version: 66.06
glider: 139
mission: 7
dive: 362
start: 5 25 110 11 31 2
data:
$ID,139
$MISSION,7
$DIVE,362
$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,-2134096
$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
$GPS1,112345,2106.553,-15801.399,60,3.5,79,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.7
$GPS2,113010,2106.582,-15801.495,12,3.8,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.142,0.116
$KALMAN_X,-12704.8,-248.3,-122.5,1744.5,-1912.5
$KALMAN_Y,30453.9,-301.2,128.9,-30891.9,-271.8
$MHEAD_RNG_PITCHd_Wd,40.9,3390,-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,-53.20,0.000,2,0.000,0.000,424,1858,3217,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.5,-6.2,10,95,10.60,2.42,-2.92,0.000,4,0.134,0.038,2400,3296,3371,0,0,0,0,0,0
$GC,132,-1.29,-77.9,21.0,-22.4,22,139,0.12,2.42,0.00,0.000,6,0.083,0.031,2429,1874,3372,0,0,0,0,0,0
$GC,336,-1.21,-77.9,51.9,-12.9,45,340,0.10,2.38,0.00,0.000,4,0.121,0.026,2450,3302,3373,0,0,0,0,0,0
$GC,388,-1.33,-77.9,58.0,-10.8,50,393,0.12,2.38,0.00,0.000,6,0.064,0.028,2408,1870,3373,0,0,0,0,0,0
$GC,650,-1.25,-77.9,93.5,-14.1,74,655,0.15,2.42,0.00,0.000,4,0.097,0.043,2439,465,3374,0,0,0,0,0,0
$GC,728,-1.25,-77.9,104.3,-12.9,82,733,0.00,2.33,0.00,0.000,6,0.000,0.019,2439,1910,3375,0,0,0,0,0,0
$GC,990,-1.28,-77.9,136.4,-12.2,106,994,0.00,2.45,0.00,0.000,4,0.000,0.041,2439,470,3376,0,0,0,0,0,0
$GC,1054,-1.28,-77.9,144.3,-11.3,112,1061,0.00,2.28,0.00,0.000,6,0.000,0.020,2439,1873,3376,0,0,0,0,0,0
$GC,1318,-1.33,-77.9,170.1,-9.4,137,1322,0.00,2.40,0.00,0.000,4,0.000,0.043,2439,464,3377,0,0,0,0,0,0
$GC,1354,-1.33,-77.9,173.9,-9.5,140,1361,0.00,2.30,0.00,0.000,6,0.000,0.021,2439,1879,3377,0,0,0,0,0,0
$GC,1617,-1.40,-77.9,195.8,-8.2,165,1622,0.12,2.45,0.00,0.000,4,0.063,0.044,2397,466,3377,0,0,0,0,0,0
$GC,1722,-1.35,-77.9,207.5,-11.2,171,1727,0.12,2.28,0.00,0.000,6,0.098,0.021,2423,1878,3377,0,0,0,0,0,0
$GC,2038,-1.39,-77.9,235.5,-8.4,186,2042,0.00,2.42,0.00,0.000,4,0.000,0.044,2423,466,3377,0,0,0,0,0,0
$GC,2120,-1.39,-77.9,243.9,-10.5,189,2126,0.00,2.25,0.00,0.000,6,0.000,0.021,2423,1876,3377,0,0,0,0,0,0
$GC,2437,-1.44,-77.9,276.8,-10.3,205,2441,0.00,2.30,0.00,0.000,4,0.000,0.029,2421,3269,3377,0,0,0,0,0,0
$GC,2457,-1.52,-77.9,278.8,-9.9,206,2462,0.17,2.35,0.00,0.000,6,0.054,0.031,2371,1872,3377,0,0,0,0,0,0
$GC,2806,-1.47,-77.9,318.5,-11.3,219,2811,0.10,2.45,0.00,0.000,4,0.114,0.049,2391,463,3376,0,0,0,0,0,0
$GC,2897,-1.43,-77.9,328.9,-11.9,221,2901,0.00,2.30,0.00,0.000,6,0.000,0.024,2392,1877,3376,0,0,0,0,0,0
$GC,3224,-1.43,-77.9,363.3,-10.1,229,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1881,3375,0,0,0,0,0,0
$GC,3550,-1.43,-77.9,394.5,-9.4,237,3555,0.00,2.45,0.00,0.000,4,0.000,0.051,2390,473,3373,0,0,0,0,0,0
$GC,3647,-1.43,-77.9,404.7,-10.7,239,3651,0.00,2.28,0.00,0.000,6,0.000,0.027,2392,1869,3373,0,0,0,0,0,0
$GC,3964,-1.43,-77.9,432.1,-8.1,247,3969,0.00,2.45,0.00,0.000,4,0.000,0.053,2387,473,3370,0,0,0,0,0,0
$GC,4058,-1.43,-77.9,440.4,-9.2,249,4062,0.00,2.30,0.00,0.000,6,0.000,0.028,2391,1874,3369,0,0,0,0,0,0
$STATE,4174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4175,begin apogee
$GC,4180,-0.31,0.0,450.8,8.5,252,4248,1.17,0.00,64.90,0.864,6,0.074,0.000,2644,2035,3050,0,0,0,0,0,0
$STATE,4249,end apogee,CONTROL_FINISHED_OK
$STATE,4249,begin climb
$GC,4251,1.40,77.9,451.6,0.0,253,4326,1.62,2.45,64.40,0.847,4,0.032,0.045,3023,3386,2732,0,0,0,0,0,0
$GC,4481,1.23,119.6,446.0,5.2,258,4522,0.22,2.38,35.58,0.831,6,0.114,0.037,2985,2002,2562,0,0,0,0,0,0
