version: 66.06
glider: 139
mission: 7
dive: 317
start: 5 19 110 16 53 53
data:
$ID,139
$MISSION,7
$DIVE,317
$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,-2132187.8
$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
$GPS1,164406,2107.879,-15752.313,230,1.0,242,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-69.2
$GPS2,165301,2107.882,-15752.399,14,2.0,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.173,-0.063
$KALMAN_X,5668.4,-409.8,122.7,-1006.0,-1606.2
$KALMAN_Y,14938.5,-247.6,-181.6,-12704.6,632.3
$MHEAD_RNG_PITCHd_Wd,100.3,16824,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-53.53,0.000,2,0.000,0.000,424,1864,3223,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.3,-5.2,10,96,10.65,2.42,-2.88,0.000,4,0.137,0.051,2402,467,3370,0,0,0,0,0,0
$GC,124,-1.03,-77.9,18.0,-24.7,20,131,0.38,2.35,0.00,0.000,6,0.087,0.020,2483,1902,3371,0,0,0,0,0,0
$GC,327,-1.03,-77.9,43.0,-10.8,47,331,0.00,2.47,0.00,0.000,4,0.000,0.044,2483,469,3372,0,0,0,0,0,0
$GC,370,-1.03,-77.9,49.2,-14.8,51,374,0.00,2.28,0.00,0.000,6,0.000,0.019,2483,1883,3371,0,0,0,0,0,0
$GC,633,-1.10,-77.9,75.2,-11.1,75,637,0.00,2.42,0.00,0.000,4,0.000,0.043,2483,469,3372,0,0,0,0,0,0
$GC,712,-1.18,-77.9,83.9,-10.1,83,717,0.12,2.25,0.00,0.000,6,0.063,0.019,2440,1890,3372,0,0,0,0,0,0
$GC,973,-1.18,-77.9,112.1,-11.8,107,977,0.00,2.25,0.00,0.000,4,0.000,0.025,2441,3268,3373,0,0,0,0,0,0
$GC,991,-1.23,-77.9,114.5,-12.5,108,998,0.00,2.35,0.00,0.000,6,0.000,0.028,2439,1872,3374,0,0,0,0,0,0
$GC,1254,-1.27,-77.9,141.7,-10.3,133,1258,0.00,2.38,0.00,0.000,4,0.000,0.043,2440,469,3375,0,0,0,0,0,0
$GC,1365,-1.27,-77.9,154.6,-11.7,145,1369,0.00,2.22,0.00,0.000,6,0.000,0.020,2440,1873,3375,0,0,0,0,0,0
$GC,1628,-1.33,-77.9,179.0,-9.9,169,1632,0.00,2.40,0.00,0.000,4,0.000,0.044,2440,466,3375,0,0,0,0,0,0
$GC,1671,-1.33,-77.9,184.0,-11.9,173,1675,0.00,2.25,0.00,0.000,6,0.000,0.020,2439,1887,3375,0,0,0,0,0,0
$GC,1930,-1.40,-77.9,211.4,-10.1,192,1935,0.15,2.42,0.00,0.000,4,0.058,0.044,2391,472,3375,0,0,0,0,0,0
$GC,1967,-1.32,-77.9,215.9,-11.0,193,1973,0.17,2.25,0.00,0.000,6,0.091,0.021,2425,1877,3375,0,0,0,0,0,0
$GC,2285,-1.38,-77.9,245.8,-8.4,209,2289,0.00,2.42,0.00,0.000,4,0.000,0.044,2427,467,3375,0,0,0,0,0,0
$GC,2344,-1.42,-77.9,251.5,-9.0,211,2350,0.10,2.28,0.00,0.000,6,0.075,0.021,2393,1880,3375,0,0,0,0,0,0
$GC,2661,-1.42,-77.9,281.2,-9.1,227,2666,0.00,2.45,0.00,0.000,4,0.000,0.047,2392,464,3375,0,0,0,0,0,0
