version: 66.06
glider: 139
mission: 7
dive: 314
start: 5 19 110 7 54 30
data:
$ID,139
$MISSION,7
$DIVE,314
$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,-2132121.2
$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
$GPS1,074737,2108.264,-15754.730,51,1.3,57,9.8
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-69.7
$GPS2,075338,2108.308,-15754.767,14,1.3,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.176,-0.052
$KALMAN_X,7020.1,741.0,-534.5,-6941.7,-512.2
$KALMAN_Y,13120.8,334.3,130.7,-11000.3,255.1
$MHEAD_RNG_PITCHd_Wd,96.7,20987,-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,-52.97,0.000,2,0.000,0.000,429,1893,3211,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.3,-5.1,10,96,10.62,2.50,-3.10,0.000,4,0.136,0.054,2401,467,3372,0,0,0,0,0,0
$GC,106,-0.44,-77.9,14.8,-33.8,16,113,1.00,2.35,0.00,0.000,6,0.095,0.020,2613,1913,3372,0,0,0,0,0,0
$GC,314,-0.79,-77.9,27.2,-4.7,53,320,0.28,2.42,0.00,0.000,4,0.046,0.041,2540,465,3374,0,0,0,0,0,0
$GC,390,-0.95,-77.9,33.4,-8.3,65,395,0.15,2.25,0.00,0.000,6,0.054,0.020,2488,1864,3373,0,0,0,0,0,0
$GC,653,-1.05,-77.9,61.5,-9.4,89,657,0.00,2.38,0.00,0.000,4,0.000,0.043,2488,468,3374,0,0,0,0,0,0
$GC,687,-1.11,-77.9,65.1,-11.2,92,691,0.00,2.28,0.00,0.000,6,0.000,0.019,2488,1890,3375,0,0,0,0,0,0
$GC,949,-1.23,-77.9,91.5,-9.5,116,954,0.17,2.47,0.00,0.000,4,0.051,0.044,2433,464,3375,0,0,0,0,0,0
$GC,1009,-1.17,-77.9,99.3,-13.1,122,1017,0.12,2.25,0.00,0.000,6,0.100,0.019,2458,1875,3376,0,0,0,0,0,0
$GC,1280,-1.23,-77.9,127.4,-10.0,147,1285,0.00,2.40,0.00,0.000,4,0.000,0.044,2459,464,3376,0,0,0,0,0,0
$GC,1342,-1.27,-77.9,134.0,-10.0,153,1346,0.00,2.22,0.00,0.000,6,0.000,0.020,2458,1868,3376,0,0,0,0,0,0
$GC,1605,-1.36,-77.9,157.7,-9.7,177,1610,0.17,2.42,0.00,0.000,4,0.052,0.044,2404,464,3376,0,0,0,0,0,0
$GC,1626,-1.36,-77.9,160.2,-10.5,178,1633,0.00,2.28,0.00,0.000,6,0.000,0.020,2403,1873,3376,0,0,0,0,0,0
$GC,1889,-1.36,-77.9,189.1,-10.2,203,1893,0.00,2.42,0.00,0.000,4,0.000,0.044,2404,461,3377,0,0,0,0,0,0
$GC,1922,-1.26,-77.9,193.3,-12.5,206,1927,0.17,2.28,0.00,0.000,6,0.091,0.020,2440,1881,3377,0,0,0,0,0,0
$GC,2180,-1.33,-77.9,218.9,-9.6,221,2184,0.00,2.42,0.00,0.000,4,0.000,0.044,2441,468,3377,0,0,0,0,0,0
$GC,2199,-1.33,-77.9,221.0,-9.7,222,2203,0.00,2.25,0.00,0.000,6,0.000,0.021,2441,1880,3377,0,0,0,0,0,0
$GC,2532,-1.43,-77.9,252.9,-9.7,238,2537,0.17,2.45,0.00,0.000,4,0.053,0.045,2388,467,3377,0,0,0,0,0,0
$GC,2679,-1.38,-77.9,271.4,-12.5,244,2684,0.12,2.25,0.00,0.000,6,0.101,0.021,2413,1867,3377,0,0,0,0,0,0
