version: 66.06
glider: 139
mission: 7
dive: 412
start: 5 31 110 17 3 23
data:
$ID,139
$MISSION,7
$DIVE,412
$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,-2135558.2
$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
$GPS1,165557,2106.078,-15750.260,91,9.7,110,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.5
$GPS2,170231,2106.145,-15750.332,84,1.5,84,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.181,0.033
$KALMAN_X,-89150.5,-432.8,-695.9,98226.0,-1844.1
$KALMAN_Y,27513.3,-3.4,-131.7,-28794.5,-374.9
$MHEAD_RNG_PITCHd_Wd,70.0,12825,-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,-52.95,0.000,2,0.000,0.000,426,1862,3211,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.4,-5.7,10,95,10.55,2.42,-3.05,0.000,4,0.133,0.052,2402,467,3371,0,0,0,0,0,0
$GC,123,-1.06,-77.9,20.2,-28.1,20,131,0.35,2.35,0.00,0.000,6,0.084,0.020,2477,1911,3372,0,0,0,0,0,0
$GC,333,-1.06,-77.9,47.1,-10.8,44,337,0.00,2.50,0.00,0.000,4,0.000,0.044,2476,461,3373,0,0,0,0,0,0
$GC,368,-1.00,-77.9,51.3,-13.1,47,372,0.00,2.25,0.00,0.000,6,0.000,0.019,2477,1877,3373,0,0,0,0,0,0
$GC,631,-1.06,-77.9,80.2,-8.4,71,635,0.00,2.25,0.00,0.000,4,0.000,0.025,2477,3259,3374,0,0,0,0,0,0
$GC,652,-1.16,-77.9,82.0,-8.3,73,656,0.00,2.33,0.00,0.000,6,0.000,0.028,2477,1870,3373,0,0,0,0,0,0
$GC,915,-1.24,-77.9,111.2,-12.5,97,920,0.15,2.40,0.00,0.000,4,0.057,0.044,2426,473,3375,0,0,0,0,0,0
$GC,1027,-1.19,-77.9,126.2,-12.4,108,1034,0.10,2.25,0.00,0.000,6,0.073,0.019,2453,1870,3375,0,0,0,0,0,0
$GC,1289,-1.25,-77.9,151.1,-8.5,133,1294,0.00,2.40,0.00,0.000,4,0.000,0.042,2452,471,3376,0,0,0,0,0,0
$GC,1327,-1.30,-77.9,154.6,-8.9,136,1333,0.00,2.25,0.00,0.000,6,0.000,0.019,2452,1872,3376,0,0,0,0,0,0
$GC,1590,-1.41,-77.9,177.2,-8.5,161,1595,0.20,2.38,0.00,0.000,4,0.047,0.041,2390,473,3377,0,0,0,0,0,0
$GC,1680,-1.33,-77.9,187.6,-12.6,170,1685,0.15,2.22,0.00,0.000,6,0.094,0.020,2422,1875,3377,0,0,0,0,0,0
$GC,1947,-1.33,-77.9,214.0,-9.6,188,1952,0.00,2.38,0.00,0.000,4,0.000,0.043,2422,474,3377,0,0,0,0,0,0
$GC,1975,-1.33,-77.9,216.9,-10.2,189,1979,0.00,2.25,0.00,0.000,6,0.000,0.021,2421,1879,3377,0,0,0,0,0,0
$GC,2296,-1.39,-77.9,245.1,-8.3,205,2300,0.00,2.40,0.00,0.000,4,0.000,0.044,2422,469,3377,0,0,0,0,0,0
$GC,2392,-1.39,-77.9,253.5,-9.4,209,2396,0.00,2.25,0.00,0.000,6,0.000,0.021,2422,1873,3377,0,0,0,0,0,0
$GC,2714,-1.45,-77.9,280.5,-8.7,225,2719,0.10,2.42,0.00,0.000,4,0.075,0.046,2387,476,3377,0,0,0,0,0,0
