version: 66.06
glider: 139
mission: 7
dive: 436
start: 6 3 110 17 56 7
data:
$ID,139
$MISSION,7
$DIVE,436
$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,-2137419.2
$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
$GPS1,174921,2107.756,-15750.503,75,3.2,94,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-71.7
$GPS2,175516,2107.782,-15750.600,16,3.2,35,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,0.018
$KALMAN_X,-137476.2,-312.6,-5.7,145273.5,-2197.2
$KALMAN_Y,17867.1,134.7,-195.0,-16192.6,-165.7
$MHEAD_RNG_PITCHd_Wd,74.5,13764,-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,-77.9,0.0,0.0,0,72,0.00,0.00,-53.60,0.000,2,0.000,0.000,428,1860,3227,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.6,-6.0,10,97,10.60,2.42,-2.72,0.000,4,0.135,0.037,2403,3305,3371,0,0,0,0,0,0
$GC,153,-1.33,-77.9,22.5,-16.0,26,160,0.10,2.45,0.00,0.000,6,0.081,0.031,2424,1869,3372,0,0,0,0,0,0
$GC,356,-1.24,-77.9,51.9,-14.8,49,360,0.00,2.40,0.00,0.000,4,0.000,0.044,2428,467,3373,0,0,0,0,0,0
$GC,379,-1.09,-77.9,56.0,-16.4,51,386,0.20,2.33,0.00,0.000,6,0.075,0.020,2479,1907,3373,0,0,0,0,0,0
$GC,641,-1.16,-77.9,86.7,-12.0,76,645,0.00,2.47,0.00,0.000,4,0.000,0.044,2481,464,3374,0,0,0,0,0,0
$GC,741,-1.24,-77.9,99.5,-12.4,86,752,0.12,2.28,0.00,0.000,6,0.031,0.019,2430,1876,3375,0,0,0,0,0,0
$GC,1003,-1.24,-77.9,127.8,-9.7,111,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,1880,3376,0,0,0,0,0,0
$GC,1259,-1.24,-77.9,152.3,-8.3,135,1263,0.00,2.40,0.00,0.000,4,0.000,0.042,2431,460,3377,0,0,0,0,0,0
$GC,1302,-1.24,-77.9,156.3,-9.3,139,1306,0.00,2.25,0.00,0.000,6,0.000,0.020,2430,1882,3377,0,0,0,0,0,0
$GC,1564,-1.24,-77.9,181.1,-10.0,163,1568,0.00,2.42,0.00,0.000,4,0.000,0.044,2431,467,3378,0,0,0,0,0,0
$GC,1632,-1.24,-77.9,188.7,-10.5,170,1638,0.00,2.28,0.00,0.000,6,0.000,0.021,2431,1871,3377,0,0,0,0,0,0
$GC,1893,-1.30,-77.9,209.6,-7.9,189,1898,0.00,2.40,0.00,0.000,4,0.000,0.044,2432,468,3378,0,0,0,0,0,0
$GC,1963,-1.35,-77.9,215.9,-7.8,192,1967,0.00,2.22,0.00,0.000,6,0.000,0.021,2431,1876,3377,0,0,0,0,0,0
$GC,2289,-1.42,-77.9,239.6,-7.7,208,2295,0.12,2.45,0.00,0.000,4,0.064,0.045,2389,460,3377,0,0,0,0,0,0
$GC,2402,-1.39,-77.9,251.2,-10.4,212,2409,0.08,2.30,0.00,0.000,6,0.077,0.021,2408,1871,3377,0,0,0,0,0,0
$GC,2719,-1.43,-77.9,283.5,-9.7,228,2724,0.00,2.42,0.00,0.000,4,0.000,0.046,2408,464,3377,0,0,0,0,0,0
$GC,2742,-1.43,-77.9,286.1,-10.5,229,2746,0.00,2.28,0.00,0.000,6,0.000,0.023,2409,1889,3377,0,0,0,0,0,0
