version: 66.06
glider: 139
mission: 7
dive: 408
start: 5 31 110 5 0 30
data:
$ID,139
$MISSION,7
$DIVE,408
$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,-2135380.8
$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
$GPS1,043801,2105.684,-15749.304,125,1.6,125,9.8
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-67.2
$GPS2,045938,2105.793,-15749.524,13,1.5,13,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.178,0.045
$KALMAN_X,-80896.5,466.3,-738.3,90512.9,-1694.9
$KALMAN_Y,29522.1,81.8,-44.2,-31629.1,-501.4
$MHEAD_RNG_PITCHd_Wd,66.1,11415,-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,16,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-52.65,0.000,2,0.000,0.000,424,1859,3207,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.2,-5.4,10,91,10.65,0.00,-3.25,0.000,6,0.134,0.000,2404,1860,3371,0,0,0,0,0,0
$GC,294,-1.24,-77.9,46.1,-16.6,41,298,0.20,2.40,0.00,0.000,4,0.095,0.044,2444,465,3372,0,0,0,0,0,0
$GC,330,-1.09,-77.9,52.6,-15.3,44,337,0.10,2.35,0.00,0.000,6,0.083,0.020,2468,1921,3372,0,0,0,0,0,0
$GC,594,-1.09,-77.9,82.9,-11.4,69,598,0.00,2.53,0.00,0.000,4,0.000,0.044,2469,463,3373,0,0,0,0,0,0
$GC,637,-1.09,-77.9,88.2,-11.5,73,641,0.00,2.22,0.00,0.000,6,0.000,0.019,2468,1869,3373,0,0,0,0,0,0
$GC,901,-1.17,-77.9,110.5,-8.4,97,905,0.00,2.42,0.00,0.000,4,0.000,0.042,2469,459,3373,0,0,0,0,0,0
$GC,955,-1.24,-77.9,116.0,-9.5,102,962,0.08,2.28,0.00,0.000,6,0.037,0.019,2429,1876,3373,0,0,0,0,0,0
$GC,1217,-1.24,-77.9,144.1,-11.2,127,1221,0.00,2.25,0.00,0.000,4,0.000,0.025,2429,3257,3374,0,0,0,0,0,0
$GC,1250,-1.31,-77.9,147.8,-10.7,130,1254,0.00,2.30,0.00,0.000,6,0.000,0.028,2429,1867,3374,0,0,0,0,0,0
$GC,1512,-1.36,-77.9,173.2,-9.0,154,1516,0.00,2.35,0.00,0.000,4,0.000,0.043,2429,474,3374,0,0,0,0,0,0
$GC,1613,-1.36,-77.9,183.8,-10.4,164,1620,0.00,2.28,0.00,0.000,6,0.000,0.020,2429,1878,3375,0,0,0,0,0,0
$GC,1874,-1.42,-77.9,208.8,-9.6,185,1879,0.12,2.40,0.00,0.000,4,0.062,0.043,2385,473,3375,0,0,0,0,0,0
$GC,1949,-1.34,-77.9,218.5,-13.9,188,1953,0.17,2.22,0.00,0.000,6,0.087,0.021,2423,1874,3374,0,0,0,0,0,0
$GC,2271,-1.40,-77.9,247.3,-8.7,204,2275,0.00,2.40,0.00,0.000,4,0.000,0.045,2423,468,3374,0,0,0,0,0,0
$GC,2317,-1.43,-77.9,251.8,-9.5,206,2321,0.00,2.22,0.00,0.000,6,0.000,0.021,2423,1873,3374,0,0,0,0,0,0
$GC,2643,-1.50,-77.9,280.3,-8.7,222,2648,0.17,2.45,0.00,0.000,4,0.051,0.047,2370,465,3373,0,0,0,0,0,0
