version: 66.06
glider: 139
mission: 7
dive: 414
start: 5 31 110 23 8 16
data:
$ID,139
$MISSION,7
$DIVE,414
$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,-2135666.2
$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
$GPS1,225650,2106.302,-15749.464,61,1.6,61,9.8
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.7
$GPS2,230725,2106.225,-15749.376,64,1.9,64,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.166,0.080
$KALMAN_X,-93441.9,57.7,733.7,102244.0,-2116.5
$KALMAN_Y,26528.7,-61.9,167.0,-27901.1,-879.4
$MHEAD_RNG_PITCHd_Wd,54.4,11185,-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,-53.33,0.000,2,0.000,0.000,420,1867,3207,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.1,-4.2,10,91,10.68,0.00,-3.28,0.000,6,0.134,0.000,2407,1867,3370,0,0,0,0,0,0
$GC,289,-1.29,-77.9,43.4,-14.4,41,294,0.12,2.45,0.00,0.000,4,0.109,0.047,2432,463,3372,0,0,0,0,0,0
$GC,367,-1.18,-77.9,53.3,-11.3,49,372,0.12,2.33,0.00,0.000,6,0.109,0.019,2455,1916,3372,0,0,0,0,0,0
$GC,630,-1.23,-77.9,81.1,-10.6,73,635,0.00,2.50,0.00,0.000,4,0.000,0.043,2456,463,3373,0,0,0,0,0,0
$GC,746,-1.23,-77.9,94.4,-11.3,85,750,0.00,2.25,0.00,0.000,6,0.000,0.019,2455,1873,3374,0,0,0,0,0,0
$GC,1010,-1.28,-77.9,121.2,-10.6,109,1014,0.00,2.42,0.00,0.000,4,0.000,0.044,2456,462,3374,0,0,0,0,0,0
$GC,1114,-1.35,-77.9,134.2,-11.9,120,1122,0.12,2.28,0.00,0.000,6,0.031,0.020,2407,1868,3374,0,0,0,0,0,0
$GC,1376,-1.35,-77.9,166.9,-11.4,145,1380,0.00,2.40,0.00,0.000,4,0.000,0.044,2407,461,3375,0,0,0,0,0,0
$GC,1456,-1.29,-77.9,175.5,-10.6,153,1461,0.12,2.28,0.00,0.000,6,0.100,0.020,2433,1881,3375,0,0,0,0,0,0
$GC,1718,-1.32,-77.9,195.3,-8.1,177,1722,0.00,2.42,0.00,0.000,4,0.000,0.044,2433,468,3375,0,0,0,0,0,0
$GC,1751,-1.32,-77.9,198.5,-9.2,180,1755,0.00,2.25,0.00,0.000,6,0.000,0.021,2433,1882,3376,0,0,0,0,0,0
$GC,2020,-1.36,-77.9,223.9,-9.6,194,2025,0.00,2.45,0.00,0.000,4,0.000,0.048,2433,469,3375,0,0,0,0,0,0
$GC,2043,-1.40,-77.9,226.0,-10.2,195,2048,0.12,2.25,0.00,0.000,6,0.063,0.021,2391,1883,3375,0,0,0,0,0,0
$GC,2375,-1.40,-77.9,263.0,-10.6,211,2379,0.00,2.45,0.00,0.000,4,0.000,0.045,2391,462,3375,0,0,0,0,0,0
$GC,2444,-1.34,-77.9,270.7,-11.5,214,2449,0.15,2.28,0.00,0.000,6,0.094,0.021,2422,1882,3375,0,0,0,0,0,0
$GC,2771,-1.42,-77.9,294.9,-6.7,230,2775,0.00,2.42,0.00,0.000,4,0.000,0.046,2422,463,3375,0,0,0,0,0,0
$GC,2850,-1.47,-77.9,300.8,-7.7,233,2855,0.12,2.28,0.00,0.000,6,0.064,0.022,2382,1874,3374,0,0,0,0,0,0
$GC,3180,-1.47,-77.9,332.4,-10.1,241,3184,0.00,2.42,0.00,0.000,4,0.000,0.048,2382,471,3373,0,0,0,0,0,0
