version: 66.06
glider: 139
mission: 7
dive: 435
start: 6 3 110 14 54 17
data:
$ID,139
$MISSION,7
$DIVE,435
$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,-2137381.5
$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
$GPS1,144754,2107.544,-15750.375,61,3.0,80,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-69.8
$GPS2,145326,2107.534,-15750.414,37,1.8,37,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.167,0.077
$KALMAN_X,-135951.8,-254.2,598.1,143407.6,-2858.2
$KALMAN_Y,18107.7,57.2,48.2,-17057.9,-624.5
$MHEAD_RNG_PITCHd_Wd,55.3,13339,-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,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-51.95,0.000,2,0.000,0.000,426,1851,3201,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.8,-6.9,10,95,10.57,2.45,-3.20,0.000,4,0.133,0.038,2403,3299,3370,0,0,0,0,0,0
$GC,138,-1.30,-77.9,20.7,-18.5,23,144,0.17,2.42,0.00,0.000,6,0.099,0.031,2430,1868,3371,0,0,0,0,0,0
$GC,347,-1.25,-77.9,49.3,-10.4,47,351,0.00,2.40,0.00,0.000,4,0.000,0.044,2438,469,3372,0,0,0,0,0,0
$GC,399,-1.18,-77.9,56.6,-14.6,52,403,0.00,2.30,0.00,0.000,6,0.000,0.020,2437,1909,3372,0,0,0,0,0,0
$GC,665,-1.18,-77.9,90.4,-9.7,77,670,0.10,2.53,0.00,0.000,4,0.116,0.045,2458,463,3373,0,0,0,0,0,0
$GC,774,-1.23,-77.9,99.8,-8.2,88,779,0.00,2.25,0.00,0.000,6,0.000,0.019,2457,1882,3374,0,0,0,0,0,0
$GC,1042,-1.31,-77.9,122.7,-8.6,113,1047,0.12,2.42,0.00,0.000,4,0.063,0.043,2415,470,3375,0,0,0,0,0,0
$GC,1115,-1.25,-77.9,131.3,-12.4,120,1119,0.12,2.25,0.00,0.000,6,0.097,0.019,2440,1877,3375,0,0,0,0,0,0
$GC,1375,-1.30,-77.9,155.1,-9.3,144,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,1882,3376,0,0,0,0,0,0
$GC,1631,-1.34,-77.9,179.0,-9.1,168,1635,0.00,2.40,0.00,0.000,4,0.000,0.044,2441,467,3376,0,0,0,0,0,0
$GC,1683,-1.34,-77.9,184.3,-9.9,173,1687,0.00,2.25,0.00,0.000,6,0.000,0.021,2441,1879,3376,0,0,0,0,0,0
$GC,1956,-1.42,-77.9,205.1,-7.5,195,1961,0.15,2.42,0.00,0.000,4,0.056,0.044,2393,464,3376,0,0,0,0,0,0
$GC,2048,-1.34,-77.9,215.0,-10.8,199,2053,0.15,2.25,0.00,0.000,6,0.094,0.021,2423,1868,3377,0,0,0,0,0,0
$GC,2381,-1.38,-77.9,249.9,-10.9,215,2385,0.00,2.38,0.00,0.000,4,0.000,0.044,2423,471,3376,0,0,0,0,0,0
$GC,2494,-1.42,-77.9,261.6,-9.6,220,2498,0.00,2.28,0.00,0.000,6,0.000,0.021,2423,1884,3376,0,0,0,0,0,0
$GC,2825,-1.49,-77.9,289.5,-8.0,236,2830,0.15,2.45,0.00,0.000,4,0.058,0.047,2377,471,3375,0,0,0,0,0,0
$GC,2881,-1.44,-77.9,295.5,-11.2,238,2886,0.10,2.28,0.00,0.000,6,0.107,0.022,2398,1878,3375,0,0,0,0,0,0