$GC,4845,1.11,119.6,416.3,8.7,267,4850,0.15,2.47,0.00,0.000,4,0.117,0.052,2956,606,2556,0,0,0,0,0,0
$GC,4954,0.99,120.3,406.7,8.0,269,4959,0.15,2.33,0.00,0.000,6,0.122,0.029,2932,1989,2555,0,0,0,0,0,0
$GC,5304,1.01,141.3,384.1,6.6,278,5328,0.00,2.53,18.48,0.799,4,0.000,0.051,2931,611,2472,0,0,0,0,0,0
$GC,5467,0.97,141.3,370.2,10.0,281,5471,0.00,2.38,0.00,0.000,6,0.000,0.030,2932,2018,2469,0,0,0,0,0,0
$GC,5807,1.00,141.3,339.8,8.7,290,5811,0.00,2.50,0.00,0.000,4,0.000,0.051,2931,604,2467,0,0,0,0,0,0
$GC,5896,0.96,141.3,332.7,8.1,292,5900,0.00,2.35,0.00,0.000,6,0.000,0.030,2931,2016,2465,0,0,0,0,0,0
$GC,6223,1.05,177.9,313.0,5.5,300,6260,0.00,2.58,31.73,0.787,4,0.000,0.051,2931,602,2323,0,0,0,0,0,0
$GC,6400,1.05,177.9,298.4,9.2,303,6404,0.00,2.35,0.00,0.000,6,0.000,0.029,2932,2014,2317,0,0,0,0,0,0
$GC,6731,1.14,202.8,273.6,6.3,319,6756,0.12,0.00,22.17,0.749,6,0.077,0.000,2963,2018,2223,0,0,0,0,0,0
$GC,7064,1.14,202.8,245.4,9.2,335,7068,0.00,2.50,0.00,0.000,4,0.000,0.050,2962,597,2219,0,0,0,0,0,0
$GC,7147,1.10,202.8,236.6,10.3,338,7154,0.00,2.38,0.00,0.000,6,0.000,0.028,2963,2007,2216,0,0,0,0,0,0
$GC,7462,1.10,202.8,207.7,9.7,354,7463,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2012,2215,0,0,0,0,0,0
$GC,7779,1.12,212.9,180.7,7.3,379,7798,0.00,2.50,9.23,0.614,4,0.000,0.047,2962,597,2180,0,0,0,0,0,0
$GC,7922,1.12,212.9,167.1,11.5,394,7928,0.00,2.38,0.00,0.000,6,0.000,0.025,2963,2015,2178,0,0,0,0,0,0
$GC,8185,1.15,212.9,141.2,10.4,419,8190,0.00,2.45,0.00,0.000,4,0.000,0.046,2963,604,2177,0,0,0,0,0,0
$GC,8229,1.15,212.9,136.0,10.4,423,8233,0.00,2.30,0.00,0.000,6,0.000,0.024,2963,2018,2176,0,0,0,0,0,0
$GC,8492,1.21,212.9,113.4,9.6,447,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2023,2176,0,0,0,0,0,0
$GC,8745,1.28,212.9,87.3,9.4,471,8750,0.15,2.45,0.00,0.000,4,0.063,0.044,3005,597,2176,0,0,0,0,0,0
$GC,8835,1.19,212.9,78.0,10.1,480,8840,0.15,2.28,0.00,0.000,6,0.104,0.022,2977,2014,2176,0,0,0,0,0,0
$GC,9099,1.32,278.2,61.5,3.5,504,9167,0.12,2.47,57.12,0.571,4,0.068,0.041,3014,602,1913,0,0,0,0,0,0
$GC,9192,1.28,278.2,54.4,10.1,513,9199,0.08,2.33,0.00,0.000,6,0.084,0.021,2995,2008,1909,0,0,0,0,0,0
$GC,9455,1.34,278.2,32.2,8.3,538,9459,0.00,2.45,0.00,0.000,4,0.000,0.043,2995,595,1908,0,0,0,0,0,0
$GC,9502,1.34,278.2,27.2,10.0,545,9507,0.00,2.28,0.00,0.000,6,0.000,0.021,2995,2012,1905,0,0,0,0,0,0
$GC,9706,1.39,278.2,5.8,12.0,582,9713,0.00,2.45,0.00,0.000,4,0.000,0.043,2995,609,1905,0,0,0,0,0,0
$STATE,9726,end climb,SURFACE_DEPTH_REACHED
$STATE,9726,begin surface coast
$FINISH,0.6,1.023420
$STATE,9750,end surface coast,CONTROL_FINISHED_OK
$STATE,9750,begin surface
$SM_CCo,9772,11.35,0.473,0,0,1826,300.00
$SM_GC,2.53,0.00,0.00,11.35,0.000,0.000,0.473,426,1866,1826,-10.52,-0.23,300.00
$IRIDIUM_FIX,2059.45,-15801.19,190899,080828
$TT8_MAMPS,0.029146
$HUMID,48.14
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.4,32.308
$10V_AH,10.0,30.578
$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,26.700,109.825,303.600,11.350,0.000,31.284,37.584,186.576,4.500,0.000,32.132,1163.597,6347.219,364.047,1843.807,450.827,33.367,1184.111,0.000,1805.965,0.000,29.246,0.000
$DEVICE_MAMPS,134.225,52.923,864.409,473.239,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.313,378.397,750.309,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,34942,591
$CAP_FILE_SIZE,113398,0
$CFSIZE,260165632,237707264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250510,141631,2107.145,-15801.630,110,1.9,110,9.8