version: 66.06
glider: 139
mission: 7
dive: 433
start: 6 3 110 8 54 13
data:
$ID,139
$MISSION,7
$DIVE,433
$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,-2137309
$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
$GPS1,083945,2107.347,-15750.672,97,4.2,116,9.8
$_CALLS,4
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-68.9
$GPS2,085322,2107.406,-15750.839,14,5.5,33,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,0.003
$KALMAN_X,-132163.2,346.1,-515.6,139398.0,-1603.8
$KALMAN_Y,18795.8,-100.6,-14.2,-17757.0,-130.6
$MHEAD_RNG_PITCHd_Wd,79.3,14001,-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,-53.25,0.000,2,0.000,0.000,425,1880,3235,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.7,-6.6,10,96,10.60,2.40,-2.58,0.000,4,0.133,0.035,2403,3309,3370,0,0,0,0,0,0
$GC,138,-1.29,-77.9,20.9,-21.0,23,145,0.20,2.42,0.00,0.000,6,0.095,0.031,2434,1866,3371,0,0,0,0,0,0
$GC,347,-1.25,-77.9,52.1,-12.4,47,352,0.00,2.38,0.00,0.000,4,0.000,0.044,2444,467,3372,0,0,0,0,0,0
$GC,384,-1.14,-77.9,58.0,-15.6,50,391,0.08,2.33,0.00,0.000,6,0.083,0.020,2462,1904,3372,0,0,0,0,0,0
$GC,647,-1.18,-77.9,88.1,-10.4,75,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1909,3373,0,0,0,0,0,0
$GC,900,-1.26,-77.9,114.9,-11.1,99,904,0.00,2.47,0.00,0.000,4,0.000,0.043,2464,467,3374,0,0,0,0,0,0
$GC,1060,-1.32,-77.9,133.4,-11.1,116,1065,0.17,2.22,0.00,0.000,6,0.051,0.019,2408,1879,3374,0,0,0,0,0,0
$GC,1321,-1.32,-77.9,163.0,-10.8,140,1325,0.00,2.42,0.00,0.000,4,0.000,0.043,2409,464,3375,0,0,0,0,0,0
$GC,1363,-1.26,-77.9,168.1,-12.5,144,1368,0.15,2.25,0.00,0.000,6,0.094,0.020,2440,1874,3375,0,0,0,0,0,0
$GC,1624,-1.31,-77.9,194.0,-9.8,168,1629,0.00,2.40,0.00,0.000,4,0.000,0.042,2440,468,3376,0,0,0,0,0,0
$GC,1641,-1.35,-77.9,195.4,-9.4,169,1645,0.00,2.25,0.00,0.000,6,0.000,0.021,2440,1881,3375,0,0,0,0,0,0
$GC,1900,-1.41,-77.9,221.2,-10.7,183,1905,0.15,2.45,0.00,0.000,4,0.056,0.044,2392,464,3375,0,0,0,0,0,0
$GC,1945,-1.36,-77.9,227.1,-12.7,185,1950,0.12,2.25,0.00,0.000,6,0.099,0.021,2417,1868,3375,0,0,0,0,0,0
$GC,2282,-1.40,-77.9,259.2,-9.0,201,2287,0.00,2.40,0.00,0.000,4,0.000,0.044,2418,468,3375,0,0,0,0,0,0
$GC,2315,-1.40,-77.9,262.9,-9.7,202,2319,0.00,2.25,0.00,0.000,6,0.000,0.021,2417,1876,3375,0,0,0,0,0,0
$GC,2634,-1.46,-77.9,291.5,-8.7,218,2639,0.00,2.40,0.00,0.000,4,0.000,0.046,2418,470,3374,0,0,0,0,0,0
$GC,2708,-1.50,-77.9,298.1,-8.4,221,2713,0.15,2.28,0.00,0.000,6,0.057,0.022,2372,1881,3374,0,0,0,0,0,0
