version: 66.06
glider: 139
mission: 7
dive: 419
start: 6 1 110 14 19 51
data:
$ID,139
$MISSION,7
$DIVE,419
$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,-2135862
$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
$GPS1,141121,2106.501,-15749.968,170,2.3,189,9.8
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-69.3
$GPS2,141900,2106.506,-15750.041,60,2.0,66,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.166,0.079
$KALMAN_X,-103715.4,-276.7,546.9,111892.2,-3577.6
$KALMAN_Y,23815.9,50.7,-59.3,-24555.4,-703.9
$MHEAD_RNG_PITCHd_Wd,54.9,12374,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-52.25,0.000,2,0.000,0.000,430,1876,3195,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.4,-5.7,10,95,10.57,2.42,-3.40,0.000,4,0.135,0.048,2399,469,3370,0,0,0,0,0,0
$GC,114,-0.82,-77.9,16.6,-29.3,18,122,0.60,2.35,0.00,0.000,6,0.084,0.021,2534,1894,3371,0,0,0,0,0,0
$GC,325,-1.01,-77.9,36.3,-6.8,48,330,0.17,2.47,0.00,0.000,4,0.050,0.043,2477,461,3372,0,0,0,0,0,0
$GC,378,-1.05,-77.9,41.0,-9.8,53,382,0.00,2.30,0.00,0.000,6,0.000,0.019,2478,1893,3372,0,0,0,0,0,0
$GC,641,-1.13,-77.9,65.2,-9.7,77,645,0.00,2.45,0.00,0.000,4,0.000,0.043,2478,460,3373,0,0,0,0,0,0
$GC,713,-1.20,-77.9,73.5,-11.3,84,720,0.08,2.28,0.00,0.000,6,0.038,0.020,2440,1873,3374,0,0,0,0,0,0
$GC,974,-1.20,-77.9,102.5,-11.5,109,978,0.00,2.42,0.00,0.000,4,0.000,0.044,2441,463,3374,0,0,0,0,0,0
$GC,1061,-1.20,-77.9,112.9,-11.9,118,1068,0.00,2.28,0.00,0.000,6,0.000,0.020,2440,1872,3374,0,0,0,0,0,0
$GC,1324,-1.23,-77.9,142.3,-11.7,143,1329,0.00,2.42,0.00,0.000,4,0.000,0.044,2439,462,3375,0,0,0,0,0,0
$GC,1406,-1.23,-77.9,153.3,-12.3,151,1411,0.00,2.28,0.00,0.000,6,0.000,0.020,2440,1882,3375,0,0,0,0,0,0
$GC,1668,-1.27,-77.9,183.3,-11.8,176,1672,0.00,2.42,0.00,0.000,4,0.000,0.043,2440,469,3375,0,0,0,0,0,0
$GC,1691,-1.27,-77.9,186.3,-12.0,178,1695,0.00,2.22,0.00,0.000,6,0.000,0.020,2440,1877,3375,0,0,0,0,0,0
$GC,1950,-1.35,-77.9,210.2,-7.7,196,1954,0.00,2.40,0.00,0.000,4,0.000,0.044,2440,466,3375,0,0,0,0,0,0
$GC,2033,-1.41,-77.9,217.8,-8.6,199,2039,0.15,2.25,0.00,0.000,6,0.056,0.021,2390,1878,3376,0,0,0,0,0,0
$GC,2349,-1.41,-77.9,253.5,-12.9,215,2354,0.00,2.42,0.00,0.000,4,0.000,0.045,2391,470,3376,0,0,0,0,0,0
$GC,2419,-1.34,-77.9,263.2,-12.8,218,2424,0.15,2.25,0.00,0.000,6,0.096,0.021,2422,1884,3376,0,0,0,0,0,0
$GC,2746,-1.40,-77.9,297.7,-10.6,234,2750,0.00,2.45,0.00,0.000,4,0.000,0.045,2422,463,3375,0,0,0,0,0,0
$GC,2775,-1.40,-77.9,301.0,-10.3,235,2779,0.00,2.25,0.00,0.000,6,0.000,0.023,2422,1874,3375,0,0,0,0,0,0
