version: 66.06
glider: 139
mission: 7
dive: 376
start: 5 27 110 5 11 42
data:
$ID,139
$MISSION,7
$DIVE,376
$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,-2134485.8
$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
$GPS1,050536,2107.940,-15755.744,71,1.4,71,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-72.0
$GPS2,051050,2107.939,-15755.722,15,1.5,15,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.179,-0.040
$KALMAN_X,-28147.3,357.7,-471.5,26896.6,-615.4
$KALMAN_Y,35696.7,151.9,-74.1,-33867.2,203.6
$MHEAD_RNG_PITCHd_Wd,92.9,22470,-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,-53.35,0.000,2,0.000,0.000,429,1846,3224,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.6,-5.9,10,96,10.62,2.40,-2.85,0.000,4,0.137,0.053,2402,471,3370,0,0,0,0,0,0
$GC,113,-0.59,-77.9,15.9,-31.6,17,119,0.88,2.30,0.00,0.000,6,0.091,0.020,2580,1909,3372,0,0,0,0,0,0
$GC,325,-0.86,-77.9,32.4,-6.9,52,330,0.25,2.47,0.00,0.000,4,0.041,0.041,2500,464,3372,0,0,0,0,0,0
$GC,396,-0.91,-77.9,39.8,-11.0,59,400,0.00,2.25,0.00,0.000,6,0.000,0.020,2501,1882,3372,0,0,0,0,0,0
$GC,658,-1.02,-77.9,67.7,-10.0,83,663,0.00,2.42,0.00,0.000,4,0.000,0.044,2501,464,3373,0,0,0,0,0,0
$GC,764,-1.12,-77.9,77.6,-8.7,94,771,0.10,2.28,0.00,0.000,6,0.033,0.019,2457,1877,3374,0,0,0,0,0,0
$GC,1028,-1.12,-77.9,105.2,-11.0,119,1032,0.00,2.42,0.00,0.000,4,0.000,0.042,2456,463,3374,0,0,0,0,0,0
$GC,1060,-1.12,-77.9,110.0,-14.5,122,1065,0.00,2.25,0.00,0.000,6,0.000,0.020,2456,1883,3374,0,0,0,0,0,0
$GC,1321,-1.18,-77.9,141.4,-9.4,146,1325,0.00,2.40,0.00,0.000,4,0.000,0.042,2457,469,3375,0,0,0,0,0,0
$GC,1374,-1.23,-77.9,146.0,-9.0,151,1378,0.00,2.22,0.00,0.000,6,0.000,0.019,2456,1878,3376,0,0,0,0,0,0
$GC,1637,-1.31,-77.9,166.0,-7.5,175,1642,0.12,2.45,0.00,0.000,4,0.063,0.044,2412,461,3375,0,0,0,0,0,0
$GC,1700,-1.26,-77.9,172.4,-10.4,181,1705,0.12,2.25,0.00,0.000,6,0.100,0.020,2439,1878,3376,0,0,0,0,0,0
$GC,1962,-1.31,-77.9,196.1,-9.1,205,1966,0.00,2.42,0.00,0.000,4,0.000,0.044,2438,466,3376,0,0,0,0,0,0
$GC,1995,-1.31,-77.9,199.8,-11.2,208,2000,0.00,2.25,0.00,0.000,6,0.000,0.020,2438,1877,3376,0,0,0,0,0,0
$GC,2254,-1.38,-77.9,226.7,-10.1,221,2259,0.12,2.42,0.00,0.000,4,0.064,0.044,2395,462,3376,0,0,0,0,0,0
$GC,2333,-1.31,-77.9,238.1,-14.5,224,2338,0.15,2.22,0.00,0.000,6,0.094,0.021,2427,1873,3376,0,0,0,0,0,0
$GC,2651,-1.38,-77.9,268.5,-8.5,239,2655,0.00,2.42,0.00,0.000,4,0.000,0.045,2427,465,3376,0,0,0,0,0,0
