version: 66.06
glider: 139
mission: 7
dive: 418
start: 6 1 110 11 16 24
data:
$ID,139
$MISSION,7
$DIVE,418
$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,-2135794.2
$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
$GPS1,110956,2106.360,-15749.595,33,1.3,33,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-68.9
$GPS2,111532,2106.402,-15749.618,18,1.8,18,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.161,0.088
$KALMAN_X,-101700.1,23.5,769.8,110085.4,-2837.2
$KALMAN_Y,24300.3,56.0,243.3,-25543.5,-892.8
$MHEAD_RNG_PITCHd_Wd,51.5,11627,-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,16,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-52.92,0.000,2,0.000,0.000,428,1870,3218,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.7,-6.3,10,96,10.57,2.40,-2.92,0.000,4,0.133,0.037,2403,3295,3370,0,0,0,0,0,0
$GC,178,-1.33,-77.9,27.0,-16.6,32,185,0.08,2.42,0.00,0.000,6,0.082,0.031,2420,1876,3372,0,0,0,0,0,0
$GC,379,-1.24,-77.9,56.5,-12.6,52,384,0.10,2.35,0.00,0.000,4,0.116,0.024,2442,3302,3373,0,0,0,0,0,0
$GC,423,-1.33,-77.9,61.3,-9.6,56,427,0.00,2.40,0.00,0.000,6,0.000,0.030,2439,1868,3373,0,0,0,0,0,0
$GC,683,-1.33,-77.9,86.3,-10.0,80,687,0.00,2.38,0.00,0.000,4,0.000,0.042,2441,464,3374,0,0,0,0,0,0
$GC,710,-1.30,-77.9,89.4,-11.5,82,717,0.00,2.33,0.00,0.000,6,0.000,0.020,2441,1904,3374,0,0,0,0,0,0
$GC,974,-1.33,-77.9,116.0,-10.8,107,978,0.00,2.45,0.00,0.000,4,0.000,0.043,2441,469,3375,0,0,0,0,0,0
$GC,1064,-1.33,-77.9,127.2,-11.8,116,1068,0.00,2.25,0.00,0.000,6,0.000,0.019,2441,1876,3376,0,0,0,0,0,0
$GC,1325,-1.38,-77.9,154.9,-9.7,140,1330,0.12,2.42,0.00,0.000,4,0.064,0.044,2399,466,3376,0,0,0,0,0,0
$GC,1391,-1.30,-77.9,162.9,-12.2,146,1398,0.12,2.28,0.00,0.000,6,0.074,0.020,2430,1874,3377,0,0,0,0,0,0
$GC,1653,-1.30,-77.9,189.8,-10.0,171,1657,0.00,2.42,0.00,0.000,4,0.000,0.044,2430,463,3377,0,0,0,0,0,0
$GC,1668,-1.30,-77.9,191.4,-9.6,172,1672,0.00,2.25,0.00,0.000,6,0.000,0.021,2430,1888,3377,0,0,0,0,0,0
$GC,1924,-1.35,-77.9,216.3,-9.1,188,1928,0.00,2.42,0.00,0.000,4,0.000,0.044,2430,463,3377,0,0,0,0,0,0
$GC,2012,-1.35,-77.9,224.6,-9.0,192,2016,0.00,2.25,0.00,0.000,6,0.000,0.021,2429,1871,3377,0,0,0,0,0,0
$GC,2342,-1.42,-77.9,253.7,-9.4,208,2347,0.12,2.40,0.00,0.000,4,0.064,0.045,2389,471,3377,0,0,0,0,0,0
$GC,2423,-1.37,-77.9,263.7,-12.0,211,2427,0.12,2.25,0.00,0.000,6,0.100,0.021,2415,1877,3377,0,0,0,0,0,0
$GC,2739,-1.43,-77.9,292.0,-7.5,226,2743,0.00,2.42,0.00,0.000,4,0.000,0.046,2415,469,3377,0,0,0,0,0,0