$GC,3115,-1.46,-77.9,329.2,-7.8,244,3120,0.12,2.42,0.00,0.000,4,0.064,0.048,2381,470,3374,0,0,0,0,0,0
$GC,3176,-1.46,-77.9,334.9,-9.4,245,3180,0.00,2.28,0.00,0.000,6,0.000,0.023,2382,1872,3374,0,0,0,0,0,0
$GC,3526,-1.46,-77.9,367.2,-9.4,254,3530,0.00,2.42,0.00,0.000,4,0.000,0.048,2381,471,3373,0,0,0,0,0,0
$GC,3577,-1.46,-77.9,372.7,-9.6,255,3581,0.00,2.28,0.00,0.000,6,0.000,0.025,2382,1881,3372,0,0,0,0,0,0
$GC,3894,-1.46,-77.9,405.4,-10.6,263,3899,0.00,2.45,0.00,0.000,4,0.000,0.050,2381,471,3370,0,0,0,0,0,0
$GC,3983,-1.43,-77.9,415.4,-10.5,265,3987,0.00,2.30,0.00,0.000,6,0.000,0.025,2381,1874,3370,0,0,0,0,0,0
$GC,4311,-1.43,-77.9,448.3,-9.9,273,4315,0.00,2.45,0.00,0.000,4,0.000,0.052,2381,463,3367,0,0,0,0,0,0
$STATE,4327,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4327,begin apogee
$GC,4335,-0.31,0.0,450.4,10.7,273,4403,1.23,0.00,64.68,0.871,6,0.080,0.000,2641,2010,3050,0,0,0,0,0,0
$STATE,4404,end apogee,CONTROL_FINISHED_OK
$STATE,4404,begin climb
$GC,4407,1.40,77.9,452.4,0.0,275,4481,1.65,2.50,64.65,0.850,4,0.034,0.041,3026,3406,2732,0,0,0,0,0,0
$GC,4633,1.22,119.5,448.3,5.2,280,4676,0.25,2.42,35.40,0.839,6,0.111,0.035,2981,2000,2563,0,0,0,0,0,0
$GC,5000,1.11,124.5,421.3,7.7,289,5012,0.12,2.47,5.12,0.617,4,0.126,0.039,2959,3409,2541,0,0,0,0,0,0
$GC,5075,1.07,133.3,415.6,7.4,290,5093,0.00,2.42,9.00,0.739,6,0.000,0.036,2959,2008,2506,0,0,0,0,0,0
$GC,5418,1.02,133.3,388.6,8.1,299,5423,0.12,2.47,0.00,0.000,4,0.125,0.051,2935,598,2502,0,0,0,0,0,0
$GC,5447,0.95,133.3,386.2,8.1,299,5451,0.00,2.38,0.00,0.000,6,0.000,0.030,2937,2019,2501,0,0,0,0,0,0
$GC,5782,0.97,153.5,362.9,6.6,308,5806,0.00,2.53,17.85,0.805,4,0.000,0.051,2937,600,2423,0,0,0,0,0,0
$GC,5982,0.94,153.5,348.2,8.4,312,5986,0.00,2.40,0.00,0.000,6,0.000,0.030,2937,2021,2419,0,0,0,0,0,0
$GC,6331,0.96,170.5,324.9,6.9,321,6351,0.00,2.58,15.18,0.775,4,0.000,0.052,2937,601,2355,0,0,0,0,0,0
$GC,6366,0.96,174.8,322.3,7.7,321,6376,0.00,2.38,5.38,0.606,6,0.000,0.030,2937,2016,2337,0,0,0,0,0,0
$GC,6681,1.01,174.8,297.0,8.3,330,6683,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2017,2334,0,0,0,0,0,0
$GC,6991,1.07,188.4,272.5,7.1,345,7009,0.00,0.00,13.25,0.730,6,0.000,0.000,2937,2017,2280,0,0,0,0,0,0
$GC,7322,1.15,194.3,247.3,7.6,361,7334,0.12,2.55,6.22,0.610,4,0.077,0.050,2969,601,2257,0,0,0,0,0,0
$GC,7437,1.10,194.3,237.3,8.8,366,7441,0.00,2.35,0.00,0.000,6,0.000,0.028,2969,2015,2254,0,0,0,0,0,0
