version: 66.06
glider: 139
mission: 7
dive: 409
start: 5 31 110 8 0 29
data:
$ID,139
$MISSION,7
$DIVE,409
$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,-2135425.5
$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
$GPS1,075006,2105.973,-15749.358,56,1.8,60,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-67.7
$GPS2,075937,2106.019,-15749.343,43,1.9,43,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.174,0.060
$KALMAN_X,-82908.4,357.5,-305.9,92513.1,-1413.4
$KALMAN_Y,29161.8,103.7,209.3,-31128.2,-688.2
$MHEAD_RNG_PITCHd_Wd,61.2,11107,-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,-77.9,0.0,0.0,0,71,0.00,0.00,-52.53,0.000,2,0.000,0.000,430,1856,3210,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.3,-5.5,10,91,10.55,0.00,-3.20,0.000,6,0.132,0.000,2405,1855,3370,0,0,0,0,0,0
$GC,294,-1.23,-77.9,47.5,-16.8,41,299,0.20,2.40,0.00,0.000,4,0.096,0.044,2445,460,3373,0,0,0,0,0,0
$GC,311,-1.05,-77.9,50.4,-16.5,42,316,0.20,2.30,0.00,0.000,6,0.097,0.020,2485,1923,3372,0,0,0,0,0,0
$GC,573,-1.15,-77.9,82.4,-10.2,66,578,0.00,2.53,0.00,0.000,4,0.000,0.043,2485,459,3373,0,0,0,0,0,0
$GC,680,-1.25,-77.9,93.6,-9.7,77,685,0.20,2.22,0.00,0.000,6,0.046,0.019,2423,1869,3373,0,0,0,0,0,0
$GC,942,-1.22,-77.9,125.7,-13.1,101,947,0.12,2.42,0.00,0.000,4,0.099,0.044,2449,462,3374,0,0,0,0,0,0
$GC,1016,-1.22,-77.9,135.4,-12.9,108,1024,0.00,2.28,0.00,0.000,6,0.000,0.019,2449,1874,3375,0,0,0,0,0,0
$GC,1279,-1.28,-77.9,161.4,-8.9,133,1283,0.00,2.42,0.00,0.000,4,0.000,0.044,2449,465,3375,0,0,0,0,0,0
$GC,1347,-1.31,-77.9,168.1,-9.3,140,1353,0.00,2.28,0.00,0.000,6,0.000,0.020,2449,1870,3376,0,0,0,0,0,0
$GC,1610,-1.39,-77.9,189.0,-8.3,165,1615,0.17,2.40,0.00,0.000,4,0.051,0.044,2392,468,3376,0,0,0,0,0,0
$GC,1629,-1.36,-77.9,191.4,-10.6,166,1636,0.08,2.28,0.00,0.000,6,0.077,0.021,2413,1876,3376,0,0,0,0,0,0
$GC,1899,-1.36,-77.9,221.9,-11.9,183,1903,0.00,2.40,0.00,0.000,4,0.000,0.044,2413,467,3376,0,0,0,0,0,0
$GC,1963,-1.36,-77.9,230.2,-11.2,186,1968,0.00,2.22,0.00,0.000,6,0.000,0.021,2413,1876,3376,0,0,0,0,0,0
$GC,2293,-1.41,-77.9,262.3,-8.7,202,2297,0.00,2.40,0.00,0.000,4,0.000,0.044,2413,466,3376,0,0,0,0,0,0
$GC,2381,-1.41,-77.9,270.8,-9.1,206,2385,0.00,2.28,0.00,0.000,6,0.000,0.021,2413,1882,3376,0,0,0,0,0,0
$GC,2712,-1.47,-77.9,300.4,-8.0,222,2717,0.00,2.42,0.00,0.000,4,0.000,0.048,2413,465,3376,0,0,0,0,0,0
$GC,2777,-1.47,-77.9,306.5,-9.4,223,2781,0.00,2.25,0.00,0.000,6,0.000,0.023,2413,1867,3376,0,0,0,0,0,0
$GC,3127,-1.53,-77.9,341.3,-10.4,232,3132,0.15,2.42,0.00,0.000,4,0.058,0.050,2367,470,3373,0,0,0,0,0,0
$GC,3179,-1.44,-77.9,348.2,-13.4,233,3184,0.15,2.30,0.00,0.000,6,0.094,0.025,2399,1880,3373,0,0,0,0,0,0
$GC,3497,-1.48,-77.9,378.8,-9.3,241,3502,0.00,2.45,0.00,0.000,4,0.000,0.050,2398,471,3372,0,0,0,0,0,0
$GC,3656,-1.48,-77.9,394.8,-10.2,244,3660,0.00,2.28,0.00,0.000,6,0.000,0.026,2398,1871,3371,0,0,0,0,0,0
$GC,4000,-1.53,-77.9,426.2,-9.5,253,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1876,3368,0,0,0,0,0,0
$STATE,4284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4284,begin apogee
$GC,4290,-0.31,0.0,452.7,9.2,260,4358,1.15,0.00,64.95,0.876,6,0.071,0.000,2646,2029,3050,0,0,0,0,0,0
$STATE,4359,end apogee,CONTROL_FINISHED_OK
$STATE,4359,begin climb
$GC,4361,1.40,77.9,453.8,0.0,261,4435,1.62,2.45,64.78,0.854,4,0.031,0.042,3029,3390,2732,0,0,0,0,0,0
$GC,4587,1.23,130.5,449.3,4.4,266,4640,0.25,2.40,44.75,0.848,6,0.106,0.036,2982,2003,2517,0,0,0,0,0,0
$GC,4958,1.13,130.5,420.1,8.4,275,4963,0.12,2.42,0.00,0.000,4,0.119,0.041,2959,3388,2510,0,0,0,0,0,0
