version: 66.06
glider: 139
mission: 7
dive: 407
start: 5 31 110 1 45 11
data:
$ID,139
$MISSION,7
$DIVE,407
$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,-2135366.2
$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
$GPS1,013851,2105.686,-15748.730,190,2.1,209,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-69.7
$GPS2,014419,2105.632,-15748.828,14,1.8,16,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.169,0.072
$KALMAN_X,-78648.5,267.4,312.8,88613.3,-2751.8
$KALMAN_Y,30065.1,76.1,-73.4,-32436.2,-838.1
$MHEAD_RNG_PITCHd_Wd,57.1,10217,-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,-53.05,0.000,2,0.000,0.000,426,1855,3185,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.1,-4.4,10,96,10.60,2.42,-3.80,0.000,4,0.135,0.038,2401,3307,3371,0,0,0,0,0,0
$GC,133,-1.30,-77.9,17.7,-18.3,22,140,0.10,2.45,0.00,0.000,6,0.081,0.031,2425,1879,3371,0,0,0,0,0,0
$GC,339,-1.20,-77.9,51.1,-16.0,47,344,0.12,2.42,0.00,0.000,4,0.110,0.044,2450,467,3373,0,0,0,0,0,0
$GC,376,-1.13,-77.9,56.4,-14.5,50,380,0.00,2.33,0.00,0.000,6,0.000,0.020,2449,1910,3372,0,0,0,0,0,0
$GC,636,-1.13,-77.9,87.5,-11.0,74,640,0.00,2.47,0.00,0.000,4,0.000,0.043,2450,463,3373,0,0,0,0,0,0
$GC,689,-1.13,-77.9,93.5,-11.4,79,693,0.00,2.28,0.00,0.000,6,0.000,0.019,2449,1883,3374,0,0,0,0,0,0
$GC,952,-1.18,-77.9,121.5,-9.7,103,956,0.00,2.42,0.00,0.000,4,0.000,0.044,2450,464,3375,0,0,0,0,0,0
$GC,970,-1.18,-77.9,123.6,-9.6,104,977,0.00,2.28,0.00,0.000,6,0.000,0.020,2449,1881,3375,0,0,0,0,0,0
$GC,1234,-1.26,-77.9,149.2,-10.0,129,1238,0.00,2.42,0.00,0.000,4,0.000,0.043,2450,460,3375,0,0,0,0,0,0
$GC,1306,-1.26,-77.9,157.3,-10.5,136,1313,0.00,2.28,0.00,0.000,6,0.000,0.020,2449,1870,3376,0,0,0,0,0,0
$GC,1570,-1.36,-77.9,180.0,-8.3,161,1577,0.15,2.40,0.00,0.000,4,0.056,0.044,2401,471,3376,0,0,0,0,0,0
$GC,1669,-1.28,-77.9,192.0,-13.0,171,1674,0.15,2.25,0.00,0.000,6,0.094,0.020,2432,1874,3376,0,0,0,0,0,0
$GC,1925,-1.33,-77.9,219.7,-10.8,186,1930,0.00,2.42,0.00,0.000,4,0.000,0.044,2433,460,3377,0,0,0,0,0,0
$GC,1953,-1.33,-77.9,222.9,-11.3,187,1957,0.00,2.28,0.00,0.000,6,0.000,0.021,2432,1874,3377,0,0,0,0,0,0
$GC,2280,-1.40,-77.9,254.3,-8.5,203,2285,0.10,2.42,0.00,0.000,4,0.075,0.046,2396,467,3377,0,0,0,0,0,0
$GC,2314,-1.34,-77.9,258.0,-10.5,204,2318,0.12,2.28,0.00,0.000,6,0.099,0.021,2423,1886,3377,0,0,0,0,0,0
$GC,2632,-1.41,-77.9,285.1,-8.0,219,2636,0.00,2.42,0.00,0.000,4,0.000,0.046,2422,468,3375,0,0,0,0,0,0
$GC,2736,-1.46,-77.9,294.2,-7.9,223,2741,0.12,2.25,0.00,0.000,6,0.064,0.023,2382,1874,3375,0,0,0,0,0,0
