version: 66.06
glider: 139
mission: 7
dive: 366
start: 5 25 110 23 23 40
data:
$ID,139
$MISSION,7
$DIVE,366
$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,-2134180
$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
$GPS1,231627,2108.660,-15800.838,57,2.3,76,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.5
$GPS2,232249,2108.732,-15800.890,20,2.0,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,0.006
$KALMAN_X,-18291.8,252.5,86.3,7653.9,-1798.7
$KALMAN_Y,30585.2,404.2,346.0,-27966.7,-112.2
$MHEAD_RNG_PITCHd_Wd,78.4,31520,-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,-53.15,0.000,2,0.000,0.000,423,1860,3215,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.4,-5.8,10,96,10.70,2.42,-2.97,0.000,4,0.138,0.038,2401,3296,3371,0,0,0,0,0,0
$GC,104,-0.32,-77.9,13.5,-31.2,15,110,1.17,2.38,0.00,0.000,6,0.087,0.027,2640,1867,3371,0,0,0,0,0,0
$GC,310,-0.75,-77.9,24.1,-3.6,52,318,0.38,2.42,0.00,0.000,4,0.048,0.041,2548,468,3372,0,0,0,0,0,0
$GC,386,-0.96,-77.9,29.4,-7.4,68,393,0.15,2.33,0.00,0.000,6,0.030,0.020,2490,1905,3373,0,0,0,0,0,0
$GC,592,-1.00,-77.9,50.9,-10.4,88,597,0.00,2.45,0.00,0.000,4,0.000,0.044,2490,473,3373,0,0,0,0,0,0
$GC,654,-1.06,-77.9,59.0,-11.2,94,661,0.00,2.28,0.00,0.000,6,0.000,0.019,2490,1879,3374,0,0,0,0,0,0
$GC,917,-1.16,-77.9,86.4,-9.6,119,922,0.12,2.42,0.00,0.000,4,0.064,0.043,2448,467,3374,0,0,0,0,0,0
$GC,979,-1.16,-77.9,92.9,-9.4,125,983,0.00,2.22,0.00,0.000,6,0.000,0.020,2448,1870,3375,0,0,0,0,0,0
$GC,1242,-1.16,-77.9,117.3,-7.6,149,1246,0.00,2.38,0.00,0.000,4,0.000,0.041,2448,471,3375,0,0,0,0,0,0
$GC,1267,-1.16,-77.9,119.5,-8.2,151,1272,0.00,2.22,0.00,0.000,6,0.000,0.019,2448,1878,3376,0,0,0,0,0,0
$GC,1535,-1.22,-77.9,143.8,-10.4,176,1539,0.00,2.40,0.00,0.000,4,0.000,0.043,2448,466,3376,0,0,0,0,0,0
$GC,1617,-1.25,-77.9,153.9,-12.9,184,1624,0.00,2.28,0.00,0.000,6,0.000,0.020,2448,1870,3377,0,0,0,0,0,0
$GC,1880,-1.31,-77.9,182.5,-10.9,209,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1876,3377,0,0,0,0,0,0
$GC,2140,-1.40,-77.9,207.2,-8.3,230,2145,0.17,2.42,0.00,0.000,4,0.051,0.044,2392,470,3377,0,0,0,0,0,0
$GC,2254,-1.34,-77.9,222.4,-14.3,235,2259,0.12,2.25,0.00,0.000,6,0.100,0.021,2419,1883,3377,0,0,0,0,0,0
$GC,2586,-1.38,-77.9,261.6,-12.1,251,2590,0.00,2.40,0.00,0.000,4,0.000,0.045,2419,473,3377,0,0,0,0,0,0
$GC,2627,-1.38,-77.9,267.0,-12.3,252,2634,0.00,2.28,0.00,0.000,6,0.000,0.022,2419,1872,3377,0,0,0,0,0,0
