version: 66.06
glider: 139
mission: 7
dive: 369
start: 5 26 110 8 21 52
data:
$ID,139
$MISSION,7
$DIVE,369
$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,-2134293.2
$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
$GPS1,081532,2109.232,-15758.352,71,1.9,71,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-70.1
$GPS2,082101,2109.216,-15758.368,13,1.8,30,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.174,-0.058
$KALMAN_X,-20765.0,445.2,629.5,13742.7,-1799.9
$KALMAN_Y,32760.2,64.6,-102.5,-28450.6,616.3
$MHEAD_RNG_PITCHd_Wd,98.7,27430,-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,-53.33,0.000,2,0.000,0.000,427,1863,3212,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.3,-4.9,10,96,10.60,2.42,-3.05,0.000,4,0.135,0.037,2402,3302,3370,0,0,0,0,0,0
$GC,152,-1.34,-77.9,24.5,-19.8,26,159,0.08,2.45,0.00,0.000,6,0.082,0.031,2420,1872,3371,0,0,0,0,0,0
$GC,359,-1.21,-77.9,60.0,-14.8,48,364,0.15,2.42,0.00,0.000,4,0.104,0.045,2451,463,3371,0,0,0,0,0,0
$GC,411,-1.21,-77.9,67.2,-11.2,53,415,0.00,2.33,0.00,0.000,6,0.000,0.020,2450,1906,3372,0,0,0,0,0,0
$GC,672,-1.21,-77.9,95.3,-11.9,77,677,0.00,2.47,0.00,0.000,4,0.000,0.044,2451,461,3373,0,0,0,0,0,0
$GC,717,-1.21,-77.9,101.5,-13.5,81,722,0.00,2.25,0.00,0.000,6,0.000,0.019,2451,1881,3373,0,0,0,0,0,0
$GC,977,-1.21,-77.9,128.4,-8.3,106,981,0.00,2.42,0.00,0.000,4,0.000,0.043,2451,460,3374,0,0,0,0,0,0
$GC,1050,-1.28,-77.9,134.4,-7.6,113,1056,0.00,2.25,0.00,0.000,6,0.000,0.020,2451,1878,3374,0,0,0,0,0,0
$GC,1312,-1.36,-77.9,157.4,-9.4,138,1317,0.15,2.42,0.00,0.000,4,0.057,0.043,2402,463,3375,0,0,0,0,0,0
$GC,1349,-1.27,-77.9,162.1,-13.6,141,1355,0.17,2.25,0.00,0.000,6,0.091,0.020,2439,1885,3375,0,0,0,0,0,0
$GC,1610,-1.33,-77.9,187.9,-8.7,166,1614,0.00,2.45,0.00,0.000,4,0.000,0.044,2439,461,3376,0,0,0,0,0,0
$GC,1656,-1.37,-77.9,192.4,-9.2,170,1663,0.08,2.28,0.00,0.000,6,0.039,0.021,2403,1867,3376,0,0,0,0,0,0
$GC,1922,-1.37,-77.9,219.4,-9.7,187,1927,0.00,2.40,0.00,0.000,4,0.000,0.044,2402,469,3376,0,0,0,0,0,0
$GC,2005,-1.37,-77.9,228.3,-10.4,190,2010,0.00,2.25,0.00,0.000,6,0.000,0.021,2402,1882,3376,0,0,0,0,0,0
$GC,2322,-1.40,-77.9,258.8,-9.7,205,2326,0.00,2.42,0.00,0.000,4,0.000,0.045,2402,464,3376,0,0,0,0,0,0
$GC,2418,-1.40,-77.9,268.4,-9.6,209,2422,0.00,2.25,0.00,0.000,6,0.000,0.022,2402,1875,3376,0,0,0,0,0,0
$GC,2739,-1.44,-77.9,299.2,-10.2,225,2744,0.00,2.42,0.00,0.000,4,0.000,0.048,2402,455,3375,0,0,0,0,0,0
