version: 66.06
glider: 139
mission: 7
dive: 416
start: 6 1 110 5 17 24
data:
$ID,139
$MISSION,7
$DIVE,416
$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,-2135732.2
$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
$GPS1,050637,2106.181,-15749.974,152,1.9,152,9.8
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.5
$GPS2,051632,2106.200,-15750.180,15,2.0,15,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.182,0.023
$KALMAN_X,-97744.8,540.6,-662.1,106072.1,-2195.0
$KALMAN_Y,25273.3,25.3,-205.9,-26404.6,-250.6
$MHEAD_RNG_PITCHd_Wd,73.0,12568,-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,-53.05,0.000,2,0.000,0.000,427,1868,3221,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.5,-5.7,10,96,10.62,2.45,-2.85,0.000,4,0.135,0.051,2403,462,3371,0,0,0,0,0,0
$GC,207,-1.21,-77.9,34.0,-18.5,36,214,0.17,2.35,0.00,0.000,6,0.080,0.020,2443,1900,3372,0,0,0,0,0,0
$GC,470,-1.21,-77.9,68.7,-12.5,61,474,0.00,2.45,0.00,0.000,4,0.000,0.043,2442,469,3372,0,0,0,0,0,0
$GC,522,-1.16,-77.9,75.8,-13.3,66,527,0.00,2.25,0.00,0.000,6,0.000,0.019,2443,1886,3373,0,0,0,0,0,0
$GC,784,-1.16,-77.9,105.3,-10.6,90,789,0.00,2.42,0.00,0.000,4,0.000,0.042,2443,463,3374,0,0,0,0,0,0
$GC,808,-1.12,-77.9,108.2,-11.5,92,813,0.12,2.25,0.00,0.000,6,0.107,0.019,2468,1886,3374,0,0,0,0,0,0
$GC,1069,-1.21,-77.9,131.2,-8.3,116,1073,0.00,2.42,0.00,0.000,4,0.000,0.043,2467,464,3375,0,0,0,0,0,0
$GC,1178,-1.29,-77.9,141.5,-8.3,127,1184,0.15,2.22,0.00,0.000,6,0.056,0.020,2419,1877,3375,0,0,0,0,0,0
$GC,1438,-1.29,-77.9,168.6,-9.8,152,1442,0.00,2.40,0.00,0.000,4,0.000,0.043,2418,464,3375,0,0,0,0,0,0
$GC,1473,-1.22,-77.9,172.3,-11.9,155,1477,0.15,2.25,0.00,0.000,6,0.093,0.020,2450,1876,3376,0,0,0,0,0,0
$GC,1735,-1.30,-77.9,194.5,-7.5,179,1739,0.00,2.40,0.00,0.000,4,0.000,0.044,2450,464,3376,0,0,0,0,0,0
$GC,1827,-1.37,-77.9,201.8,-7.7,187,1832,0.15,2.22,0.00,0.000,6,0.056,0.021,2402,1874,3376,0,0,0,0,0,0
$GC,2153,-1.37,-77.9,231.7,-10.0,203,2157,0.00,2.42,0.00,0.000,4,0.000,0.044,2401,463,3376,0,0,0,0,0,0
$GC,2198,-1.34,-77.9,236.9,-12.2,205,2203,0.10,2.25,0.00,0.000,6,0.109,0.021,2422,1878,3376,0,0,0,0,0,0
$GC,2531,-1.40,-77.9,270.8,-9.1,221,2535,0.00,2.42,0.00,0.000,4,0.000,0.043,2423,461,3376,0,0,0,0,0,0
$GC,2581,-1.40,-77.9,276.6,-10.3,223,2585,0.00,2.25,0.00,0.000,6,0.000,0.022,2421,1872,3375,0,0,0,0,0,0
