version: 66.06
glider: 139
mission: 7
dive: 384
start: 5 28 110 4 45 54
data:
$ID,139
$MISSION,7
$DIVE,384
$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,-2134749.8
$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
$GPS1,044037,2107.090,-15754.226,75,1.7,75,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.8
$GPS2,044502,2107.108,-15754.228,11,2.0,11,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,0.004
$KALMAN_X,-41860.2,602.7,-568.4,43042.3,-1519.6
$KALMAN_Y,37139.9,122.5,-16.1,-36875.1,-110.3
$MHEAD_RNG_PITCHd_Wd,79.0,19688,-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,-53.28,0.000,2,0.000,0.000,425,1882,3225,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.6,-6.3,10,96,10.65,2.38,-2.78,0.000,4,0.137,0.038,2401,3292,3371,0,0,0,0,0,0
$GC,138,-1.33,-77.9,20.4,-17.7,23,144,0.12,2.40,0.00,0.000,6,0.107,0.032,2426,1868,3372,0,0,0,0,0,0
$GC,347,-1.20,-77.9,56.1,-18.2,47,348,0.12,0.00,0.00,0.000,6,0.110,0.000,2451,1868,3373,0,0,0,0,0,0
$GC,600,-1.20,-77.9,89.5,-11.2,71,605,0.00,2.38,0.00,0.000,4,0.000,0.044,2451,469,3374,0,0,0,0,0,0
$GC,680,-1.20,-77.9,98.8,-11.4,79,684,0.00,2.30,0.00,0.000,6,0.000,0.019,2451,1913,3374,0,0,0,0,0,0
$GC,944,-1.23,-77.9,125.9,-10.1,103,949,0.00,2.47,0.00,0.000,4,0.000,0.043,2451,465,3376,0,0,0,0,0,0
$GC,1008,-1.23,-77.9,133.0,-10.2,109,1014,0.00,2.28,0.00,0.000,6,0.000,0.019,2450,1900,3375,0,0,0,0,0,0
$GC,1270,-1.29,-77.9,156.4,-8.0,134,1274,0.00,2.47,0.00,0.000,4,0.000,0.044,2451,463,3376,0,0,0,0,0,0
$GC,1324,-1.33,-77.9,162.2,-10.2,139,1330,0.12,2.25,0.00,0.000,6,0.063,0.020,2408,1881,3377,0,0,0,0,0,0
$GC,1584,-1.33,-77.9,191.1,-12.1,164,1588,0.00,2.42,0.00,0.000,4,0.000,0.044,2408,462,3377,0,0,0,0,0,0
$GC,1656,-1.27,-77.9,200.3,-13.1,171,1661,0.12,2.25,0.00,0.000,6,0.100,0.020,2435,1878,3377,0,0,0,0,0,0
$GC,1984,-1.33,-77.9,235.0,-10.1,187,1988,0.00,2.40,0.00,0.000,4,0.000,0.044,2434,470,3377,0,0,0,0,0,0
$GC,2119,-1.33,-77.9,248.1,-8.5,193,2123,0.00,2.25,0.00,0.000,6,0.000,0.021,2435,1875,3377,0,0,0,0,0,0
$GC,2452,-1.42,-77.9,268.4,-6.8,209,2457,0.12,2.42,0.00,0.000,4,0.064,0.048,2392,470,3378,0,0,0,0,0,0
$GC,2559,-1.36,-77.9,279.5,-11.1,213,2566,0.12,2.25,0.00,0.000,6,0.099,0.022,2417,1877,3377,0,0,0,0,0,0
$GC,2895,-1.43,-77.9,311.7,-9.6,227,2899,0.00,2.42,0.00,0.000,4,0.000,0.047,2417,470,3376,0,0,0,0,0,0
$GC,2913,-1.46,-77.9,313.8,-9.9,227,2917,0.00,2.25,0.00,0.000,6,0.000,0.023,2417,1875,3377,0,0,0,0,0,0
