version: 66.06
glider: 139
mission: 7
dive: 373
start: 5 26 110 20 22 13
data:
$ID,139
$MISSION,7
$DIVE,373
$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,-2134416
$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
$GPS1,201607,2108.583,-15756.523,93,2.0,93,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.0
$GPS2,202120,2108.582,-15756.541,13,2.0,13,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.147,-0.110
$KALMAN_X,-24301.0,-331.5,567.9,21281.9,-972.2
$KALMAN_Y,34929.6,-112.5,-186.2,-31531.1,1090.3
$MHEAD_RNG_PITCHd_Wd,117.1,24090,-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,-53.10,0.000,2,0.000,0.000,428,1858,3212,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.5,-6.2,10,95,10.62,2.42,-3.05,0.000,4,0.136,0.054,2403,470,3371,0,0,0,0,0,0
$GC,169,-1.20,-77.9,28.1,-19.8,30,176,0.20,2.35,0.00,0.000,6,0.084,0.021,2449,1907,3372,0,0,0,0,0,0
$GC,375,-1.14,-77.9,58.8,-14.6,50,380,0.00,2.47,0.00,0.000,4,0.000,0.044,2449,464,3373,0,0,0,0,0,0
$GC,419,-1.02,-77.9,65.5,-14.5,54,424,0.20,2.28,0.00,0.000,6,0.100,0.020,2488,1880,3372,0,0,0,0,0,0
$GC,681,-1.12,-77.9,89.1,-7.5,78,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1885,3374,0,0,0,0,0,0
$GC,935,-1.24,-77.9,107.3,-6.8,102,940,0.20,2.42,0.00,0.000,4,0.048,0.041,2428,462,3374,0,0,0,0,0,0
$GC,1016,-1.24,-77.9,116.1,-10.8,110,1023,0.00,2.28,0.00,0.000,6,0.000,0.019,2428,1870,3375,0,0,0,0,0,0
$GC,1280,-1.24,-77.9,144.0,-10.6,135,1284,0.00,2.40,0.00,0.000,4,0.000,0.042,2428,459,3376,0,0,0,0,0,0
$GC,1371,-1.24,-77.9,154.3,-10.6,144,1378,0.00,2.28,0.00,0.000,6,0.000,0.020,2428,1872,3376,0,0,0,0,0,0
$GC,1634,-1.27,-77.9,179.3,-10.2,169,1641,0.00,2.40,0.00,0.000,4,0.000,0.043,2428,460,3377,0,0,0,0,0,0
$GC,1665,-1.27,-77.9,183.3,-12.1,172,1669,0.00,2.28,0.00,0.000,6,0.000,0.020,2428,1883,3377,0,0,0,0,0,0
$GC,1927,-1.32,-77.9,211.7,-10.5,191,1931,0.00,2.40,0.00,0.000,4,0.000,0.042,2426,468,3377,0,0,0,0,0,0
$GC,1977,-1.32,-77.9,217.2,-10.4,193,1981,0.00,2.25,0.00,0.000,6,0.000,0.021,2428,1881,3377,0,0,0,0,0,0
$GC,2299,-1.39,-77.9,243.6,-8.0,209,2303,0.00,2.42,0.00,0.000,4,0.000,0.044,2428,461,3377,0,0,0,0,0,0
$GC,2397,-1.44,-77.9,251.5,-7.7,213,2402,0.12,2.28,0.00,0.000,6,0.064,0.021,2386,1876,3377,0,0,0,0,0,0
$GC,2719,-1.44,-77.9,278.3,-8.6,229,2723,0.00,2.42,0.00,0.000,4,0.000,0.046,2386,470,3377,0,0,0,0,0,0
$GC,2808,-1.40,-77.9,287.4,-10.8,233,2813,0.12,2.28,0.00,0.000,6,0.100,0.023,2412,1878,3376,0,0,0,0,0,0