$GC,3025,-1.46,-77.9,330.8,-10.5,230,3030,0.12,2.45,0.00,0.000,4,0.100,0.047,2397,460,3373,0,0,0,0,0,0
$GC,3062,-1.46,-77.9,334.6,-10.2,230,3068,0.00,2.28,0.00,0.000,6,0.000,0.024,2397,1876,3373,0,0,0,0,0,0
$GC,3393,-1.46,-77.9,367.0,-9.8,239,3398,0.00,2.42,0.00,0.000,4,0.000,0.049,2397,468,3371,0,0,0,0,0,0
$GC,3455,-1.46,-77.9,373.2,-10.7,240,3459,0.00,2.28,0.00,0.000,6,0.000,0.025,2397,1880,3371,0,0,0,0,0,0
$GC,3804,-1.46,-77.9,406.4,-8.8,249,3808,0.00,2.47,0.00,0.000,4,0.000,0.051,2396,464,3368,0,0,0,0,0,0
$GC,3836,-1.46,-77.9,409.4,-9.1,249,3840,0.00,2.28,0.00,0.000,6,0.000,0.027,2397,1873,3368,0,0,0,0,0,0
$GC,4167,-1.50,-77.9,433.5,-6.8,257,4171,0.00,2.45,0.00,0.000,4,0.000,0.052,2397,463,3365,0,0,0,0,0,0
$GC,4218,-1.50,-77.9,437.9,-8.7,258,4222,0.00,2.33,0.00,0.000,6,0.000,0.028,2397,1877,3365,0,0,0,0,0,0
$STATE,4411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4411,begin apogee
$GC,4417,-0.31,0.0,452.9,7.7,263,4485,1.15,0.00,64.07,0.872,6,0.074,0.000,2642,2040,3050,0,0,0,0,0,0
$STATE,4486,end apogee,CONTROL_FINISHED_OK
$STATE,4486,begin climb
$GC,4488,1.40,77.9,453.7,0.0,264,4563,1.62,2.40,64.75,0.850,4,0.031,0.043,3020,3374,2732,0,0,0,0,0,0
$GC,4828,1.21,104.3,440.1,6.2,271,4857,0.22,2.38,22.83,0.823,6,0.112,0.037,2981,1999,2623,0,0,0,0,0,0
$GC,5180,1.09,104.3,412.7,8.6,280,5185,0.15,2.42,0.00,0.000,4,0.115,0.041,2912,3384,2619,0,0,0,0,0,0
$GC,5196,1.01,104.3,411.5,8.7,280,5200,0.12,2.35,0.00,0.000,6,0.120,0.037,2934,2009,2619,0,0,0,0,0,0
$GC,5545,1.05,140.2,389.8,5.6,289,5582,0.00,2.55,30.20,0.832,4,0.000,0.052,2930,610,2477,0,0,0,0,0,0
$GC,5612,1.02,160.0,385.8,6.7,290,5636,0.00,2.35,18.67,0.797,6,0.000,0.030,2933,2001,2396,0,0,0,0,0,0
$GC,5965,1.02,160.0,356.1,8.5,299,5969,0.00,2.47,0.00,0.000,4,0.000,0.052,2932,602,2390,0,0,0,0,0,0
$GC,6066,1.02,160.0,345.9,9.5,301,6070,0.00,2.35,0.00,0.000,6,0.000,0.030,2933,2015,2387,0,0,0,0,0,0
$GC,6379,1.05,160.0,320.4,8.0,309,6384,0.00,2.50,0.00,0.000,4,0.000,0.052,2933,603,2387,0,0,0,0,0,0
$GC,6532,1.07,172.1,307.1,7.2,312,6548,0.00,2.35,9.90,0.722,6,0.000,0.030,2933,2015,2348,0,0,0,0,0,0
$GC,6868,1.13,182.3,284.0,7.3,326,6885,0.12,2.55,10.43,0.713,4,0.077,0.051,2965,605,2305,0,0,0,0,0,0
$GC,7010,1.07,182.3,272.0,9.4,332,7014,0.00,2.33,0.00,0.000,6,0.000,0.029,2964,2009,2302,0,0,0,0,0,0
$GC,7334,1.09,198.3,247.9,6.9,348,7357,0.00,2.55,15.10,0.718,4,0.000,0.050,2964,605,2240,0,0,0,0,0,0
