version: 66.06
glider: 139
mission: 7
dive: 385
start: 5 28 110 7 42 25
data:
$ID,139
$MISSION,7
$DIVE,385
$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,-2134781.8
$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
$GPS1,073613,2107.148,-15753.729,33,1.8,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.7
$GPS2,074134,2107.137,-15753.694,11,4.6,30,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.017
$KALMAN_X,-43613.7,393.8,257.0,45096.6,-2113.9
$KALMAN_Y,37357.3,57.9,-161.2,-36833.8,199.1
$MHEAD_RNG_PITCHd_Wd,85.5,18781,-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,-53.45,0.000,2,0.000,0.000,425,1861,3225,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.4,-5.6,10,95,10.62,2.42,-2.80,0.000,4,0.135,0.036,2403,3306,3371,0,0,0,0,0,0
$GC,106,-0.48,-77.9,14.2,-31.3,16,113,0.95,2.45,0.00,0.000,6,0.078,0.031,2609,1877,3372,0,0,0,0,0,0
$GC,315,-0.82,-77.9,26.5,-4.7,53,321,0.32,2.40,0.00,0.000,4,0.047,0.041,2519,468,3373,0,0,0,0,0,0
$GC,393,-0.94,-77.9,33.0,-8.5,66,400,0.00,2.33,0.00,0.000,6,0.000,0.020,2520,1904,3373,0,0,0,0,0,0
$GC,656,-1.07,-77.9,54.9,-10.2,91,661,0.17,2.47,0.00,0.000,4,0.052,0.044,2463,468,3374,0,0,0,0,0,0
$GC,744,-1.07,-77.9,66.4,-13.1,100,748,0.00,2.22,0.00,0.000,6,0.000,0.019,2463,1879,3374,0,0,0,0,0,0
$GC,1006,-1.12,-77.9,96.3,-11.2,124,1010,0.00,2.42,0.00,0.000,4,0.000,0.044,2463,461,3375,0,0,0,0,0,0
$GC,1123,-1.12,-77.9,110.1,-11.4,136,1127,0.00,2.25,0.00,0.000,6,0.000,0.019,2463,1880,3376,0,0,0,0,0,0
$GC,1385,-1.20,-77.9,134.6,-8.3,160,1389,0.00,2.42,0.00,0.000,4,0.000,0.043,2463,469,3377,0,0,0,0,0,0
$GC,1467,-1.25,-77.9,141.5,-7.7,168,1475,0.08,2.28,0.00,0.000,6,0.036,0.019,2424,1876,3377,0,0,0,0,0,0
$GC,1729,-1.25,-77.9,162.0,-7.9,193,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,1881,3377,0,0,0,0,0,0
$GC,1984,-1.29,-77.9,184.8,-10.0,217,1988,0.00,2.40,0.00,0.000,4,0.000,0.046,2424,470,3378,0,0,0,0,0,0
$GC,2065,-1.29,-77.9,194.8,-12.5,225,2071,0.00,2.22,0.00,0.000,6,0.000,0.020,2424,1878,3378,0,0,0,0,0,0
$GC,2319,-1.29,-77.9,222.3,-10.0,240,2323,0.00,2.42,0.00,0.000,4,0.000,0.044,2424,467,3378,0,0,0,0,0,0
$GC,2378,-1.29,-77.9,228.4,-10.4,242,2385,0.00,2.28,0.00,0.000,6,0.000,0.021,2424,1870,3377,0,0,0,0,0,0
$GC,2694,-1.34,-77.9,255.1,-8.1,258,2698,0.00,2.42,0.00,0.000,4,0.000,0.044,2423,460,3377,0,0,0,0,0,0
$GC,2751,-1.38,-77.9,260.4,-9.2,260,2756,0.00,2.28,0.00,0.000,6,0.000,0.021,2424,1876,3378,0,0,0,0,0,0
$GC,3070,-1.45,-77.9,292.4,-11.2,275,3075,0.12,2.45,0.00,0.000,4,0.064,0.048,2382,470,3377,0,0,0,0,0,0
$GC,3237,-1.39,-77.9,313.8,-12.1,280,3242,0.15,2.25,0.00,0.000,6,0.094,0.022,2413,1870,3376,0,0,0,0,0,0
$GC,3574,-1.46,-77.9,342.5,-8.5,289,3578,0.00,2.42,0.00,0.000,4,0.000,0.048,2413,470,3376,0,0,0,0,0,0
$GC,3685,-1.46,-77.9,353.7,-9.2,291,3689,0.00,2.28,0.00,0.000,6,0.000,0.025,2413,1879,3375,0,0,0,0,0,0
$GC,4031,-1.51,-77.9,386.3,-9.6,300,4036,0.15,2.47,0.00,0.000,4,0.061,0.051,2369,471,3373,0,0,0,0,0,0
$GC,4087,-1.43,-77.9,393.1,-11.9,301,4092,0.15,2.30,0.00,0.000,6,0.097,0.026,2400,1881,3373,0,0,0,0,0,0
$GC,4402,-1.48,-77.9,423.2,-9.8,309,4407,0.00,2.47,0.00,0.000,4,0.000,0.053,2398,468,3371,0,0,0,0,0,0
$GC,4499,-1.48,-77.9,433.0,-9.2,311,4503,0.00,2.33,0.00,0.000,6,0.000,0.028,2400,1876,3370,0,0,0,0,0,0
$STATE,4780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4780,begin apogee
$GC,4786,-0.31,0.0,452.0,6.1,318,4854,1.12,0.00,65.18,0.869,6,0.071,0.000,2642,2037,3050,0,0,0,0,0,0
$STATE,4855,end apogee,CONTROL_FINISHED_OK
$STATE,4855,begin climb