$GC,3194,-1.44,-77.9,324.5,-9.6,247,3198,0.00,2.42,0.00,0.000,4,0.000,0.046,2397,472,3374,0,0,0,0,0,0
$GC,3225,-1.44,-77.9,328.0,-10.2,247,3230,0.00,2.28,0.00,0.000,6,0.000,0.024,2398,1880,3375,0,0,0,0,0,0
$GC,3563,-1.47,-77.9,359.4,-9.7,256,3568,0.00,2.42,0.00,0.000,4,0.000,0.048,2397,470,3373,0,0,0,0,0,0
$GC,3632,-1.47,-77.9,367.3,-10.9,257,3637,0.00,2.28,0.00,0.000,6,0.000,0.025,2398,1869,3372,0,0,0,0,0,0
$GC,3978,-1.51,-77.9,400.3,-9.6,266,3982,0.00,2.42,0.00,0.000,4,0.000,0.051,2397,468,3370,0,0,0,0,0,0
$GC,4029,-1.51,-77.9,406.0,-11.2,267,4033,0.00,2.30,0.00,0.000,6,0.000,0.026,2398,1871,3370,0,0,0,0,0,0
$GC,4347,-1.55,-77.9,436.5,-9.4,275,4351,0.00,2.42,0.00,0.000,4,0.000,0.052,2398,473,3368,0,0,0,0,0,0
$GC,4400,-1.55,-77.9,441.5,-9.6,276,4404,0.00,2.30,0.00,0.000,6,0.000,0.028,2398,1873,3368,0,0,0,0,0,0
$STATE,4512,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4512,begin apogee
$GC,4517,-0.31,0.0,451.6,8.7,279,4586,1.15,0.00,65.00,0.871,6,0.071,0.000,2645,2035,3050,0,0,0,0,0,0
$STATE,4587,end apogee,CONTROL_FINISHED_OK
$STATE,4587,begin climb
$GC,4589,1.40,77.9,452.7,0.0,280,4664,1.62,2.42,64.90,0.851,4,0.031,0.043,3025,3383,2732,0,0,0,0,0,0
$GC,4815,1.24,131.4,449.6,4.3,285,4868,0.22,2.38,45.80,0.844,6,0.112,0.036,2985,2009,2513,0,0,0,0,0,0
$GC,5186,1.13,131.4,417.9,9.0,294,5188,0.12,0.00,0.00,0.000,6,0.119,0.000,2963,2009,2506,0,0,0,0,0,0
$GC,5512,1.08,132.9,391.6,7.9,302,5513,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2009,2503,0,0,0,0,0,0
$GC,5836,1.03,134.5,365.0,7.9,310,5838,0.12,0.00,0.00,0.000,6,0.123,0.000,2941,2009,2502,0,0,0,0,0,0
$GC,6161,1.06,165.4,345.1,5.9,318,6196,0.00,2.50,28.33,0.808,4,0.000,0.051,2940,606,2374,0,0,0,0,0,0
$GC,6235,1.01,165.4,340.0,8.4,319,6240,0.00,2.33,0.00,0.000,6,0.000,0.030,2940,1990,2370,0,0,0,0,0,0
$GC,6571,1.03,177.0,314.9,7.2,328,6587,0.00,2.53,10.60,0.726,4,0.000,0.051,2940,604,2328,0,0,0,0,0,0
$GC,6694,1.03,177.0,305.3,8.9,330,6698,0.00,2.35,0.00,0.000,6,0.000,0.030,2941,2014,2324,0,0,0,0,0,0
$GC,7013,1.07,180.0,281.1,7.8,344,7017,0.00,2.38,0.00,0.000,4,0.000,0.038,2940,3406,2323,0,0,0,0,0,0
$GC,7072,1.13,180.0,275.7,9.0,346,7077,0.00,2.40,0.00,0.000,6,0.000,0.036,2942,2011,2323,0,0,0,0,0,0
$GC,7390,1.19,181.3,249.5,7.9,361,7402,0.12,2.45,4.65,0.542,4,0.076,0.049,2973,604,2310,0,0,0,0,0,0
$GC,7453,1.12,181.3,243.1,10.2,363,7458,0.00,2.35,0.00,0.000,6,0.000,0.028,2973,2015,2308,0,0,0,0,0,0
