version: 66.06
glider: 139
mission: 7
dive: 410
start: 5 31 110 10 58 1
data:
$ID,139
$MISSION,7
$DIVE,410
$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,-2135437
$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
$GPS1,105106,2106.075,-15748.898,167,1.9,178,9.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.9
$GPS2,105708,2106.045,-15748.903,10,1.9,10,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.163,0.085
$KALMAN_X,-84825.8,19.1,758.4,94461.9,-2824.0
$KALMAN_Y,28641.3,105.7,110.1,-30458.7,-912.3
$MHEAD_RNG_PITCHd_Wd,52.7,10350,-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,-53.05,0.000,2,0.000,0.000,424,1899,3211,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.5,-6.2,10,95,10.60,2.35,-3.03,0.000,4,0.133,0.038,2403,3297,3370,0,0,0,0,0,0
$GC,147,-1.37,-77.9,21.0,-15.1,25,153,0.00,2.42,0.00,0.000,6,0.000,0.033,2403,1875,3371,0,0,0,0,0,0
$GC,349,-1.25,-77.9,51.0,-13.0,49,354,0.17,2.45,0.00,0.000,4,0.097,0.045,2439,465,3372,0,0,0,0,0,0
$GC,393,-1.14,-77.9,56.8,-13.4,53,398,0.12,2.33,0.00,0.000,6,0.104,0.020,2464,1907,3372,0,0,0,0,0,0
$GC,656,-1.19,-77.9,84.3,-10.2,77,661,0.00,2.47,0.00,0.000,4,0.000,0.043,2464,462,3373,0,0,0,0,0,0
$GC,700,-1.19,-77.9,89.1,-11.0,81,704,0.00,2.28,0.00,0.000,6,0.000,0.019,2464,1878,3373,0,0,0,0,0,0
$GC,963,-1.27,-77.9,116.6,-10.3,105,968,0.12,2.45,0.00,0.000,4,0.063,0.044,2419,468,3374,0,0,0,0,0,0
$GC,1046,-1.22,-77.9,128.0,-14.1,113,1050,0.12,2.28,0.00,0.000,6,0.098,0.020,2445,1883,3374,0,0,0,0,0,0
$GC,1308,-1.27,-77.9,156.3,-8.4,137,1312,0.00,2.42,0.00,0.000,4,0.000,0.044,2445,463,3375,0,0,0,0,0,0
$GC,1396,-1.27,-77.9,164.5,-9.4,146,1400,0.00,2.28,0.00,0.000,6,0.000,0.020,2445,1878,3375,0,0,0,0,0,0
$GC,1660,-1.33,-77.9,182.5,-6.9,170,1664,0.00,2.42,0.00,0.000,4,0.000,0.044,2445,468,3376,0,0,0,0,0,0
$GC,1721,-1.40,-77.9,187.4,-7.1,176,1726,0.17,2.22,0.00,0.000,6,0.051,0.020,2390,1877,3376,0,0,0,0,0,0
$GC,1979,-1.40,-77.9,214.5,-11.4,194,1983,0.00,2.42,0.00,0.000,4,0.000,0.044,2391,464,3376,0,0,0,0,0,0
$GC,2028,-1.32,-77.9,221.1,-13.1,196,2033,0.17,2.25,0.00,0.000,6,0.090,0.021,2426,1881,3376,0,0,0,0,0,0
$GC,2355,-1.38,-77.9,248.8,-7.3,212,2359,0.00,2.42,0.00,0.000,4,0.000,0.045,2426,470,3376,0,0,0,0,0,0
$GC,2429,-1.38,-77.9,255.0,-7.9,215,2433,0.00,2.28,0.00,0.000,6,0.000,0.021,2426,1883,3377,0,0,0,0,0,0
$GC,2757,-1.45,-77.9,280.5,-8.3,231,2762,0.12,2.47,0.00,0.000,4,0.064,0.047,2384,463,3375,0,0,0,0,0,0