$GC,2694,-1.34,-77.9,284.7,-10.4,228,2698,0.15,2.28,0.00,0.000,6,0.097,0.023,2424,1883,3375,0,0,0,0,0,0
$GC,3007,-1.40,-77.9,310.2,-8.2,240,3011,0.00,2.45,0.00,0.000,4,0.000,0.049,2423,473,3373,0,0,0,0,0,0
$GC,3049,-1.40,-77.9,314.4,-9.7,241,3053,0.00,2.25,0.00,0.000,6,0.000,0.025,2424,1871,3373,0,0,0,0,0,0
$GC,3377,-1.49,-77.9,342.4,-8.7,249,3382,0.15,2.45,0.00,0.000,4,0.061,0.050,2379,474,3372,0,0,0,0,0,0
$GC,3494,-1.43,-77.9,356.4,-11.9,251,3499,0.10,2.28,0.00,0.000,6,0.113,0.025,2399,1869,3371,0,0,0,0,0,0
$GC,3840,-1.47,-77.9,385.8,-8.2,260,3844,0.00,2.45,0.00,0.000,4,0.000,0.052,2393,470,3370,0,0,0,0,0,0
$GC,3904,-1.47,-77.9,392.6,-10.1,261,3908,0.00,2.30,0.00,0.000,6,0.000,0.027,2399,1882,3369,0,0,0,0,0,0
$GC,4251,-1.51,-77.9,421.5,-8.3,270,4255,0.00,2.45,0.00,0.000,4,0.000,0.054,2398,475,3367,0,0,0,0,0,0
$GC,4340,-1.51,-77.9,429.8,-9.7,272,4344,0.00,2.30,0.00,0.000,6,0.000,0.028,2397,1880,3366,0,0,0,0,0,0
$STATE,4583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4583,begin apogee
$GC,4588,-0.31,0.0,452.4,9.5,278,4656,1.15,0.00,64.25,0.875,6,0.074,0.000,2647,2031,3050,0,0,0,0,0,0
$STATE,4657,end apogee,CONTROL_FINISHED_OK
$STATE,4657,begin climb
$GC,4659,1.40,77.9,453.7,0.0,279,4734,1.62,2.45,64.78,0.854,4,0.031,0.045,3025,3382,2732,0,0,0,0,0,0
$GC,4996,1.23,125.1,448.1,4.8,286,5043,0.22,2.35,40.10,0.850,6,0.112,0.038,2986,2014,2539,0,0,0,0,0,0
$GC,5383,1.11,125.1,416.7,9.0,296,5388,0.15,2.53,0.00,0.000,4,0.117,0.053,2955,597,2532,0,0,0,0,0,0
$GC,5393,1.00,125.1,415.7,9.3,296,5398,0.15,2.35,0.00,0.000,6,0.123,0.030,2932,1988,2531,0,0,0,0,0,0
$GC,5707,1.02,145.3,393.6,6.6,304,5731,0.00,2.47,17.38,0.810,4,0.000,0.040,2933,3405,2456,0,0,0,0,0,0
$GC,5741,1.05,170.9,391.3,6.3,304,5770,0.00,2.45,23.48,0.813,6,0.000,0.038,2933,2003,2353,0,0,0,0,0,0
$GC,6115,1.09,170.9,358.9,9.1,314,6120,0.00,2.47,0.00,0.000,4,0.000,0.054,2931,595,2346,0,0,0,0,0,0
$GC,6276,1.09,170.9,342.6,9.8,317,6281,0.00,2.38,0.00,0.000,6,0.000,0.031,2932,2012,2343,0,0,0,0,0,0
$GC,6616,1.14,178.6,313.8,7.5,326,6629,0.15,2.55,6.50,0.653,4,0.073,0.052,2968,605,2321,0,0,0,0,0,0
$GC,6705,1.05,178.6,304.5,11.6,327,6711,0.12,2.38,0.00,0.000,6,0.124,0.030,2947,2014,2319,0,0,0,0,0,0
$GC,7019,1.10,218.9,282.4,5.3,342,7059,0.00,0.00,36.97,0.778,6,0.000,0.000,2947,2020,2157,0,0,0,0,0,0
$GC,7370,1.15,218.9,251.5,10.9,359,7375,0.00,2.50,0.00,0.000,4,0.000,0.051,2947,602,2150,0,0,0,0,0,0