$GC,2761,-1.41,-77.9,285.9,-11.0,227,2765,0.00,2.25,0.00,0.000,6,0.000,0.023,2386,1881,3377,0,0,0,0,0,0
$GC,3083,-1.41,-77.9,316.4,-8.9,239,3087,0.00,2.40,0.00,0.000,4,0.000,0.046,2386,474,3375,0,0,0,0,0,0
$GC,3142,-1.41,-77.9,322.1,-8.8,240,3147,0.00,2.25,0.00,0.000,6,0.000,0.024,2387,1879,3375,0,0,0,0,0,0
$GC,3492,-1.41,-77.9,355.7,-10.3,249,3496,0.00,2.42,0.00,0.000,4,0.000,0.048,2386,470,3373,0,0,0,0,0,0
$GC,3603,-1.41,-77.9,367.6,-10.8,251,3607,0.00,2.28,0.00,0.000,6,0.000,0.025,2386,1877,3373,0,0,0,0,0,0
$GC,3948,-1.41,-77.9,402.0,-9.9,260,3953,0.00,2.42,0.00,0.000,4,0.000,0.051,2386,476,3371,0,0,0,0,0,0
$GC,4031,-1.41,-77.9,411.4,-11.0,261,4037,0.00,2.28,0.00,0.000,6,0.000,0.027,2386,1873,3370,0,0,0,0,0,0
$GC,4362,-1.41,-77.9,443.9,-9.5,270,4366,0.00,2.45,0.00,0.000,4,0.000,0.054,2386,469,3368,0,0,0,0,0,0
$STATE,4420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4420,begin apogee
$GC,4428,-0.31,0.0,450.1,11.0,271,4496,1.20,0.00,64.80,0.871,6,0.077,0.000,2643,2009,3050,0,0,0,0,0,0
$STATE,4497,end apogee,CONTROL_FINISHED_OK
$STATE,4497,begin climb
$GC,4499,1.40,77.9,451.8,0.0,273,4574,1.62,2.53,64.93,0.848,4,0.033,0.044,3022,3408,2732,0,0,0,0,0,0
$GC,4691,1.23,122.8,448.0,4.9,277,4736,0.22,2.42,38.58,0.839,6,0.111,0.035,2982,2007,2549,0,0,0,0,0,0
$GC,5049,1.12,122.8,415.9,9.6,286,5054,0.12,2.47,0.00,0.000,4,0.122,0.052,2958,606,2542,0,0,0,0,0,0
$GC,5068,0.99,122.8,413.9,9.2,286,5073,0.15,2.38,0.00,0.000,6,0.120,0.029,2932,2015,2541,0,0,0,0,0,0
$GC,5414,1.01,141.4,388.9,6.7,295,5435,0.00,2.55,15.62,0.795,4,0.000,0.053,2932,607,2473,0,0,0,0,0,0
$GC,5511,0.97,149.0,381.7,7.5,297,5523,0.00,2.38,7.88,0.709,6,0.000,0.031,2932,2012,2442,0,0,0,0,0,0
$GC,5869,0.98,160.5,355.5,7.2,306,5885,0.00,2.53,11.00,0.756,4,0.000,0.052,2932,607,2395,0,0,0,0,0,0
$GC,5974,0.98,160.5,346.8,8.5,308,5978,0.00,2.38,0.00,0.000,6,0.000,0.031,2932,2017,2392,0,0,0,0,0,0
$GC,6288,1.03,167.7,323.3,7.5,316,6300,0.00,2.55,7.18,0.683,4,0.000,0.052,2932,607,2366,0,0,0,0,0,0
$GC,6361,1.04,175.6,318.0,7.5,317,6374,0.00,2.38,8.35,0.702,6,0.000,0.031,2932,2017,2334,0,0,0,0,0,0
$GC,6682,1.13,208.8,298.2,5.7,325,6719,0.12,2.55,31.17,0.786,4,0.078,0.051,2962,604,2197,0,0,0,0,0,0
$GC,6802,1.07,208.8,286.8,11.4,330,6807,0.00,2.38,0.00,0.000,6,0.000,0.029,2963,2012,2192,0,0,0,0,0,0
$GC,7122,1.07,208.8,253.9,10.6,346,7127,0.00,2.47,0.00,0.000,4,0.000,0.051,2963,600,2191,0,0,0,0,0,0