$GC,3258,-1.53,-77.9,344.0,-8.5,236,3263,0.17,2.45,0.00,0.000,4,0.053,0.049,2365,463,3375,0,0,0,0,0,0
$GC,3319,-1.46,-77.9,351.3,-11.5,237,3324,0.15,2.28,0.00,0.000,6,0.095,0.025,2396,1867,3375,0,0,0,0,0,0
$GC,3670,-1.49,-77.9,383.9,-8.7,246,3674,0.00,2.45,0.00,0.000,4,0.000,0.051,2396,466,3374,0,0,0,0,0,0
$GC,3758,-1.49,-77.9,391.9,-8.9,248,3762,0.00,2.30,0.00,0.000,6,0.000,0.027,2396,1880,3373,0,0,0,0,0,0
$GC,4085,-1.53,-77.9,413.7,-6.4,256,4090,0.00,2.45,0.00,0.000,4,0.000,0.052,2395,471,3371,0,0,0,0,0,0
$GC,4170,-1.53,-77.9,420.2,-7.7,257,4175,0.00,2.33,0.00,0.000,6,0.000,0.028,2396,1881,3370,0,0,0,0,0,0
$GC,4501,-1.57,-77.9,446.3,-8.0,266,4506,0.10,2.50,0.00,0.000,4,0.081,0.054,2365,471,3368,0,0,0,0,0,0
$STATE,4536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4536,begin apogee
$GC,4544,-0.31,0.0,450.2,10.6,266,4613,1.30,0.00,65.00,0.877,6,0.080,0.000,2642,2011,3050,0,0,0,0,0,0
$STATE,4614,end apogee,CONTROL_FINISHED_OK
$STATE,4614,begin climb
$GC,4616,1.40,77.9,451.5,0.0,268,4691,1.65,2.53,64.75,0.857,4,0.033,0.044,3028,3405,2732,0,0,0,0,0,0
$GC,4804,1.24,136.0,449.4,4.0,272,4862,0.22,2.40,49.38,0.849,6,0.112,0.035,2986,2006,2495,0,0,0,0,0,0
$GC,5208,1.14,136.0,412.8,9.6,282,5210,0.12,0.00,0.00,0.000,6,0.123,0.000,2964,2006,2487,0,0,0,0,0,0
$GC,5533,1.08,136.0,383.7,9.1,290,5537,0.00,2.47,0.00,0.000,4,0.000,0.052,2963,602,2485,0,0,0,0,0,0
$GC,5561,0.95,136.0,380.8,9.6,290,5566,0.22,2.38,0.00,0.000,6,0.112,0.030,2922,2024,2484,0,0,0,0,0,0
$GC,5898,1.03,167.1,357.3,5.9,299,5930,0.00,2.60,25.88,0.813,4,0.000,0.051,2922,611,2368,0,0,0,0,0,0
$GC,6023,1.04,181.2,349.0,7.1,301,6043,0.00,2.35,13.50,0.763,6,0.000,0.031,2922,2014,2311,0,0,0,0,0,0
$GC,6363,1.11,182.3,325.2,7.9,310,6368,0.15,2.50,0.00,0.000,4,0.069,0.053,2959,604,2307,0,0,0,0,0,0
$GC,6493,1.05,182.3,309.9,12.0,312,6499,0.00,2.38,0.00,0.000,6,0.000,0.029,2960,2015,2304,0,0,0,0,0,0
$GC,6807,1.05,182.3,277.8,9.2,325,6812,0.00,2.50,0.00,0.000,4,0.000,0.051,2959,601,2303,0,0,0,0,0,0
$GC,6897,1.00,184.7,269.9,7.9,329,6902,0.15,2.35,0.00,0.000,6,0.118,0.029,2932,2017,2301,0,0,0,0,0,0
$GC,7230,1.10,208.5,247.3,6.4,345,7256,0.00,0.00,24.00,0.742,6,0.000,0.000,2932,2022,2200,0,0,0,0,0,0
$GC,7564,1.20,208.5,216.8,10.7,361,7569,0.20,2.50,0.00,0.000,4,0.061,0.047,2982,600,2195,0,0,0,0,0,0
$GC,7684,1.13,208.5,202.6,11.2,366,7689,0.12,2.35,0.00,0.000,6,0.118,0.027,2961,2012,2192,0,0,0,0,0,0