$GC,2688,-1.38,-77.9,272.1,-9.6,240,2694,0.00,2.30,0.00,0.000,6,0.000,0.021,2427,1881,3376,0,0,0,0,0,0
$GC,3003,-1.47,-77.9,297.6,-7.6,256,3008,0.15,2.42,0.00,0.000,4,0.058,0.046,2379,470,3376,0,0,0,0,0,0
$GC,3088,-1.42,-77.9,307.3,-12.3,258,3094,0.12,2.25,0.00,0.000,6,0.101,0.022,2405,1879,3376,0,0,0,0,0,0
$GC,3419,-1.48,-77.9,340.2,-9.9,267,3424,0.00,2.42,0.00,0.000,4,0.000,0.048,2404,467,3375,0,0,0,0,0,0
$GC,3545,-1.48,-77.9,351.4,-9.4,269,3549,0.00,2.30,0.00,0.000,6,0.000,0.024,2404,1881,3374,0,0,0,0,0,0
$GC,3876,-1.53,-77.9,379.0,-8.5,277,3881,0.10,2.45,0.00,0.000,4,0.077,0.051,2371,471,3372,0,0,0,0,0,0
$GC,3947,-1.48,-77.9,386.9,-11.3,278,3952,0.00,2.28,0.00,0.000,6,0.000,0.026,2372,1874,3372,0,0,0,0,0,0
$GC,4287,-1.48,-77.9,418.2,-8.8,287,4291,0.00,2.45,0.00,0.000,4,0.000,0.052,2370,464,3369,0,0,0,0,0,0
$GC,4347,-1.43,-77.9,424.5,-9.8,288,4352,0.15,2.30,0.00,0.000,6,0.101,0.028,2401,1879,3369,0,0,0,0,0,0
$STATE,4654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4654,begin apogee
$GC,4660,-0.31,0.0,453.2,9.6,296,4728,1.15,0.00,65.05,0.871,6,0.077,0.000,2646,2028,3050,0,0,0,0,0,0
$STATE,4729,end apogee,CONTROL_FINISHED_OK
$STATE,4729,begin climb
$GC,4731,1.40,77.9,454.8,0.0,297,4806,1.62,2.45,65.10,0.852,4,0.031,0.044,3021,3386,2732,0,0,0,0,0,0
$GC,5070,1.22,117.9,451.7,5.3,304,5111,0.22,2.35,34.42,0.844,6,0.114,0.037,2984,2009,2568,0,0,0,0,0,0
$GC,5420,1.10,117.9,421.5,9.5,313,5425,0.15,2.40,0.00,0.000,4,0.117,0.041,2955,3389,2563,0,0,0,0,0,0
$GC,5463,1.05,117.9,417.4,9.5,314,5467,0.00,2.40,0.00,0.000,6,0.000,0.038,2953,2001,2562,0,0,0,0,0,0
$GC,5796,1.02,136.9,391.7,6.7,322,5814,0.00,0.00,16.25,0.805,6,0.000,0.000,2953,2001,2491,0,0,0,0,0,0
$GC,6120,0.98,136.9,366.2,8.3,330,6125,0.15,2.50,0.00,0.000,4,0.117,0.054,2923,597,2487,0,0,0,0,0,0
$GC,6153,0.93,136.9,363.2,8.3,330,6158,0.00,2.35,0.00,0.000,6,0.000,0.031,2929,1998,2486,0,0,0,0,0,0
$GC,6484,0.97,176.7,341.9,5.3,338,6526,0.00,2.55,34.92,0.815,4,0.000,0.052,2929,602,2328,0,0,0,0,0,0
$GC,6637,1.02,216.8,334.2,5.3,341,6679,0.00,2.40,36.40,0.801,6,0.000,0.030,2928,2023,2166,0,0,0,0,0,0
$GC,6988,1.10,216.8,305.8,10.5,350,6993,0.10,2.55,0.00,0.000,4,0.086,0.052,2956,597,2158,0,0,0,0,0,0
$GC,7170,1.06,216.8,278.4,13.9,357,7174,0.00,2.38,0.00,0.000,6,0.000,0.030,2955,2018,2154,0,0,0,0,0,0
$GC,7501,1.09,216.8,240.5,11.4,373,7505,0.00,2.50,0.00,0.000,4,0.000,0.051,2955,603,2153,0,0,0,0,0,0