$GC,7143,1.04,208.8,251.5,12.1,347,7148,0.12,2.38,0.00,0.000,6,0.120,0.029,2941,2014,2189,0,0,0,0,0,0
$GC,7476,1.13,208.8,223.1,9.1,363,7480,0.00,2.47,0.00,0.000,4,0.000,0.050,2940,605,2188,0,0,0,0,0,0
$GC,7623,1.13,208.8,206.7,11.4,369,7627,0.00,2.35,0.00,0.000,6,0.000,0.027,2941,2022,2186,0,0,0,0,0,0
$GC,7947,1.23,208.8,172.9,10.0,396,7952,0.17,2.47,0.00,0.000,4,0.062,0.048,2986,600,2185,0,0,0,0,0,0
$GC,8019,1.16,208.8,165.6,9.0,403,8023,0.00,2.33,0.00,0.000,6,0.000,0.026,2986,2019,2185,0,0,0,0,0,0
$GC,8282,1.17,219.2,146.1,7.3,427,8295,0.00,2.50,8.15,0.581,4,0.000,0.046,2986,597,2156,0,0,0,0,0,0
$GC,8338,1.13,232.0,142.1,7.1,432,8356,0.10,2.35,12.88,0.616,6,0.091,0.025,2964,2009,2104,0,0,0,0,0,0
$GC,8619,1.23,249.2,124.7,6.8,459,8641,0.00,2.50,16.50,0.611,4,0.000,0.044,2964,608,2033,0,0,0,0,0,0
$GC,8676,1.26,249.2,120.2,8.8,465,8681,0.12,2.30,0.00,0.000,6,0.071,0.023,2998,2014,2030,0,0,0,0,0,0
$GC,8939,1.30,249.2,95.0,10.8,489,8944,0.00,2.45,0.00,0.000,4,0.000,0.044,2997,601,2030,0,0,0,0,0,0
$GC,9056,1.30,249.2,81.1,10.0,501,9060,0.00,2.28,0.00,0.000,6,0.000,0.021,2998,2012,2029,0,0,0,0,0,0
$GC,9319,1.35,249.2,57.7,9.8,525,9320,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2017,2029,0,0,0,0,0,0
$GC,9573,1.40,263.3,35.6,7.0,549,9594,0.10,2.50,13.40,0.518,4,0.076,0.042,3032,598,1976,0,0,0,0,0,0
$GC,9687,1.33,263.3,21.9,13.6,567,9693,0.15,2.30,0.00,0.000,6,0.102,0.020,3003,2020,1973,0,0,0,0,0,0
$STATE,9870,end climb,SURFACE_DEPTH_REACHED
$STATE,9870,begin surface coast
$FINISH,0.5,1.011818
$STATE,9900,end surface coast,CONTROL_FINISHED_OK
$STATE,9900,begin surface
$SM_CCo,9920,18.67,0.496,0,0,1827,300.00
$SM_GC,1.07,0.00,0.00,18.67,0.000,0.000,0.496,429,1863,1827,-10.52,-0.31,300.00
$IRIDIUM_FIX,2059.45,-15748.75,250899,141455
$TT8_MAMPS,0.029146
$HUMID,48.42
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,36.515
$10V_AH,10.0,34.585
$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,26.850,124.425,300.425,18.675,0.000,27.176,30.736,158.681,4.500,0.000,84.855,1192.339,6468.365,357.795,1903.346,410.980,33.376,1183.275,0.000,1805.795,0.000,29.252,0.000
$DEVICE_MAMPS,132.691,53.690,870.545,496.249,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,408.400,386.788,762.831,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,35075,605
$CAP_FILE_SIZE,118424,0
$CFSIZE,260165632,234741760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310510,195124,2106.243,-15750.260,106,1.8,106,9.8