$GC,2853,-1.43,-77.9,300.8,-7.7,231,2857,0.00,2.28,0.00,0.000,6,0.000,0.022,2415,1883,3377,0,0,0,0,0,0
$GC,3198,-1.50,-77.9,331.1,-9.4,240,3203,0.12,2.45,0.00,0.000,4,0.065,0.049,2376,468,3376,0,0,0,0,0,0
$GC,3278,-1.44,-77.9,339.6,-10.2,241,3283,0.10,2.28,0.00,0.000,6,0.110,0.024,2397,1870,3375,0,0,0,0,0,0
$GC,3614,-1.48,-77.9,365.5,-7.9,250,3619,0.00,2.47,0.00,0.000,4,0.000,0.051,2396,465,3373,0,0,0,0,0,0
$GC,3721,-1.48,-77.9,375.9,-9.7,252,3725,0.00,2.30,0.00,0.000,6,0.000,0.026,2396,1869,3373,0,0,0,0,0,0
$GC,4070,-1.51,-77.9,404.5,-7.8,261,4075,0.00,2.45,0.00,0.000,4,0.000,0.052,2396,470,3370,0,0,0,0,0,0
$GC,4107,-1.51,-77.9,407.8,-9.5,261,4112,0.00,2.33,0.00,0.000,6,0.000,0.027,2396,1882,3370,0,0,0,0,0,0
$GC,4439,-1.55,-77.9,433.6,-7.5,270,4443,0.00,2.47,0.00,0.000,4,0.000,0.054,2396,473,3368,0,0,0,0,0,0
$GC,4494,-1.55,-77.9,438.6,-8.9,271,4498,0.00,2.30,0.00,0.000,6,0.000,0.028,2396,1872,3368,0,0,0,0,0,0
$STATE,4642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4642,begin apogee
$GC,4648,-0.31,0.0,451.4,8.6,275,4716,1.17,0.00,64.82,0.881,6,0.074,0.000,2647,2030,3050,0,0,0,0,0,0
$STATE,4717,end apogee,CONTROL_FINISHED_OK
$STATE,4717,begin climb
$GC,4719,1.40,77.9,452.5,0.0,276,4793,1.62,2.45,64.93,0.860,4,0.031,0.044,3026,3388,2732,0,0,0,0,0,0
$GC,5058,1.21,119.0,441.7,5.2,284,5099,0.28,2.38,35.12,0.848,6,0.111,0.036,2978,2004,2564,0,0,0,0,0,0
$GC,5412,1.10,119.0,412.9,9.0,293,5417,0.12,2.42,0.00,0.000,4,0.124,0.042,2955,3384,2558,0,0,0,0,0,0
$GC,5568,1.05,119.0,399.1,8.8,296,5572,0.00,2.38,0.00,0.000,6,0.000,0.038,2957,2011,2557,0,0,0,0,0,0
$GC,5917,1.03,134.1,373.0,7.0,305,5937,0.00,2.42,12.55,0.785,4,0.000,0.041,2956,3392,2502,0,0,0,0,0,0
$GC,6013,1.01,152.8,366.6,6.7,307,6038,0.12,2.40,17.77,0.802,6,0.121,0.037,2935,2006,2426,0,0,0,0,0,0
$GC,6380,1.04,175.6,344.0,6.5,316,6407,0.00,2.53,20.85,0.802,4,0.000,0.053,2934,597,2331,0,0,0,0,0,0
$GC,6516,1.04,175.6,331.5,9.7,319,6520,0.00,2.38,0.00,0.000,6,0.000,0.031,2934,1997,2327,0,0,0,0,0,0
$GC,6843,1.08,175.6,303.1,8.7,327,6847,0.00,2.47,0.00,0.000,4,0.000,0.052,2934,602,2326,0,0,0,0,0,0
$GC,6893,1.08,175.6,298.8,8.5,328,6897,0.00,2.38,0.00,0.000,6,0.000,0.030,2934,2018,2323,0,0,0,0,0,0
$GC,7213,1.17,200.3,277.3,6.3,344,7243,0.15,2.55,21.75,0.767,4,0.071,0.051,2971,595,2232,0,0,0,0,0,0
$GC,7391,1.10,200.3,259.6,10.9,351,7397,0.00,2.38,0.00,0.000,6,0.000,0.029,2971,2010,2227,0,0,0,0,0,0
$GC,7707,1.10,200.3,224.4,12.3,367,7711,0.00,2.35,0.00,0.000,4,0.000,0.037,2972,3406,2226,0,0,0,0,0,0