$GC,2943,-1.44,-77.9,297.6,-9.3,268,2947,0.00,2.40,0.00,0.000,4,0.000,0.046,2419,468,3377,0,0,0,0,0,0
$GC,3081,-1.44,-77.9,310.2,-9.1,272,3085,0.00,2.25,0.00,0.000,6,0.000,0.023,2418,1874,3376,0,0,0,0,0,0
$GC,3404,-1.51,-77.9,341.5,-9.5,280,3409,0.15,2.45,0.00,0.000,4,0.059,0.048,2374,471,3375,0,0,0,0,0,0
$GC,3432,-1.41,-77.9,344.9,-12.1,280,3437,0.15,2.28,0.00,0.000,6,0.097,0.025,2405,1873,3375,0,0,0,0,0,0
$GC,3769,-1.45,-77.9,374.7,-8.8,289,3773,0.00,2.42,0.00,0.000,4,0.000,0.050,2404,468,3373,0,0,0,0,0,0
$GC,3885,-1.45,-77.9,385.0,-8.1,291,3889,0.00,2.28,0.00,0.000,6,0.000,0.025,2405,1872,3373,0,0,0,0,0,0
$GC,4231,-1.50,-77.9,414.3,-8.6,300,4235,0.00,2.42,0.00,0.000,4,0.000,0.051,2405,469,3371,0,0,0,0,0,0
$GC,4286,-1.50,-77.9,419.1,-8.4,301,4290,0.00,2.30,0.00,0.000,6,0.000,0.027,2405,1871,3370,0,0,0,0,0,0
$GC,4600,-1.56,-77.9,442.0,-7.4,309,4605,0.15,2.45,0.00,0.000,4,0.063,0.053,2359,474,3368,0,0,0,0,0,0
$STATE,4677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4678,begin apogee
$GC,4685,-0.31,0.0,450.6,11.8,310,4754,1.30,0.00,64.97,0.867,6,0.081,0.000,2640,2017,3050,0,0,0,0,0,0
$STATE,4754,end apogee,CONTROL_FINISHED_OK
$STATE,4755,begin climb
$GC,4756,1.40,77.9,452.2,0.0,312,4831,1.65,2.50,64.93,0.846,4,0.033,0.044,3024,3403,2731,0,0,0,0,0,0
$GC,4961,1.24,128.3,448.6,4.6,316,5011,0.20,2.38,43.33,0.838,6,0.114,0.035,2989,2013,2526,0,0,0,0,0,0
$GC,5347,1.12,128.3,414.3,9.8,326,5352,0.15,2.50,0.00,0.000,4,0.123,0.051,2954,604,2519,0,0,0,0,0,0
$GC,5495,1.00,128.3,401.7,8.4,329,5500,0.15,2.35,0.00,0.000,6,0.124,0.029,2935,2020,2516,0,0,0,0,0,0
$GC,5809,1.02,149.6,380.3,6.6,337,5833,0.00,2.45,17.73,0.796,4,0.000,0.041,2934,3397,2439,0,0,0,0,0,0
$GC,5871,1.06,149.6,375.7,8.4,338,5875,0.00,2.40,0.00,0.000,6,0.000,0.038,2934,2004,2439,0,0,0,0,0,0
$GC,6220,1.11,164.6,351.7,7.0,347,6241,0.10,2.55,13.88,0.769,4,0.087,0.052,2958,601,2377,0,0,0,0,0,0
$GC,6307,1.03,164.6,343.1,10.7,348,6313,0.00,2.38,0.00,0.000,6,0.000,0.030,2959,2008,2374,0,0,0,0,0,0
$GC,6638,1.03,164.6,312.2,9.9,357,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2012,2373,0,0,0,0,0,0
$GC,6947,1.04,170.3,283.6,7.6,369,6959,0.00,2.53,5.57,0.600,4,0.000,0.050,2959,607,2355,0,0,0,0,0,0
$GC,7002,1.00,177.5,279.4,7.5,371,7016,0.15,2.35,7.72,0.659,6,0.122,0.028,2933,2026,2326,0,0,0,0,0,0
$GC,7327,1.09,197.8,261.2,6.6,387,7352,0.00,2.55,19.40,0.732,4,0.000,0.048,2933,605,2242,0,0,0,0,0,0
$GC,7391,1.09,198.3,256.2,8.0,389,7396,0.00,2.38,0.00,0.000,6,0.000,0.028,2932,2018,2239,0,0,0,0,0,0