$GC,2818,-1.41,-77.9,287.5,-11.3,233,2824,0.10,2.28,0.00,0.000,6,0.109,0.023,2404,1873,3375,0,0,0,0,0,0
$GC,3150,-1.41,-77.9,325.1,-11.6,245,3154,0.00,2.42,0.00,0.000,4,0.000,0.048,2404,463,3374,0,0,0,0,0,0
$GC,3187,-1.41,-77.9,330.1,-14.6,245,3192,0.00,2.30,0.00,0.000,6,0.000,0.025,2404,1880,3374,0,0,0,0,0,0
$GC,3518,-1.45,-77.9,365.0,-9.8,254,3522,0.00,2.42,0.00,0.000,4,0.000,0.049,2404,471,3372,0,0,0,0,0,0
$GC,3582,-1.45,-77.9,372.3,-11.5,255,3586,0.00,2.30,0.00,0.000,6,0.000,0.025,2404,1879,3372,0,0,0,0,0,0
$GC,3932,-1.52,-77.9,399.7,-7.4,264,3937,0.00,2.47,0.00,0.000,4,0.000,0.051,2404,456,3370,0,0,0,0,0,0
$GC,4089,-1.52,-77.9,414.6,-9.8,267,4093,0.00,2.35,0.00,0.000,6,0.000,0.027,2404,1880,3370,0,0,0,0,0,0
$GC,4440,-1.57,-77.9,446.7,-9.5,276,4445,0.15,2.50,0.00,0.000,4,0.061,0.054,2361,470,3367,0,0,0,0,0,0
$STATE,4467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4467,begin apogee
$GC,4474,-0.31,0.0,450.2,11.8,276,4543,1.33,0.00,64.88,0.871,6,0.083,0.000,2642,2013,3050,0,0,0,0,0,0
$STATE,4544,end apogee,CONTROL_FINISHED_OK
$STATE,4544,begin climb
$GC,4546,1.40,77.9,452.0,0.0,278,4621,1.65,2.50,64.90,0.851,4,0.034,0.044,3027,3399,2732,0,0,0,0,0,0
$GC,4700,1.22,117.8,449.5,5.3,281,4742,0.25,2.40,34.62,0.834,6,0.110,0.035,2981,2007,2568,0,0,0,0,0,0
$GC,5051,1.10,117.8,417.6,9.4,290,5053,0.15,0.00,0.00,0.000,6,0.118,0.000,2954,2007,2562,0,0,0,0,0,0
$GC,5376,1.09,146.7,395.7,6.0,298,5408,0.00,2.47,24.75,0.820,4,0.000,0.040,2954,3412,2450,0,0,0,0,0,0
$GC,5440,1.09,146.7,391.1,8.2,299,5445,0.00,2.42,0.00,0.000,6,0.000,0.036,2952,2013,2449,0,0,0,0,0,0
$GC,5785,1.09,146.7,362.6,8.7,308,5789,0.00,2.47,0.00,0.000,4,0.000,0.052,2954,597,2445,0,0,0,0,0,0
$GC,5874,1.01,146.7,354.1,9.8,310,5878,0.00,2.40,0.00,0.000,6,0.000,0.031,2954,2020,2442,0,0,0,0,0,0
$GC,6201,1.01,146.7,326.3,9.0,318,6202,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2024,2442,0,0,0,0,0,0
$GC,6527,1.05,179.5,304.1,5.8,326,6557,0.00,0.00,28.20,0.792,6,0.000,0.000,2955,2024,2318,0,0,0,0,0,0
$GC,6835,1.05,183.8,281.9,7.7,339,6847,0.00,2.38,4.82,0.564,4,0.000,0.037,2955,3405,2299,0,0,0,0,0,0
$GC,6882,1.11,183.8,278.0,8.6,341,6886,0.00,2.40,0.00,0.000,6,0.000,0.037,2955,2010,2299,0,0,0,0,0,0
$GC,7212,1.11,183.8,250.6,8.4,357,7216,0.00,2.50,0.00,0.000,4,0.000,0.051,2954,600,2296,0,0,0,0,0,0
$GC,7383,1.07,183.8,235.1,8.2,364,7387,0.00,2.38,0.00,0.000,6,0.000,0.028,2955,2022,2294,0,0,0,0,0,0
