version: 66.06
glider: 139
mission: 7
dive: 374
start: 5 26 110 23 21 19
data:
$ID,139
$MISSION,7
$DIVE,374
$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,-2134449.2
$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
$GPS1,231520,2108.213,-15756.067,89,3.2,108,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.9
$GPS2,232028,2108.230,-15756.108,12,9.3,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.172,-0.065
$KALMAN_X,-25251.8,-34.4,322.5,22930.6,-1543.3
$KALMAN_Y,35102.6,86.7,23.4,-32762.7,654.8
$MHEAD_RNG_PITCHd_Wd,100.9,23226,-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,-52.55,0.000,2,0.000,0.000,429,1894,3176,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.0,-4.2,10,94,10.62,2.47,-3.90,0.000,4,0.136,0.055,2404,467,3369,0,0,0,0,0,0
$GC,128,-1.10,-77.9,18.5,-22.2,21,135,0.35,2.30,0.00,0.000,6,0.097,0.020,2473,1918,3370,0,0,0,0,0,0
$GC,338,-1.10,-77.9,47.4,-13.2,47,343,0.00,2.50,0.00,0.000,4,0.000,0.044,2473,464,3372,0,0,0,0,0,0
$GC,390,-1.10,-77.9,54.7,-13.1,52,394,0.00,2.25,0.00,0.000,6,0.000,0.020,2473,1866,3372,0,0,0,0,0,0
$GC,657,-1.17,-77.9,79.3,-8.6,77,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1871,3373,0,0,0,0,0,0
$GC,911,-1.26,-77.9,101.3,-9.0,101,915,0.15,2.40,0.00,0.000,4,0.057,0.044,2425,469,3374,0,0,0,0,0,0
$GC,1022,-1.23,-77.9,115.7,-11.7,112,1028,0.00,2.28,0.00,0.000,6,0.000,0.020,2425,1873,3374,0,0,0,0,0,0
$GC,1284,-1.23,-77.9,142.4,-9.1,137,1289,0.10,2.42,0.00,0.000,4,0.109,0.044,2446,468,3375,0,0,0,0,0,0
$GC,1385,-1.27,-77.9,153.2,-10.4,147,1391,0.00,2.22,0.00,0.000,6,0.000,0.020,2446,1879,3376,0,0,0,0,0,0
$GC,1648,-1.35,-77.9,176.5,-8.5,172,1653,0.12,2.42,0.00,0.000,4,0.064,0.044,2404,470,3376,0,0,0,0,0,0
$GC,1685,-1.28,-77.9,181.0,-12.2,175,1691,0.15,2.25,0.00,0.000,6,0.091,0.021,2436,1876,3376,0,0,0,0,0,0
$GC,1948,-1.35,-77.9,207.8,-11.1,197,1952,0.00,2.42,0.00,0.000,4,0.000,0.044,2436,464,3377,0,0,0,0,0,0
$GC,2030,-1.35,-77.9,218.4,-12.2,200,2037,0.00,2.28,0.00,0.000,6,0.000,0.021,2436,1871,3377,0,0,0,0,0,0
$GC,2347,-1.43,-77.9,245.8,-7.4,216,2352,0.15,2.45,0.00,0.000,4,0.058,0.046,2390,459,3377,0,0,0,0,0,0
$GC,2408,-1.39,-77.9,252.6,-11.2,218,2416,0.08,2.30,0.00,0.000,6,0.077,0.022,2410,1877,3377,0,0,0,0,0,0
$GC,2724,-1.43,-77.9,279.0,-8.2,234,2728,0.00,2.42,0.00,0.000,4,0.000,0.045,2409,469,3376,0,0,0,0,0,0
$GC,2769,-1.43,-77.9,283.1,-9.2,236,2773,0.00,2.25,0.00,0.000,6,0.000,0.023,2409,1875,3376,0,0,0,0,0,0
