version: 66.06
glider: 139
mission: 7
dive: 388
start: 5 28 110 16 28 57
data:
$ID,139
$MISSION,7
$DIVE,388
$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,-2134852.8
$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
$GPS1,162321,2107.538,-15754.396,108,4.7,127,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.3
$GPS2,162806,2107.553,-15754.365,14,1.4,24,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.181,-0.031
$KALMAN_X,-49142.8,-461.3,-666.2,51246.6,-1329.8
$KALMAN_Y,38479.2,-53.0,29.7,-37265.1,238.9
$MHEAD_RNG_PITCHd_Wd,90.1,20039,-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,-52.88,0.000,2,0.000,0.000,424,1866,3194,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.1,-4.3,10,95,10.62,2.45,-3.55,0.000,4,0.136,0.055,2402,465,3370,0,0,0,0,0,0
$GC,165,-1.19,-77.9,24.3,-17.6,29,172,0.25,2.33,0.00,0.000,6,0.100,0.020,2451,1910,3371,0,0,0,0,0,0
$GC,367,-1.13,-77.9,51.5,-12.2,51,371,0.00,2.47,0.00,0.000,4,0.000,0.043,2451,466,3372,0,0,0,0,0,0
$GC,410,-1.06,-77.9,56.7,-11.2,55,415,0.15,2.25,0.00,0.000,6,0.109,0.019,2479,1886,3372,0,0,0,0,0,0
$GC,673,-1.13,-77.9,82.0,-10.4,79,677,0.00,2.42,0.00,0.000,4,0.000,0.043,2479,469,3373,0,0,0,0,0,0
$GC,792,-1.16,-77.9,95.6,-11.9,91,797,0.00,2.25,0.00,0.000,6,0.000,0.019,2479,1876,3374,0,0,0,0,0,0
$GC,1055,-1.25,-77.9,121.2,-9.1,116,1060,0.15,2.42,0.00,0.000,4,0.057,0.044,2429,463,3374,0,0,0,0,0,0
$GC,1153,-1.17,-77.9,133.8,-14.3,126,1158,0.15,2.25,0.00,0.000,6,0.095,0.019,2460,1882,3375,0,0,0,0,0,0
$GC,1414,-1.26,-77.9,163.5,-10.2,150,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1887,3375,0,0,0,0,0,0
$GC,1668,-1.35,-77.9,187.0,-9.2,174,1673,0.17,2.42,0.00,0.000,4,0.051,0.044,2405,468,3376,0,0,0,0,0,0
$GC,1761,-1.29,-77.9,199.3,-14.8,183,1768,0.12,2.22,0.00,0.000,6,0.098,0.020,2431,1878,3376,0,0,0,0,0,0
$GC,2015,-1.33,-77.9,227.3,-10.1,196,2019,0.00,2.42,0.00,0.000,4,0.000,0.043,2431,464,3376,0,0,0,0,0,0
$GC,2060,-1.33,-77.9,232.1,-10.8,198,2064,0.00,2.28,0.00,0.000,6,0.000,0.020,2431,1886,3376,0,0,0,0,0,0
$GC,2386,-1.39,-77.9,257.4,-7.4,214,2390,0.00,2.42,0.00,0.000,4,0.000,0.044,2431,464,3376,0,0,0,0,0,0
$GC,2476,-1.44,-77.9,263.6,-6.5,218,2481,0.15,2.25,0.00,0.000,6,0.057,0.021,2384,1877,3376,0,0,0,0,0,0
$GC,2811,-1.44,-77.9,291.9,-8.6,234,2816,0.00,2.40,0.00,0.000,4,0.000,0.045,2382,470,3376,0,0,0,0,0,0
$GC,2839,-1.34,-77.9,294.9,-10.3,235,2844,0.17,2.25,0.00,0.000,6,0.091,0.022,2418,1879,3376,0,0,0,0,0,0