$GC,4857,1.40,77.9,452.3,0.0,319,4932,1.62,2.42,64.82,0.848,4,0.031,0.044,3025,3377,2732,0,0,0,0,0,0
$GC,5196,1.19,86.0,430.5,7.5,326,5210,0.25,2.38,7.78,0.709,6,0.109,0.037,2976,2006,2699,0,0,0,0,0,0
$GC,5543,1.15,147.3,414.2,3.8,335,5603,0.00,2.42,52.78,0.847,4,0.000,0.039,2979,3382,2448,0,0,0,0,0,0
$GC,5747,1.09,147.3,397.2,10.5,339,5752,0.15,2.38,0.00,0.000,6,0.117,0.039,2952,2008,2445,0,0,0,0,0,0
$GC,6087,1.09,147.3,364.2,10.1,348,6092,0.00,2.50,0.00,0.000,4,0.000,0.053,2951,593,2439,0,0,0,0,0,0
$GC,6177,1.00,147.3,354.2,11.8,350,6181,0.00,2.35,0.00,0.000,6,0.000,0.030,2950,1996,2436,0,0,0,0,0,0
$GC,6503,1.00,147.3,322.7,8.8,358,6504,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2001,2435,0,0,0,0,0,0
$GC,6828,1.03,172.2,298.6,6.3,366,6854,0.00,2.55,20.40,0.775,4,0.000,0.051,2951,604,2347,0,0,0,0,0,0
$GC,6922,0.98,172.2,291.3,8.5,370,6927,0.12,2.35,0.00,0.000,6,0.123,0.030,2929,2012,2342,0,0,0,0,0,0
$GC,7253,1.06,179.6,267.8,7.5,386,7265,0.00,2.50,7.10,0.647,4,0.000,0.051,2929,602,2317,0,0,0,0,0,0
$GC,7358,1.06,179.6,258.7,8.8,390,7362,0.00,2.35,0.00,0.000,6,0.000,0.028,2929,2016,2314,0,0,0,0,0,0
$GC,7675,1.15,190.0,234.4,7.3,405,7691,0.15,2.42,10.40,0.677,4,0.068,0.037,2967,3400,2275,0,0,0,0,0,0
$GC,7729,1.16,197.7,230.4,7.5,407,7743,0.00,2.40,8.52,0.644,6,0.000,0.033,2967,1997,2244,0,0,0,0,0,0
$GC,8053,1.16,197.7,205.3,9.0,423,8057,0.00,2.40,0.00,0.000,4,0.000,0.048,2965,604,2241,0,0,0,0,0,0
$GC,8154,1.12,197.7,196.7,8.1,430,8161,0.00,2.38,0.00,0.000,6,0.000,0.026,2967,2015,2238,0,0,0,0,0,0
$GC,8417,1.13,203.3,177.0,7.6,455,8428,0.00,2.55,5.62,0.538,4,0.000,0.047,2966,596,2221,0,0,0,0,0,0
$GC,8584,1.09,203.3,161.0,11.1,473,8589,0.00,2.35,0.00,0.000,6,0.000,0.025,2967,2018,2219,0,0,0,0,0,0
$GC,8848,1.12,203.3,136.8,9.5,497,8853,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2023,2219,0,0,0,0,0,0
$GC,9109,1.16,203.3,113.4,8.3,522,9113,0.00,2.45,0.00,0.000,4,0.000,0.044,2967,602,2219,0,0,0,0,0,0
$GC,9173,1.16,203.3,107.7,8.6,528,9180,0.00,2.33,0.00,0.000,6,0.000,0.023,2967,2010,2218,0,0,0,0,0,0
$GC,9437,1.26,240.8,90.8,5.4,553,9476,0.00,2.53,33.80,0.598,4,0.000,0.043,2967,602,2067,0,0,0,0,0,0
$GC,9493,1.28,257.3,86.9,6.9,559,9515,0.12,2.33,15.73,0.561,6,0.068,0.022,3003,2019,2000,0,0,0,0,0,0
$GC,9777,1.28,257.3,59.4,8.7,586,9781,0.00,2.45,0.00,0.000,4,0.000,0.043,3003,602,1996,0,0,0,0,0,0
$GC,9914,1.24,257.3,44.9,10.5,600,9921,0.00,2.30,0.00,0.000,6,0.000,0.021,3003,2004,1994,0,0,0,0,0,0
$GC,10180,1.29,263.0,19.9,7.6,636,10190,0.00,0.00,5.60,0.423,6,0.000,0.000,3003,2008,1976,0,0,0,0,0,0
$STATE,10371,end climb,SURFACE_DEPTH_REACHED
$STATE,10371,begin surface coast
$FINISH,0.5,1.008745
$STATE,10399,end surface coast,CONTROL_FINISHED_OK
$STATE,10399,begin surface
$SM_CCo,10419,20.15,0.502,0,0,1826,300.00
$SM_GC,0.95,0.00,0.00,20.15,0.000,0.000,0.502,424,1824,1826,-10.53,-1.44,300.00
$IRIDIUM_FIX,2101.76,-15753.03,220899,040457
$TT8_MAMPS,0.029146
$HUMID,48.74
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,34.217
$10V_AH,10.0,32.412
$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,27.375,110.175,297.725,20.150,0.000,24.395,38.191,137.791,4.500,0.000,31.293,1300.187,6624.716,368.826,2070.780,397.595,33.368,1261.795,0.000,2033.544,0.000,29.254,0.000
$DEVICE_MAMPS,134.992,52.923,869.011,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,455.726,437.851,855.359,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,38020,676
$CAP_FILE_SIZE,119787,0
$CFSIZE,260165632,236347392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280510,103804,2107.259,-15753.510,43,2.9,62,9.8