version: 66.06
glider: 139
mission: 7
dive: 289
start: 5 16 110 6 25 19
data:
$ID,139
$MISSION,7
$DIVE,289
$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,-2131273.2
$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,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
$GPS1,061906,2058.920,-15750.410,113,1.1,113,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,2
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.0
$GPS2,062426,2058.936,-15750.385,11,1.4,11,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.184,0.009
$KALMAN_X,9228.5,453.0,-479.2,-1347.8,1082.5
$KALMAN_Y,12708.9,399.8,-290.1,-27582.8,746.3
$MHEAD_RNG_PITCHd_Wd,262.9,26645,-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,-77.9,0.0,0.0,0,67,0.00,0.00,-49.53,0.000,2,0.000,0.000,423,1847,3119,0,0,0,0,0,0
$GC,69,-1.40,-77.9,3.1,-5.0,9,91,10.62,2.38,-5.00,0.000,4,0.135,0.051,2401,463,3369,0,0,0,0,0,0
$GC,264,-1.20,-77.9,46.2,-19.5,42,269,0.25,2.30,0.00,0.000,6,0.095,0.020,2452,1900,3371,0,0,0,0,0,0
$GC,525,-1.20,-77.9,81.2,-12.1,66,529,0.00,2.47,0.00,0.000,4,0.000,0.043,2452,469,3372,0,0,0,0,0,0
$GC,571,-1.20,-77.9,87.3,-12.5,70,578,0.00,2.30,0.00,0.000,6,0.000,0.019,2452,1887,3372,0,0,0,0,0,0
$GC,835,-1.25,-77.9,113.8,-8.9,95,839,0.00,2.45,0.00,0.000,4,0.000,0.043,2451,463,3373,0,0,0,0,0,0
$GC,867,-1.25,-77.9,117.3,-10.2,98,871,0.00,2.28,0.00,0.000,6,0.000,0.019,2451,1883,3373,0,0,0,0,0,0
$GC,1129,-1.33,-77.9,139.8,-8.6,122,1135,0.12,2.45,0.00,0.000,4,0.063,0.044,2408,467,3375,0,0,0,0,0,0
$GC,1205,-1.25,-77.9,149.0,-12.7,130,1210,0.15,2.25,0.00,0.000,6,0.094,0.020,2440,1883,3375,0,0,0,0,0,0
$GC,1466,-1.31,-77.9,173.8,-8.8,154,1470,0.00,2.45,0.00,0.000,4,0.000,0.044,2439,460,3375,0,0,0,0,0,0
$GC,1518,-1.35,-77.9,178.8,-9.1,159,1522,0.00,2.28,0.00,0.000,6,0.000,0.020,2440,1882,3375,0,0,0,0,0,0
$GC,1778,-1.43,-77.9,202.7,-10.1,182,1783,0.17,2.42,0.00,0.000,4,0.052,0.044,2386,468,3375,0,0,0,0,0,0
$GC,1845,-1.37,-77.9,210.8,-13.0,185,1850,0.15,2.25,0.00,0.000,6,0.094,0.021,2417,1870,3375,0,0,0,0,0,0
$GC,2177,-1.41,-77.9,245.4,-10.0,201,2181,0.00,2.40,0.00,0.000,4,0.000,0.045,2415,466,3375,0,0,0,0,0,0
$GC,2250,-1.41,-77.9,253.2,-9.7,204,2254,0.00,2.28,0.00,0.000,6,0.000,0.021,2417,1876,3376,0,0,0,0,0,0
$GC,2569,-1.46,-77.9,279.8,-8.4,220,2574,0.00,2.42,0.00,0.000,4,0.000,0.047,2417,451,3375,0,0,0,0,0,0
$GC,2658,-1.46,-77.9,287.6,-8.3,223,2663,0.00,2.30,0.00,0.000,6,0.000,0.023,2417,1868,3375,0,0,0,0,0,0
