version: 66.06
glider: 139
mission: 7
dive: 424
start: 6 2 110 5 21 25
data:
$ID,139
$MISSION,7
$DIVE,424
$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,-2136086.2
$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
$GPS1,051357,2106.843,-15750.041,91,2.4,110,9.8
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.1
$GPS2,052034,2106.825,-15750.146,14,2.9,33,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.182,0.026
$KALMAN_X,-113315.0,516.9,-504.5,121567.2,-2425.0
$KALMAN_Y,21588.5,-49.2,-224.9,-21471.5,-229.4
$MHEAD_RNG_PITCHd_Wd,72.2,12629,-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,-53.00,0.000,2,0.000,0.000,424,1886,3203,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.3,-5.0,10,96,10.65,2.38,-3.28,0.000,4,0.136,0.038,2402,3297,3370,0,0,0,0,0,0
$GC,120,-1.15,-77.9,15.7,-20.5,19,127,0.38,2.42,0.00,0.000,6,0.084,0.031,2464,1868,3371,0,0,0,0,0,0
$GC,329,-1.15,-77.9,40.9,-12.1,49,333,0.00,2.38,0.00,0.000,4,0.000,0.043,2479,471,3372,0,0,0,0,0,0
$GC,425,-1.20,-77.9,53.4,-13.1,59,430,0.12,2.33,0.00,0.000,6,0.062,0.019,2436,1914,3372,0,0,0,0,0,0
$GC,688,-1.20,-77.9,91.7,-13.2,83,692,0.00,2.50,0.00,0.000,4,0.000,0.043,2436,464,3373,0,0,0,0,0,0
$GC,725,-1.13,-77.9,97.2,-14.6,86,732,0.10,2.28,0.00,0.000,6,0.071,0.019,2460,1873,3374,0,0,0,0,0,0
$GC,986,-1.20,-77.9,122.7,-8.8,111,991,0.00,2.42,0.00,0.000,4,0.000,0.043,2462,463,3374,0,0,0,0,0,0
$GC,1066,-1.29,-77.9,130.2,-9.2,119,1071,0.12,2.25,0.00,0.000,6,0.062,0.019,2417,1881,3375,0,0,0,0,0,0
$GC,1328,-1.29,-77.9,156.5,-10.6,143,1333,0.12,2.42,0.00,0.000,4,0.097,0.044,2445,467,3375,0,0,0,0,0,0
$GC,1399,-1.33,-77.9,163.9,-10.6,150,1403,0.00,2.25,0.00,0.000,6,0.000,0.020,2445,1883,3376,0,0,0,0,0,0
$GC,1661,-1.41,-77.9,189.3,-9.7,174,1666,0.15,2.45,0.00,0.000,4,0.055,0.044,2396,470,3376,0,0,0,0,0,0
$GC,1733,-1.33,-77.9,197.9,-12.7,181,1738,0.15,2.22,0.00,0.000,6,0.093,0.020,2426,1872,3376,0,0,0,0,0,0
$GC,2001,-1.39,-77.9,220.1,-8.0,194,2006,0.00,2.40,0.00,0.000,4,0.000,0.044,2427,463,3376,0,0,0,0,0,0
$GC,2061,-1.43,-77.9,225.7,-8.6,196,2069,0.08,2.30,0.00,0.000,6,0.038,0.021,2390,1881,3377,0,0,0,0,0,0
$GC,2377,-1.43,-77.9,256.9,-10.4,212,2381,0.00,2.42,0.00,0.000,4,0.000,0.045,2390,471,3376,0,0,0,0,0,0
$GC,2406,-1.35,-77.9,260.0,-11.4,213,2411,0.15,2.25,0.00,0.000,6,0.095,0.022,2421,1881,3376,0,0,0,0,0,0
$GC,2734,-1.42,-77.9,288.5,-8.8,229,2739,0.00,2.42,0.00,0.000,4,0.000,0.046,2421,471,3375,0,0,0,0,0,0