$GC,3064,-1.49,-77.9,315.0,-8.7,241,3068,0.00,2.45,0.00,0.000,4,0.000,0.048,2408,461,3376,0,0,0,0,0,0
$GC,3115,-1.49,-77.9,319.9,-8.9,242,3122,0.00,2.30,0.00,0.000,6,0.000,0.024,2409,1881,3376,0,0,0,0,0,0
$GC,3440,-1.54,-77.9,350.1,-9.4,250,3445,0.15,2.45,0.00,0.000,4,0.059,0.050,2364,468,3374,0,0,0,0,0,0
$GC,3549,-1.47,-77.9,362.4,-11.3,252,3554,0.12,2.30,0.00,0.000,6,0.102,0.025,2390,1878,3373,0,0,0,0,0,0
$GC,3900,-1.47,-77.9,394.5,-8.7,261,3904,0.00,2.45,0.00,0.000,4,0.000,0.051,2390,462,3372,0,0,0,0,0,0
$GC,3992,-1.47,-77.9,402.8,-8.6,263,3997,0.00,2.30,0.00,0.000,6,0.000,0.027,2390,1875,3371,0,0,0,0,0,0
$GC,4315,-1.51,-77.9,428.7,-8.2,271,4319,0.00,2.47,0.00,0.000,4,0.000,0.053,2390,464,3369,0,0,0,0,0,0
$GC,4371,-1.51,-77.9,434.2,-10.2,272,4375,0.00,2.33,0.00,0.000,6,0.000,0.028,2390,1879,3368,0,0,0,0,0,0
$STATE,4564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4564,begin apogee
$GC,4570,-0.31,0.0,452.3,9.3,277,4639,1.17,0.00,65.25,0.878,6,0.072,0.000,2643,2041,3050,0,0,0,0,0,0
$STATE,4639,end apogee,CONTROL_FINISHED_OK
$STATE,4639,begin climb
$GC,4641,1.40,77.9,453.8,0.0,278,4717,1.62,2.42,65.22,0.856,4,0.031,0.044,3012,3386,2732,0,0,0,0,0,0
$GC,4851,1.25,138.4,453.8,3.9,282,4909,0.17,2.38,52.10,0.855,6,0.115,0.036,2989,2002,2485,0,0,0,0,0,0
$GC,5234,1.13,138.4,422.6,8.8,292,5239,0.15,2.38,0.00,0.000,4,0.118,0.041,2960,3381,2477,0,0,0,0,0,0
$GC,5287,1.09,151.7,418.5,7.1,293,5303,0.00,2.35,11.48,0.772,6,0.000,0.038,2964,2013,2431,0,0,0,0,0,0
$GC,5645,1.05,160.3,391.5,7.4,302,5655,0.00,0.00,8.38,0.730,6,0.000,0.000,2964,2013,2396,0,0,0,0,0,0
$GC,5969,1.02,160.3,364.4,8.5,310,5974,0.15,2.50,0.00,0.000,4,0.116,0.053,2936,604,2394,0,0,0,0,0,0
$GC,6021,0.98,160.3,359.8,8.9,311,6025,0.00,2.33,0.00,0.000,6,0.000,0.030,2935,1998,2391,0,0,0,0,0,0
$GC,6338,0.98,160.3,335.4,8.7,319,6343,0.00,2.47,0.00,0.000,4,0.000,0.052,2936,597,2391,0,0,0,0,0,0
$GC,6447,0.95,160.3,324.4,10.0,321,6451,0.00,2.38,0.00,0.000,6,0.000,0.031,2936,2008,2389,0,0,0,0,0,0
$GC,6797,1.03,194.7,300.6,5.7,330,6833,0.00,2.58,30.35,0.794,4,0.000,0.051,2936,605,2255,0,0,0,0,0,0
$GC,6947,1.03,194.7,288.9,8.9,335,6953,0.00,2.35,0.00,0.000,6,0.000,0.029,2936,2015,2250,0,0,0,0,0,0
$GC,7264,1.08,194.7,260.9,9.4,351,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2019,2249,0,0,0,0,0,0
$GC,7572,1.17,214.8,237.8,6.6,366,7597,0.15,2.53,18.30,0.726,4,0.068,0.049,2974,604,2173,0,0,0,0,0,0
$GC,7737,1.11,214.8,221.1,9.8,373,7741,0.00,2.35,0.00,0.000,6,0.000,0.028,2974,2021,2169,0,0,0,0,0,0
