version: 66.06
glider: 139
mission: 7
dive: 361
start: 5 25 110 8 32 24
data:
$ID,139
$MISSION,7
$DIVE,361
$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,-2134063
$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
$GPS1,081415,2105.536,-15800.465,63,2.2,82,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.1
$GPS2,083133,2105.576,-15800.501,41,1.8,41,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.069,0.170
$KALMAN_X,-10949.7,4.9,374.7,953.1,-1493.9
$KALMAN_Y,30364.9,-183.2,144.1,-32795.1,-557.5
$MHEAD_RNG_PITCHd_Wd,12.3,5778,-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,-53.50,0.000,2,0.000,0.000,425,1842,3228,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.2,-5.3,10,95,10.57,2.45,-2.85,0.000,4,0.133,0.038,2403,3298,3371,0,0,0,0,0,0
$GC,147,-1.31,-77.9,20.1,-15.9,25,153,0.12,2.38,0.00,0.000,6,0.113,0.024,2427,1867,3372,0,0,0,0,0,0
$GC,349,-1.18,-77.9,53.3,-16.8,48,354,0.15,2.40,0.00,0.000,4,0.105,0.044,2458,477,3372,0,0,0,0,0,0
$GC,387,-1.09,-77.9,59.6,-14.5,51,393,0.00,2.33,0.00,0.000,6,0.000,0.020,2457,1907,3372,0,0,0,0,0,0
$GC,647,-1.09,-77.9,87.5,-10.5,76,651,0.00,2.47,0.00,0.000,4,0.000,0.043,2458,471,3373,0,0,0,0,0,0
$GC,699,-1.09,-77.9,93.0,-11.7,81,703,0.00,2.25,0.00,0.000,6,0.000,0.019,2458,1893,3373,0,0,0,0,0,0
$GC,962,-1.14,-77.9,119.3,-11.0,105,969,0.00,2.45,0.00,0.000,4,0.000,0.043,2458,462,3374,0,0,0,0,0,0
$GC,1079,-1.14,-77.9,133.6,-11.6,117,1084,0.00,2.25,0.00,0.000,6,0.000,0.019,2458,1885,3374,0,0,0,0,0,0
$GC,1341,-1.21,-77.9,161.6,-10.4,142,1345,0.00,2.40,0.00,0.000,4,0.000,0.043,2458,476,3375,0,0,0,0,0,0
$GC,1430,-1.28,-77.9,170.6,-9.8,151,1434,0.12,2.22,0.00,0.000,6,0.063,0.019,2415,1882,3374,0,0,0,0,0,0
$GC,1691,-1.28,-77.9,195.4,-9.5,175,1695,0.00,2.42,0.00,0.000,4,0.000,0.043,2415,469,3375,0,0,0,0,0,0
$GC,1789,-1.24,-77.9,206.7,-11.8,181,1794,0.12,2.22,0.00,0.000,6,0.097,0.020,2442,1879,3375,0,0,0,0,0,0
$GC,2112,-1.34,-77.9,233.8,-8.0,197,2116,0.00,2.40,0.00,0.000,4,0.000,0.044,2441,476,3375,0,0,0,0,0,0
$GC,2201,-1.41,-77.9,243.7,-12.1,201,2206,0.15,2.22,0.00,0.000,6,0.058,0.021,2394,1873,3375,0,0,0,0,0,0
$GC,2532,-1.41,-77.9,282.9,-10.4,217,2537,0.00,2.40,0.00,0.000,4,0.000,0.045,2393,477,3375,0,0,0,0,0,0
$GC,2570,-1.36,-77.9,287.2,-11.1,218,2577,0.08,2.28,0.00,0.000,6,0.077,0.022,2414,1870,3374,0,0,0,0,0,0
$GC,2883,-1.41,-77.9,312.3,-7.5,230,2887,0.00,2.42,0.00,0.000,4,0.000,0.048,2413,470,3374,0,0,0,0,0,0