$GC,2747,-1.44,-77.9,293.6,-12.5,226,2752,0.15,2.25,0.00,0.000,6,0.092,0.023,2401,1868,3373,0,0,0,0,0,0
$GC,3059,-1.47,-77.9,323.7,-9.1,235,3063,0.00,2.42,0.00,0.000,4,0.000,0.048,2401,469,3372,0,0,0,0,0,0
$GC,3123,-1.47,-77.9,330.3,-9.6,236,3127,0.00,2.28,0.00,0.000,6,0.000,0.024,2401,1876,3372,0,0,0,0,0,0
$GC,3473,-1.51,-77.9,362.6,-9.4,245,3477,0.00,2.45,0.00,0.000,4,0.000,0.050,2401,470,3369,0,0,0,0,0,0
$GC,3510,-1.51,-77.9,366.0,-9.4,245,3515,0.00,2.30,0.00,0.000,6,0.000,0.025,2401,1882,3369,0,0,0,0,0,0
$GC,3841,-1.55,-77.9,391.2,-7.3,254,3846,0.12,2.45,0.00,0.000,4,0.066,0.052,2362,475,3367,0,0,0,0,0,0
$GC,3888,-1.47,-77.9,395.2,-8.9,255,3893,0.15,2.28,0.00,0.000,6,0.097,0.027,2394,1874,3366,0,0,0,0,0,0
$GC,4211,-1.47,-77.9,418.0,-7.3,263,4216,0.00,2.42,0.00,0.000,4,0.000,0.052,2393,476,3363,0,0,0,0,0,0
$GC,4263,-1.47,-77.9,422.3,-8.0,264,4268,0.00,2.28,0.00,0.000,6,0.000,0.028,2393,1875,3363,0,0,0,0,0,0
$GC,4581,-1.47,-77.9,448.4,-8.7,272,4583,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1880,3361,0,0,0,0,0,0
$STATE,4619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4619,begin apogee
$GC,4625,-0.31,0.0,452.1,9.0,273,4692,1.17,0.00,63.67,0.878,6,0.074,0.000,2645,2025,3050,0,0,0,0,0,0
$STATE,4693,end apogee,CONTROL_FINISHED_OK
$STATE,4693,begin climb
$GC,4695,1.40,77.9,453.5,0.0,274,4770,1.62,2.45,65.10,0.857,4,0.032,0.043,3026,3383,2731,0,0,0,0,0,0
$GC,4998,1.25,136.2,449.5,4.0,280,5055,0.20,2.38,49.83,0.854,6,0.111,0.036,2988,2008,2493,0,0,0,0,0,0
$GC,5384,1.14,136.2,413.8,10.8,290,5389,0.15,2.40,0.00,0.000,4,0.119,0.040,2962,3385,2486,0,0,0,0,0,0
$GC,5611,1.10,136.2,388.3,10.6,295,5616,0.00,2.35,0.00,0.000,6,0.000,0.036,2962,2010,2486,0,0,0,0,0,0
$GC,5939,1.05,136.2,357.5,9.0,303,5943,0.00,2.38,0.00,0.000,4,0.000,0.039,2962,3387,2482,0,0,0,0,0,0
$GC,5985,1.05,136.2,352.6,10.5,304,5989,0.00,2.38,0.00,0.000,6,0.000,0.037,2962,2008,2482,0,0,0,0,0,0
$GC,6307,1.01,136.2,323.0,8.6,312,6312,0.15,2.35,0.00,0.000,4,0.114,0.040,2934,3387,2480,0,0,0,0,0,0
$GC,6433,1.07,152.5,313.7,6.9,314,6453,0.00,2.38,12.73,0.753,6,0.000,0.036,2934,2004,2428,0,0,0,0,0,0
$GC,6775,1.13,177.0,292.8,6.3,325,6804,0.12,2.55,22.35,0.775,4,0.076,0.053,2965,607,2328,0,0,0,0,0,0
$GC,7067,1.06,177.0,261.6,10.2,337,7073,0.00,2.30,0.00,0.000,6,0.000,0.028,2965,1994,2321,0,0,0,0,0,0
$GC,7383,1.07,189.4,234.8,7.2,353,7400,0.00,2.50,11.18,0.689,4,0.000,0.051,2966,600,2278,0,0,0,0,0,0