$GC,2971,-1.51,-77.9,309.9,-7.0,236,2976,0.15,2.45,0.00,0.000,4,0.059,0.050,2372,468,3374,0,0,0,0,0,0
$GC,3027,-1.44,-77.9,316.1,-11.6,237,3032,0.12,2.28,0.00,0.000,6,0.103,0.025,2397,1874,3373,0,0,0,0,0,0
$GC,3345,-1.44,-77.9,345.4,-9.1,245,3349,0.00,2.45,0.00,0.000,4,0.000,0.051,2397,471,3372,0,0,0,0,0,0
$GC,3400,-1.44,-77.9,350.9,-9.6,246,3404,0.00,2.30,0.00,0.000,6,0.000,0.026,2398,1875,3372,0,0,0,0,0,0
$GC,3713,-1.47,-77.9,379.8,-9.6,254,3718,0.00,2.45,0.00,0.000,4,0.000,0.052,2397,471,3370,0,0,0,0,0,0
$GC,3783,-1.47,-77.9,387.0,-10.0,255,3787,0.00,2.28,0.00,0.000,6,0.000,0.028,2397,1872,3370,0,0,0,0,0,0
$GC,4127,-1.51,-77.9,417.7,-8.8,264,4131,0.00,2.47,0.00,0.000,4,0.000,0.054,2397,465,3367,0,0,0,0,0,0
$GC,4155,-1.51,-77.9,420.1,-8.6,264,4159,0.00,2.33,0.00,0.000,6,0.000,0.029,2398,1881,3367,0,0,0,0,0,0
$GC,4491,-1.56,-77.9,448.2,-8.6,273,4496,0.10,2.53,0.00,0.000,4,0.081,0.056,2366,463,3364,0,0,0,0,0,0
$STATE,4508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4508,begin apogee
$GC,4515,-0.31,0.0,450.2,10.1,273,4583,1.30,0.00,64.25,0.877,6,0.084,0.000,2643,2010,3050,0,0,0,0,0,0
$STATE,4584,end apogee,CONTROL_FINISHED_OK
$STATE,4584,begin climb
$GC,4586,1.40,77.9,451.9,0.0,275,4660,1.62,2.53,65.05,0.855,4,0.032,0.046,3024,3406,2732,0,0,0,0,0,0
$GC,4707,1.25,146.1,451.1,3.3,277,4773,0.17,2.40,58.62,0.850,6,0.116,0.037,2990,2010,2453,0,0,0,0,0,0
$GC,5088,1.13,146.1,414.0,10.8,287,5093,0.15,2.45,0.00,0.000,4,0.116,0.041,2965,3415,2445,0,0,0,0,0,0
$GC,5107,1.05,146.1,412.0,9.7,287,5112,0.10,2.45,0.00,0.000,6,0.126,0.039,2947,2010,2444,0,0,0,0,0,0
$GC,5452,1.05,146.1,381.8,8.6,296,5456,0.00,2.45,0.00,0.000,4,0.000,0.041,2947,3417,2441,0,0,0,0,0,0
$GC,5484,1.05,146.1,378.8,8.9,296,5488,0.00,2.45,0.00,0.000,6,0.000,0.038,2947,2005,2441,0,0,0,0,0,0
$GC,5814,1.05,146.1,348.9,9.5,304,5818,0.00,2.47,0.00,0.000,4,0.000,0.054,2946,604,2438,0,0,0,0,0,0
$GC,5842,0.98,146.1,346.0,10.2,304,5846,0.00,2.40,0.00,0.000,6,0.000,0.031,2947,2024,2437,0,0,0,0,0,0
$GC,6177,0.98,153.0,318.0,7.5,313,6186,0.00,2.40,3.97,0.525,4,0.000,0.042,2947,3405,2426,0,0,0,0,0,0
$GC,6223,1.01,174.6,314.8,6.5,314,6251,0.00,2.42,20.70,0.785,6,0.000,0.038,2947,2006,2337,0,0,0,0,0,0
$GC,6569,1.01,174.6,285.9,9.6,326,6573,0.00,2.47,0.00,0.000,4,0.000,0.054,2946,595,2332,0,0,0,0,0,0
$GC,6676,0.98,174.6,274.7,11.6,330,6683,0.00,2.40,0.00,0.000,6,0.000,0.030,2947,2003,2330,0,0,0,0,0,0
$GC,6991,0.99,184.3,247.6,7.4,346,7006,0.00,2.50,8.85,0.676,4,0.000,0.051,2946,595,2297,0,0,0,0,0,0