$GC,7459,1.15,218.9,240.7,12.2,363,7464,0.00,2.35,0.00,0.000,6,0.000,0.028,2947,2019,2147,0,0,0,0,0,0
$GC,7791,1.21,218.9,211.0,8.2,379,7796,0.15,2.50,0.00,0.000,4,0.067,0.049,2985,592,2147,0,0,0,0,0,0
$GC,8055,1.14,218.9,186.8,8.9,401,8060,0.12,2.35,0.00,0.000,6,0.119,0.026,2963,2020,2144,0,0,0,0,0,0
$GC,8318,1.17,218.9,165.6,8.5,425,8319,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2026,2144,0,0,0,0,0,0
$GC,8572,1.21,218.9,143.1,9.5,449,8577,0.00,2.47,0.00,0.000,4,0.000,0.045,2964,594,2144,0,0,0,0,0,0
$GC,8615,1.21,218.9,138.2,12.2,453,8620,0.00,2.33,0.00,0.000,6,0.000,0.024,2964,2026,2144,0,0,0,0,0,0
$GC,8879,1.26,220.5,113.9,7.9,477,8884,0.10,2.47,0.00,0.000,4,0.081,0.044,2994,590,2144,0,0,0,0,0,0
$GC,9118,1.22,220.5,88.3,8.7,502,9125,0.00,2.33,0.00,0.000,6,0.000,0.022,2994,2001,2144,0,0,0,0,0,0
$GC,9379,1.22,220.5,67.5,8.4,527,9383,0.00,2.30,0.00,0.000,4,0.000,0.028,2993,3407,2144,0,0,0,0,0,0
$GC,9439,1.27,220.5,61.1,11.7,533,9443,0.00,2.35,0.00,0.000,6,0.000,0.029,2993,2000,2144,0,0,0,0,0,0
$GC,9707,1.33,225.9,38.9,7.7,558,9718,0.00,2.38,5.65,0.436,4,0.000,0.041,2994,604,2128,0,0,0,0,0,0
$GC,9803,1.33,227.5,31.1,7.9,568,9810,0.00,2.30,0.00,0.000,6,0.000,0.021,2993,2009,2127,0,0,0,0,0,0
$GC,10073,1.38,227.5,7.6,9.1,616,10079,0.00,2.45,0.00,0.000,4,0.000,0.044,2994,604,2127,0,0,0,0,0,0
$STATE,10125,end climb,SURFACE_DEPTH_REACHED
$STATE,10125,begin surface coast
$FINISH,0.5,1.023060
$STATE,10164,end surface coast,CONTROL_FINISHED_OK
$STATE,10164,begin surface
$SM_CCo,10185,37.10,0.510,0,0,1826,300.00
$SM_GC,1.63,0.00,0.00,37.10,0.000,0.000,0.510,425,1910,1826,-10.53,0.99,300.00
$IRIDIUM_FIX,2057.14,-15751.76,130899,161623
$TT8_MAMPS,0.029146
$HUMID,46.85
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,27.883
$10V_AH,10.0,26.789
$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,26.900,118.775,259.100,37.100,0.000,55.008,64.256,250.886,4.500,0.000,14.172,1249.042,6636.473,371.409,1940.662,562.197,33.371,1210.311,0.000,1919.307,0.000,29.253,0.000
$DEVICE_MAMPS,136.526,55.991,875.147,510.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,428.992,406.386,805.020,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,34936,635
$CAP_FILE_SIZE,122440,0
$CFSIZE,260165632,240390144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190510,194538,2107.848,-15752.227,47,1.9,47,9.8