version: 66.06
glider: 139
mission: 7
dive: 406
start: 5 30 110 22 36 50
data:
$ID,139
$MISSION,7
$DIVE,406
$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,-2135349
$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
$GPS1,222927,2105.471,-15748.693,86,9.1,105,9.8
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.6
$GPS2,223559,2105.426,-15748.671,36,1.2,38,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.150,0.106
$KALMAN_X,-76675.6,-122.3,688.1,86925.8,-1981.4
$KALMAN_Y,30666.4,65.2,138.4,-33615.8,-1206.3
$MHEAD_RNG_PITCHd_Wd,45.1,9967,-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,-77.9,0.0,0.0,0,70,0.00,0.00,-52.42,0.000,2,0.000,0.000,426,1847,3227,0,0,0,0,0,0
$GC,73,-1.40,-77.9,4.0,-7.6,10,95,10.55,2.45,-2.65,0.000,4,0.133,0.040,2401,3289,3371,0,0,0,0,0,0
$GC,111,-0.65,-77.9,16.8,-32.4,17,117,0.82,2.40,0.00,0.000,6,0.081,0.030,2572,1872,3372,0,0,0,0,0,0
$GC,321,-0.89,-77.9,35.6,-8.0,49,326,0.22,2.42,0.00,0.000,4,0.041,0.043,2503,463,3373,0,0,0,0,0,0
$GC,400,-0.96,-77.9,44.3,-9.9,57,405,0.00,2.33,0.00,0.000,6,0.000,0.019,2502,1913,3373,0,0,0,0,0,0
$GC,664,-1.10,-77.9,66.9,-7.9,81,669,0.12,2.50,0.00,0.000,4,0.064,0.043,2457,464,3375,0,0,0,0,0,0
$GC,806,-1.10,-77.9,79.6,-8.6,96,810,0.00,2.25,0.00,0.000,6,0.000,0.019,2456,1876,3375,0,0,0,0,0,0
$GC,1069,-1.16,-77.9,102.1,-8.6,120,1074,0.00,2.40,0.00,0.000,4,0.000,0.043,2457,469,3376,0,0,0,0,0,0
$GC,1149,-1.20,-77.9,109.7,-10.0,128,1153,0.00,2.25,0.00,0.000,6,0.000,0.019,2456,1873,3377,0,0,0,0,0,0
$GC,1411,-1.29,-77.9,134.5,-9.8,152,1416,0.10,2.40,0.00,0.000,4,0.073,0.041,2417,470,3377,0,0,0,0,0,0
$GC,1510,-1.26,-77.9,146.6,-13.2,162,1514,0.10,2.22,0.00,0.000,6,0.107,0.020,2439,1875,3377,0,0,0,0,0,0
$GC,1770,-1.33,-77.9,174.4,-10.2,186,1775,0.00,2.40,0.00,0.000,4,0.000,0.044,2438,466,3378,0,0,0,0,0,0
$GC,1825,-1.33,-77.9,180.6,-12.4,191,1831,0.00,2.28,0.00,0.000,6,0.000,0.021,2438,1887,3377,0,0,0,0,0,0
$GC,2088,-1.40,-77.9,203.4,-8.0,214,2093,0.12,2.45,0.00,0.000,4,0.062,0.045,2395,463,3378,0,0,0,0,0,0
$GC,2116,-1.33,-77.9,205.9,-8.7,215,2121,0.12,2.28,0.00,0.000,6,0.098,0.021,2420,1879,3377,0,0,0,0,0,0
$GC,2441,-1.37,-77.9,231.9,-8.8,231,2445,0.00,2.40,0.00,0.000,4,0.000,0.044,2421,470,3378,0,0,0,0,0,0
$GC,2478,-1.37,-77.9,235.8,-9.5,232,2484,0.00,2.28,0.00,0.000,6,0.000,0.022,2420,1866,3377,0,0,0,0,0,0
$GC,2794,-1.42,-77.9,265.0,-9.3,248,2798,0.00,2.40,0.00,0.000,4,0.000,0.046,2421,471,3377,0,0,0,0,0,0
$GC,2862,-1.45,-77.9,271.7,-9.0,251,2866,0.00,2.28,0.00,0.000,6,0.000,0.022,2420,1880,3377,0,0,0,0,0,0