$GC,3245,-1.41,-77.9,339.7,-10.8,242,3251,0.10,2.28,0.00,0.000,6,0.111,0.025,2403,1879,3373,0,0,0,0,0,0
$GC,3596,-1.45,-77.9,372.9,-9.6,251,3600,0.00,2.45,0.00,0.000,4,0.000,0.050,2403,470,3372,0,0,0,0,0,0
$GC,3624,-1.45,-77.9,375.8,-10.8,251,3628,0.00,2.30,0.00,0.000,6,0.000,0.025,2403,1881,3372,0,0,0,0,0,0
$GC,3959,-1.50,-77.9,408.4,-9.7,260,3964,0.00,2.45,0.00,0.000,4,0.000,0.051,2403,469,3369,0,0,0,0,0,0
$GC,4051,-1.50,-77.9,417.8,-9.3,262,4056,0.00,2.30,0.00,0.000,6,0.000,0.027,2403,1871,3368,0,0,0,0,0,0
$GC,4375,-1.55,-77.9,443.7,-7.6,270,4380,0.12,2.47,0.00,0.000,4,0.068,0.053,2366,472,3366,0,0,0,0,0,0
$GC,4432,-1.50,-77.9,449.1,-9.1,271,4436,0.00,2.30,0.00,0.000,6,0.000,0.028,2366,1871,3365,0,0,0,0,0,0
$STATE,4438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4438,begin apogee
$GC,4444,-0.31,0.0,450.1,10.1,271,4513,1.27,0.00,64.62,0.874,6,0.079,0.000,2639,2025,3050,0,0,0,0,0,0
$STATE,4514,end apogee,CONTROL_FINISHED_OK
$STATE,4514,begin climb
$GC,4516,1.40,77.9,451.5,0.0,273,4591,1.65,2.45,64.95,0.851,4,0.033,0.043,3021,3385,2732,0,0,0,0,0,0
$GC,4661,1.24,139.8,450.7,3.8,276,4722,0.20,2.38,53.05,0.844,6,0.114,0.035,2987,2006,2480,0,0,0,0,0,0
$GC,5060,1.14,139.8,413.8,9.8,286,5065,0.12,2.45,0.00,0.000,4,0.121,0.051,2965,602,2472,0,0,0,0,0,0
$GC,5093,1.01,139.8,410.5,8.7,286,5098,0.17,2.35,0.00,0.000,6,0.117,0.029,2934,2000,2470,0,0,0,0,0,0
$GC,5424,1.01,142.1,384.4,7.9,294,5428,0.00,2.45,0.00,0.000,4,0.000,0.051,2934,604,2468,0,0,0,0,0,0
$GC,5521,0.96,142.1,375.4,9.2,296,5525,0.00,2.38,0.00,0.000,6,0.000,0.030,2934,2013,2466,0,0,0,0,0,0
$GC,5839,0.98,162.3,352.0,6.6,304,5859,0.00,0.00,18.40,0.794,6,0.000,0.000,2934,2016,2388,0,0,0,0,0,0
$GC,6164,1.02,162.3,324.7,8.9,312,6165,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2016,2383,0,0,0,0,0,0
$GC,6489,1.06,162.3,297.0,8.2,320,6494,0.00,2.47,0.00,0.000,4,0.000,0.051,2934,607,2381,0,0,0,0,0,0
$GC,6635,1.06,162.3,285.1,8.9,326,6639,0.00,2.35,0.00,0.000,6,0.000,0.029,2934,2021,2379,0,0,0,0,0,0
$GC,6953,1.13,175.1,264.9,7.1,341,6970,0.12,2.38,11.07,0.708,4,0.077,0.037,2963,3405,2336,0,0,0,0,0,0
$GC,7093,1.13,175.1,252.2,8.8,347,7097,0.00,2.40,0.00,0.000,6,0.000,0.035,2964,2005,2335,0,0,0,0,0,0
$GC,7423,1.13,175.1,225.0,8.7,363,7427,0.00,2.42,0.00,0.000,4,0.000,0.049,2964,601,2333,0,0,0,0,0,0
$GC,7455,1.06,175.1,221.9,9.2,364,7460,0.00,2.35,0.00,0.000,6,0.000,0.028,2965,2015,2331,0,0,0,0,0,0
$GC,7773,1.06,175.1,195.7,8.2,381,7778,0.00,2.47,0.00,0.000,4,0.000,0.048,2965,598,2331,0,0,0,0,0,0
