version: 66.06
glider: 139
mission: 7
dive: 383
start: 5 28 110 2 0 43
data:
$ID,139
$MISSION,7
$DIVE,383
$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,-2134737.2
$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
$GPS1,015436,2107.204,-15754.194,56,1.6,72,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.9
$GPS2,015952,2107.283,-15754.239,15,2.4,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,-0.009
$KALMAN_X,-40023.0,541.5,-309.7,40982.2,-2014.3
$KALMAN_Y,37181.2,133.4,152.0,-36776.7,96.7
$MHEAD_RNG_PITCHd_Wd,83.1,19750,-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,-53.40,0.000,2,0.000,0.000,425,1851,3206,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.2,-4.8,10,96,10.60,2.42,-3.28,0.000,4,0.134,0.037,2403,3292,3370,0,0,0,0,0,0
$GC,141,-1.33,-77.9,19.8,-17.3,24,148,0.00,2.42,0.00,0.000,6,0.000,0.032,2404,1879,3371,0,0,0,0,0,0
$GC,349,-1.20,-77.9,59.5,-17.6,48,354,0.22,2.42,0.00,0.000,4,0.097,0.042,2448,458,3372,0,0,0,0,0,0
$GC,376,-1.08,-77.9,63.9,-16.0,50,381,0.15,2.33,0.00,0.000,6,0.098,0.020,2477,1913,3372,0,0,0,0,0,0
$GC,638,-1.16,-77.9,97.1,-12.8,74,642,0.00,2.50,0.00,0.000,4,0.000,0.042,2479,464,3374,0,0,0,0,0,0
$GC,673,-1.22,-77.9,102.0,-12.5,77,679,0.15,2.25,0.00,0.000,6,0.055,0.019,2429,1876,3374,0,0,0,0,0,0
$GC,934,-1.22,-77.9,139.5,-13.7,102,939,0.00,2.25,0.00,0.000,4,0.000,0.025,2430,3269,3374,0,0,0,0,0,0
$GC,964,-1.29,-77.9,143.3,-12.9,105,969,0.00,2.33,0.00,0.000,6,0.000,0.029,2430,1869,3374,0,0,0,0,0,0
$GC,1227,-1.29,-77.9,170.8,-9.9,129,1231,0.00,2.38,0.00,0.000,4,0.000,0.043,2429,467,3376,0,0,0,0,0,0
$GC,1306,-1.29,-77.9,178.8,-10.2,137,1311,0.00,2.25,0.00,0.000,6,0.000,0.020,2430,1888,3376,0,0,0,0,0,0
$GC,1580,-1.34,-77.9,206.4,-9.9,159,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,1894,3377,0,0,0,0,0,0
$GC,1886,-1.42,-77.9,228.7,-6.3,174,1890,0.12,2.45,0.00,0.000,4,0.064,0.044,2387,464,3377,0,0,0,0,0,0
$GC,1984,-1.34,-77.9,238.7,-11.8,178,1989,0.15,2.25,0.00,0.000,6,0.094,0.021,2419,1879,3377,0,0,0,0,0,0
$GC,2306,-1.37,-77.9,273.7,-10.2,194,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1882,3377,0,0,0,0,0,0
$GC,2613,-1.44,-77.9,305.6,-10.4,208,2617,0.00,2.42,0.00,0.000,4,0.000,0.047,2418,467,3376,0,0,0,0,0,0
$GC,2655,-1.44,-77.9,310.5,-12.0,209,2659,0.00,2.28,0.00,0.000,6,0.000,0.024,2418,1881,3376,0,0,0,0,0,0
$GC,2983,-1.52,-77.9,342.2,-8.8,217,2988,0.17,2.45,0.00,0.000,4,0.053,0.049,2367,471,3375,0,0,0,0,0,0
$GC,3082,-1.44,-77.9,354.4,-12.0,219,3087,0.15,2.28,0.00,0.000,6,0.095,0.025,2398,1873,3374,0,0,0,0,0,0
$GC,3402,-1.48,-77.9,384.0,-8.7,227,3406,0.00,2.42,0.00,0.000,4,0.000,0.051,2397,475,3372,0,0,0,0,0,0
$GC,3490,-1.48,-77.9,392.3,-9.2,229,3495,0.00,2.28,0.00,0.000,6,0.000,0.027,2398,1873,3372,0,0,0,0,0,0
$GC,3818,-1.52,-77.9,419.2,-8.1,237,3822,0.00,2.45,0.00,0.000,4,0.000,0.051,2398,476,3370,0,0,0,0,0,0
$GC,3863,-1.52,-77.9,423.5,-8.8,238,3868,0.00,2.33,0.00,0.000,6,0.000,0.028,2398,1881,3370,0,0,0,0,0,0
$GC,4186,-1.56,-77.9,449.2,-8.1,246,4191,0.12,2.47,0.00,0.000,4,0.070,0.055,2363,477,3367,0,0,0,0,0,0
$STATE,4194,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4194,begin apogee
$GC,4201,-0.31,0.0,450.2,8.2,246,4271,1.30,0.00,64.55,0.876,6,0.081,0.000,2640,2016,3050,0,0,0,0,0,0
$STATE,4272,end apogee,CONTROL_FINISHED_OK
$STATE,4272,begin climb
$GC,4274,1.40,77.9,451.7,0.0,248,4349,1.65,2.50,64.82,0.856,4,0.034,0.044,3025,3398,2732,0,0,0,0,0,0
