version: 66.06
glider: 139
mission: 7
dive: 404
start: 5 30 110 16 34 55
data:
$ID,139
$MISSION,7
$DIVE,404
$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,-2135270
$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
$GPS1,162451,2105.277,-15749.660,121,3.0,140,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.6
$GPS2,163404,2105.324,-15749.722,18,2.9,37,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.173,0.062
$KALMAN_X,-72986.4,-445.5,-674.3,83103.1,-1561.5
$KALMAN_Y,32319.3,15.4,-119.5,-35152.2,-667.4
$MHEAD_RNG_PITCHd_Wd,60.5,11790,-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,-53.05,0.000,2,0.000,0.000,421,1864,3202,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.2,-4.7,10,95,10.62,2.40,-3.42,0.000,4,0.134,0.036,2403,3296,3371,0,0,0,0,0,0
$GC,141,-1.34,-77.9,18.6,-15.5,24,148,0.10,2.45,0.00,0.000,6,0.078,0.033,2424,1870,3372,0,0,0,0,0,0
$GC,346,-1.23,-77.9,47.4,-15.4,50,350,0.00,2.40,0.00,0.000,4,0.000,0.045,2427,464,3373,0,0,0,0,0,0
$GC,380,-1.05,-77.9,53.4,-16.9,53,385,0.28,2.30,0.00,0.000,6,0.091,0.019,2483,1910,3373,0,0,0,0,0,0
$GC,643,-1.10,-77.9,87.1,-10.9,77,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1914,3374,0,0,0,0,0,0
$GC,897,-1.21,-77.9,109.5,-8.6,101,902,0.15,2.50,0.00,0.000,4,0.057,0.042,2435,464,3375,0,0,0,0,0,0
$GC,1041,-1.16,-77.9,127.8,-13.3,116,1046,0.12,2.25,0.00,0.000,6,0.097,0.019,2460,1875,3375,0,0,0,0,0,0
$GC,1301,-1.23,-77.9,153.4,-9.6,140,1306,0.00,2.40,0.00,0.000,4,0.000,0.043,2461,464,3376,0,0,0,0,0,0
$GC,1354,-1.29,-77.9,158.7,-10.5,145,1359,0.12,2.25,0.00,0.000,6,0.063,0.020,2417,1886,3376,0,0,0,0,0,0
$GC,1615,-1.29,-77.9,184.9,-9.9,169,1619,0.00,2.42,0.00,0.000,4,0.000,0.043,2417,462,3376,0,0,0,0,0,0
$GC,1666,-1.25,-77.9,190.2,-10.8,174,1671,0.12,2.25,0.00,0.000,6,0.097,0.020,2443,1878,3376,0,0,0,0,0,0
$GC,1926,-1.33,-77.9,213.4,-9.3,191,1930,0.00,2.42,0.00,0.000,4,0.000,0.044,2443,467,3377,0,0,0,0,0,0
$GC,1971,-1.37,-77.9,217.9,-10.0,193,1976,0.12,2.28,0.00,0.000,6,0.063,0.021,2400,1885,3377,0,0,0,0,0,0
$GC,2303,-1.37,-77.9,254.1,-9.6,209,2308,0.00,2.42,0.00,0.000,4,0.000,0.044,2401,466,3377,0,0,0,0,0,0
$GC,2349,-1.37,-77.9,259.7,-10.7,211,2356,0.00,2.28,0.00,0.000,6,0.000,0.021,2400,1881,3376,0,0,0,0,0,0
$GC,2682,-1.37,-77.9,290.6,-8.7,227,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1884,3376,0,0,0,0,0,0
$GC,3009,-1.40,-77.9,317.1,-7.5,238,3013,0.00,2.42,0.00,0.000,4,0.000,0.048,2401,467,3375,0,0,0,0,0,0