$GC,3140,-1.45,-77.9,316.1,-9.2,245,3144,0.00,2.45,0.00,0.000,4,0.000,0.048,2411,466,3375,0,0,0,0,0,0
$GC,3241,-1.45,-77.9,326.9,-9.9,247,3245,0.00,2.30,0.00,0.000,6,0.000,0.025,2412,1879,3375,0,0,0,0,0,0
$GC,3559,-1.50,-77.9,354.6,-8.5,255,3564,0.12,2.47,0.00,0.000,4,0.067,0.051,2374,469,3373,0,0,0,0,0,0
$GC,3667,-1.43,-77.9,366.9,-11.6,257,3672,0.12,2.30,0.00,0.000,6,0.104,0.025,2400,1874,3373,0,0,0,0,0,0
$GC,4018,-1.47,-77.9,399.2,-9.4,266,4022,0.00,2.45,0.00,0.000,4,0.000,0.051,2399,471,3370,0,0,0,0,0,0
$GC,4060,-1.47,-77.9,404.3,-12.1,267,4064,0.00,2.30,0.00,0.000,6,0.000,0.027,2399,1874,3370,0,0,0,0,0,0
$GC,4388,-1.53,-77.9,434.8,-8.6,275,4392,0.00,2.45,0.00,0.000,4,0.000,0.053,2398,470,3368,0,0,0,0,0,0
$GC,4456,-1.53,-77.9,440.9,-8.8,276,4461,0.00,2.33,0.00,0.000,6,0.000,0.028,2399,1877,3367,0,0,0,0,0,0
$STATE,4591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4591,begin apogee
$GC,4596,-0.31,0.0,450.6,7.1,280,4664,1.15,0.00,64.50,0.871,6,0.074,0.000,2646,2038,3050,0,0,0,0,0,0
$STATE,4665,end apogee,CONTROL_FINISHED_OK
$STATE,4665,begin climb
$GC,4668,1.40,77.9,450.7,0.0,281,4742,1.62,2.42,64.85,0.851,4,0.033,0.044,3024,3377,2732,0,0,0,0,0,0
$GC,4992,1.20,102.9,434.8,6.3,288,5021,0.25,2.38,21.67,0.822,6,0.115,0.037,2979,2004,2629,0,0,0,0,0,0
$GC,5354,1.11,122.6,410.4,6.7,297,5379,0.12,2.42,17.17,0.808,4,0.127,0.041,2959,3381,2549,0,0,0,0,0,0
$GC,5453,1.08,140.0,403.3,6.8,299,5474,0.00,2.40,16.17,0.797,6,0.000,0.038,2957,2001,2479,0,0,0,0,0,0
$GC,5810,1.04,140.0,373.3,8.6,308,5815,0.00,2.47,0.00,0.000,4,0.000,0.053,2949,602,2474,0,0,0,0,0,0
$GC,5861,0.93,140.0,369.0,8.8,309,5866,0.20,2.35,0.00,0.000,6,0.117,0.031,2919,1991,2472,0,0,0,0,0,0
$GC,6181,1.04,189.7,352.6,4.6,317,6230,0.10,2.47,43.45,0.826,4,0.087,0.041,2948,3404,2276,0,0,0,0,0,0
$GC,6254,1.08,189.7,347.2,8.2,318,6258,0.00,2.45,0.00,0.000,6,0.000,0.038,2948,2004,2275,0,0,0,0,0,0
$GC,6585,1.08,189.7,317.4,9.3,326,6589,0.00,2.45,0.00,0.000,4,0.000,0.052,2944,602,2269,0,0,0,0,0,0
$GC,6667,1.03,189.7,308.7,10.9,327,6673,0.00,2.38,0.00,0.000,6,0.000,0.029,2948,2015,2266,0,0,0,0,0,0
$GC,6980,1.04,197.9,280.4,7.5,340,6992,0.00,2.58,6.90,0.649,4,0.000,0.052,2948,584,2243,0,0,0,0,0,0
$GC,7113,1.01,197.9,269.6,8.5,345,7118,0.00,2.40,0.00,0.000,6,0.000,0.028,2948,2011,2240,0,0,0,0,0,0
$GC,7429,1.05,197.9,239.4,8.6,361,7433,0.00,2.47,0.00,0.000,4,0.000,0.050,2948,594,2239,0,0,0,0,0,0
