version: 66.06
glider: 139
mission: 7
dive: 368
start: 5 26 110 5 31 15
data:
$ID,139
$MISSION,7
$DIVE,368
$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,-2134261.8
$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
$GPS1,052223,2109.359,-15759.529,78,7.5,97,9.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-69.1
$GPS2,053024,2109.333,-15759.556,42,1.3,42,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.177,-0.048
$KALMAN_X,-20420.5,600.6,60.3,11766.2,-1124.2
$KALMAN_Y,32185.5,344.5,-136.0,-27910.8,343.7
$MHEAD_RNG_PITCHd_Wd,95.4,29478,-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,-77.9,0.0,0.0,0,70,0.00,0.00,-52.20,0.000,2,0.000,0.000,424,1904,3181,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.2,-4.5,10,94,10.68,2.45,-3.78,0.000,4,0.137,0.051,2403,464,3370,0,0,0,0,0,0
$GC,181,-1.20,-77.9,29.8,-17.9,33,187,0.25,2.33,0.00,0.000,6,0.093,0.020,2454,1910,3372,0,0,0,0,0,0
$GC,379,-1.14,-77.9,60.7,-14.0,52,383,0.00,2.47,0.00,0.000,4,0.000,0.044,2453,469,3372,0,0,0,0,0,0
$GC,448,-1.14,-77.9,71.5,-13.2,59,452,0.00,2.25,0.00,0.000,6,0.000,0.019,2453,1881,3373,0,0,0,0,0,0
$GC,710,-1.14,-77.9,103.1,-12.3,83,714,0.00,2.45,0.00,0.000,4,0.000,0.042,2453,459,3374,0,0,0,0,0,0
$GC,753,-1.14,-77.9,108.9,-13.6,87,757,0.00,2.25,0.00,0.000,6,0.000,0.019,2453,1877,3373,0,0,0,0,0,0
$GC,1017,-1.22,-77.9,138.7,-9.8,111,1021,0.00,2.40,0.00,0.000,4,0.000,0.043,2453,469,3374,0,0,0,0,0,0
$GC,1089,-1.27,-77.9,146.6,-9.9,118,1095,0.00,2.28,0.00,0.000,6,0.000,0.020,2453,1875,3375,0,0,0,0,0,0
$GC,1353,-1.35,-77.9,166.0,-6.9,143,1357,0.15,2.45,0.00,0.000,4,0.057,0.044,2404,461,3375,0,0,0,0,0,0
$GC,1386,-1.27,-77.9,169.5,-10.4,146,1391,0.15,2.28,0.00,0.000,6,0.095,0.020,2436,1883,3376,0,0,0,0,0,0
$GC,1647,-1.32,-77.9,188.0,-6.3,170,1652,0.00,2.42,0.00,0.000,4,0.000,0.044,2436,462,3375,0,0,0,0,0,0
$GC,1736,-1.35,-77.9,195.0,-7.8,179,1741,0.00,2.28,0.00,0.000,6,0.000,0.021,2435,1879,3375,0,0,0,0,0,0
$GC,1992,-1.41,-77.9,216.5,-8.0,194,1997,0.15,2.45,0.00,0.000,4,0.058,0.044,2389,464,3375,0,0,0,0,0,0
$GC,2066,-1.30,-77.9,225.0,-12.1,197,2071,0.20,2.28,0.00,0.000,6,0.090,0.021,2431,1879,3375,0,0,0,0,0,0
$GC,2389,-1.35,-77.9,252.4,-8.0,213,2393,0.00,2.40,0.00,0.000,4,0.000,0.045,2431,470,3375,0,0,0,0,0,0
$GC,2445,-1.35,-77.9,257.3,-8.0,215,2449,0.00,2.25,0.00,0.000,6,0.000,0.021,2430,1877,3375,0,0,0,0,0,0