$GC,3125,-1.40,-77.9,327.4,-8.3,240,3129,0.00,2.28,0.00,0.000,6,0.000,0.024,2401,1870,3375,0,0,0,0,0,0
$GC,3465,-1.45,-77.9,357.0,-9.4,249,3469,0.00,2.45,0.00,0.000,4,0.000,0.049,2401,462,3373,0,0,0,0,0,0
$GC,3502,-1.45,-77.9,361.0,-10.7,249,3507,0.00,2.30,0.00,0.000,6,0.000,0.025,2401,1872,3373,0,0,0,0,0,0
$GC,3833,-1.50,-77.9,387.7,-7.3,258,3837,0.00,2.45,0.00,0.000,4,0.000,0.051,2400,468,3371,0,0,0,0,0,0
$GC,3948,-1.50,-77.9,396.8,-7.9,260,3953,0.00,2.33,0.00,0.000,6,0.000,0.027,2401,1881,3370,0,0,0,0,0,0
$GC,4293,-1.55,-77.9,425.8,-8.9,269,4298,0.12,2.50,0.00,0.000,4,0.069,0.054,2365,470,3368,0,0,0,0,0,0
$GC,4392,-1.47,-77.9,437.0,-10.6,271,4397,0.12,2.33,0.00,0.000,6,0.106,0.028,2390,1876,3367,0,0,0,0,0,0
$STATE,4546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4546,begin apogee
$GC,4552,-0.31,0.0,451.3,8.8,275,4620,1.17,0.00,64.47,0.877,6,0.074,0.000,2642,2033,3050,0,0,0,0,0,0
$STATE,4621,end apogee,CONTROL_FINISHED_OK
$STATE,4621,begin climb
$GC,4623,1.40,77.9,452.3,0.0,276,4698,1.65,2.45,64.85,0.854,4,0.034,0.044,3026,3388,2731,0,0,0,0,0,0
$GC,4773,1.22,128.8,450.8,4.5,279,4823,0.22,2.40,43.85,0.846,6,0.114,0.035,2984,2000,2524,0,0,0,0,0,0
$GC,5163,1.11,128.8,416.5,8.8,289,5168,0.15,2.42,0.00,0.000,4,0.120,0.051,2958,606,2516,0,0,0,0,0,0
$GC,5174,1.00,128.8,415.4,8.8,289,5179,0.12,2.35,0.00,0.000,6,0.130,0.030,2934,1997,2515,0,0,0,0,0,0
$GC,5488,1.00,131.9,391.0,7.8,297,5492,0.00,2.47,0.00,0.000,4,0.000,0.052,2937,603,2512,0,0,0,0,0,0
$GC,5571,0.93,131.9,384.5,8.1,298,5578,0.12,2.35,0.00,0.000,6,0.123,0.031,2916,2010,2512,0,0,0,0,0,0
$GC,5902,1.01,161.3,365.1,6.0,307,5935,0.00,2.58,26.77,0.824,4,0.000,0.053,2915,609,2391,0,0,0,0,0,0
$GC,6008,1.01,161.3,356.5,9.2,309,6013,0.00,2.38,0.00,0.000,6,0.000,0.031,2915,2017,2387,0,0,0,0,0,0
$GC,6358,1.07,161.3,327.1,8.5,318,6363,0.15,2.50,0.00,0.000,4,0.070,0.052,2951,605,2385,0,0,0,0,0,0
$GC,6433,1.01,161.3,320.2,8.8,319,6437,0.00,2.35,0.00,0.000,6,0.000,0.030,2951,2012,2384,0,0,0,0,0,0
$GC,6750,1.03,182.4,298.4,6.6,328,6774,0.00,2.53,18.48,0.772,4,0.000,0.050,2951,600,2306,0,0,0,0,0,0
$GC,6822,0.99,182.4,292.4,9.4,331,6827,0.12,2.40,0.00,0.000,6,0.123,0.030,2930,2018,2302,0,0,0,0,0,0
$GC,7155,1.05,182.4,266.6,8.1,347,7159,0.00,2.50,0.00,0.000,4,0.000,0.051,2930,604,2301,0,0,0,0,0,0
$GC,7187,1.05,182.4,263.3,9.3,348,7191,0.00,2.38,0.00,0.000,6,0.000,0.029,2930,2019,2299,0,0,0,0,0,0
$GC,7504,1.15,189.1,238.8,7.6,363,7516,0.15,2.55,6.25,0.608,4,0.071,0.049,2967,600,2279,0,0,0,0,0,0