$GC,2905,-1.48,-77.9,301.4,-7.3,239,2910,0.15,2.42,0.00,0.000,4,0.058,0.047,2377,469,3374,0,0,0,0,0,0
$GC,3004,-1.43,-77.9,312.4,-10.9,241,3009,0.12,2.25,0.00,0.000,6,0.100,0.023,2402,1872,3374,0,0,0,0,0,0
$GC,3326,-1.46,-77.9,342.5,-9.4,249,3330,0.00,2.45,0.00,0.000,4,0.000,0.048,2402,461,3372,0,0,0,0,0,0
$GC,3377,-1.46,-77.9,347.9,-9.8,250,3381,0.00,2.30,0.00,0.000,6,0.000,0.025,2402,1875,3372,0,0,0,0,0,0
$GC,3694,-1.49,-77.9,377.1,-9.2,258,3698,0.00,2.45,0.00,0.000,4,0.000,0.049,2402,467,3370,0,0,0,0,0,0
$GC,3750,-1.49,-77.9,382.5,-10.2,259,3754,0.00,2.28,0.00,0.000,6,0.000,0.026,2403,1878,3370,0,0,0,0,0,0
$GC,4063,-1.54,-77.9,410.5,-9.3,267,4068,0.12,2.47,0.00,0.000,4,0.067,0.051,2365,471,3368,0,0,0,0,0,0
$GC,4129,-1.47,-77.9,417.8,-10.9,268,4134,0.12,2.28,0.00,0.000,6,0.103,0.027,2389,1870,3367,0,0,0,0,0,0
$STATE,4474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4474,begin apogee
$GC,4479,-0.31,0.0,453.6,10.3,277,4547,1.20,0.00,64.68,0.874,6,0.075,0.000,2647,2029,3050,0,0,0,0,0,0
$STATE,4548,end apogee,CONTROL_FINISHED_OK
$STATE,4548,begin climb
$GC,4551,1.40,77.9,455.0,0.0,278,4625,1.62,2.42,65.20,0.853,4,0.033,0.042,3024,3380,2732,0,0,0,0,0,0
$GC,4889,1.18,82.0,441.2,7.7,285,4901,0.28,2.35,4.57,0.580,6,0.110,0.036,2975,2004,2715,0,0,0,0,0,0
$GC,5238,1.10,115.9,419.5,5.7,294,5275,0.00,2.42,29.08,0.839,4,0.000,0.039,2974,3385,2577,0,0,0,0,0,0
$GC,5404,1.02,115.9,406.5,8.7,297,5409,0.20,2.35,0.00,0.000,6,0.111,0.037,2939,2012,2575,0,0,0,0,0,0
$GC,5741,1.06,148.4,385.5,5.8,306,5771,0.00,0.00,28.90,0.828,6,0.000,0.000,2938,2012,2444,0,0,0,0,0,0
$GC,6065,1.06,153.7,361.0,7.7,314,6077,0.00,2.50,5.30,0.619,4,0.000,0.052,2937,598,2422,0,0,0,0,0,0
$GC,6189,1.03,165.4,350.9,7.2,316,6206,0.00,2.33,11.57,0.755,6,0.000,0.030,2936,1997,2375,0,0,0,0,0,0
$GC,6534,1.03,165.4,322.3,9.3,325,6539,0.00,2.45,0.00,0.000,4,0.000,0.051,2938,597,2372,0,0,0,0,0,0
$GC,6683,1.03,165.4,307.7,9.4,328,6687,0.00,2.38,0.00,0.000,6,0.000,0.030,2938,2006,2369,0,0,0,0,0,0
$GC,7001,1.08,181.0,284.0,6.9,341,7023,0.00,2.55,14.07,0.746,4,0.000,0.051,2938,605,2311,0,0,0,0,0,0
$GC,7151,1.08,181.0,272.0,8.3,347,7155,0.00,2.35,0.00,0.000,6,0.000,0.028,2938,2019,2308,0,0,0,0,0,0
$GC,7466,1.14,194.4,249.1,7.1,362,7490,0.10,2.53,13.07,0.714,4,0.087,0.049,2964,597,2255,0,0,0,0,0,0
$GC,7515,1.07,194.4,244.8,9.0,364,7519,0.00,2.40,0.00,0.000,6,0.000,0.028,2964,2018,2253,0,0,0,0,0,0