$GC,2762,-1.43,-77.9,283.7,-9.6,230,2767,0.12,2.42,0.00,0.000,4,0.065,0.047,2390,469,3374,0,0,0,0,0,0
$GC,2851,-1.39,-77.9,294.6,-12.4,234,2856,0.00,2.25,0.00,0.000,6,0.000,0.023,2391,1871,3375,0,0,0,0,0,0
$GC,3196,-1.39,-77.9,336.2,-12.1,244,3201,0.00,2.40,0.00,0.000,4,0.000,0.048,2390,471,3373,0,0,0,0,0,0
$GC,3256,-1.35,-77.9,343.6,-11.8,245,3261,0.12,2.25,0.00,0.000,6,0.100,0.024,2417,1876,3373,0,0,0,0,0,0
$GC,3606,-1.42,-77.9,376.6,-9.5,254,3611,0.00,2.45,0.00,0.000,4,0.000,0.050,2417,471,3372,0,0,0,0,0,0
$GC,3729,-1.48,-77.9,385.3,-6.1,256,3734,0.12,2.30,0.00,0.000,6,0.067,0.025,2380,1884,3371,0,0,0,0,0,0
$GC,4066,-1.48,-77.9,409.9,-7.1,265,4070,0.00,2.47,0.00,0.000,4,0.000,0.052,2379,472,3368,0,0,0,0,0,0
$GC,4089,-1.42,-77.9,412.2,-9.1,265,4094,0.12,2.30,0.00,0.000,6,0.102,0.028,2404,1867,3369,0,0,0,0,0,0
$GC,4430,-1.46,-77.9,436.5,-7.3,274,4434,0.00,2.45,0.00,0.000,4,0.000,0.054,2404,467,3366,0,0,0,0,0,0
$GC,4444,-1.46,-77.9,437.4,-7.9,274,4448,0.00,2.33,0.00,0.000,6,0.000,0.029,2404,1870,3366,0,0,0,0,0,0
$STATE,4587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4587,begin apogee
$GC,4593,-0.31,0.0,452.6,11.0,278,4661,1.12,0.00,64.62,0.874,6,0.073,0.000,2647,2045,3050,0,0,0,0,0,0
$STATE,4661,end apogee,CONTROL_FINISHED_OK
$STATE,4662,begin climb
$GC,4664,1.40,77.9,453.3,0.0,279,4738,1.62,2.42,64.93,0.851,4,0.033,0.044,3026,3384,2731,0,0,0,0,0,0
$GC,4842,1.30,183.3,453.8,0.8,283,4941,0.15,2.40,90.68,0.854,6,0.127,0.037,3000,2001,2301,0,0,0,0,0,0
$GC,5255,1.16,183.3,393.4,17.9,293,5259,0.17,2.40,0.00,0.000,4,0.114,0.040,2968,3388,2291,0,0,0,0,0,0
$GC,5315,1.16,183.3,384.7,14.1,294,5319,0.00,2.40,0.00,0.000,6,0.000,0.038,2969,2007,2291,0,0,0,0,0,0
$GC,5664,1.16,183.3,341.8,11.8,303,5668,0.00,2.47,0.00,0.000,4,0.000,0.053,2967,604,2287,0,0,0,0,0,0
$GC,5811,1.08,183.3,324.5,10.7,306,5816,0.00,2.33,0.00,0.000,6,0.000,0.029,2968,2000,2283,0,0,0,0,0,0
$GC,6124,1.08,183.8,298.7,8.0,314,6128,0.00,2.45,0.00,0.000,4,0.000,0.051,2968,604,2282,0,0,0,0,0,0
$GC,6170,0.99,183.8,294.6,8.9,316,6175,0.20,2.35,0.00,0.000,6,0.114,0.029,2932,2015,2281,0,0,0,0,0,0
$GC,6496,1.07,187.0,272.7,7.8,332,6501,0.00,2.47,0.00,0.000,4,0.000,0.051,2932,597,2281,0,0,0,0,0,0
$GC,6647,1.07,187.0,257.7,10.5,338,6654,0.00,2.40,0.00,0.000,6,0.000,0.029,2932,2015,2279,0,0,0,0,0,0
$GC,6962,1.14,187.9,230.9,8.0,354,6964,0.15,0.00,0.00,0.000,6,0.070,0.000,2969,2019,2278,0,0,0,0,0,0
$GC,7273,1.16,204.4,205.8,6.9,369,7295,0.00,2.53,15.43,0.684,4,0.000,0.048,2969,603,2215,0,0,0,0,0,0
