0.00,0.000,4,0.068,0.050,2978,604,2310,0,0,0,0,0,0
$GC,7310,1.11,183.5,214.8,9.7,353,7316,0.12,2.33,0.00,0.000,6,0.124,0.027,2957,2018,2307,0,0,0,0,0,0
$GC,7629,1.15,188.9,190.5,7.6,374,7643,0.00,2.53,8.02,0.610,4,0.000,0.048,2957,608,2279,0,0,0,0,0,0
$GC,7662,1.15,188.9,187.3,9.5,377,7667,0.00,2.35,0.00,0.000,6,0.000,0.026,2958,2019,2276,0,0,0,0,0,0
$GC,7924,1.19,188.9,164.7,8.9,402,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2024,2276,0,0,0,0,0,0
$GC,8177,1.28,228.3,147.1,5.3,426,8219,0.15,2.53,35.28,0.650,4,0.064,0.046,2998,602,2119,0,0,0,0,0,0
$GC,8377,1.21,228.3,126.4,10.2,447,8382,0.00,2.33,0.00,0.000,6,0.000,0.023,2998,2017,2112,0,0,0,0,0,0
$GC,8640,1.21,228.3,98.2,10.3,471,8645,0.00,2.45,0.00,0.000,4,0.000,0.044,2998,601,2112,0,0,0,0,0,0
$GC,8693,1.14,228.3,92.4,11.1,476,8698,0.17,2.30,0.00,0.000,6,0.104,0.022,2965,2014,2112,0,0,0,0,0,0
$GC,8955,1.21,228.3,67.9,9.1,500,8959,0.00,2.42,0.00,0.000,4,0.000,0.044,2965,600,2111,0,0,0,0,0,0
$GC,9066,1.21,228.3,56.8,10.6,512,9070,0.00,2.28,0.00,0.000,6,0.000,0.021,2965,2013,2111,0,0,0,0,0,0
$GC,9334,1.34,245.5,32.7,6.8,537,9356,0.17,2.35,15.20,0.521,4,0.054,0.029,3013,3390,2048,0,0,0,0,0,0
$GC,9379,1.34,245.5,28.4,9.7,544,9386,0.00,2.35,0.00,0.000,6,0.000,0.028,3016,2008,2048,0,0,0,0,0,0
$GC,9587,1.34,245.5,7.4,10.2,581,9592,0.00,2.38,0.00,0.000,4,0.000,0.042,3015,605,2048,0,0,0,0,0,0
$STATE,9623,end climb,SURFACE_DEPTH_REACHED
$STATE,9624,begin surface coast
$FINISH,0.5,1.010023
$STATE,9647,end surface coast,CONTROL_FINISHED_OK
$STATE,9647,begin surface
$SM_CCo,9668,28.42,0.510,0,0,1827,300.00
$SM_GC,1.15,0.00,0.00,28.42,0.000,0.000,0.510,427,1883,1827,-10.52,0.23,300.00
$IRIDIUM_FIX,2059.45,-15745.74,080899,070724
$TT8_MAMPS,0.029146
$HUMID,46.25
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.20
$XPDR_PINGS,2
$24V_AH,23.4,24.191
$10V_AH,10.1,23.301
$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,26.575,109.225,275.950,28.425,0.000,118.748,127.442,398.132,5.000,0.000,34.043,1135.838,6648.169,357.316,1689.414,854.172,33.349,1103.091,0.000,1654.400,0.000,29.259,0.000
$DEVICE_MAMPS,138.060,52.923,873.613,510.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,400.785,385.796,750.312,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,35027,594
$CAP_FILE_SIZE,119266,0
$CFSIZE,260165632,242941952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140510,101527,2106.542,-15743.804,371,2.2,390,9.8