$GC,7568,1.05,197.9,228.2,8.3,367,7573,0.00,2.35,0.00,0.000,6,0.000,0.028,2947,2013,2237,0,0,0,0,0,0
$GC,7895,1.11,197.9,197.8,10.7,383,7900,0.00,2.45,0.00,0.000,4,0.000,0.048,2948,598,2237,0,0,0,0,0,0
$GC,8014,1.11,197.9,184.8,9.9,395,8020,0.00,2.35,0.00,0.000,6,0.000,0.027,2948,2018,2236,0,0,0,0,0,0
$GC,8277,1.18,202.1,164.1,7.7,420,8288,0.00,2.50,4.12,0.458,4,0.000,0.046,2948,607,2226,0,0,0,0,0,0
$GC,8407,1.18,202.1,152.2,8.4,434,8412,0.10,2.33,0.00,0.000,6,0.084,0.025,2976,2020,2225,0,0,0,0,0,0
$GC,8667,1.18,202.1,128.2,8.4,458,8672,0.00,2.45,0.00,0.000,4,0.000,0.044,2975,590,2225,0,0,0,0,0,0
$GC,8738,1.11,202.1,121.8,9.6,465,8742,0.00,2.33,0.00,0.000,6,0.000,0.024,2976,2011,2224,0,0,0,0,0,0
$GC,9001,1.13,219.1,101.0,6.9,489,9023,0.00,2.50,16.73,0.594,4,0.000,0.046,2975,601,2156,0,0,0,0,0,0
$GC,9155,1.13,219.1,87.0,9.9,506,9160,0.00,2.30,0.00,0.000,6,0.000,0.022,2976,2017,2152,0,0,0,0,0,0
$GC,9419,1.19,226.6,66.5,7.5,530,9433,0.00,2.50,7.60,0.497,4,0.000,0.043,2976,605,2126,0,0,0,0,0,0
$GC,9510,1.19,226.6,57.4,10.3,540,9515,0.00,2.28,0.00,0.000,6,0.000,0.021,2976,2015,2124,0,0,0,0,0,0
$GC,9774,1.30,236.9,37.6,7.3,564,9794,0.00,2.30,10.70,0.508,4,0.000,0.027,2975,3401,2083,0,0,0,0,0,0
$GC,9841,1.41,236.9,32.0,8.6,571,9846,0.20,2.35,0.00,0.000,6,0.051,0.028,3030,2003,2083,0,0,0,0,0,0
$GC,10111,1.41,236.9,6.7,9.7,617,10117,0.00,2.35,0.00,0.000,4,0.000,0.041,3031,605,2083,0,0,0,0,0,0
$STATE,10151,end climb,SURFACE_DEPTH_REACHED
$STATE,10151,begin surface coast
$FINISH,0.5,0.999280
$STATE,10188,end surface coast,CONTROL_FINISHED_OK
$STATE,10188,begin surface
$SM_CCo,10210,31.85,0.509,0,0,1826,300.00
$SM_GC,1.58,0.00,0.00,31.85,0.000,0.000,0.509,429,1894,1826,-10.51,0.51,300.00
$IRIDIUM_FIX,2101.76,-15619.86,200899,171725
$TT8_MAMPS,0.029146
$HUMID,47.36
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,23.4,33.247
$10V_AH,10.1,31.474
$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,26.675,123.925,273.875,31.850,0.000,24.415,27.781,159.412,4.750,0.000,13.516,1259.369,6546.205,371.102,1967.618,412.974,33.404,1239.907,0.000,1947.110,0.000,29.258,0.000
$DEVICE_MAMPS,135.759,53.690,871.312,509.288,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,428.629,410.714,795.316,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,34827,634
$CAP_FILE_SIZE,121602,0
$CFSIZE,260165632,237051904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260510,231520,2108.213,-15756.067,89,3.2,108,9.8