$GC,2827,-1.44,-77.9,309.9,-11.6,227,2832,0.00,2.28,0.00,0.000,6,0.000,0.024,2403,1871,3375,0,0,0,0,0,0
$GC,3159,-1.47,-77.9,343.3,-9.8,236,3163,0.00,2.42,0.00,0.000,4,0.000,0.049,2402,466,3373,0,0,0,0,0,0
$GC,3247,-1.47,-77.9,352.6,-10.7,238,3251,0.00,2.28,0.00,0.000,6,0.000,0.026,2402,1870,3373,0,0,0,0,0,0
$GC,3575,-1.52,-77.9,381.9,-8.4,246,3579,0.00,2.42,0.00,0.000,4,0.000,0.051,2402,471,3371,0,0,0,0,0,0
$GC,3612,-1.52,-77.9,385.4,-8.9,246,3617,0.00,2.33,0.00,0.000,6,0.000,0.027,2403,1884,3370,0,0,0,0,0,0
$GC,3943,-1.57,-77.9,411.7,-7.9,255,3948,0.15,2.50,0.00,0.000,4,0.065,0.056,2361,468,3368,0,0,0,0,0,0
$GC,3981,-1.47,-77.9,415.5,-11.4,255,3987,0.15,2.33,0.00,0.000,6,0.103,0.028,2391,1870,3368,0,0,0,0,0,0
$GC,4311,-1.47,-77.9,444.3,-9.0,264,4312,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1876,3366,0,0,0,0,0,0
$STATE,4390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4390,begin apogee
$GC,4396,-0.31,0.0,450.8,8.7,266,4464,1.17,0.00,64.70,0.877,6,0.074,0.000,2643,2031,3050,0,0,0,0,0,0
$STATE,4465,end apogee,CONTROL_FINISHED_OK
$STATE,4465,begin climb
$GC,4467,1.40,77.9,451.6,0.0,267,4541,1.65,2.45,64.80,0.854,4,0.033,0.045,3018,3383,2731,0,0,0,0,0,0
$GC,4805,1.21,113.7,441.3,5.6,274,4843,0.25,2.40,30.70,0.838,6,0.118,0.038,2980,2000,2585,0,0,0,0,0,0
$GC,5156,1.08,113.7,415.0,8.3,283,5161,0.15,2.42,0.00,0.000,4,0.122,0.041,2952,3392,2580,0,0,0,0,0,0
$GC,5426,1.05,131.2,394.1,6.8,288,5447,0.00,2.40,14.95,0.795,6,0.000,0.038,2955,2006,2515,0,0,0,0,0,0
$GC,5761,1.04,150.3,370.5,6.7,297,5786,0.00,2.45,17.40,0.798,4,0.000,0.040,2956,3387,2436,0,0,0,0,0,0
$GC,5924,1.05,161.4,357.7,7.3,300,5942,0.00,2.40,11.18,0.754,6,0.000,0.038,2956,2004,2391,0,0,0,0,0,0
$GC,6266,1.05,161.4,328.1,9.2,309,6270,0.00,2.47,0.00,0.000,4,0.000,0.054,2953,603,2386,0,0,0,0,0,0
$GC,6331,0.98,161.4,321.3,11.0,310,6336,0.15,2.33,0.00,0.000,6,0.119,0.030,2928,1994,2384,0,0,0,0,0,0
$GC,6657,1.02,161.4,293.3,8.3,320,6661,0.00,2.47,0.00,0.000,4,0.000,0.053,2928,597,2384,0,0,0,0,0,0
$GC,6678,1.02,161.4,291.5,9.3,321,6682,0.00,2.38,0.00,0.000,6,0.000,0.031,2928,2010,2382,0,0,0,0,0,0
$GC,7009,1.09,172.3,267.8,7.3,337,7025,0.10,2.55,9.38,0.698,4,0.087,0.051,2952,604,2346,0,0,0,0,0,0
$GC,7142,1.06,188.2,256.7,6.9,342,7164,0.00,2.40,15.52,0.729,6,0.000,0.029,2953,2021,2281,0,0,0,0,0,0
$GC,7483,1.09,191.0,232.1,7.8,359,7487,0.00,2.47,0.00,0.000,4,0.000,0.051,2953,602,2277,0,0,0,0,0,0