$GC,2778,-1.45,-77.9,292.5,-8.6,231,2782,0.00,2.28,0.00,0.000,6,0.000,0.023,2421,1877,3375,0,0,0,0,0,0
$GC,3124,-1.53,-77.9,318.1,-7.5,242,3129,0.17,2.45,0.00,0.000,4,0.053,0.048,2370,473,3374,0,0,0,0,0,0
$GC,3260,-1.46,-77.9,331.7,-9.8,245,3265,0.12,2.28,0.00,0.000,6,0.100,0.025,2395,1868,3373,0,0,0,0,0,0
$GC,3589,-1.46,-77.9,361.9,-9.3,253,3593,0.00,2.42,0.00,0.000,4,0.000,0.050,2394,466,3371,0,0,0,0,0,0
$GC,3670,-1.46,-77.9,370.9,-11.3,254,3674,0.00,2.30,0.00,0.000,6,0.000,0.026,2395,1872,3371,0,0,0,0,0,0
$GC,4000,-1.46,-77.9,404.8,-10.1,262,4004,0.00,2.45,0.00,0.000,4,0.000,0.051,2395,473,3368,0,0,0,0,0,0
$GC,4033,-1.42,-77.9,408.5,-11.3,262,4037,0.00,2.30,0.00,0.000,6,0.000,0.027,2395,1881,3368,0,0,0,0,0,0
$GC,4365,-1.46,-77.9,441.0,-9.5,270,4369,0.00,2.45,0.00,0.000,4,0.000,0.052,2394,473,3366,0,0,0,0,0,0
$GC,4420,-1.46,-77.9,446.9,-10.4,271,4424,0.00,2.30,0.00,0.000,6,0.000,0.028,2394,1875,3366,0,0,0,0,0,0
$STATE,4487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4487,begin apogee
$GC,4493,-0.31,0.0,453.3,9.3,273,4561,1.17,0.00,64.72,0.877,6,0.075,0.000,2645,2035,3050,0,0,0,0,0,0
$STATE,4562,end apogee,CONTROL_FINISHED_OK
$STATE,4562,begin climb
$GC,4564,1.40,77.9,454.5,0.0,274,4639,1.62,2.42,65.22,0.855,4,0.032,0.043,3026,3380,2732,0,0,0,0,0,0
$GC,4755,1.24,136.6,453.5,4.0,278,4813,0.22,2.38,50.62,0.851,6,0.112,0.035,2986,2006,2492,0,0,0,0,0,0
$GC,5152,1.13,136.6,419.6,9.5,288,5157,0.12,2.40,0.00,0.000,4,0.121,0.041,2963,3391,2484,0,0,0,0,0,0
$GC,5213,1.08,136.6,413.8,9.6,289,5218,0.00,2.40,0.00,0.000,6,0.000,0.038,2965,2006,2484,0,0,0,0,0,0
$GC,5563,1.03,136.6,382.9,8.5,298,5565,0.12,0.00,0.00,0.000,6,0.121,0.000,2942,2006,2482,0,0,0,0,0,0
$GC,5887,1.04,145.0,360.0,7.4,306,5900,0.00,2.45,6.32,0.669,4,0.000,0.040,2941,3385,2457,0,0,0,0,0,0
$GC,5937,1.04,145.0,355.8,8.3,307,5941,0.00,2.38,0.00,0.000,6,0.000,0.037,2942,2001,2458,0,0,0,0,0,0
$GC,6259,1.06,163.5,332.3,6.7,315,6284,0.00,2.53,17.30,0.785,4,0.000,0.051,2941,599,2382,0,0,0,0,0,0
$GC,6336,1.02,163.5,326.3,8.8,316,6340,0.00,2.35,0.00,0.000,6,0.000,0.030,2942,1999,2379,0,0,0,0,0,0
$GC,6671,1.02,163.5,299.4,8.4,325,6676,0.00,2.47,0.00,0.000,4,0.000,0.052,2941,595,2377,0,0,0,0,0,0
$GC,6923,0.98,163.5,275.3,9.1,336,6927,0.00,2.35,0.00,0.000,6,0.000,0.030,2941,2012,2375,0,0,0,0,0,0
$GC,7253,1.02,167.4,248.8,7.7,352,7257,0.00,2.47,0.00,0.000,4,0.000,0.050,2942,601,2375,0,0,0,0,0,0
$GC,7344,1.02,167.4,241.8,8.1,356,7348,0.00,2.35,0.00,0.000,6,0.000,0.028,2942,2013,2374,0,0,0,0,0,0