$GC,5002,1.08,130.5,416.6,8.7,276,5006,0.00,2.38,0.00,0.000,6,0.000,0.038,2959,2013,2511,0,0,0,0,0,0
$GC,5334,1.03,134.1,390.3,7.8,284,5338,0.00,2.40,0.00,0.000,4,0.000,0.040,2959,3397,2507,0,0,0,0,0,0
$GC,5385,0.99,134.1,385.6,9.5,285,5390,0.15,2.40,0.00,0.000,6,0.107,0.038,2931,2004,2507,0,0,0,0,0,0
$GC,5703,1.01,149.0,362.1,7.0,293,5724,0.00,2.50,14.93,0.786,4,0.000,0.054,2931,604,2442,0,0,0,0,0,0
$GC,5858,0.97,149.0,348.2,9.3,296,5862,0.00,2.33,0.00,0.000,6,0.000,0.030,2931,1998,2438,0,0,0,0,0,0
$GC,6208,1.02,163.3,323.4,7.0,305,6223,0.00,0.00,13.27,0.760,6,0.000,0.000,2931,2002,2384,0,0,0,0,0,0
$GC,6533,1.08,169.3,299.0,7.6,313,6545,0.00,2.53,6.47,0.647,4,0.000,0.051,2931,605,2358,0,0,0,0,0,0
$GC,6638,1.08,169.3,289.7,8.6,317,6642,0.00,2.35,0.00,0.000,6,0.000,0.029,2932,2015,2356,0,0,0,0,0,0
$GC,6954,1.16,195.3,268.2,6.2,332,6984,0.15,2.58,24.15,0.761,4,0.068,0.051,2970,597,2252,0,0,0,0,0,0
$GC,7174,1.11,195.3,247.8,10.1,341,7178,0.00,2.40,0.00,0.000,6,0.000,0.029,2970,2020,2246,0,0,0,0,0,0
$GC,7489,1.13,214.3,223.3,6.7,356,7512,0.00,2.55,17.38,0.706,4,0.000,0.048,2970,597,2174,0,0,0,0,0,0
$GC,7613,1.10,214.3,212.1,10.3,361,7617,0.00,2.38,0.00,0.000,6,0.000,0.027,2970,2014,2170,0,0,0,0,0,0
$GC,7939,1.13,214.3,180.5,8.6,386,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2019,2169,0,0,0,0,0,0
$GC,8194,1.17,216.5,159.6,7.9,410,8198,0.00,2.45,0.00,0.000,4,0.000,0.047,2970,598,2169,0,0,0,0,0,0
$GC,8264,1.13,216.5,153.7,9.2,417,8269,0.00,2.33,0.00,0.000,6,0.000,0.025,2970,2021,2167,0,0,0,0,0,0
$GC,8529,1.19,226.3,134.3,7.4,441,8548,0.00,2.53,10.77,0.589,4,0.000,0.045,2970,604,2126,0,0,0,0,0,0
$GC,8606,1.19,226.3,127.5,9.8,449,8610,0.00,2.30,0.00,0.000,6,0.000,0.023,2970,2018,2125,0,0,0,0,0,0
$GC,8869,1.24,226.3,103.5,9.2,473,8874,0.00,2.47,0.00,0.000,4,0.000,0.044,2970,590,2124,0,0,0,0,0,0
$GC,8914,1.24,226.3,98.5,10.8,477,8920,0.00,2.33,0.00,0.000,6,0.000,0.022,2970,2014,2123,0,0,0,0,0,0
$GC,9178,1.31,226.3,72.7,9.7,502,9183,0.12,2.47,0.00,0.000,4,0.065,0.043,3009,588,2123,0,0,0,0,0,0
$GC,9278,1.22,226.3,61.1,11.7,512,9285,0.12,2.33,0.00,0.000,6,0.078,0.022,2981,2005,2123,0,0,0,0,0,0
$GC,9542,1.29,246.3,41.8,6.6,537,9566,0.00,2.47,18.88,0.540,4,0.000,0.043,2980,595,2044,0,0,0,0,0,0
$GC,9665,1.34,246.3,31.7,11.0,550,9669,0.12,2.30,0.00,0.000,6,0.065,0.021,3021,2013,2040,0,0,0,0,0,0
$GC,9935,1.34,246.3,5.7,10.3,596,9941,0.00,2.45,0.00,0.000,4,0.000,0.041,3021,601,2040,0,0,0,0,0,0
$STATE,9960,end climb,SURFACE_DEPTH_REACHED
$STATE,9960,begin surface coast
$FINISH,1.8,1.023364
$STATE,9971,end surface coast,CONTROL_FINISHED_OK
$STATE,9971,begin surface
$SM_CCo,9993,29.25,0.512,0,0,1826,300.00
$SM_GC,1.04,0.00,0.00,29.25,0.000,0.000,0.512,425,1899,1826,-10.53,0.65,300.00
$IRIDIUM_FIX,2057.14,-15748.75,250899,080836
$TT8_MAMPS,0.029146
$HUMID,48.70
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.40
$XPDR_PINGS,1
$24V_AH,23.4,36.272
$10V_AH,10.1,34.342
$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,26.850,109.725,280.325,29.250,0.000,67.882,76.681,218.889,4.750,0.000,44.057,1193.656,6582.296,364.254,1886.684,566.156,33.375,1183.533,0.000,1830.751,0.000,30.882,0.000
$DEVICE_MAMPS,131.924,53.690,875.914,512.356,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.525,383.979,749.945,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,34974,603
$CAP_FILE_SIZE,117091,0
$CFSIZE,260165632,234921984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310510,105106,2106.075,-15748.898,167,1.9,178,9.8