$GC,7817,1.00,175.1,191.7,8.9,385,7822,0.17,2.35,0.00,0.000,6,0.111,0.027,2933,2015,2331,0,0,0,0,0,0
$GC,8080,1.11,196.1,173.5,6.6,409,8108,0.10,2.55,19.35,0.668,4,0.084,0.046,2959,600,2248,0,0,0,0,0,0
$GC,8159,1.11,196.1,167.4,8.2,417,8165,0.00,2.35,0.00,0.000,6,0.000,0.025,2959,2012,2245,0,0,0,0,0,0
$GC,8422,1.15,196.1,147.3,8.1,442,8426,0.00,2.45,0.00,0.000,4,0.000,0.045,2959,604,2245,0,0,0,0,0,0
$GC,8494,1.15,196.1,140.8,8.7,449,8499,0.00,2.30,0.00,0.000,6,0.000,0.025,2958,2015,2243,0,0,0,0,0,0
$GC,8757,1.24,222.8,122.4,6.2,474,8786,0.10,2.55,24.05,0.623,4,0.081,0.044,2989,604,2140,0,0,0,0,0,0
$GC,8815,1.19,222.8,117.9,8.8,480,8819,0.00,2.33,0.00,0.000,6,0.000,0.024,2989,2011,2136,0,0,0,0,0,0
$GC,9082,1.19,222.8,94.7,8.9,505,9086,0.00,2.42,0.00,0.000,4,0.000,0.044,2989,600,2136,0,0,0,0,0,0
$GC,9100,1.19,222.8,92.6,9.7,506,9107,0.00,2.33,0.00,0.000,6,0.000,0.023,2989,2005,2135,0,0,0,0,0,0
$GC,9363,1.19,229.1,71.4,7.6,531,9374,0.00,2.42,6.25,0.476,4,0.000,0.041,2989,604,2114,0,0,0,0,0,0
$GC,9404,1.16,229.1,68.0,8.5,535,9409,0.12,2.30,0.00,0.000,6,0.110,0.021,2966,2013,2114,0,0,0,0,0,0
$GC,9666,1.24,229.1,47.3,8.5,559,9670,0.00,2.42,0.00,0.000,4,0.000,0.043,2966,594,2113,0,0,0,0,0,0
$GC,9929,1.31,229.1,26.3,8.4,592,9937,0.10,2.33,0.00,0.000,6,0.041,0.021,3004,2017,2112,0,0,0,0,0,0
$GC,10136,1.32,240.0,9.7,7.3,629,10153,0.00,2.45,11.18,0.487,4,0.000,0.042,3004,600,2070,0,0,0,0,0,0
$GC,10168,1.32,240.0,6.3,10.3,635,10174,0.00,2.30,0.00,0.000,6,0.000,0.020,3004,2024,2068,0,0,0,0,0,0
$STATE,10201,end climb,SURFACE_DEPTH_REACHED
$STATE,10202,begin surface coast
$FINISH,0.5,1.023378
$STATE,10229,end surface coast,CONTROL_FINISHED_OK
$STATE,10229,begin surface
$SM_CCo,10250,31.12,0.509,0,0,1827,300.00
$SM_GC,1.35,0.00,0.00,31.12,0.000,0.000,0.509,426,1847,1827,-10.52,-0.79,300.00
$IRIDIUM_FIX,2059.45,-15750.89,250899,202052
$TT8_MAMPS,0.029146
$HUMID,48.66
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,36.680
$10V_AH,10.0,34.750
$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,27.025,124.275,272.925,31.125,0.000,94.924,86.554,171.405,4.500,0.000,64.631,1253.121,6793.312,364.081,1943.991,561.388,33.372,1197.306,0.000,1877.841,0.000,31.026,0.000
$DEVICE_MAMPS,134.225,52.923,873.613,509.288,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,436.374,412.914,827.448,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,34949,646
$CAP_FILE_SIZE,122048,0
$CFSIZE,260165632,234622976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010610,020255,2106.343,-15749.464,162,1.5,162,9.8