$GC,7700,1.11,222.1,214.7,5.4,379,7743,0.00,2.58,34.33,0.719,4,0.000,0.048,2954,608,2143,0,0,0,0,0,0
$GC,7846,1.11,222.1,202.2,9.0,385,7850,0.00,2.35,0.00,0.000,6,0.000,0.026,2955,2015,2137,0,0,0,0,0,0
$GC,8176,1.17,222.1,173.3,8.6,415,8180,0.00,2.45,0.00,0.000,4,0.000,0.047,2954,603,2136,0,0,0,0,0,0
$GC,8202,1.17,222.1,170.8,10.0,417,8206,0.00,2.35,0.00,0.000,6,0.000,0.025,2954,2021,2135,0,0,0,0,0,0
$GC,8465,1.24,222.1,147.9,8.9,441,8470,0.12,2.45,0.00,0.000,4,0.071,0.046,2989,601,2135,0,0,0,0,0,0
$GC,8567,1.17,222.1,136.3,11.0,451,8573,0.00,2.33,0.00,0.000,6,0.000,0.024,2989,2015,2134,0,0,0,0,0,0
$GC,8828,1.17,222.1,112.7,8.3,476,8833,0.00,2.45,0.00,0.000,4,0.000,0.044,2989,601,2134,0,0,0,0,0,0
$GC,8929,1.12,222.1,102.6,9.8,486,8936,0.12,2.33,0.00,0.000,6,0.087,0.023,2961,2014,2134,0,0,0,0,0,0
$GC,9192,1.20,222.1,80.0,9.1,511,9196,0.00,2.42,0.00,0.000,4,0.000,0.044,2962,597,2134,0,0,0,0,0,0
$GC,9271,1.20,222.1,71.1,11.3,519,9278,0.00,2.33,0.00,0.000,6,0.000,0.022,2962,2011,2134,0,0,0,0,0,0
$GC,9534,1.29,222.1,46.7,8.2,544,9539,0.15,2.40,0.00,0.000,4,0.061,0.042,3006,600,2134,0,0,0,0,0,0
$GC,9732,1.29,222.1,27.8,9.5,568,9738,0.00,2.33,0.00,0.000,6,0.000,0.021,3005,2022,2134,0,0,0,0,0,0
$GC,9938,1.29,225.8,14.6,7.8,605,9944,0.00,2.22,0.00,0.000,4,0.000,0.026,3005,3392,2134,0,0,0,0,0,0
$GC,9969,1.33,225.8,12.0,8.2,611,9974,0.00,2.33,0.00,0.000,6,0.000,0.025,3005,1991,2134,0,0,0,0,0,0
$STATE,10082,end climb,SURFACE_DEPTH_REACHED
$STATE,10083,begin surface coast
$FINISH,0.4,1.023151
$STATE,10117,end surface coast,CONTROL_FINISHED_OK
$STATE,10117,begin surface
$SM_CCo,10137,38.67,0.515,0,0,1826,300.00
$SM_GC,1.52,0.00,0.00,38.67,0.000,0.000,0.515,426,1861,1826,-10.53,-0.40,300.00
$IRIDIUM_FIX,2057.14,-15750.89,250899,080808
$TT8_MAMPS,0.029146
$HUMID,48.66
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,36.353
$10V_AH,10.0,34.423
$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,26.675,119.675,256.500,38.675,0.000,31.361,42.715,185.866,4.750,0.000,10.690,1239.273,6602.385,373.339,1871.271,454.606,33.377,1185.302,0.000,1850.822,0.000,32.122,0.000
$DEVICE_MAMPS,133.458,58.292,871.312,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,431.422,411.532,800.324,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34864,638
$CAP_FILE_SIZE,116518,0
$CFSIZE,260165632,234864640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310510,134928,2106.146,-15749.350,54,4.0,73,9.8