$GC,3117,-1.47,-77.9,310.6,-8.3,250,3121,0.00,2.45,0.00,0.000,4,0.000,0.048,2409,461,3375,0,0,0,0,0,0
$GC,3181,-1.47,-77.9,316.8,-9.9,251,3185,0.00,2.30,0.00,0.000,6,0.000,0.025,2409,1880,3375,0,0,0,0,0,0
$GC,3530,-1.53,-77.9,349.4,-10.2,260,3535,0.12,2.45,0.00,0.000,4,0.067,0.050,2372,470,3373,0,0,0,0,0,0
$GC,3688,-1.46,-77.9,369.0,-11.4,263,3693,0.10,2.28,0.00,0.000,6,0.114,0.025,2392,1875,3373,0,0,0,0,0,0
$GC,4037,-1.50,-77.9,402.0,-9.6,272,4041,0.00,2.47,0.00,0.000,4,0.000,0.052,2392,464,3371,0,0,0,0,0,0
$GC,4101,-1.50,-77.9,409.4,-10.9,273,4105,0.00,2.30,0.00,0.000,6,0.000,0.028,2392,1874,3370,0,0,0,0,0,0
$GC,4448,-1.53,-77.9,443.6,-9.9,282,4452,0.00,2.47,0.00,0.000,4,0.000,0.054,2391,468,3368,0,0,0,0,0,0
$STATE,4501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4501,begin apogee
$GC,4509,-0.31,0.0,450.1,10.7,283,4579,1.17,0.00,64.65,0.873,6,0.081,0.000,2643,2009,3050,0,0,0,0,0,0
$STATE,4580,end apogee,CONTROL_FINISHED_OK
$STATE,4580,begin climb
$GC,4582,1.40,77.9,452.6,0.0,285,4657,1.65,2.53,64.93,0.854,4,0.035,0.044,3024,3408,2731,0,0,0,0,0,0
$GC,4921,1.23,124.2,445.3,4.8,292,4967,0.20,2.42,39.42,0.847,6,0.117,0.037,2986,2007,2543,0,0,0,0,0,0
$GC,5307,1.12,124.2,414.3,8.1,302,5309,0.15,0.00,0.00,0.000,6,0.124,0.000,2960,2008,2536,0,0,0,0,0,0
$GC,5633,1.07,133.0,390.4,7.4,310,5645,0.00,2.53,7.55,0.711,4,0.000,0.053,2957,597,2506,0,0,0,0,0,0
$GC,5687,0.96,133.0,385.5,9.6,311,5693,0.20,2.40,0.00,0.000,6,0.116,0.031,2925,2015,2505,0,0,0,0,0,0
$GC,6002,0.99,160.3,365.7,6.1,319,6028,0.00,0.00,24.60,0.820,6,0.000,0.000,2925,2019,2396,0,0,0,0,0,0
$GC,6327,1.04,160.3,339.9,8.5,327,6331,0.00,2.50,0.00,0.000,4,0.000,0.052,2924,596,2392,0,0,0,0,0,0
$GC,6377,1.04,160.3,335.1,9.2,328,6381,0.00,2.38,0.00,0.000,6,0.000,0.031,2926,2016,2390,0,0,0,0,0,0
$GC,6695,1.11,180.6,313.2,6.6,336,6720,0.15,2.60,18.17,0.777,4,0.071,0.053,2961,601,2313,0,0,0,0,0,0
$GC,6812,1.05,180.6,301.7,10.1,338,6817,0.00,2.38,0.00,0.000,6,0.000,0.030,2961,2015,2308,0,0,0,0,0,0
$GC,7138,1.06,190.2,274.0,7.4,353,7154,0.00,2.50,9.25,0.692,4,0.000,0.050,2961,604,2273,0,0,0,0,0,0
$GC,7255,1.01,190.2,262.8,8.9,358,7260,0.15,2.38,0.00,0.000,6,0.117,0.028,2935,2019,2270,0,0,0,0,0,0
$GC,7582,1.12,207.4,241.2,6.8,374,7606,0.12,2.55,16.48,0.718,4,0.076,0.049,2965,595,2202,0,0,0,0,0,0
$GC,7838,1.08,207.4,218.5,8.5,385,7843,0.00,2.35,0.00,0.000,6,0.000,0.027,2965,2017,2197,0,0,0,0,0,0