$GC,8058,1.11,214.8,190.9,9.9,392,8062,0.00,2.47,0.00,0.000,4,0.000,0.048,2974,597,2167,0,0,0,0,0,0
$GC,8093,1.06,214.8,187.4,11.0,395,8098,0.15,2.38,0.00,0.000,6,0.111,0.027,2947,2020,2166,0,0,0,0,0,0
$GC,8357,1.14,214.8,164.3,8.8,419,8361,0.00,2.47,0.00,0.000,4,0.000,0.048,2946,602,2166,0,0,0,0,0,0
$GC,8448,1.14,214.8,154.7,10.1,428,8455,0.00,2.35,0.00,0.000,6,0.000,0.025,2947,2009,2165,0,0,0,0,0,0
$GC,8712,1.22,215.2,132.1,8.0,453,8717,0.15,2.45,0.00,0.000,4,0.065,0.046,2988,597,2165,0,0,0,0,0,0
$GC,8782,1.16,215.2,124.7,11.5,460,8787,0.00,2.30,0.00,0.000,6,0.000,0.025,2988,2013,2164,0,0,0,0,0,0
$GC,9045,1.16,215.2,100.6,8.4,484,9049,0.00,2.30,0.00,0.000,4,0.000,0.030,2987,3409,2164,0,0,0,0,0,0
$GC,9142,1.20,215.2,92.3,8.4,494,9147,0.00,2.35,0.00,0.000,6,0.000,0.028,2985,1994,2164,0,0,0,0,0,0
$GC,9406,1.25,221.4,75.0,7.6,518,9418,0.00,2.38,5.88,0.472,4,0.000,0.028,2985,3411,2146,0,0,0,0,0,0
$GC,9441,1.32,224.6,72.1,7.8,521,9451,0.00,2.38,4.82,0.430,6,0.000,0.028,2986,2007,2134,0,0,0,0,0,0
$GC,9715,1.39,247.5,52.9,6.5,547,9739,0.15,0.00,21.50,0.553,6,0.059,0.000,3032,2006,2041,0,0,0,0,0,0
$GC,9990,1.39,247.5,28.9,8.6,574,9997,0.00,2.35,0.00,0.000,4,0.000,0.028,3032,3402,2039,0,0,0,0,0,0
$GC,10054,1.39,247.5,23.5,8.9,587,10059,0.00,2.35,0.00,0.000,6,0.000,0.028,3030,2001,2039,0,0,0,0,0,0
$GC,10260,1.36,247.5,3.4,11.3,624,10267,0.10,2.42,0.00,0.000,4,0.114,0.041,3012,601,2038,0,0,0,0,0,0
$STATE,10271,end climb,SURFACE_DEPTH_REACHED
$STATE,10271,begin surface coast
$FINISH,0.5,1.023279
$STATE,10304,end surface coast,CONTROL_FINISHED_OK
$STATE,10304,begin surface
$SM_CCo,10326,26.42,0.505,0,0,1826,300.00
$SM_GC,0.95,0.00,0.00,26.42,0.000,0.000,0.505,425,1918,1826,-10.53,1.22,300.00
$IRIDIUM_FIX,2101.76,-15748.75,280899,141424
$TT8_MAMPS,0.029913
$HUMID,49.21
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.4,38.549
$10V_AH,10.0,36.575
$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,26.650,119.075,283.275,26.425,0.000,28.023,35.136,161.247,4.500,0.000,36.902,1235.431,6753.659,374.789,1902.766,439.896,33.375,1212.325,0.000,1864.811,0.000,29.266,0.000
$DEVICE_MAMPS,134.992,52.923,878.215,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,427.535,408.449,795.036,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34807,633
$CAP_FILE_SIZE,118439,0
$CFSIZE,260165632,233320448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030610,205007,2108.008,-15750.307,51,1.7,51,9.8