$GC,2975,-1.41,-77.9,319.5,-7.4,232,2979,0.00,2.28,0.00,0.000,6,0.000,0.024,2413,1883,3373,0,0,0,0,0,0
$GC,3298,-1.48,-77.9,345.5,-8.2,240,3303,0.00,2.42,0.00,0.000,4,0.000,0.049,2413,477,3372,0,0,0,0,0,0
$GC,3330,-1.48,-77.9,348.7,-9.6,240,3335,0.10,2.28,0.00,0.000,6,0.077,0.025,2382,1874,3372,0,0,0,0,0,0
$GC,3667,-1.48,-77.9,377.6,-8.3,249,3672,0.00,2.45,0.00,0.000,4,0.000,0.051,2380,470,3369,0,0,0,0,0,0
$GC,3718,-1.43,-77.9,382.4,-9.3,250,3722,0.00,2.30,0.00,0.000,6,0.000,0.026,2381,1870,3369,0,0,0,0,0,0
$GC,4035,-1.43,-77.9,409.0,-8.7,258,4040,0.10,2.47,0.00,0.000,4,0.114,0.053,2398,471,3366,0,0,0,0,0,0
$GC,4097,-1.43,-77.9,415.0,-9.5,259,4101,0.00,2.30,0.00,0.000,6,0.000,0.028,2399,1874,3366,0,0,0,0,0,0
$GC,4446,-1.49,-77.9,447.1,-9.5,268,4450,0.00,2.45,0.00,0.000,4,0.000,0.054,2399,480,3363,0,0,0,0,0,0
$STATE,4476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4476,begin apogee
$GC,4484,-0.31,0.0,450.2,10.4,268,4552,1.12,0.00,63.88,0.874,6,0.075,0.000,2643,2012,3050,0,0,0,0,0,0
$STATE,4552,end apogee,CONTROL_FINISHED_OK
$STATE,4553,begin climb
$GC,4554,1.40,77.9,451.7,0.0,270,4630,1.62,2.53,64.88,0.852,4,0.031,0.045,3024,3407,2731,0,0,0,0,0,0
$GC,4769,1.24,137.8,449.6,3.9,274,4826,0.20,2.40,50.95,0.850,6,0.115,0.037,2989,2011,2488,0,0,0,0,0,0
$GC,5152,1.13,137.8,420.9,8.3,284,5154,0.15,0.00,0.00,0.000,6,0.122,0.000,2963,2011,2480,0,0,0,0,0,0
$GC,5476,1.08,137.8,393.2,9.2,292,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2011,2478,0,0,0,0,0,0
$GC,5801,1.03,137.8,363.6,8.9,300,5806,0.12,2.45,0.00,0.000,4,0.124,0.052,2939,603,2475,0,0,0,0,0,0
$GC,5909,0.97,137.8,353.7,9.2,302,5914,0.00,2.38,0.00,0.000,6,0.000,0.030,2941,2016,2473,0,0,0,0,0,0
$GC,6259,1.00,166.4,330.2,6.1,311,6287,0.00,2.42,23.05,0.802,4,0.000,0.041,2941,3401,2371,0,0,0,0,0,0
$GC,6330,1.05,169.0,324.9,7.8,312,6339,0.00,2.40,3.95,0.512,6,0.000,0.038,2942,2011,2360,0,0,0,0,0,0
$GC,6671,1.06,177.0,298.7,7.5,321,6683,0.00,2.50,7.82,0.682,4,0.000,0.053,2941,602,2327,0,0,0,0,0,0
$GC,6739,1.03,177.0,293.0,8.2,324,6743,0.00,2.38,0.00,0.000,6,0.000,0.029,2941,2011,2325,0,0,0,0,0,0
$GC,7063,1.10,199.5,269.7,6.5,340,7089,0.00,2.55,21.10,0.753,4,0.000,0.051,2941,604,2236,0,0,0,0,0,0
$GC,7113,1.10,199.5,265.7,8.5,342,7117,0.00,2.38,0.00,0.000,6,0.000,0.028,2941,2017,2232,0,0,0,0,0,0
$GC,7433,1.18,204.9,240.3,7.7,358,7445,0.12,2.55,5.53,0.576,4,0.076,0.050,2973,603,2213,0,0,0,0,0,0