$GC,7843,1.07,194.4,214.5,9.6,380,7844,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2023,2253,0,0,0,0,0,0
$GC,8158,1.10,196.4,188.2,7.9,402,8162,0.00,2.47,0.00,0.000,4,0.000,0.048,2964,603,2252,0,0,0,0,0,0
$GC,8267,1.07,200.1,179.5,7.8,413,8277,0.00,2.35,5.57,0.548,6,0.000,0.026,2965,2025,2234,0,0,0,0,0,0
$GC,8531,1.11,200.1,157.0,8.8,438,8535,0.00,2.45,0.00,0.000,4,0.000,0.047,2965,601,2233,0,0,0,0,0,0
$GC,8586,1.11,200.1,152.6,8.0,443,8591,0.00,2.33,0.00,0.000,6,0.000,0.025,2964,2008,2232,0,0,0,0,0,0
$GC,8848,1.21,246.8,137.0,4.8,468,8893,0.00,0.00,42.42,0.656,6,0.000,0.000,2964,2013,2043,0,0,0,0,0,0
$GC,9143,1.30,246.8,115.7,8.0,496,9148,0.15,2.47,0.00,0.000,4,0.062,0.045,3006,601,2038,0,0,0,0,0,0
$GC,9246,1.25,246.8,104.8,11.4,506,9253,0.00,2.35,0.00,0.000,6,0.000,0.023,3006,2018,2035,0,0,0,0,0,0
$GC,9508,1.25,246.8,81.1,9.1,531,9512,0.00,2.42,0.00,0.000,4,0.000,0.043,3006,601,2035,0,0,0,0,0,0
$GC,9523,1.25,246.8,79.2,10.4,532,9527,0.00,2.30,0.00,0.000,6,0.000,0.022,3006,2015,2035,0,0,0,0,0,0
$GC,9786,1.25,246.8,53.9,10.3,556,9787,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2019,2035,0,0,0,0,0,0
$GC,10040,1.29,246.8,28.2,9.4,581,10046,0.00,2.42,0.00,0.000,4,0.000,0.043,3006,601,2035,0,0,0,0,0,0
$GC,10137,1.29,246.8,18.2,9.1,602,10144,0.00,2.30,0.00,0.000,6,0.000,0.021,3006,2011,2034,0,0,0,0,0,0
$STATE,10294,end climb,SURFACE_DEPTH_REACHED
$STATE,10294,begin surface coast
$FINISH,0.7,1.023460
$STATE,10323,end surface coast,CONTROL_FINISHED_OK
$STATE,10323,begin surface
$SM_CCo,10342,28.83,0.512,0,0,1826,300.00
$SM_GC,1.09,0.00,0.00,28.83,0.000,0.000,0.512,428,1858,1826,-10.52,-0.40,300.00
$IRIDIUM_FIX,2059.45,-15746.61,260899,050509
$TT8_MAMPS,0.029146
$HUMID,49.37
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.4,36.854
$10V_AH,10.0,34.921
$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,26.650,109.700,284.450,28.825,0.000,59.127,63.277,296.382,4.500,0.000,16.266,1240.424,6801.401,387.497,1901.174,635.562,33.379,1209.111,0.000,1882.683,0.000,29.248,0.000
$DEVICE_MAMPS,134.992,55.224,874.380,512.356,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,429.356,409.987,780.312,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,34889,635
$CAP_FILE_SIZE,121502,0
$CFSIZE,260165632,234504192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010610,081331,2106.168,-15750.064,159,1.9,159,9.8