$GC,7501,1.03,189.4,225.1,8.5,358,7506,0.15,2.35,0.00,0.000,6,0.113,0.028,2939,2015,2274,0,0,0,0,0,0
$GC,7827,1.11,194.8,198.6,7.6,374,7839,0.00,2.50,6.05,0.575,4,0.000,0.048,2938,597,2254,0,0,0,0,0,0
$GC,7994,1.18,217.3,186.6,6.5,392,8023,0.15,2.38,21.25,0.685,6,0.065,0.027,2978,2026,2163,0,0,0,0,0,0
$GC,8278,1.18,217.3,162.2,9.8,419,8282,0.00,2.50,0.00,0.000,4,0.000,0.047,2978,595,2160,0,0,0,0,0,0
$GC,8296,1.18,217.3,160.0,10.4,420,8303,0.00,2.38,0.00,0.000,6,0.000,0.025,2978,2014,2158,0,0,0,0,0,0
$GC,8558,1.18,217.3,135.6,9.3,445,8562,0.00,2.47,0.00,0.000,4,0.000,0.045,2978,594,2158,0,0,0,0,0,0
$GC,8638,1.15,217.3,127.1,10.4,453,8643,0.00,2.35,0.00,0.000,6,0.000,0.024,2978,2023,2156,0,0,0,0,0,0
$GC,8902,1.18,218.2,106.5,8.0,477,8906,0.00,2.45,0.00,0.000,4,0.000,0.044,2978,592,2156,0,0,0,0,0,0
$GC,8928,1.18,218.2,104.0,9.9,479,8932,0.00,2.33,0.00,0.000,6,0.000,0.022,2978,2016,2156,0,0,0,0,0,0
$GC,9191,1.24,220.5,81.8,7.9,503,9196,0.00,2.42,0.00,0.000,4,0.000,0.042,2978,593,2155,0,0,0,0,0,0
$GC,9219,1.26,239.9,79.6,6.7,505,9246,0.00,2.33,20.30,0.578,6,0.000,0.022,2978,2013,2070,0,0,0,0,0,0
$GC,9500,1.37,255.4,57.9,7.0,532,9522,0.15,0.00,14.60,0.540,6,0.057,0.000,3025,2013,2007,0,0,0,0,0,0
$GC,9777,1.37,255.4,28.5,11.1,559,9782,0.00,2.40,0.00,0.000,4,0.000,0.042,3025,602,2005,0,0,0,0,0,0
$GC,9837,1.30,255.4,21.2,11.9,572,9844,0.12,2.30,0.00,0.000,6,0.077,0.021,2996,2008,2003,0,0,0,0,0,0
$STATE,10004,end climb,SURFACE_DEPTH_REACHED
$STATE,10004,begin surface coast
$FINISH,0.7,1.023385
$STATE,10035,end surface coast,CONTROL_FINISHED_OK
$STATE,10035,begin surface
$SM_CCo,10055,25.10,0.509,0,0,1827,300.00
$SM_GC,0.96,0.00,0.00,25.10,0.000,0.000,0.509,430,1855,1827,-10.51,-0.57,300.00
$IRIDIUM_FIX,2054.83,-15814.49,250899,050556
$TT8_MAMPS,0.029146
$HUMID,49.37
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.70
$XPDR_PINGS,1
$24V_AH,23.4,36.185
$10V_AH,10.0,34.264
$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,27.025,114.150,287.050,25.100,0.000,139.626,216.413,550.318,4.750,0.000,13.837,1213.146,6720.292,365.571,1916.024,1163.146,33.374,1224.015,0.000,1898.780,0.000,29.255,0.000
$DEVICE_MAMPS,134.225,54.457,878.215,509.288,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.120,386.989,752.151,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,34843,607
$CAP_FILE_SIZE,134887,0
$CFSIZE,260165632,234967040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310510,075006,2105.973,-15749.358,56,1.8,60,9.8