$GC,4453,1.25,144.5,450.9,3.4,252,4518,0.17,2.40,56.75,0.854,6,0.116,0.036,2992,2003,2459,0,0,0,0,0,0
$GC,4864,1.14,144.5,416.6,8.8,262,4869,0.15,2.42,0.00,0.000,4,0.116,0.042,2963,3404,2452,0,0,0,0,0,0
$GC,4970,1.10,153.3,408.9,7.4,264,4982,0.00,2.40,7.45,0.702,6,0.000,0.038,2966,2012,2424,0,0,0,0,0,0
$GC,5327,1.06,163.0,382.5,7.4,273,5344,0.00,2.58,9.52,0.743,4,0.000,0.053,2967,602,2384,0,0,0,0,0,0
$GC,5445,0.95,163.0,371.7,9.6,275,5450,0.25,2.35,0.00,0.000,6,0.113,0.030,2920,2009,2381,0,0,0,0,0,0
$GC,5786,1.02,178.1,348.2,7.0,284,5806,0.00,2.47,13.82,0.772,4,0.000,0.041,2920,3400,2323,0,0,0,0,0,0
$GC,5839,1.11,178.1,343.9,8.4,285,5844,0.15,2.42,0.00,0.000,6,0.067,0.038,2958,2005,2323,0,0,0,0,0,0
$GC,6157,1.11,178.1,311.3,10.9,293,6162,0.00,2.47,0.00,0.000,4,0.000,0.053,2958,602,2320,0,0,0,0,0,0
$GC,6351,1.05,178.1,288.9,10.2,298,6355,0.00,2.38,0.00,0.000,6,0.000,0.029,2958,2016,2317,0,0,0,0,0,0
$GC,6667,1.09,217.0,268.3,5.3,313,6710,0.00,2.47,34.88,0.769,4,0.000,0.038,2959,3405,2165,0,0,0,0,0,0
$GC,6731,1.14,225.0,263.7,7.5,315,6745,0.00,2.42,8.68,0.654,6,0.000,0.036,2959,2008,2132,0,0,0,0,0,0
$GC,7066,1.18,225.0,227.2,11.7,332,7070,0.00,2.47,0.00,0.000,4,0.000,0.051,2957,600,2127,0,0,0,0,0,0
$GC,7195,1.18,225.0,214.1,9.0,337,7200,0.00,2.35,0.00,0.000,6,0.000,0.028,2958,2018,2123,0,0,0,0,0,0
$GC,7512,1.25,252.9,195.2,6.1,356,7544,0.12,2.58,24.48,0.692,4,0.072,0.048,2992,605,2018,0,0,0,0,0,0
$GC,7599,1.18,252.9,186.9,10.8,365,7603,0.00,2.35,0.00,0.000,6,0.000,0.025,2992,2021,2015,0,0,0,0,0,0
$GC,7861,1.18,252.9,154.8,13.1,389,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2026,2014,0,0,0,0,0,0
$GC,8115,1.18,252.9,125.5,9.9,413,8120,0.00,2.45,0.00,0.000,4,0.000,0.045,2991,601,2013,0,0,0,0,0,0
$GC,8185,1.14,252.9,118.0,9.7,420,8190,0.15,2.30,0.00,0.000,6,0.105,0.023,2965,2016,2010,0,0,0,0,0,0
$GC,8446,1.26,283.9,99.2,5.9,444,8477,0.10,0.00,27.62,0.601,6,0.079,0.000,2995,2022,1891,0,0,0,0,0,0
$GC,8732,1.30,283.9,73.0,10.8,471,8736,0.00,2.47,0.00,0.000,4,0.000,0.044,2995,595,1889,0,0,0,0,0,0
$GC,8844,1.30,283.9,60.0,11.7,483,8849,0.00,2.30,0.00,0.000,6,0.000,0.021,2995,2022,1886,0,0,0,0,0,0
$GC,9108,1.36,283.9,35.9,9.4,507,9112,0.00,2.45,0.00,0.000,4,0.000,0.042,2995,599,1886,0,0,0,0,0,0
$GC,9195,1.36,283.9,26.4,11.2,519,9200,0.00,2.28,0.00,0.000,6,0.000,0.021,2995,2023,1885,0,0,0,0,0,0
$GC,9399,1.43,283.9,5.6,9.8,556,9407,0.12,2.50,0.00,0.000,4,0.064,0.043,3035,598,1886,0,0,0,0,0,0
$STATE,9420,end climb,SURFACE_DEPTH_REACHED
$STATE,9420,begin surface coast
$FINISH,0.5,1.013304
$STATE,9453,end surface coast,CONTROL_FINISHED_OK
$STATE,9453,begin surface
$SM_CCo,9474,8.25,0.451,0,0,1827,300.00
$SM_GC,2.34,0.00,0.00,8.25,0.000,0.000,0.451,425,1882,1827,-10.53,0.20,300.00
$IRIDIUM_FIX,2101.76,-15745.74,210899,232307
$TT8_MAMPS,0.029146
$HUMID,49.01
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.4,34.061
$10V_AH,10.0,32.254
$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,27.150,110.100,312.575,8.250,0.000,27.675,29.102,132.754,4.500,0.000,35.740,1119.637,6205.551,359.287,1755.963,357.821,33.376,1149.115,0.000,1702.367,0.000,29.246,0.000
$DEVICE_MAMPS,134.225,55.224,875.914,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,382.744,357.973,695.291,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,31722,567
$CAP_FILE_SIZE,110628,0
$CFSIZE,260165632,236478464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280510,044037,2107.090,-15754.226,75,1.7,75,9.8