$GC,8013,1.18,213.7,176.2,7.7,396,8024,0.00,2.47,5.12,0.518,4,0.000,0.046,2960,602,2177,0,0,0,0,0,0
$GC,8154,1.18,213.7,164.6,8.1,411,8158,0.00,2.33,0.00,0.000,6,0.000,0.025,2961,2023,2175,0,0,0,0,0,0
$GC,8417,1.24,213.7,146.7,8.0,435,8422,0.10,2.50,0.00,0.000,4,0.080,0.045,2989,595,2175,0,0,0,0,0,0
$GC,8436,1.24,213.7,144.4,9.9,436,8443,0.00,2.35,0.00,0.000,6,0.000,0.024,2990,2012,2175,0,0,0,0,0,0
$GC,8699,1.24,213.7,120.4,8.7,461,8703,0.00,2.42,0.00,0.000,4,0.000,0.044,2990,595,2175,0,0,0,0,0,0
$GC,8726,1.19,213.7,117.8,8.3,463,8732,0.00,2.30,0.00,0.000,6,0.000,0.023,2990,2022,2174,0,0,0,0,0,0
$GC,8988,1.22,230.3,99.3,6.9,488,9006,0.00,0.00,15.80,0.580,6,0.000,0.000,2990,2026,2111,0,0,0,0,0,0
$GC,9265,1.22,230.3,75.8,8.8,514,9269,0.00,2.42,0.00,0.000,4,0.000,0.041,2990,602,2110,0,0,0,0,0,0
$GC,9396,1.22,230.3,62.6,12.0,528,9400,0.00,2.28,0.00,0.000,6,0.000,0.021,2990,2007,2107,0,0,0,0,0,0
$GC,9659,1.27,230.3,36.6,8.9,552,9663,0.00,2.42,0.00,0.000,4,0.000,0.041,2990,596,2107,0,0,0,0,0,0
$GC,9675,1.31,230.3,34.9,9.4,553,9680,0.00,2.30,0.00,0.000,6,0.000,0.021,2990,2020,2107,0,0,0,0,0,0
$GC,9946,1.37,234.6,12.4,7.7,596,9958,0.00,2.47,5.40,0.407,4,0.000,0.041,2990,592,2092,0,0,0,0,0,0
$GC,10021,1.37,234.6,5.2,9.6,612,10028,0.00,2.30,0.00,0.000,6,0.000,0.020,2990,2009,2091,0,0,0,0,0,0
$STATE,10050,end climb,SURFACE_DEPTH_REACHED
$STATE,10050,begin surface coast
$FINISH,0.4,1.000834
$STATE,10088,end surface coast,CONTROL_FINISHED_OK
$STATE,10088,begin surface
$SM_CCo,10108,34.67,0.508,0,0,1825,300.00
$SM_GC,1.58,0.00,0.00,34.67,0.000,0.000,0.508,425,1859,1825,-10.53,-0.42,300.00
$IRIDIUM_FIX,2101.76,-15753.03,220899,020259
$TT8_MAMPS,0.029146
$HUMID,47.00
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.4,34.138
$10V_AH,10.0,32.329
$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,27.050,115.050,268.825,34.675,0.000,27.267,24.992,115.482,4.500,0.000,11.825,1215.807,6638.232,374.792,1836.879,345.599,33.369,1180.635,0.000,1809.312,0.000,29.244,0.000
$DEVICE_MAMPS,136.526,53.690,876.681,507.754,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,421.111,396.689,765.325,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,34951,624
$CAP_FILE_SIZE,115652,0
$CFSIZE,260165632,236412928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280510,073613,2107.148,-15753.729,33,1.8,40,9.8