$GC,7769,1.12,181.3,216.6,8.4,379,7774,0.00,2.47,0.00,0.000,4,0.000,0.048,2974,599,2308,0,0,0,0,0,0
$GC,7988,1.06,181.3,197.6,9.9,390,7993,0.15,2.35,0.00,0.000,6,0.116,0.026,2947,2018,2306,0,0,0,0,0,0
$GC,8250,1.15,207.8,179.7,6.2,414,8280,0.00,0.00,24.55,0.678,6,0.000,0.000,2947,2023,2201,0,0,0,0,0,0
$GC,8538,1.23,214.1,159.3,7.6,441,8551,0.17,2.53,6.47,0.546,4,0.061,0.047,2992,604,2177,0,0,0,0,0,0
$GC,8569,1.15,214.1,156.0,10.3,444,8577,0.10,2.38,0.00,0.000,6,0.091,0.025,2970,2018,2175,0,0,0,0,0,0
$GC,8833,1.19,214.1,131.0,8.7,469,8837,0.00,2.45,0.00,0.000,4,0.000,0.045,2970,598,2175,0,0,0,0,0,0
$GC,8860,1.16,214.1,128.0,9.3,471,8866,0.00,2.35,0.00,0.000,6,0.000,0.024,2970,2028,2173,0,0,0,0,0,0
$GC,9123,1.22,220.3,107.4,7.6,496,9135,0.00,2.55,6.78,0.515,4,0.000,0.044,2970,598,2151,0,0,0,0,0,0
$GC,9210,1.22,220.3,100.0,8.3,505,9214,0.00,2.33,0.00,0.000,6,0.000,0.023,2969,2019,2149,0,0,0,0,0,0
$GC,9474,1.35,264.6,84.9,5.0,529,9517,0.17,0.00,40.00,0.594,6,0.055,0.000,3017,2023,1971,0,0,0,0,0,0
$GC,9769,1.35,264.6,58.2,10.5,557,9773,0.00,2.45,0.00,0.000,4,0.000,0.044,3017,597,1967,0,0,0,0,0,0
$GC,9803,1.28,264.6,54.2,12.9,560,9808,0.12,2.30,0.00,0.000,6,0.105,0.021,2994,2013,1964,0,0,0,0,0,0
$GC,10070,1.36,264.6,25.7,10.0,589,10076,0.00,2.45,0.00,0.000,4,0.000,0.043,2994,594,1964,0,0,0,0,0,0
$GC,10174,1.39,264.6,15.4,10.2,611,10180,0.00,2.28,0.00,0.000,6,0.000,0.021,2994,2016,1964,0,0,0,0,0,0
$STATE,10306,end climb,SURFACE_DEPTH_REACHED
$STATE,10306,begin surface coast
$FINISH,0.6,1.023156
$STATE,10334,end surface coast,CONTROL_FINISHED_OK
$STATE,10334,begin surface
$SM_CCo,10354,17.85,0.495,0,0,1826,300.00
$SM_GC,1.05,0.00,0.00,17.85,0.000,0.000,0.495,429,1859,1826,-10.51,-0.42,300.00
$IRIDIUM_FIX,2101.76,-15750.89,280899,111146
$TT8_MAMPS,0.029146
$HUMID,49.72
$INTERNAL_PRESSURE,9.68441
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,38.468
$10V_AH,10.0,36.494
$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,26.800,109.975,297.075,17.850,0.000,30.991,28.498,138.627,4.500,0.000,38.010,1237.155,6830.546,366.637,1856.831,412.822,33.382,1175.177,0.000,1816.918,0.000,29.255,0.000
$DEVICE_MAMPS,133.458,55.991,871.312,495.482,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,432.330,411.748,785.301,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,34880,640
$CAP_FILE_SIZE,116310,0
$CFSIZE,260165632,233377792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030610,174921,2107.756,-15750.503,75,3.2,94,9.8