$GC,7550,1.09,216.8,233.8,13.2,375,7555,0.00,2.38,0.00,0.000,6,0.000,0.028,2954,2021,2151,0,0,0,0,0,0
$GC,7872,1.14,216.8,201.7,9.7,391,7876,0.00,2.50,0.00,0.000,4,0.000,0.049,2955,597,2151,0,0,0,0,0,0
$GC,8012,1.14,216.8,187.3,10.1,406,8017,0.00,2.33,0.00,0.000,6,0.000,0.027,2954,2012,2150,0,0,0,0,0,0
$GC,8275,1.21,226.7,167.8,7.3,430,8289,0.10,2.53,7.30,0.581,4,0.085,0.047,2983,601,2126,0,0,0,0,0,0
$GC,8404,1.16,226.7,156.0,10.3,444,8408,0.00,2.35,0.00,0.000,6,0.000,0.025,2983,2021,2123,0,0,0,0,0,0
$GC,8666,1.16,226.7,130.0,10.7,468,8670,0.00,2.47,0.00,0.000,4,0.000,0.045,2983,595,2123,0,0,0,0,0,0
$GC,8729,1.12,226.7,122.2,13.1,474,8737,0.10,2.35,0.00,0.000,6,0.092,0.024,2961,2012,2122,0,0,0,0,0,0
$GC,8993,1.20,234.0,98.9,7.5,499,9007,0.00,2.47,8.18,0.537,4,0.000,0.044,2961,600,2095,0,0,0,0,0,0
$GC,9044,1.20,234.0,94.1,9.8,504,9048,0.00,2.30,0.00,0.000,6,0.000,0.023,2961,2016,2093,0,0,0,0,0,0
$GC,9307,1.29,234.9,71.1,8.0,528,9312,0.15,2.47,0.00,0.000,4,0.062,0.044,3005,597,2093,0,0,0,0,0,0
$GC,9336,1.22,234.9,68.3,10.3,530,9344,0.10,2.33,0.00,0.000,6,0.084,0.022,2982,2011,2093,0,0,0,0,0,0
$GC,9600,1.31,257.6,51.3,6.5,555,9628,0.00,0.00,22.12,0.550,6,0.000,0.000,2981,2016,1998,0,0,0,0,0,0
$GC,9882,1.39,257.6,28.0,8.3,584,9890,0.15,2.47,0.00,0.000,4,0.058,0.043,3027,602,1997,0,0,0,0,0,0
$GC,9983,1.31,257.6,17.3,11.8,605,9989,0.15,2.25,0.00,0.000,6,0.100,0.020,2998,2009,1994,0,0,0,0,0,0
$STATE,10131,end climb,SURFACE_DEPTH_REACHED
$STATE,10132,begin surface coast
$FINISH,0.4,1.008160
$STATE,10166,end surface coast,CONTROL_FINISHED_OK
$STATE,10166,begin surface
$SM_CCo,10186,21.55,0.500,0,0,1826,300.00
$SM_GC,1.08,0.00,0.00,21.55,0.000,0.000,0.500,424,1856,1826,-10.53,-0.51,300.00
$IRIDIUM_FIX,2101.76,-15753.90,210899,020217
$TT8_MAMPS,0.029146
$HUMID,48.50
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.30
$XPDR_PINGS,2
$24V_AH,23.4,33.491
$10V_AH,10.0,31.709
$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,28.025,119.500,289.750,21.550,0.000,30.421,33.058,146.582,5.000,0.000,15.152,1251.747,6576.519,378.572,1922.678,393.770,33.364,1217.908,0.000,1898.035,0.000,29.258,0.000
$DEVICE_MAMPS,136.526,55.224,871.312,500.084,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.791,409.617,817.480,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,34960,638
$CAP_FILE_SIZE,120734,0
$CFSIZE,260165632,236871680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270510,080336,2107.817,-15755.069,60,2.0,70,9.8