$GC,7707,1.19,209.2,232.6,7.3,405,7724,0.17,2.53,10.82,0.663,4,0.064,0.048,2976,604,2197,0,0,0,0,0,0
$GC,7755,1.12,209.2,228.0,10.3,407,7759,0.00,2.35,0.00,0.000,6,0.000,0.027,2976,2015,2194,0,0,0,0,0,0
$GC,8080,1.12,209.2,197.2,10.0,423,8084,0.00,2.45,0.00,0.000,4,0.000,0.048,2976,604,2193,0,0,0,0,0,0
$GC,8249,1.07,209.2,177.8,11.3,441,8254,0.15,2.30,0.00,0.000,6,0.117,0.025,2950,2009,2190,0,0,0,0,0,0
$GC,8511,1.15,214.9,156.4,7.6,465,8520,0.00,0.00,5.80,0.520,6,0.000,0.000,2950,2014,2173,0,0,0,0,0,0
$GC,8777,1.23,214.9,135.0,8.1,490,8781,0.15,2.47,0.00,0.000,4,0.064,0.045,2990,595,2173,0,0,0,0,0,0
$GC,8938,1.17,214.9,119.3,8.4,507,8943,0.12,2.30,0.00,0.000,6,0.113,0.023,2968,2017,2171,0,0,0,0,0,0
$GC,9200,1.23,214.9,97.1,8.9,531,9204,0.00,2.28,0.00,0.000,4,0.000,0.030,2967,3400,2171,0,0,0,0,0,0
$GC,9309,1.34,228.2,88.9,7.1,542,9329,0.17,2.33,13.35,0.557,6,0.056,0.028,3014,1999,2118,0,0,0,0,0,0
$GC,9584,1.34,228.2,64.7,9.8,568,9588,0.00,2.38,0.00,0.000,4,0.000,0.044,3016,601,2117,0,0,0,0,0,0
$GC,9697,1.28,228.2,54.8,8.9,580,9704,0.10,2.30,0.00,0.000,6,0.082,0.021,2992,2012,2115,0,0,0,0,0,0
$GC,9960,1.33,230.5,34.5,7.9,605,9965,0.00,2.42,0.00,0.000,4,0.000,0.041,2992,598,2115,0,0,0,0,0,0
$GC,10014,1.35,240.7,30.1,7.3,610,10031,0.00,2.30,12.15,0.501,6,0.000,0.021,2992,2016,2068,0,0,0,0,0,0
$GC,10234,1.42,245.7,11.5,7.7,649,10246,0.15,0.00,5.93,0.419,6,0.060,0.000,3036,2016,2047,0,0,0,0,0,0
$STATE,10323,end climb,SURFACE_DEPTH_REACHED
$STATE,10323,begin surface coast
$FINISH,0.5,1.023345
$STATE,10350,end surface coast,CONTROL_FINISHED_OK
$STATE,10351,begin surface
$SM_CCo,10371,30.92,0.506,0,0,1826,300.00
$SM_GC,0.92,0.00,0.00,30.92,0.000,0.000,0.506,426,1858,1826,-10.52,-0.48,300.00
$IRIDIUM_FIX,2101.76,-15800.33,190899,202005
$TT8_MAMPS,0.029146
$HUMID,47.20
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,23.40
$XPDR_PINGS,1
$24V_AH,23.4,32.673
$10V_AH,10.1,30.908
$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,29.175,119.325,285.575,30.925,0.000,30.356,34.592,197.725,4.750,0.000,31.898,1298.171,6641.593,376.389,2007.278,460.222,33.370,1246.299,0.000,1968.432,0.000,29.258,0.000
$DEVICE_MAMPS,138.060,52.923,866.710,506.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,451.589,431.631,850.370,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,38115,670
$CAP_FILE_SIZE,124310,0
$CFSIZE,260165632,237453312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260510,022008,2109.054,-15800.428,149,1.2,150,9.8