$GC,2997,-1.44,-77.9,295.2,-6.6,259,3002,0.00,2.40,0.00,0.000,4,0.000,0.047,2413,466,3377,0,0,0,0,0,0
$GC,3076,-1.44,-77.9,301.4,-7.7,262,3080,0.00,2.28,0.00,0.000,6,0.000,0.023,2413,1871,3377,0,0,0,0,0,0
$GC,3407,-1.50,-77.9,325.4,-7.3,270,3412,0.12,2.45,0.00,0.000,4,0.067,0.049,2375,470,3375,0,0,0,0,0,0
$GC,3463,-1.44,-77.9,330.7,-9.8,271,3468,0.12,2.30,0.00,0.000,6,0.102,0.025,2400,1880,3375,0,0,0,0,0,0
$GC,3777,-1.48,-77.9,358.3,-9.3,279,3781,0.00,2.45,0.00,0.000,4,0.000,0.051,2399,471,3374,0,0,0,0,0,0
$GC,3819,-1.48,-77.9,363.1,-11.3,280,3824,0.00,2.28,0.00,0.000,6,0.000,0.026,2400,1873,3374,0,0,0,0,0,0
$GC,4146,-1.52,-77.9,396.0,-9.8,288,4150,0.00,2.45,0.00,0.000,4,0.000,0.051,2399,472,3371,0,0,0,0,0,0
$GC,4164,-1.52,-77.9,397.9,-9.8,288,4168,0.00,2.33,0.00,0.000,6,0.000,0.028,2400,1881,3371,0,0,0,0,0,0
$GC,4510,-1.57,-77.9,426.9,-8.0,297,4515,0.12,2.50,0.00,0.000,4,0.070,0.054,2361,470,3369,0,0,0,0,0,0
$GC,4605,-1.49,-77.9,435.9,-10.0,299,4610,0.12,2.30,0.00,0.000,6,0.107,0.028,2388,1871,3367,0,0,0,0,0,0
$STATE,4804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4804,begin apogee
$GC,4809,-0.31,0.0,450.3,6.9,304,4878,1.20,0.00,64.78,0.878,6,0.077,0.000,2644,2030,3050,0,0,0,0,0,0
$STATE,4878,end apogee,CONTROL_FINISHED_OK
$STATE,4878,begin climb
$GC,4880,1.40,77.9,450.8,0.0,305,4955,1.65,2.45,64.62,0.855,4,0.035,0.046,3025,3382,2732,0,0,0,0,0,0
$GC,5159,1.23,128.9,444.7,4.5,311,5208,0.22,2.40,43.33,0.849,6,0.116,0.038,2986,2002,2524,0,0,0,0,0,0
$GC,5517,1.12,128.9,412.5,9.6,320,5522,0.15,2.50,0.00,0.000,4,0.124,0.054,2958,601,2517,0,0,0,0,0,0
$GC,5550,0.98,128.9,409.3,9.8,320,5555,0.17,2.33,0.00,0.000,6,0.125,0.031,2930,1991,2516,0,0,0,0,0,0
$GC,5881,1.00,141.3,384.0,7.2,328,5897,0.00,2.50,10.32,0.759,4,0.000,0.042,2931,3396,2473,0,0,0,0,0,0
$GC,5911,1.03,171.5,381.9,5.9,328,5944,0.00,2.42,27.77,0.820,6,0.000,0.038,2930,2006,2350,0,0,0,0,0,0
$GC,6254,1.07,171.5,348.9,10.4,337,6255,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2006,2343,0,0,0,0,0,0
$GC,6578,1.12,177.7,321.9,7.6,345,6591,0.12,2.53,5.43,0.618,4,0.078,0.054,2956,610,2325,0,0,0,0,0,0
$GC,6688,1.04,177.7,312.4,8.9,347,6692,0.00,2.35,0.00,0.000,6,0.000,0.030,2959,2019,2322,0,0,0,0,0,0
$GC,7020,1.04,177.7,287.8,8.4,359,7024,0.00,2.47,0.00,0.000,4,0.000,0.052,2958,605,2321,0,0,0,0,0,0
$GC,7098,0.98,177.7,278.7,11.3,362,7103,0.17,2.35,0.00,0.000,6,0.119,0.029,2929,2019,2320,0,0,0,0,0,0
$GC,7415,1.07,190.4,252.5,7.1,377,7432,0.00,2.53,11.90,0.710,4,0.000,0.051,2927,601,2273,0,0,0,0,0,0
$GC,7442,1.13,202.3,250.4,7.2,377,7460,0.15,2.40,12.05,0.697,6,0.068,0.028,2965,2025,2225,0,0,0,0,0,0