$GC,7203,1.00,191.4,230.2,7.5,355,7217,0.00,2.38,7.28,0.632,6,0.000,0.028,2947,2021,2269,0,0,0,0,0,0
$GC,7529,1.05,191.4,205.9,8.3,371,7533,0.00,2.50,0.00,0.000,4,0.000,0.050,2947,595,2268,0,0,0,0,0,0
$GC,7692,1.07,211.0,193.6,6.7,383,7716,0.00,2.35,18.70,0.691,6,0.000,0.027,2946,2014,2189,0,0,0,0,0,0
$GC,7970,1.14,211.0,171.5,8.7,410,7972,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2014,2185,0,0,0,0,0,0
$GC,8225,1.21,211.0,148.5,9.5,434,8230,0.15,2.47,0.00,0.000,4,0.064,0.047,2986,602,2185,0,0,0,0,0,0
$GC,8334,1.13,211.0,136.9,11.7,445,8339,0.12,2.33,0.00,0.000,6,0.114,0.024,2964,2016,2183,0,0,0,0,0,0
$GC,8596,1.19,211.0,112.3,9.2,469,8600,0.00,2.47,0.00,0.000,4,0.000,0.046,2964,592,2182,0,0,0,0,0,0
$GC,8683,1.19,211.0,103.7,9.4,478,8687,0.00,2.33,0.00,0.000,6,0.000,0.023,2963,2012,2182,0,0,0,0,0,0
$GC,8945,1.30,245.7,86.2,5.6,502,8983,0.15,2.47,30.70,0.596,4,0.061,0.043,3007,601,2047,0,0,0,0,0,0
$GC,9094,1.22,245.7,72.3,10.7,518,9099,0.15,2.33,0.00,0.000,6,0.102,0.021,2978,2017,2042,0,0,0,0,0,0
$GC,9355,1.30,245.7,48.9,9.0,542,9360,0.00,2.45,0.00,0.000,4,0.000,0.044,2978,590,2042,0,0,0,0,0,0
$GC,9398,1.33,245.7,44.8,9.5,546,9403,0.12,2.30,0.00,0.000,6,0.067,0.021,3016,2020,2041,0,0,0,0,0,0
$GC,9664,1.33,245.7,19.3,9.6,579,9669,0.00,2.45,0.00,0.000,4,0.000,0.044,3016,590,2041,0,0,0,0,0,0
$GC,9679,1.33,245.7,17.5,10.8,582,9686,0.00,2.33,0.00,0.000,6,0.000,0.021,3016,2013,2041,0,0,0,0,0,0
$STATE,9821,end climb,SURFACE_DEPTH_REACHED
$STATE,9822,begin surface coast
$FINISH,0.6,1.023278
$STATE,9855,end surface coast,CONTROL_FINISHED_OK
$STATE,9856,begin surface
$SM_CCo,9875,28.15,0.511,0,0,1827,300.00
$SM_GC,1.12,0.00,0.00,28.15,0.000,0.000,0.511,429,1847,1827,-10.52,-0.79,300.00
$IRIDIUM_FIX,2052.52,-15747.49,100899,030314
$TT8_MAMPS,0.029146
$HUMID,46.96
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,23.4,25.501
$10V_AH,10.0,24.562
$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,27.000,125.025,278.125,28.150,0.000,31.203,28.314,165.915,4.750,0.000,11.619,1205.293,6452.184,357.561,1820.004,391.783,33.352,1173.024,0.000,1797.256,0.000,30.558,0.000
$DEVICE_MAMPS,134.992,55.991,876.681,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.940,394.529,762.809,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,34894,614
$CAP_FILE_SIZE,117252,0
$CFSIZE,260165632,242028544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160510,091134,2059.105,-15750.993,36,2.0,36,9.8