version: 66.06
glider: 139
mission: 7
dive: 400
start: 5 30 110 4 29 44
data:
$ID,139
$MISSION,7
$DIVE,400
$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,-2135138.8
$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
$GPS1,041926,2105.384,-15749.755,195,1.5,196,9.8
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,2
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-69.9
$GPS2,042852,2105.448,-15749.803,13,2.0,13,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.173,0.063
$KALMAN_X,-66420.5,583.4,-702.3,75400.5,-1718.3
$KALMAN_Y,35422.7,-41.5,-123.2,-37965.6,-694.0
$MHEAD_RNG_PITCHd_Wd,60.2,11915,-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,-53.25,0.000,2,0.000,0.000,425,1850,3235,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.5,-6.1,10,95,10.60,2.45,-2.60,0.000,4,0.134,0.036,2402,3302,3370,0,0,0,0,0,0
$GC,106,-0.51,-77.9,14.4,-31.9,16,113,0.90,2.45,0.00,0.000,6,0.080,0.029,2599,1869,3371,0,0,0,0,0,0
$GC,315,-0.81,-77.9,28.5,-5.9,53,321,0.28,2.40,0.00,0.000,4,0.048,0.043,2522,467,3372,0,0,0,0,0,0
$GC,373,-0.95,-77.9,34.2,-9.2,61,377,0.00,2.30,0.00,0.000,6,0.000,0.019,2521,1908,3372,0,0,0,0,0,0
$GC,636,-1.07,-77.9,59.7,-9.1,85,641,0.20,2.47,0.00,0.000,4,0.049,0.043,2463,467,3373,0,0,0,0,0,0
$GC,717,-1.07,-77.9,71.4,-15.3,93,724,0.00,2.28,0.00,0.000,6,0.000,0.019,2463,1878,3373,0,0,0,0,0,0
$GC,980,-1.10,-77.9,100.8,-12.3,118,984,0.00,2.40,0.00,0.000,4,0.000,0.043,2463,470,3373,0,0,0,0,0,0
$GC,1051,-1.15,-77.9,110.0,-12.7,125,1055,0.00,2.25,0.00,0.000,6,0.000,0.019,2462,1876,3374,0,0,0,0,0,0
$GC,1314,-1.21,-77.9,138.7,-10.3,149,1318,0.00,2.40,0.00,0.000,4,0.000,0.043,2462,466,3375,0,0,0,0,0,0
$GC,1421,-1.28,-77.9,150.5,-10.6,160,1426,0.12,2.22,0.00,0.000,6,0.063,0.019,2419,1877,3375,0,0,0,0,0,0
$GC,1681,-1.28,-77.9,178.1,-11.0,184,1686,0.00,2.40,0.00,0.000,4,0.000,0.044,2418,468,3375,0,0,0,0,0,0
$GC,1716,-1.21,-77.9,181.7,-11.4,187,1721,0.15,2.25,0.00,0.000,6,0.092,0.020,2450,1876,3375,0,0,0,0,0,0
$GC,1984,-1.31,-77.9,206.2,-8.9,209,1988,0.00,2.42,0.00,0.000,4,0.000,0.043,2450,460,3376,0,0,0,0,0,0
$GC,2062,-1.37,-77.9,213.8,-9.2,212,2067,0.15,2.28,0.00,0.000,6,0.056,0.020,2401,1881,3376,0,0,0,0,0,0
$GC,2379,-1.37,-77.9,247.0,-10.2,227,2383,0.00,2.42,0.00,0.000,4,0.000,0.045,2401,460,3376,0,0,0,0,0,0
$GC,2434,-1.37,-77.9,253.4,-11.7,229,2438,0.00,2.28,0.00,0.000,6,0.000,0.021,2401,1876,3376,0,0,0,0,0,0
$GC,2751,-1.37,-77.9,281.2,-9.4,244,2755,0.00,2.42,0.00,0.000,4,0.000,0.046,2401,469,3376,0,0,0,0,0,0