$GC,7808,1.10,200.3,211.1,12.4,371,7812,0.00,2.40,0.00,0.000,6,0.000,0.034,2972,2003,2226,0,0,0,0,0,0
$GC,8130,1.10,200.3,180.0,8.6,396,8134,0.00,2.42,0.00,0.000,4,0.000,0.048,2971,602,2225,0,0,0,0,0,0
$GC,8249,1.06,200.3,168.2,10.7,408,8254,0.15,2.35,0.00,0.000,6,0.114,0.026,2944,2019,2223,0,0,0,0,0,0
$GC,8509,1.14,201.5,145.6,7.9,432,8511,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2025,2223,0,0,0,0,0,0
$GC,8765,1.27,233.7,127.8,5.8,456,8803,0.20,2.55,29.05,0.639,4,0.057,0.046,2996,605,2096,0,0,0,0,0,0
$GC,8842,1.19,233.7,121.2,10.4,464,8847,0.12,2.33,0.00,0.000,6,0.112,0.024,2974,2022,2093,0,0,0,0,0,0
$GC,9102,1.24,233.7,99.4,8.3,488,9107,0.00,2.47,0.00,0.000,4,0.000,0.044,2974,594,2093,0,0,0,0,0,0
$GC,9265,1.24,233.7,82.7,10.4,505,9271,0.00,2.30,0.00,0.000,6,0.000,0.023,2973,2014,2090,0,0,0,0,0,0
$GC,9528,1.31,238.0,60.8,7.7,530,9538,0.12,2.53,4.40,0.407,4,0.067,0.044,3010,591,2079,0,0,0,0,0,0
$GC,9543,1.31,241.2,59.3,7.8,531,9553,0.00,2.35,4.72,0.418,6,0.000,0.022,3010,2030,2066,0,0,0,0,0,0
$GC,9815,1.31,241.2,33.8,9.3,557,9820,0.00,2.45,0.00,0.000,4,0.000,0.041,3010,600,2065,0,0,0,0,0,0
$GC,9887,1.31,241.2,26.6,9.4,568,9894,0.00,2.30,0.00,0.000,6,0.000,0.021,3011,2004,2064,0,0,0,0,0,0
$GC,10096,1.31,241.2,9.7,8.0,605,10101,0.00,2.30,0.00,0.000,4,0.000,0.026,3010,3402,2064,0,0,0,0,0,0
$GC,10156,1.35,241.2,4.2,8.4,618,10163,0.00,2.33,0.00,0.000,6,0.000,0.022,3009,2001,2064,0,0,0,0,0,0
$STATE,10174,end climb,SURFACE_DEPTH_REACHED
$STATE,10174,begin surface coast
$FINISH,0.5,1.022302
$STATE,10220,end surface coast,CONTROL_FINISHED_OK
$STATE,10220,begin surface
$SM_CCo,10240,29.98,0.512,0,0,1826,300.00
$SM_GC,1.45,0.00,0.00,29.98,0.000,0.000,0.512,430,1877,1826,-10.51,0.06,300.00
$IRIDIUM_FIX,2057.14,-15751.76,260899,080816
$TT8_MAMPS,0.029146
$HUMID,49.25
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.4,37.025
$10V_AH,10.0,35.083
$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,26.725,124.350,275.975,29.975,0.000,30.511,28.861,166.429,4.750,0.000,18.946,1256.908,6569.730,369.639,1969.059,441.984,33.376,1243.683,0.000,1944.949,0.000,32.110,0.000
$DEVICE_MAMPS,133.458,60.593,880.516,512.356,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.843,402.909,782.615,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,34927,629
$CAP_FILE_SIZE,122441,0
$CFSIZE,260165632,234389504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010610,141121,2106.501,-15749.968,170,2.3,189,9.8