$GC,7624,1.13,204.9,221.5,11.0,366,7629,0.00,2.33,0.00,0.000,6,0.000,0.027,2973,2015,2210,0,0,0,0,0,0
$GC,7947,1.13,204.9,190.9,8.6,386,7951,0.00,2.45,0.00,0.000,4,0.000,0.048,2973,601,2210,0,0,0,0,0,0
$GC,8072,1.08,204.9,178.4,11.3,399,8077,0.12,2.33,0.00,0.000,6,0.119,0.025,2952,2019,2209,0,0,0,0,0,0
$GC,8336,1.14,204.9,156.1,8.0,423,8340,0.00,2.47,0.00,0.000,4,0.000,0.046,2951,598,2209,0,0,0,0,0,0
$GC,8398,1.14,204.9,150.6,9.0,429,8402,0.00,2.33,0.00,0.000,6,0.000,0.025,2952,2022,2208,0,0,0,0,0,0
$GC,8661,1.20,204.9,130.7,8.2,453,8663,0.10,0.00,0.00,0.000,6,0.081,0.000,2980,2028,2208,0,0,0,0,0,0
$GC,8914,1.20,204.9,105.3,10.5,477,8918,0.00,2.45,0.00,0.000,4,0.000,0.043,2980,599,2208,0,0,0,0,0,0
$GC,8951,1.16,204.9,101.3,10.0,480,8958,0.00,2.33,0.00,0.000,6,0.000,0.023,2980,2014,2208,0,0,0,0,0,0
$GC,9214,1.18,217.3,80.2,7.2,505,9234,0.00,2.50,11.57,0.548,4,0.000,0.044,2980,601,2163,0,0,0,0,0,0
$GC,9307,1.18,217.3,71.9,8.8,515,9311,0.00,2.30,0.00,0.000,6,0.000,0.021,2980,2020,2161,0,0,0,0,0,0
$GC,9575,1.29,242.6,53.6,6.3,540,9605,0.00,2.33,23.50,0.553,4,0.000,0.027,2980,3403,2059,0,0,0,0,0,0
$GC,9637,1.43,270.2,49.9,6.1,546,9672,0.17,2.40,24.80,0.545,6,0.033,0.028,3034,1998,1947,0,0,0,0,0,0
$GC,9929,1.43,270.2,17.8,12.1,583,9935,0.00,2.40,0.00,0.000,4,0.000,0.044,3035,601,1943,0,0,0,0,0,0
$GC,9969,1.34,270.2,13.2,11.5,591,9975,0.15,2.30,0.00,0.000,6,0.102,0.021,3006,2014,1940,0,0,0,0,0,0
$STATE,10091,end climb,SURFACE_DEPTH_REACHED
$STATE,10091,begin surface coast
$FINISH,0.5,1.020785
$STATE,10130,end surface coast,CONTROL_FINISHED_OK
$STATE,10130,begin surface
$SM_CCo,10150,14.38,0.483,0,0,1826,300.00
$SM_GC,1.51,0.00,0.00,14.38,0.000,0.000,0.483,425,1858,1826,-10.53,-0.48,300.00
$IRIDIUM_FIX,2059.45,-15759.05,190899,080831
$TT8_MAMPS,0.029146
$HUMID,48.18
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,32.225
$10V_AH,10.0,30.502
$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,26.500,119.575,301.025,14.375,0.000,114.535,140.199,438.937,4.500,0.000,41.061,1210.865,6860.045,364.986,1863.292,905.586,33.372,1191.711,0.000,1809.589,0.000,29.261,0.000
$DEVICE_MAMPS,133.458,53.690,874.380,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.158,394.621,772.813,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,34963,620
$CAP_FILE_SIZE,128555,0
$CFSIZE,260165632,237752320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,250510,112345,2106.553,-15801.399,60,3.5,79,9.8