version: 66.06
glider: 139
mission: 7
dive: 316
start: 5 19 110 13 56 55
data:
$ID,139
$MISSION,7
$DIVE,316
$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,-2132172.8
$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
$GPS1,134921,2108.242,-15752.577,62,7.2,81,9.8
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-67.0
$GPS2,135604,2108.217,-15752.597,15,6.4,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.177,-0.050
$KALMAN_X,6253.5,121.1,646.9,-2990.9,-1608.9
$KALMAN_Y,14645.9,-48.0,-28.0,-12149.5,461.5
$MHEAD_RNG_PITCHd_Wd,96.0,17306,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,70,0.00,0.00,-52.78,0.000,2,0.000,0.000,430,1858,3219,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.7,-6.7,10,90,10.62,0.00,-2.88,0.000,6,0.136,0.000,2403,1858,3370,0,0,0,0,0,0
$GC,292,-1.26,-77.9,52.0,-16.5,39,294,0.17,0.00,0.00,0.000,6,0.099,0.000,2439,1859,3372,0,0,0,0,0,0
$GC,547,-1.23,-77.9,86.6,-12.6,63,551,0.00,2.40,0.00,0.000,4,0.000,0.044,2439,464,3373,0,0,0,0,0,0
$GC,610,-1.19,-77.9,95.0,-11.2,69,616,0.00,2.30,0.00,0.000,6,0.000,0.020,2438,1915,3374,0,0,0,0,0,0
$GC,874,-1.22,-77.9,121.9,-9.1,94,878,0.00,2.50,0.00,0.000,4,0.000,0.042,2438,462,3374,0,0,0,0,0,0
$GC,933,-1.22,-77.9,127.7,-9.4,100,937,0.00,2.25,0.00,0.000,6,0.000,0.020,2438,1877,3374,0,0,0,0,0,0
$GC,1195,-1.28,-77.9,155.0,-11.3,124,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,1882,3376,0,0,0,0,0,0
$GC,1449,-1.34,-77.9,184.2,-11.3,148,1453,0.00,2.42,0.00,0.000,4,0.000,0.044,2438,466,3376,0,0,0,0,0,0
$GC,1522,-1.34,-77.9,192.3,-10.3,156,1526,0.00,2.25,0.00,0.000,6,0.000,0.021,2438,1878,3376,0,0,0,0,0,0
$GC,1788,-1.41,-77.9,218.6,-9.5,172,1793,0.15,2.45,0.00,0.000,4,0.057,0.045,2391,466,3376,0,0,0,0,0,0
$GC,1848,-1.34,-77.9,226.2,-14.1,174,1855,0.10,2.30,0.00,0.000,6,0.076,0.021,2418,1871,3376,0,0,0,0,0,0
$GC,2165,-1.39,-77.9,261.6,-10.4,190,2169,0.00,2.40,0.00,0.000,4,0.000,0.046,2416,470,3376,0,0,0,0,0,0
$GC,2277,-1.39,-77.9,274.7,-10.7,195,2281,0.00,2.28,0.00,0.000,6,0.000,0.022,2418,1880,3376,0,0,0,0,0,0
$GC,2631,-1.45,-77.9,304.9,-8.7,211,2635,0.00,2.42,0.00,0.000,4,0.000,0.048,2417,471,3375,0,0,0,0,0,0
$GC,2729,-1.50,-77.9,315.1,-10.4,213,2734,0.15,2.28,0.00,0.000,6,0.059,0.025,2373,1881,3375,0,0,0,0,0,0
$GC,3047,-1.50,-77.9,351.5,-11.7,221,3051,0.00,2.47,0.00,0.000,4,0.000,0.050,2371,462,3374,0,0,0,0,0,0
$GC,3084,-1.44,-77.9,356.5,-13.8,221,3090,0.12,2.33,0.00,0.000,6,0.103,0.026,2398,1879,3374,0,0,0,0,0,0
$GC,3414,-1.48,-77.9,392.9,-10.6,230,3419,0.00,2.47,0.00,0.000,4,0.000,0.053,2397,469,3372,0,0,0,0,0,0
$GC,3460,-1.48,-77.9,397.7,-10.0,231,3464,0.00,2.30,0.00,0.000,6,0.000,0.027,2398,1870,3372,0,0,0,0,0,0
$GC,3783,-1.52,-77.9,425.3,-8.2,239,3787,0.00,2.45,0.00,0.000,4,0.000,0.054,2394,467,3369,0,0,0,0,0,0
$GC,3842,-1.52,-77.9,430.8,-9.0,240,3846,0.00,2.35,0.00,0.000,6,0.000,0.029,2392,1880,3369,0,0,0,0,0,0
$STATE,4067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4067,begin apogee
$GC,4073,-0.31,0.0,450.3,8.8,246,4141,1.15,0.00,64.88,0.877,6,0.074,0.000,2645,2036,3050,0,0,0,0,0,0
$STATE,4142,end apogee,CONTROL_FINISHED_OK
$STATE,4142,begin climb
$GC,4144,1.40,77.9,451.5,0.0,247,4218,1.62,2.45,64.82,0.856,4,0.033,0.048,3016,3384,2732,0,0,0,0,0,0
$GC,4482,1.23,126.7,443.3,4.7,254,4531,0.22,2.40,41.67,0.851,6,0.114,0.038,2983,2005,2532,0,0,0,0,0,0