$GC,3048,-1.46,-77.9,322.3,-9.2,232,3052,0.00,2.45,0.00,0.000,4,0.000,0.048,2381,462,3375,0,0,0,0,0,0
$GC,3127,-1.40,-77.9,330.8,-10.6,233,3132,0.12,2.30,0.00,0.000,6,0.101,0.024,2407,1875,3374,0,0,0,0,0,0
$GC,3459,-1.44,-77.9,358.1,-8.4,241,3463,0.00,2.33,0.00,0.000,4,0.000,0.032,2407,3272,3373,0,0,0,0,0,0
$GC,3502,-1.56,-77.9,362.0,-8.5,242,3507,0.15,2.38,0.00,0.000,6,0.059,0.035,2364,1874,3373,0,0,0,0,0,0
$GC,3830,-1.52,-77.9,397.2,-11.3,250,3834,0.00,2.45,0.00,0.000,4,0.000,0.051,2363,466,3371,0,0,0,0,0,0
$GC,3858,-1.42,-77.9,400.7,-12.6,250,3863,0.20,2.30,0.00,0.000,6,0.089,0.027,2405,1877,3370,0,0,0,0,0,0
$GC,4194,-1.47,-77.9,429.7,-8.1,259,4198,0.00,2.47,0.00,0.000,4,0.000,0.054,2404,469,3368,0,0,0,0,0,0
$GC,4273,-1.47,-77.9,436.0,-7.9,260,4277,0.00,2.33,0.00,0.000,6,0.000,0.028,2405,1875,3368,0,0,0,0,0,0
$STATE,4480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4480,begin apogee
$GC,4485,-0.31,0.0,450.0,6.5,265,4553,1.12,0.00,64.90,0.874,6,0.072,0.000,2648,2034,3050,0,0,0,0,0,0
$STATE,4554,end apogee,CONTROL_FINISHED_OK
$STATE,4554,begin climb
$GC,4557,1.40,77.9,450.3,0.0,266,4631,1.60,2.42,65.15,0.853,4,0.031,0.043,3024,3381,2732,0,0,0,0,0,0
$GC,4724,1.21,108.4,444.8,5.9,269,4758,0.22,2.35,26.92,0.825,6,0.110,0.035,2982,2005,2606,0,0,0,0,0,0
$GC,5103,1.09,108.4,411.6,8.6,279,5108,0.15,2.40,0.00,0.000,4,0.114,0.041,2955,3386,2600,0,0,0,0,0,0
$GC,5372,1.07,135.5,394.7,6.2,284,5401,0.00,2.38,22.80,0.816,6,0.000,0.038,2955,2012,2496,0,0,0,0,0,0
$GC,5747,1.07,135.5,365.8,8.1,294,5751,0.00,2.40,0.00,0.000,4,0.000,0.041,2954,3387,2491,0,0,0,0,0,0
$GC,5811,1.04,135.5,360.1,9.2,295,5816,0.00,2.38,0.00,0.000,6,0.000,0.038,2955,2001,2492,0,0,0,0,0,0
$GC,6161,1.01,138.9,332.5,7.8,304,6165,0.00,2.38,0.00,0.000,4,0.000,0.041,2954,3387,2489,0,0,0,0,0,0
$GC,6337,1.01,138.9,317.1,8.5,307,6342,0.00,2.38,0.00,0.000,6,0.000,0.037,2955,2009,2489,0,0,0,0,0,0
$GC,6649,1.03,153.8,293.7,7.0,317,6671,0.00,2.53,15.20,0.757,4,0.000,0.053,2955,601,2422,0,0,0,0,0,0
$GC,6869,0.99,171.6,277.3,6.8,326,6892,0.12,2.35,16.50,0.746,6,0.122,0.029,2932,2005,2349,0,0,0,0,0,0
$GC,7214,1.09,196.4,256.0,6.3,343,7243,0.00,2.55,22.88,0.743,4,0.000,0.051,2932,608,2249,0,0,0,0,0,0
$GC,7255,1.14,203.2,253.1,7.5,345,7268,0.12,2.38,7.50,0.630,6,0.074,0.028,2964,2014,2221,0,0,0,0,0,0
$GC,7586,1.14,203.2,221.9,10.1,361,7591,0.00,2.47,0.00,0.000,4,0.000,0.049,2964,603,2218,0,0,0,0,0,0
$GC,7646,1.14,203.2,214.4,12.2,363,7651,0.00,2.33,0.00,0.000,6,0.000,0.027,2964,2009,2215,0,0,0,0,0,0