$GC,7766,1.10,194.3,209.1,9.1,382,7770,0.00,2.35,0.00,0.000,4,0.000,0.035,2968,3403,2254,0,0,0,0,0,0
$GC,7780,1.10,194.3,207.6,10.0,382,7786,0.00,2.40,0.00,0.000,6,0.000,0.034,2969,2013,2254,0,0,0,0,0,0
$GC,8104,1.11,201.5,180.5,7.5,409,8117,0.00,2.47,7.35,0.591,4,0.000,0.048,2968,593,2228,0,0,0,0,0,0
$GC,8300,1.07,201.5,163.5,8.1,430,8307,0.08,2.38,0.00,0.000,6,0.100,0.025,2952,2015,2225,0,0,0,0,0,0
$GC,8562,1.14,201.5,144.4,8.3,455,8566,0.00,2.45,0.00,0.000,4,0.000,0.045,2952,602,2225,0,0,0,0,0,0
$GC,8577,1.19,201.5,142.9,8.2,456,8581,0.00,2.33,0.00,0.000,6,0.000,0.025,2952,2017,2225,0,0,0,0,0,0
$GC,8839,1.27,208.3,122.9,7.6,480,8854,0.17,2.50,7.35,0.541,4,0.058,0.044,2999,607,2199,0,0,0,0,0,0
$GC,8961,1.19,208.3,110.0,10.6,493,8966,0.12,2.30,0.00,0.000,6,0.112,0.023,2976,2012,2197,0,0,0,0,0,0
$GC,9224,1.24,214.8,89.6,7.6,517,9237,0.00,2.47,7.05,0.509,4,0.000,0.042,2976,604,2174,0,0,0,0,0,0
$GC,9329,1.24,214.8,80.9,8.7,528,9336,0.00,2.33,0.00,0.000,6,0.000,0.021,2976,2015,2172,0,0,0,0,0,0
$GC,9593,1.33,248.2,63.9,5.7,553,9631,0.12,0.00,30.55,0.571,6,0.067,0.000,3014,2020,2037,0,0,0,0,0,0
$GC,9885,1.33,248.2,36.5,9.8,581,9889,0.00,2.45,0.00,0.000,4,0.000,0.041,3014,592,2035,0,0,0,0,0,0
$GC,9901,1.33,248.2,35.0,9.4,582,9905,0.00,2.30,0.00,0.000,6,0.000,0.021,3014,2019,2033,0,0,0,0,0,0
$GC,10171,1.33,248.2,13.7,8.1,625,10177,0.00,2.28,0.00,0.000,4,0.000,0.027,3015,3398,2032,0,0,0,0,0,0
$GC,10220,1.38,248.2,9.3,9.2,635,10225,0.00,2.33,0.00,0.000,6,0.000,0.026,3013,2002,2032,0,0,0,0,0,0
$STATE,10287,end climb,SURFACE_DEPTH_REACHED
$STATE,10287,begin surface coast
$FINISH,0.6,1.004719
$STATE,10316,end surface coast,CONTROL_FINISHED_OK
$STATE,10316,begin surface
$SM_CCo,10336,26.15,0.505,0,0,1826,300.00
$SM_GC,1.07,0.00,0.00,26.15,0.000,0.000,0.505,425,1857,1826,-10.53,-0.54,300.00
$IRIDIUM_FIX,2059.45,-15748.75,260899,111126
$TT8_MAMPS,0.029146
$HUMID,48.30
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,37.110
$10V_AH,10.0,35.169
$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,27.000,124.525,289.025,26.150,0.000,26.928,32.346,239.533,4.500,0.000,66.966,1250.343,6729.489,384.132,1942.064,513.893,33.376,1222.365,0.000,1874.702,0.000,29.251,0.000
$DEVICE_MAMPS,134.992,55.224,870.545,505.453,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,439.806,423.675,829.729,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,38194,652
$CAP_FILE_SIZE,121638,0
$CFSIZE,260165632,234323968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,010610,171425,2106.611,-15750.607,75,1.5,75,9.8