$GC,2847,-1.37,-77.9,291.7,-10.4,248,2851,0.00,2.28,0.00,0.000,6,0.000,0.022,2400,1878,3376,0,0,0,0,0,0
$GC,3185,-1.37,-77.9,325.4,-10.1,259,3189,0.00,2.45,0.00,0.000,4,0.000,0.048,2400,464,3374,0,0,0,0,0,0
$GC,3244,-1.37,-77.9,332.1,-10.9,260,3248,0.00,2.28,0.00,0.000,6,0.000,0.024,2401,1873,3374,0,0,0,0,0,0
$GC,3594,-1.41,-77.9,365.5,-9.5,269,3598,0.00,2.42,0.00,0.000,4,0.000,0.050,2399,468,3372,0,0,0,0,0,0
$GC,3654,-1.41,-77.9,371.5,-9.8,270,3658,0.00,2.30,0.00,0.000,6,0.000,0.025,2400,1878,3372,0,0,0,0,0,0
$GC,4004,-1.46,-77.9,400.8,-8.5,279,4008,0.00,2.45,0.00,0.000,4,0.000,0.051,2399,466,3369,0,0,0,0,0,0
$GC,4073,-1.46,-77.9,407.6,-8.9,280,4077,0.00,2.33,0.00,0.000,6,0.000,0.028,2399,1875,3368,0,0,0,0,0,0
$GC,4413,-1.50,-77.9,435.1,-8.1,289,4417,0.00,2.45,0.00,0.000,4,0.000,0.054,2400,470,3365,0,0,0,0,0,0
$GC,4482,-1.50,-77.9,441.2,-8.6,290,4486,0.00,2.33,0.00,0.000,6,0.000,0.028,2398,1876,3365,0,0,0,0,0,0
$STATE,4617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4617,begin apogee
$GC,4622,-0.31,0.0,452.2,8.1,294,4690,1.15,0.00,64.47,0.876,6,0.073,0.000,2646,2036,3049,0,0,0,0,0,0
$STATE,4691,end apogee,CONTROL_FINISHED_OK
$STATE,4691,begin climb
$GC,4693,1.40,77.9,452.8,0.0,295,4768,1.62,2.42,64.88,0.854,4,0.034,0.044,3025,3376,2732,0,0,0,0,0,0
$GC,4919,1.24,130.2,447.6,4.4,300,4972,0.20,2.38,44.58,0.849,6,0.116,0.037,2988,2005,2519,0,0,0,0,0,0
$GC,5290,1.12,130.2,416.0,9.1,309,5295,0.15,2.42,0.00,0.000,4,0.121,0.041,2961,3388,2512,0,0,0,0,0,0
$GC,5347,1.08,130.2,410.8,8.7,310,5351,0.00,2.40,0.00,0.000,6,0.000,0.038,2957,2005,2512,0,0,0,0,0,0
$GC,5660,1.03,137.1,386.9,7.5,318,5667,0.00,0.00,5.60,0.643,6,0.000,0.000,2958,2006,2491,0,0,0,0,0,0
$GC,5985,0.98,137.1,359.8,8.3,326,5990,0.15,2.40,0.00,0.000,4,0.121,0.041,2932,3389,2488,0,0,0,0,0,0
$GC,6009,0.98,137.1,357.6,8.3,326,6013,0.00,2.40,0.00,0.000,6,0.000,0.038,2932,2004,2489,0,0,0,0,0,0
$GC,6348,0.98,137.1,329.7,8.2,335,6352,0.00,2.45,0.00,0.000,4,0.000,0.053,2932,599,2487,0,0,0,0,0,0
$GC,6432,0.94,137.1,322.7,8.4,336,6438,0.00,2.35,0.00,0.000,6,0.000,0.030,2934,1998,2486,0,0,0,0,0,0
$GC,6763,0.97,167.1,302.5,6.0,345,6795,0.00,2.55,26.27,0.792,4,0.000,0.052,2934,609,2367,0,0,0,0,0,0
$GC,7040,0.97,167.1,279.9,9.7,356,7044,0.00,2.35,0.00,0.000,6,0.000,0.029,2935,2018,2361,0,0,0,0,0,0
$GC,7364,1.02,169.6,255.3,7.9,372,7365,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2023,2361,0,0,0,0,0,0
$GC,7675,1.10,185.2,232.4,6.9,387,7697,0.00,2.53,15.95,0.721,4,0.000,0.050,2935,603,2293,0,0,0,0,0,0