$GC,7552,1.10,189.1,234.5,9.8,365,7556,0.00,2.38,0.00,0.000,6,0.000,0.028,2967,2018,2276,0,0,0,0,0,0
$GC,7886,1.12,210.1,208.3,6.6,381,7911,0.00,2.40,20.10,0.701,4,0.000,0.035,2966,3404,2192,0,0,0,0,0,0
$GC,7940,1.19,224.7,204.6,7.0,383,7960,0.00,2.40,14.52,0.670,6,0.000,0.033,2967,2009,2133,0,0,0,0,0,0
$GC,8289,1.23,224.7,170.6,12.2,413,8294,0.00,2.45,0.00,0.000,4,0.000,0.048,2966,601,2129,0,0,0,0,0,0
$GC,8351,1.23,224.7,162.5,13.5,419,8355,0.00,2.35,0.00,0.000,6,0.000,0.025,2967,2021,2126,0,0,0,0,0,0
$GC,8614,1.28,224.7,135.8,8.1,443,8619,0.12,2.47,0.00,0.000,4,0.071,0.045,3002,597,2126,0,0,0,0,0,0
$GC,8679,1.20,224.7,129.1,10.9,449,8685,0.12,2.30,0.00,0.000,6,0.110,0.024,2979,2012,2125,0,0,0,0,0,0
$GC,8941,1.25,229.5,109.1,7.7,474,8952,0.00,2.45,4.35,0.432,4,0.000,0.043,2979,601,2114,0,0,0,0,0,0
$GC,9049,1.25,229.5,97.7,12.1,485,9054,0.00,2.30,0.00,0.000,6,0.000,0.022,2979,2012,2113,0,0,0,0,0,0
$GC,9313,1.32,229.5,73.8,8.5,510,9317,0.10,2.45,0.00,0.000,4,0.077,0.043,3011,600,2113,0,0,0,0,0,0
$GC,9373,1.26,229.5,67.9,8.1,516,9378,0.12,2.28,0.00,0.000,6,0.106,0.021,2988,2028,2112,0,0,0,0,0,0
$GC,9643,1.34,238.7,50.0,7.4,541,9662,0.00,2.45,9.95,0.508,4,0.000,0.040,2987,602,2075,0,0,0,0,0,0
$GC,9674,1.38,238.7,46.7,9.8,544,9679,0.12,2.25,0.00,0.000,6,0.067,0.021,3025,1996,2074,0,0,0,0,0,0
$GC,9938,1.38,238.7,20.4,9.8,576,9945,0.00,2.40,0.00,0.000,4,0.000,0.040,3025,607,2075,0,0,0,0,0,0
$GC,10001,1.30,238.7,14.4,9.0,589,10007,0.15,2.28,0.00,0.000,6,0.102,0.020,2997,2028,2074,0,0,0,0,0,0
$STATE,10111,end climb,SURFACE_DEPTH_REACHED
$STATE,10112,begin surface coast
$FINISH,0.7,1.023373
$STATE,10140,end surface coast,CONTROL_FINISHED_OK
$STATE,10140,begin surface
$SM_CCo,10160,30.77,0.505,0,0,1826,300.00
$SM_GC,1.75,0.00,0.00,30.77,0.000,0.000,0.505,428,1844,1826,-10.52,-0.90,300.00
$IRIDIUM_FIX,2057.14,-15751.76,240899,161608
$TT8_MAMPS,0.029146
$HUMID,47.95
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,23.4,35.816
$10V_AH,10.0,33.927
$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,27.550,124.750,273.600,30.775,0.000,47.375,73.215,230.262,4.750,0.000,38.736,1214.365,6781.312,370.951,1815.194,563.771,33.372,1171.491,0.000,1767.323,0.000,30.858,0.000
$DEVICE_MAMPS,134.225,53.690,876.681,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.539,391.683,762.804,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,34914,614
$CAP_FILE_SIZE,122303,0
$CFSIZE,260165632,235216896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300510,192651,2105.465,-15749.438,69,2.9,88,9.8