$GC,4871,1.12,126.7,412.4,8.1,264,4876,0.12,2.40,0.00,0.000,4,0.123,0.042,2961,3394,2525,0,0,0,0,0,0
$GC,5048,1.09,149.0,399.8,6.5,267,5073,0.00,2.40,19.17,0.815,6,0.000,0.039,2962,2011,2441,0,0,0,0,0,0
$GC,5383,1.04,149.0,372.9,9.1,276,5387,0.00,2.47,0.00,0.000,4,0.000,0.054,2959,601,2436,0,0,0,0,0,0
$GC,5420,0.93,149.0,368.6,11.4,276,5426,0.22,2.33,0.00,0.000,6,0.114,0.031,2919,1991,2434,0,0,0,0,0,0
$GC,5751,0.99,156.6,340.1,7.5,285,5763,0.00,2.53,6.65,0.678,4,0.000,0.054,2919,605,2411,0,0,0,0,0,0
$GC,5936,1.01,175.7,327.0,6.7,289,5961,0.00,2.35,18.20,0.788,6,0.000,0.031,2919,2012,2333,0,0,0,0,0,0
$GC,6307,1.13,215.9,304.9,5.3,298,6350,0.20,2.55,36.60,0.798,4,0.062,0.051,2966,605,2168,0,0,0,0,0,0
$GC,6397,1.06,215.9,297.3,10.8,300,6402,0.12,2.38,0.00,0.000,6,0.124,0.031,2945,2016,2164,0,0,0,0,0,0
$GC,6732,1.11,215.9,265.1,11.1,316,6737,0.00,2.50,0.00,0.000,4,0.000,0.052,2944,598,2161,0,0,0,0,0,0
$GC,6775,1.11,215.9,259.8,11.9,318,6779,0.00,2.40,0.00,0.000,6,0.000,0.030,2945,2019,2158,0,0,0,0,0,0
$GC,7103,1.17,215.9,227.6,8.3,334,7108,0.10,2.50,0.00,0.000,4,0.086,0.051,2971,603,2157,0,0,0,0,0,0
$GC,7256,1.10,215.9,212.2,10.5,340,7263,0.00,2.38,0.00,0.000,6,0.000,0.028,2971,2009,2155,0,0,0,0,0,0
$GC,7576,1.10,215.9,182.2,9.8,364,7580,0.00,2.47,0.00,0.000,4,0.000,0.048,2971,598,2155,0,0,0,0,0,0
$GC,7729,1.06,215.9,165.7,10.6,380,7736,0.10,2.38,0.00,0.000,6,0.095,0.026,2949,2016,2154,0,0,0,0,0,0
$GC,7993,1.13,227.5,143.2,7.2,405,8012,0.00,2.47,9.12,0.594,4,0.000,0.046,2949,601,2121,0,0,0,0,0,0
$GC,8034,1.13,227.5,139.2,9.1,409,8040,0.00,2.35,0.00,0.000,6,0.000,0.025,2949,2019,2120,0,0,0,0,0,0
$GC,8296,1.20,227.5,118.0,8.5,434,8301,0.12,2.50,0.00,0.000,4,0.072,0.046,2984,593,2119,0,0,0,0,0,0
$GC,8332,1.13,227.5,114.3,11.7,437,8337,0.12,2.33,0.00,0.000,6,0.114,0.024,2962,2022,2118,0,0,0,0,0,0
$GC,8594,1.21,231.2,91.6,7.8,461,8604,0.00,2.47,4.70,0.445,4,0.000,0.043,2961,601,2107,0,0,0,0,0,0
$GC,8752,1.24,231.2,75.9,10.2,478,8757,0.10,2.28,0.00,0.000,6,0.081,0.022,2990,2017,2105,0,0,0,0,0,0
$GC,9014,1.24,231.2,53.1,8.7,502,9016,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2022,2105,0,0,0,0,0,0
$GC,9268,1.30,231.2,32.6,10.0,526,9273,0.00,2.45,0.00,0.000,4,0.000,0.043,2990,594,2105,0,0,0,0,0,0
$GC,9445,1.31,236.0,19.7,7.7,561,9457,0.00,2.30,6.00,0.436,6,0.000,0.021,2990,2024,2087,0,0,0,0,0,0
$STATE,9655,end climb,SURFACE_DEPTH_REACHED
$STATE,9655,begin surface coast
$FINISH,0.4,1.023392
$STATE,9700,end surface coast,CONTROL_FINISHED_OK
$STATE,9700,begin surface
$SM_CCo,9720,33.47,0.512,0,0,1827,300.00
$SM_GC,1.35,0.00,0.00,33.47,0.000,0.000,0.512,425,1864,1827,-10.53,-0.31,300.00
$IRIDIUM_FIX,2059.45,-15753.90,130899,111140
$TT8_MAMPS,0.029146
$HUMID,46.33
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,27.796
$10V_AH,10.0,26.703
$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,26.500,101.100,271.825,33.475,0.000,30.951,38.370,211.508,4.500,0.000,35.797,1196.041,6244.132,357.201,1899.008,461.787,33.367,1175.884,0.000,1858.142,0.000,29.242,0.000
$DEVICE_MAMPS,135.759,54.457,876.681,512.356,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,410.097,387.225,752.442,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,34941,607
$CAP_FILE_SIZE,113750,0
$CFSIZE,260165632,240455680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190510,164406,2107.879,-15752.313,230,1.0,242,9.8