$GC,3190,-1.52,-77.9,297.8,-7.8,267,3195,0.17,2.45,0.00,0.000,4,0.053,0.046,2368,470,3376,0,0,0,0,0,0
$GC,3271,-1.42,-77.9,307.2,-12.3,269,3276,0.17,2.28,0.00,0.000,6,0.090,0.023,2404,1872,3376,0,0,0,0,0,0
$GC,3602,-1.42,-77.9,339.1,-9.6,277,3606,0.00,2.40,0.00,0.000,4,0.000,0.048,2404,473,3374,0,0,0,0,0,0
$GC,3676,-1.42,-77.9,347.4,-10.9,278,3680,0.00,2.28,0.00,0.000,6,0.000,0.025,2404,1874,3374,0,0,0,0,0,0
$GC,4017,-1.47,-77.9,376.0,-8.0,287,4021,0.00,2.42,0.00,0.000,4,0.000,0.050,2404,471,3372,0,0,0,0,0,0
$GC,4056,-1.47,-77.9,379.6,-9.2,287,4062,0.00,2.30,0.00,0.000,6,0.000,0.026,2404,1880,3372,0,0,0,0,0,0
$GC,4387,-1.53,-77.9,406.3,-7.8,296,4391,0.00,2.45,0.00,0.000,4,0.000,0.051,2404,473,3370,0,0,0,0,0,0
$GC,4456,-1.53,-77.9,412.7,-9.1,297,4460,0.00,2.30,0.00,0.000,6,0.000,0.027,2404,1873,3370,0,0,0,0,0,0
$GC,4798,-1.58,-77.9,440.5,-8.4,306,4803,0.15,2.45,0.00,0.000,4,0.061,0.054,2361,473,3367,0,0,0,0,0,0
$GC,4845,-1.51,-77.9,445.6,-10.9,307,4850,0.10,2.30,0.00,0.000,6,0.114,0.028,2382,1876,3367,0,0,0,0,0,0
$STATE,4922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4923,begin apogee
$GC,4928,-0.31,0.0,452.5,8.2,309,4997,1.23,0.00,65.12,0.876,6,0.074,0.000,2644,2036,3050,0,0,0,0,0,0
$STATE,4998,end apogee,CONTROL_FINISHED_OK
$STATE,4998,begin climb
$GC,5000,1.40,77.9,453.2,0.0,310,5075,1.62,2.42,65.15,0.855,4,0.032,0.043,3025,3383,2732,0,0,0,0,0,0
$GC,5141,1.20,112.2,449.6,5.7,314,5179,0.25,2.38,29.85,0.832,6,0.107,0.035,2979,2003,2591,0,0,0,0,0,0
$GC,5505,1.10,114.5,419.5,7.9,323,5510,0.12,2.40,0.00,0.000,4,0.120,0.041,2956,3384,2586,0,0,0,0,0,0
$GC,5629,1.06,132.6,410.7,6.8,325,5654,0.00,2.35,17.52,0.808,6,0.000,0.038,2957,2012,2509,0,0,0,0,0,0
$GC,5974,1.03,141.1,385.0,7.4,334,5989,0.00,2.50,8.45,0.719,4,0.000,0.052,2956,604,2473,0,0,0,0,0,0
$GC,6138,0.93,141.1,369.8,9.5,337,6143,0.20,2.33,0.00,0.000,6,0.110,0.030,2920,1997,2470,0,0,0,0,0,0
$GC,6479,1.00,162.6,346.3,6.5,346,6504,0.00,2.47,19.25,0.798,4,0.000,0.041,2921,3402,2387,0,0,0,0,0,0
$GC,6611,1.07,162.6,335.6,9.0,348,6617,0.12,2.42,0.00,0.000,6,0.074,0.038,2952,2003,2386,0,0,0,0,0,0
$GC,6941,1.07,162.6,305.3,8.9,357,6945,0.00,2.45,0.00,0.000,4,0.000,0.053,2951,603,2382,0,0,0,0,0,0
$GC,7141,1.01,162.6,287.3,8.7,363,7146,0.00,2.38,0.00,0.000,6,0.000,0.029,2952,2022,2379,0,0,0,0,0,0
$GC,7457,1.03,179.0,266.0,6.9,379,7479,0.00,2.58,14.57,0.733,4,0.000,0.049,2951,603,2319,0,0,0,0,0,0
$GC,7484,1.04,194.4,263.9,7.0,380,7504,0.00,2.38,15.25,0.722,6,0.000,0.028,2952,2024,2257,0,0,0,0,0,0