$GC,7584,1.05,191.0,223.2,9.0,363,7587,0.00,2.33,0.00,0.000,6,0.000,0.028,2952,2009,2275,0,0,0,0,0,0
$GC,7904,1.05,191.0,193.0,9.0,382,7905,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2014,2275,0,0,0,0,0,0
$GC,8160,1.11,201.4,171.2,7.3,406,8180,0.00,2.53,11.73,0.646,4,0.000,0.048,2952,608,2229,0,0,0,0,0,0
$GC,8246,1.11,201.4,163.9,8.5,415,8250,0.00,2.35,0.00,0.000,6,0.000,0.027,2952,2018,2226,0,0,0,0,0,0
$GC,8509,1.18,203.8,144.8,7.9,439,8514,0.00,2.47,0.00,0.000,4,0.000,0.048,2952,603,2226,0,0,0,0,0,0
$GC,8661,1.18,204.6,131.9,8.0,455,8671,0.00,2.33,4.05,0.434,6,0.000,0.025,2953,2023,2215,0,0,0,0,0,0
$GC,8926,1.26,207.2,111.4,7.8,480,8937,0.15,0.00,4.10,0.425,6,0.066,0.000,2992,2022,2205,0,0,0,0,0,0
$GC,9193,1.28,225.3,92.8,6.8,505,9216,0.00,2.47,17.60,0.591,4,0.000,0.044,2992,602,2131,0,0,0,0,0,0
$GC,9263,1.23,225.3,86.5,9.6,512,9267,0.00,2.33,0.00,0.000,6,0.000,0.023,2992,2015,2127,0,0,0,0,0,0
$GC,9525,1.23,225.3,61.3,10.2,536,9530,0.00,2.30,0.00,0.000,4,0.000,0.029,2991,3398,2127,0,0,0,0,0,0
$GC,9541,1.23,225.3,59.6,9.9,537,9545,0.00,2.33,0.00,0.000,6,0.000,0.028,2991,2002,2127,0,0,0,0,0,0
$GC,9804,1.30,227.7,34.4,7.9,561,9808,0.00,2.40,0.00,0.000,4,0.000,0.044,2993,602,2127,0,0,0,0,0,0
$GC,10022,1.31,242.3,15.6,7.0,603,10044,0.00,2.28,15.68,0.513,6,0.000,0.021,2992,2028,2062,0,0,0,0,0,0
$STATE,10193,end climb,SURFACE_DEPTH_REACHED
$STATE,10193,begin surface coast
$FINISH,0.6,1.023420
$STATE,10235,end surface coast,CONTROL_FINISHED_OK
$STATE,10235,begin surface
$SM_CCo,10254,32.03,0.513,0,0,1827,300.00
$SM_GC,1.28,0.00,0.00,32.03,0.000,0.000,0.513,427,1869,1827,-10.52,-0.17,300.00
$IRIDIUM_FIX,2059.45,-15828.22,200899,050549
$TT8_MAMPS,0.029146
$HUMID,48.58
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,32.922
$10V_AH,10.0,31.151
$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,26.300,114.875,281.775,32.025,0.000,30.020,31.370,147.841,4.500,0.000,30.849,1247.071,6633.092,377.060,1975.814,383.329,33.368,1236.962,0.000,1929.251,0.000,29.268,0.000
$DEVICE_MAMPS,134.992,55.991,877.448,513.123,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,432.708,408.495,787.221,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,35002,641
$CAP_FILE_SIZE,118876,0
$CFSIZE,260165632,237285376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260510,111527,2109.163,-15758.140,72,2.7,91,9.8