$GC,3158,-1.42,-77.9,320.8,-8.0,245,3163,0.00,2.42,0.00,0.000,4,0.000,0.048,2418,470,3375,0,0,0,0,0,0
$GC,3242,-1.46,-77.9,328.9,-9.1,246,3247,0.00,2.28,0.00,0.000,6,0.000,0.024,2419,1872,3375,0,0,0,0,0,0
$GC,3573,-1.54,-77.9,356.9,-8.1,255,3578,0.17,2.45,0.00,0.000,4,0.054,0.049,2367,461,3373,0,0,0,0,0,0
$GC,3676,-1.46,-77.9,368.6,-12.0,257,3681,0.15,2.30,0.00,0.000,6,0.096,0.025,2397,1881,3373,0,0,0,0,0,0
$GC,3991,-1.51,-77.9,398.0,-9.1,265,3995,0.00,2.45,0.00,0.000,4,0.000,0.051,2396,466,3371,0,0,0,0,0,0
$GC,4083,-1.51,-77.9,406.5,-8.8,267,4087,0.00,2.30,0.00,0.000,6,0.000,0.027,2397,1874,3371,0,0,0,0,0,0
$GC,4406,-1.55,-77.9,433.7,-8.6,275,4410,0.00,2.45,0.00,0.000,4,0.000,0.053,2397,468,3368,0,0,0,0,0,0
$GC,4507,-1.55,-77.9,443.7,-9.7,277,4511,0.00,2.33,0.00,0.000,6,0.000,0.028,2397,1872,3367,0,0,0,0,0,0
$STATE,4615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4615,begin apogee
$GC,4620,-0.31,0.0,453.2,8.7,280,4689,1.15,0.00,64.78,0.879,6,0.078,0.000,2642,2033,3050,0,0,0,0,0,0
$STATE,4690,end apogee,CONTROL_FINISHED_OK
$STATE,4690,begin climb
$GC,4692,1.40,77.9,454.5,0.0,281,4766,1.65,2.45,64.72,0.858,4,0.035,0.045,3026,3385,2732,0,0,0,0,0,0
$GC,5030,1.20,101.3,442.1,6.4,288,5056,0.25,2.38,20.08,0.825,6,0.111,0.038,2978,2002,2637,0,0,0,0,0,0
$GC,5379,1.09,105.2,415.7,7.8,297,5391,0.15,2.50,4.60,0.591,4,0.120,0.052,2951,602,2619,0,0,0,0,0,0
$GC,5434,0.95,105.2,411.4,8.1,298,5439,0.15,2.33,0.00,0.000,6,0.123,0.031,2925,1990,2618,0,0,0,0,0,0
$GC,5753,0.98,126.5,390.3,6.6,306,5777,0.00,2.55,18.45,0.821,4,0.000,0.053,2924,604,2533,0,0,0,0,0,0
$GC,5844,0.94,126.5,383.1,9.0,308,5848,0.00,2.40,0.00,0.000,6,0.000,0.031,2925,2018,2531,0,0,0,0,0,0
$GC,6171,0.94,126.5,352.8,9.3,316,6172,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2023,2529,0,0,0,0,0,0
$GC,6496,0.98,163.9,332.8,5.5,324,6537,0.00,2.58,32.62,0.820,4,0.000,0.052,2925,605,2379,0,0,0,0,0,0
$GC,6635,0.99,168.2,322.8,7.7,327,6644,0.00,2.40,4.18,0.535,6,0.000,0.031,2925,2019,2364,0,0,0,0,0,0
$GC,6958,1.06,175.2,298.7,7.5,335,6970,0.00,2.55,7.65,0.682,4,0.000,0.053,2924,605,2334,0,0,0,0,0,0
$GC,7048,1.07,185.2,292.6,7.3,339,7065,0.10,2.38,10.60,0.721,6,0.085,0.031,2952,2016,2293,0,0,0,0,0,0
$GC,7382,1.07,185.2,265.6,8.5,355,7386,0.00,2.38,0.00,0.000,4,0.000,0.039,2951,3401,2290,0,0,0,0,0,0
$GC,7433,1.13,188.1,261.3,7.8,357,7437,0.00,2.40,0.00,0.000,6,0.000,0.037,2952,2008,2290,0,0,0,0,0,0
$GC,7758,1.18,204.1,239.6,6.9,373,7780,0.00,2.50,17.17,0.725,4,0.000,0.050,2950,600,2218,0,0,0,0,0,0