$GC,7785,1.14,204.7,227.8,7.9,394,7789,0.00,2.47,0.00,0.000,4,0.000,0.049,2965,604,2221,0,0,0,0,0,0
$GC,7886,1.09,204.7,218.7,8.6,398,7890,0.00,2.35,0.00,0.000,6,0.000,0.027,2965,2015,2219,0,0,0,0,0,0
$GC,8204,1.09,204.7,190.3,11.0,417,8208,0.00,2.45,0.00,0.000,4,0.000,0.047,2964,601,2218,0,0,0,0,0,0
$GC,8292,1.05,204.7,179.7,12.6,426,8297,0.12,2.35,0.00,0.000,6,0.119,0.025,2943,2019,2217,0,0,0,0,0,0
$GC,8552,1.12,204.7,154.3,9.4,450,8557,0.00,2.45,0.00,0.000,4,0.000,0.046,2942,597,2217,0,0,0,0,0,0
$GC,8614,1.12,204.7,148.0,11.0,456,8618,0.00,2.33,0.00,0.000,6,0.000,0.025,2942,2020,2217,0,0,0,0,0,0
$GC,8876,1.20,209.3,124.6,7.7,480,8888,0.15,2.53,6.60,0.530,4,0.065,0.043,2983,600,2195,0,0,0,0,0,0
$GC,8939,1.16,209.3,118.3,10.7,486,8946,0.00,2.35,0.00,0.000,6,0.000,0.023,2983,2016,2194,0,0,0,0,0,0
$GC,9201,1.18,225.8,96.8,6.9,511,9223,0.00,2.53,15.95,0.585,4,0.000,0.043,2983,602,2128,0,0,0,0,0,0
$GC,9260,1.14,225.8,91.9,8.8,517,9266,0.00,2.30,0.00,0.000,6,0.000,0.022,2983,2017,2125,0,0,0,0,0,0
$GC,9523,1.17,225.8,71.6,9.4,542,9527,0.00,2.45,0.00,0.000,4,0.000,0.042,2983,599,2125,0,0,0,0,0,0
$GC,9558,1.17,225.8,67.4,11.1,545,9565,0.00,2.33,0.00,0.000,6,0.000,0.021,2983,2014,2124,0,0,0,0,0,0
$GC,9822,1.26,233.2,47.0,7.5,570,9836,0.00,2.50,7.47,0.478,4,0.000,0.041,2982,601,2099,0,0,0,0,0,0
$GC,9948,1.26,233.2,33.6,11.9,584,9952,0.00,2.28,0.00,0.000,6,0.000,0.021,2983,2019,2097,0,0,0,0,0,0
$GC,10218,1.32,239.6,13.9,7.6,629,10230,0.00,2.53,7.40,0.453,4,0.000,0.042,2983,594,2072,0,0,0,0,0,0
$STATE,10315,end climb,SURFACE_DEPTH_REACHED
$STATE,10315,begin surface coast
$FINISH,0.4,1.010853
$STATE,10347,end surface coast,CONTROL_FINISHED_OK
$STATE,10347,begin surface
$SM_CCo,10368,31.95,0.510,0,0,1826,300.00
$SM_GC,1.40,0.00,0.00,31.95,0.000,0.000,0.510,424,1900,1826,-10.53,0.71,300.00
$IRIDIUM_FIX,2101.76,-15756.04,130899,040432
$TT8_MAMPS,0.029913
$HUMID,46.06
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.4,27.633
$10V_AH,10.0,26.547
$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,28.575,133.725,277.625,31.950,0.000,27.680,28.655,204.010,4.500,0.000,14.400,1292.916,6719.989,377.467,1927.348,445.510,33.372,1228.027,0.000,1906.391,0.000,29.263,0.000
$DEVICE_MAMPS,135.759,54.457,878.215,510.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.364,421.932,832.547,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,38062,657
$CAP_FILE_SIZE,127021,0
$CFSIZE,260165632,240553984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190510,105025,2108.320,-15753.647,118,1.6,118,9.8