$GC,7786,1.11,191.6,223.7,7.6,391,7798,0.00,2.38,6.53,0.603,6,0.000,0.028,2935,2023,2268,0,0,0,0,0,0
$GC,8125,1.22,217.6,201.7,6.2,408,8156,0.20,2.55,24.65,0.708,4,0.061,0.048,2985,602,2162,0,0,0,0,0,0
$GC,8322,1.16,217.6,181.5,11.0,427,8327,0.00,2.35,0.00,0.000,6,0.000,0.027,2985,2012,2155,0,0,0,0,0,0
$GC,8585,1.16,217.6,158.1,8.2,451,8589,0.00,2.45,0.00,0.000,4,0.000,0.046,2984,600,2154,0,0,0,0,0,0
$GC,8613,1.10,217.6,155.4,9.2,453,8619,0.15,2.35,0.00,0.000,6,0.113,0.025,2957,2016,2153,0,0,0,0,0,0
$GC,8875,1.19,224.0,136.7,7.6,478,8886,0.00,2.47,5.70,0.515,4,0.000,0.044,2957,601,2136,0,0,0,0,0,0
$GC,8932,1.19,224.0,131.8,8.8,484,8937,0.00,2.33,0.00,0.000,6,0.000,0.024,2957,2016,2135,0,0,0,0,0,0
$GC,9194,1.29,232.0,111.4,7.5,508,9209,0.17,2.50,8.68,0.554,4,0.059,0.044,3004,607,2104,0,0,0,0,0,0
$GC,9298,1.22,232.0,102.0,9.7,519,9303,0.12,2.28,0.00,0.000,6,0.110,0.022,2981,2011,2101,0,0,0,0,0,0
$GC,9562,1.29,241.1,84.3,7.4,543,9581,0.00,2.45,9.52,0.533,4,0.000,0.042,2981,598,2066,0,0,0,0,0,0
$GC,9633,1.29,241.1,77.5,10.2,550,9639,0.00,2.33,0.00,0.000,6,0.000,0.021,2981,2006,2064,0,0,0,0,0,0
$GC,9896,1.39,262.5,57.8,6.6,575,9927,0.15,2.47,20.25,0.551,4,0.060,0.038,3025,590,1977,0,0,0,0,0,0
$GC,10037,1.33,262.5,42.3,12.1,590,10042,0.10,2.30,0.00,0.000,6,0.116,0.021,3006,2019,1975,0,0,0,0,0,0
$GC,10303,1.40,262.5,14.8,9.9,627,10309,0.00,2.42,0.00,0.000,4,0.000,0.042,3005,598,1974,0,0,0,0,0,0
$GC,10372,1.40,262.5,7.8,12.5,642,10379,0.00,2.30,0.00,0.000,6,0.000,0.020,3005,2002,1973,0,0,0,0,0,0
$STATE,10423,end climb,SURFACE_DEPTH_REACHED
$STATE,10423,begin surface coast
$FINISH,0.5,1.010552
$STATE,10457,end surface coast,CONTROL_FINISHED_OK
$STATE,10457,begin surface
$SM_CCo,10478,19.02,0.497,0,0,1826,300.00
$SM_GC,1.27,0.00,0.00,19.02,0.000,0.000,0.497,427,1856,1826,-10.52,-0.54,300.00
$IRIDIUM_FIX,2054.83,-15749.62,240899,040454
$TT8_MAMPS,0.029146
$HUMID,47.71
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,35.446
$10V_AH,10.1,33.606
$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,27.650,124.375,297.075,19.025,0.000,59.564,56.259,276.556,4.500,0.000,13.135,1280.270,6829.208,378.046,1969.792,607.539,33.374,1250.744,0.000,1950.624,0.000,29.258,0.000
$DEVICE_MAMPS,134.225,53.690,875.914,497.016,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.035,423.947,827.062,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,38073,657
$CAP_FILE_SIZE,126007,0
$CFSIZE,260165632,235450368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300510,072634,2105.584,-15749.443,57,2.8,76,9.8