$GC,7813,1.09,194.4,236.3,10.0,396,7817,0.00,2.47,0.00,0.000,4,0.000,0.049,2951,602,2252,0,0,0,0,0,0
$GC,7846,1.05,196.1,233.7,7.9,397,7850,0.00,2.35,0.00,0.000,6,0.000,0.028,2951,2012,2250,0,0,0,0,0,0
$GC,8161,1.10,196.1,205.4,9.4,412,8165,0.00,2.47,0.00,0.000,4,0.000,0.048,2951,604,2250,0,0,0,0,0,0
$GC,8203,1.10,196.1,200.8,11.2,414,8208,0.00,2.35,0.00,0.000,6,0.000,0.027,2952,2016,2248,0,0,0,0,0,0
$GC,8531,1.16,201.3,174.7,7.7,444,8543,0.00,2.50,6.50,0.568,4,0.000,0.046,2952,593,2228,0,0,0,0,0,0
$GC,8553,1.16,201.3,172.9,8.6,446,8558,0.00,2.38,0.00,0.000,6,0.000,0.025,2951,2022,2227,0,0,0,0,0,0
$GC,8816,1.21,201.3,152.0,8.0,470,8821,0.12,2.47,0.00,0.000,4,0.071,0.046,2986,601,2227,0,0,0,0,0,0
$GC,8996,1.13,201.3,134.2,9.1,489,9000,0.12,2.30,0.00,0.000,6,0.114,0.024,2963,2012,2225,0,0,0,0,0,0
$GC,9260,1.20,206.6,113.2,7.7,513,9272,0.00,2.50,6.03,0.505,4,0.000,0.044,2963,598,2207,0,0,0,0,0,0
$GC,9287,1.20,206.7,110.8,8.0,516,9291,0.00,2.33,0.00,0.000,6,0.000,0.024,2963,2015,2205,0,0,0,0,0,0
$GC,9549,1.29,229.4,94.2,6.5,540,9574,0.15,0.00,21.58,0.594,6,0.062,0.000,3006,2020,2113,0,0,0,0,0,0
$GC,9825,1.29,229.4,70.6,8.4,566,9829,0.00,2.45,0.00,0.000,4,0.000,0.044,3006,592,2111,0,0,0,0,0,0
$GC,9990,1.24,229.4,53.8,9.3,584,9995,0.12,2.33,0.00,0.000,6,0.105,0.021,2982,2020,2109,0,0,0,0,0,0
$GC,10253,1.35,254.5,37.4,6.3,608,10284,0.12,2.53,22.40,0.540,4,0.066,0.042,3022,598,2011,0,0,0,0,0,0
$GC,10527,1.29,254.5,10.6,9.5,659,10534,0.12,2.28,0.00,0.000,6,0.108,0.021,2997,2018,2006,0,0,0,0,0,0
$STATE,10598,end climb,SURFACE_DEPTH_REACHED
$STATE,10598,begin surface coast
$FINISH,0.6,1.023333
$STATE,10630,end surface coast,CONTROL_FINISHED_OK
$STATE,10630,begin surface
$SM_CCo,10651,23.25,0.505,0,0,1826,300.00
$SM_GC,1.01,0.00,0.00,23.25,0.000,0.000,0.505,427,1855,1826,-10.52,-0.57,300.00
$IRIDIUM_FIX,2059.45,-15746.61,240899,191919
$TT8_MAMPS,0.029146
$HUMID,48.22
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.4,35.986
$10V_AH,10.1,34.094
$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,28.100,129.200,291.675,23.250,0.000,30.651,30.738,198.380,4.500,0.000,38.596,1328.991,6817.943,379.843,2063.502,475.915,33.365,1265.510,0.000,2015.090,0.000,29.255,0.000
$DEVICE_MAMPS,132.691,53.690,875.914,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,457.192,434.509,875.349,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,38022,677
$CAP_FILE_SIZE,128739,0
$CFSIZE,260165632,235089920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310510,013851,2105.686,-15748.730,190,2.1,209,9.8