$GC,8159,1.08,207.4,192.0,10.4,404,8163,0.00,2.47,0.00,0.000,4,0.000,0.048,2965,604,2197,0,0,0,0,0,0
$GC,8231,1.08,207.4,182.8,14.2,411,8237,0.00,2.33,0.00,0.000,6,0.000,0.026,2965,2014,2196,0,0,0,0,0,0
$GC,8493,1.12,207.4,153.6,9.9,436,8497,0.00,2.45,0.00,0.000,4,0.000,0.046,2965,602,2195,0,0,0,0,0,0
$GC,8564,1.09,207.4,146.9,8.6,443,8568,0.00,2.30,0.00,0.000,6,0.000,0.024,2965,2019,2195,0,0,0,0,0,0
$GC,8828,1.15,215.7,128.2,7.5,467,8840,0.00,2.50,7.60,0.546,4,0.000,0.045,2965,598,2169,0,0,0,0,0,0
$GC,8965,1.15,218.4,115.6,7.8,482,8969,0.00,2.30,0.00,0.000,6,0.000,0.023,2966,2018,2167,0,0,0,0,0,0
$GC,9227,1.24,226.0,96.5,7.5,506,9247,0.00,2.47,10.68,0.553,4,0.000,0.042,2965,598,2127,0,0,0,0,0,0
$GC,9334,1.27,226.0,87.6,9.1,517,9340,0.10,2.30,0.00,0.000,6,0.080,0.021,2995,2012,2124,0,0,0,0,0,0
$GC,9598,1.34,249.9,68.6,6.4,542,9628,0.00,2.38,21.77,0.561,4,0.000,0.029,2995,3397,2030,0,0,0,0,0,0
$GC,9727,1.43,256.0,59.4,7.6,556,9742,0.15,2.35,7.03,0.470,6,0.060,0.028,3036,2001,2006,0,0,0,0,0,0
$GC,10004,1.39,256.0,31.9,10.6,582,10009,0.00,2.38,0.00,0.000,4,0.000,0.042,3038,599,2004,0,0,0,0,0,0
$GC,10038,1.30,256.0,27.7,12.2,587,10045,0.20,2.28,0.00,0.000,6,0.094,0.021,2997,2021,2001,0,0,0,0,0,0
$GC,10245,1.35,256.0,7.3,9.3,624,10252,0.00,2.45,0.00,0.000,4,0.000,0.042,2998,612,2001,0,0,0,0,0,0
$STATE,10282,end climb,SURFACE_DEPTH_REACHED
$STATE,10282,begin surface coast
$FINISH,0.4,1.023374
$STATE,10307,end surface coast,CONTROL_FINISHED_OK
$STATE,10307,begin surface
$SM_CCo,10328,22.60,0.498,0,0,1826,300.00
$SM_GC,1.21,0.00,0.00,22.60,0.000,0.000,0.498,426,1915,1826,-10.52,1.13,300.00
$IRIDIUM_FIX,2059.45,-15758.18,200899,202025
$TT8_MAMPS,0.029146
$HUMID,47.83
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.80
$XPDR_PINGS,20
$24V_AH,23.4,33.327
$10V_AH,10.1,31.555
$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,27.250,119.500,292.125,22.600,0.000,27.687,27.754,131.388,9.500,0.000,32.396,1258.773,6659.307,375.289,1995.343,370.058,33.372,1246.047,0.000,1945.871,0.000,29.241,0.000
$DEVICE_MAMPS,135.759,55.224,872.846,497.783,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.033,406.140,807.829,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34922,637
$CAP_FILE_SIZE,121032,0
$CFSIZE,260165632,236990464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270510,021554,2108.025,-15756.199,70,1.6,87,9.8