$GC,7908,1.18,204.1,224.8,10.2,379,7912,0.00,2.35,0.00,0.000,6,0.000,0.028,2951,2021,2213,0,0,0,0,0,0
$GC,8224,1.29,246.9,205.0,5.1,394,8268,0.20,2.60,38.58,0.712,4,0.058,0.048,3001,604,2042,0,0,0,0,0,0
$GC,8326,1.21,246.9,195.1,12.0,401,8331,0.12,2.35,0.00,0.000,6,0.110,0.026,2980,2018,2037,0,0,0,0,0,0
$GC,8589,1.21,246.9,167.9,9.7,425,8593,0.00,2.47,0.00,0.000,4,0.000,0.048,2979,598,2036,0,0,0,0,0,0
$GC,8667,1.21,246.9,158.3,11.5,433,8672,0.00,2.35,0.00,0.000,6,0.000,0.025,2979,2015,2033,0,0,0,0,0,0
$GC,8930,1.25,246.9,133.6,8.8,457,8935,0.00,2.45,0.00,0.000,4,0.000,0.045,2979,597,2033,0,0,0,0,0,0
$GC,8945,1.25,246.9,132.1,8.9,458,8950,0.00,2.33,0.00,0.000,6,0.000,0.024,2979,2018,2033,0,0,0,0,0,0
$GC,9207,1.30,246.9,107.5,10.0,482,9211,0.00,2.45,0.00,0.000,4,0.000,0.044,2980,602,2033,0,0,0,0,0,0
$GC,9305,1.30,246.9,97.2,11.4,492,9309,0.00,2.28,0.00,0.000,6,0.000,0.022,2979,2011,2032,0,0,0,0,0,0
$GC,9568,1.36,246.9,71.6,9.5,516,9573,0.15,2.40,0.00,0.000,4,0.060,0.043,3023,601,2032,0,0,0,0,0,0
$GC,9702,1.30,246.9,57.0,11.6,530,9707,0.15,2.28,0.00,0.000,6,0.100,0.021,2994,2018,2032,0,0,0,0,0,0
$GC,9965,1.35,246.9,35.0,8.6,554,9969,0.00,2.42,0.00,0.000,4,0.000,0.042,2994,595,2032,0,0,0,0,0,0
$GC,10092,1.35,246.9,22.9,10.0,575,10098,0.00,2.28,0.00,0.000,6,0.000,0.021,2994,2018,2032,0,0,0,0,0,0
$GC,10298,1.41,246.9,4.3,8.6,612,10305,0.12,2.45,0.00,0.000,4,0.065,0.042,3034,602,2032,0,0,0,0,0,0
$STATE,10309,end climb,SURFACE_DEPTH_REACHED
$STATE,10309,begin surface coast
$FINISH,0.5,1.001153
$STATE,10345,end surface coast,CONTROL_FINISHED_OK
$STATE,10346,begin surface
$SM_CCo,10367,27.17,0.509,0,0,1827,300.00
$SM_GC,1.04,0.00,0.00,27.17,0.000,0.000,0.509,425,1903,1827,-10.53,0.79,300.00
$IRIDIUM_FIX,2059.45,-15753.90,220899,131321
$TT8_MAMPS,0.029146
$HUMID,47.36
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.40
$XPDR_PINGS,4
$24V_AH,23.4,34.463
$10V_AH,10.1,32.643
$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,27.650,124.000,283.425,27.175,0.000,27.006,30.304,117.075,5.500,0.000,25.070,1255.075,6704.661,371.850,1978.935,371.357,33.366,1237.966,0.000,1938.726,0.000,29.261,0.000
$DEVICE_MAMPS,135.759,55.224,878.982,508.521,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,420.460,396.795,775.331,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34963,622
$CAP_FILE_SIZE,123014,0
$CFSIZE,260165632,236167168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280510,192351,2107.548,-15753.665,43,4.7,62,9.8