$GC,7300,1.16,204.4,203.5,8.0,370,7304,0.00,2.35,0.00,0.000,6,0.000,0.027,2968,2015,2214,0,0,0,0,0,0
$GC,7633,1.16,204.4,176.6,8.8,399,7637,0.00,2.47,0.00,0.000,4,0.000,0.048,2969,601,2213,0,0,0,0,0,0
$GC,7697,1.12,204.4,170.5,10.0,405,7703,0.00,2.33,0.00,0.000,6,0.000,0.025,2969,2020,2211,0,0,0,0,0,0
$GC,7959,1.12,206.3,150.7,7.9,430,7963,0.00,2.47,0.00,0.000,4,0.000,0.046,2969,597,2211,0,0,0,0,0,0
$GC,8137,1.12,206.3,133.2,9.6,449,8141,0.00,2.33,0.00,0.000,6,0.000,0.024,2969,2012,2210,0,0,0,0,0,0
$GC,8401,1.20,224.7,113.1,6.8,473,8428,0.00,2.47,18.60,0.601,4,0.000,0.044,2968,599,2132,0,0,0,0,0,0
$GC,8559,1.21,235.6,100.8,7.3,490,8575,0.00,2.35,10.35,0.549,6,0.000,0.022,2969,2020,2089,0,0,0,0,0,0
$GC,8829,1.28,235.6,81.1,8.3,516,8834,0.10,2.30,0.00,0.000,4,0.078,0.029,2998,3400,2088,0,0,0,0,0,0
$GC,8863,1.33,235.6,77.7,11.6,519,8868,0.00,2.35,0.00,0.000,6,0.000,0.029,2998,2000,2088,0,0,0,0,0,0
$GC,9127,1.38,235.6,50.4,8.6,543,9130,0.00,2.38,0.00,0.000,4,0.000,0.041,2999,602,2088,0,0,0,0,0,0
$GC,9280,1.38,235.6,37.1,8.3,560,9284,0.00,2.25,0.00,0.000,6,0.000,0.021,2999,2014,2086,0,0,0,0,0,0
$GC,9549,1.42,235.6,12.0,9.3,601,9555,0.10,2.45,0.00,0.000,4,0.077,0.042,3031,600,2086,0,0,0,0,0,0
$GC,9625,1.30,235.6,4.3,10.0,617,9631,0.17,2.28,0.00,0.000,6,0.101,0.020,2997,2016,2086,0,0,0,0,0,0
$STATE,9648,end climb,SURFACE_DEPTH_REACHED
$STATE,9648,begin surface coast
$FINISH,0.7,1.011381
$STATE,9697,end surface coast,CONTROL_FINISHED_OK
$STATE,9697,begin surface
$SM_CCo,9716,32.40,0.506,0,0,1827,300.00
$SM_GC,1.59,0.00,0.00,32.40,0.000,0.000,0.506,428,1863,1827,-10.52,-0.31,300.00
$IRIDIUM_FIX,2101.76,-15800.33,200899,020232
$TT8_MAMPS,0.029146
$HUMID,47.59
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,23.4,32.843
$10V_AH,10.0,31.072
$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,26.950,119.175,264.600,32.400,0.000,29.051,30.727,292.150,4.750,0.000,42.191,1224.034,6225.355,360.824,1897.131,523.937,33.377,1172.619,0.000,1840.539,0.000,29.250,0.000
$DEVICE_MAMPS,136.526,54.457,873.613,506.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,425.489,410.599,795.326,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355744
$DATA_FILE_SIZE,34910,630
$CAP_FILE_SIZE,119532,0
$CFSIZE,260165632,237342720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260510,081532,2109.232,-15758.352,71,1.9,71,9.8