$GC,7967,1.14,203.2,184.6,8.8,387,7971,0.00,2.47,0.00,0.000,4,0.000,0.048,2964,595,2215,0,0,0,0,0,0
$GC,8029,1.14,203.2,179.0,9.5,393,8033,0.00,2.35,0.00,0.000,6,0.000,0.026,2964,2011,2213,0,0,0,0,0,0
$GC,8293,1.21,215.6,158.6,7.2,417,8313,0.00,2.53,11.07,0.618,4,0.000,0.046,2964,602,2170,0,0,0,0,0,0
$GC,8426,1.21,218.3,149.4,7.8,431,8430,0.00,2.33,0.00,0.000,6,0.000,0.024,2964,2021,2167,0,0,0,0,0,0
$GC,8690,1.30,245.0,133.4,6.2,455,8728,0.15,2.55,26.88,0.631,4,0.062,0.044,3006,603,2050,0,0,0,0,0,0
$GC,8738,1.23,245.0,129.0,10.2,460,8743,0.12,2.33,0.00,0.000,6,0.107,0.023,2984,2018,2048,0,0,0,0,0,0
$GC,8999,1.27,245.0,104.4,9.4,484,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2022,2046,0,0,0,0,0,0
$GC,9254,1.32,245.0,81.8,8.8,508,9258,0.00,2.45,0.00,0.000,4,0.000,0.043,2983,601,2046,0,0,0,0,0,0
$GC,9317,1.32,245.0,76.0,9.3,514,9324,0.00,2.33,0.00,0.000,6,0.000,0.022,2983,2014,2044,0,0,0,0,0,0
$GC,9581,1.41,267.9,58.5,6.4,539,9612,0.17,2.53,20.73,0.551,4,0.054,0.042,3034,596,1956,0,0,0,0,0,0
$GC,9633,1.33,267.9,54.1,9.7,544,9638,0.15,2.30,0.00,0.000,6,0.100,0.021,3006,2014,1953,0,0,0,0,0,0
$GC,9895,1.36,267.9,31.4,9.6,568,9899,0.00,2.45,0.00,0.000,4,0.000,0.043,3005,590,1953,0,0,0,0,0,0
$GC,9914,1.36,267.9,29.2,10.3,570,9921,0.00,2.33,0.00,0.000,6,0.000,0.021,3005,2045,1952,0,0,0,0,0,0
$GC,10120,1.41,267.9,6.8,11.7,607,10126,0.00,2.45,0.00,0.000,4,0.000,0.041,3005,600,1952,0,0,0,0,0,0
$STATE,10151,end climb,SURFACE_DEPTH_REACHED
$STATE,10152,begin surface coast
$FINISH,0.5,1.023345
$STATE,10170,end surface coast,CONTROL_FINISHED_OK
$STATE,10170,begin surface
$SM_CCo,10192,16.62,0.493,0,0,1827,300.00
$SM_GC,1.98,0.00,0.00,16.62,0.000,0.000,0.493,425,1859,1827,-10.53,-0.48,300.00
$IRIDIUM_FIX,2054.83,-15751.76,240899,222259
$TT8_MAMPS,0.029146
$HUMID,47.91
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.4,36.068
$10V_AH,10.0,34.176
$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,26.950,128.775,300.525,16.625,0.000,23.681,36.235,159.026,4.750,0.000,16.498,1230.047,6617.900,384.438,1883.708,420.153,33.375,1230.887,0.000,1851.841,0.000,32.116,0.000
$DEVICE_MAMPS,134.992,53.690,874.380,493.181,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.509,395.103,777.865,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,34989,618
$CAP_FILE_SIZE,121195,0
$CFSIZE,260165632,235036672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310510,043801,2105.684,-15749.304,125,1.6,125,9.8