$GC,7669,1.10,189.5,221.8,6.5,372,7699,0.00,2.40,22.73,0.721,4,0.000,0.035,2941,3401,2276,0,0,0,0,0,0
$GC,7755,1.18,189.5,214.6,9.5,375,7761,0.12,2.38,0.00,0.000,6,0.071,0.034,2976,2007,2276,0,0,0,0,0,0
$GC,8078,1.19,194.3,184.8,7.7,399,8089,0.00,2.45,5.43,0.543,4,0.000,0.047,2975,599,2256,0,0,0,0,0,0
$GC,8112,1.12,194.3,181.7,8.7,402,8119,0.00,2.38,0.00,0.000,6,0.000,0.026,2975,2009,2254,0,0,0,0,0,0
$GC,8375,1.12,199.5,163.2,7.7,427,8385,0.00,2.42,5.65,0.535,4,0.000,0.034,2974,3402,2236,0,0,0,0,0,0
$GC,8400,1.13,201.0,160.9,7.9,429,8405,0.00,2.35,0.00,0.000,6,0.000,0.031,2976,2008,2236,0,0,0,0,0,0
$GC,8662,1.14,214.5,140.9,7.1,454,8682,0.00,2.53,14.93,0.628,4,0.000,0.046,2975,603,2174,0,0,0,0,0,0
$GC,8755,1.14,214.5,132.8,8.8,464,8759,0.00,2.33,0.00,0.000,6,0.000,0.025,2975,2020,2170,0,0,0,0,0,0
$GC,9018,1.22,242.5,116.0,6.1,488,9050,0.00,2.55,25.33,0.622,4,0.000,0.044,2975,604,2060,0,0,0,0,0,0
$GC,9123,1.22,242.5,106.9,10.0,499,9129,0.00,2.30,0.00,0.000,6,0.000,0.023,2975,2015,2056,0,0,0,0,0,0
$GC,9386,1.29,247.5,83.6,7.7,524,9394,0.00,0.00,5.43,0.463,6,0.000,0.000,2975,2019,2040,0,0,0,0,0,0
$GC,9652,1.40,261.2,65.1,7.1,549,9670,0.20,0.00,13.62,0.545,6,0.052,0.000,3030,2019,1983,0,0,0,0,0,0
$GC,9926,1.40,261.2,37.1,9.2,575,9930,0.00,2.28,0.00,0.000,4,0.000,0.028,3030,3400,1982,0,0,0,0,0,0
$GC,10085,1.40,261.2,21.1,10.8,601,10091,0.00,2.33,0.00,0.000,6,0.000,0.026,3029,2004,1982,0,0,0,0,0,0
$STATE,10286,end climb,SURFACE_DEPTH_REACHED
$STATE,10286,begin surface coast
$FINISH,0.4,1.010013
$STATE,10320,end surface coast,CONTROL_FINISHED_OK
$STATE,10320,begin surface
$SM_CCo,10340,19.52,0.499,0,0,1826,300.00
$SM_GC,1.03,0.00,0.00,19.52,0.000,0.000,0.499,424,1869,1826,-10.53,-0.20,300.00
$IRIDIUM_FIX,2101.76,-15745.74,270899,020229
$TT8_MAMPS,0.029146
$HUMID,49.44
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,37.537
$10V_AH,10.0,35.576
$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,27.125,119.350,297.300,19.525,0.000,35.496,29.092,202.040,4.500,0.000,34.593,1250.357,6741.722,371.085,1920.384,472.659,33.370,1211.966,0.000,1873.389,0.000,29.248,0.000
$DEVICE_MAMPS,135.759,62.127,876.681,499.317,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.828,414.939,805.309,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,34942,643
$CAP_FILE_SIZE,120360,0
$CFSIZE,260165632,234037248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020610,081606,2107.018,-15750.305,85,1.9,85,9.8