$GC,7438,1.05,198.3,239.0,9.9,352,7442,0.00,2.33,0.00,0.000,6,0.000,0.028,2964,2009,2236,0,0,0,0,0,0
$GC,7758,1.09,202.1,213.9,7.8,368,7764,0.00,0.00,4.03,0.474,6,0.000,0.000,2964,2014,2226,0,0,0,0,0,0
$GC,8071,1.13,202.1,189.2,8.8,388,8075,0.00,2.45,0.00,0.000,4,0.000,0.047,2964,602,2225,0,0,0,0,0,0
$GC,8188,1.13,202.1,178.3,9.9,400,8192,0.00,2.33,0.00,0.000,6,0.000,0.025,2964,2021,2223,0,0,0,0,0,0
$GC,8451,1.17,202.1,154.8,9.0,424,8452,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2026,2223,0,0,0,0,0,0
$GC,8704,1.25,229.2,136.7,6.2,448,8736,0.10,2.55,25.08,0.635,4,0.082,0.044,2993,604,2114,0,0,0,0,0,0
$GC,8820,1.25,229.2,126.9,11.7,460,8827,0.00,2.35,0.00,0.000,6,0.000,0.024,2993,2014,2110,0,0,0,0,0,0
$GC,9083,1.25,229.2,103.2,10.3,485,9087,0.00,2.45,0.00,0.000,4,0.000,0.044,2993,601,2110,0,0,0,0,0,0
$GC,9172,1.25,229.2,93.5,11.1,494,9176,0.00,2.30,0.00,0.000,6,0.000,0.022,2993,2022,2109,0,0,0,0,0,0
$GC,9435,1.32,250.2,73.2,6.6,518,9456,0.00,0.00,18.88,0.562,6,0.000,0.000,2993,2026,2030,0,0,0,0,0,0
$GC,9710,1.37,250.2,50.3,9.6,544,9714,0.00,2.42,0.00,0.000,4,0.000,0.043,2993,600,2028,0,0,0,0,0,0
$GC,9859,1.37,250.2,34.0,10.5,560,9863,0.00,2.30,0.00,0.000,6,0.000,0.021,2994,2033,2026,0,0,0,0,0,0
$GC,10134,1.51,296.4,12.6,4.8,605,10185,0.22,2.55,40.58,0.524,4,0.046,0.042,3058,602,1840,0,0,0,0,0,0
$GC,10215,1.38,296.4,4.5,13.8,621,10221,0.22,2.28,0.00,0.000,6,0.091,0.020,3013,2018,1836,0,0,0,0,0,0
$STATE,10226,end climb,SURFACE_DEPTH_REACHED
$STATE,10226,begin surface coast
$FINISH,0.5,1.023203
$STATE,10243,end surface coast,CONTROL_FINISHED_OK
$STATE,10243,begin surface
$SM_CCo,10264,0.12,0.134,0,0,1828,300.00
$SM_GC,2.39,0.00,0.00,0.12,0.000,0.000,0.134,426,1861,1828,-10.53,-0.40,300.00
$IRIDIUM_FIX,2101.76,-15750.89,280899,080817
$TT8_MAMPS,0.029146
$HUMID,49.33
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,38.311
$10V_AH,10.0,36.335
$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,26.950,114.825,324.500,0.125,0.000,123.336,118.083,254.482,4.750,0.000,34.855,1217.629,6865.298,364.741,1907.309,725.855,33.379,1212.163,0.000,1867.559,0.000,32.170,0.000
$DEVICE_MAMPS,133.458,52.156,872.079,134.225,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,421.830,403.863,782.533,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,34820,626
$CAP_FILE_SIZE,124366,0
$CFSIZE,260165632,233488384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030610,114820,2107.405,-15750.606,126,2.3,145,9.8