version: 66.06
glider: 139
mission: 7
dive: 437
start: 6 3 110 21 3 13
data:
$ID,139
$MISSION,7
$DIVE,437
$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,-2137455
$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
$GPS1,205007,2108.008,-15750.307,51,1.7,51,9.8
$_CALLS,3
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.3
$GPS2,210222,2108.105,-15750.398,14,4.5,33,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.181,-0.034
$KALMAN_X,-138989.8,-97.1,-406.9,147320.7,-889.9
$KALMAN_Y,17949.8,208.1,44.3,-15992.7,11.8
$MHEAD_RNG_PITCHd_Wd,90.9,13604,-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,-53.25,0.000,2,0.000,0.000,424,1918,3233,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.6,-6.4,10,97,10.62,2.55,-2.60,0.000,4,0.135,0.054,2403,465,3371,0,0,0,0,0,0
$GC,104,-0.22,-77.9,14.1,-32.3,15,111,1.33,2.33,0.00,0.000,6,0.100,0.020,2663,1926,3371,0,0,0,0,0,0
$GC,311,-0.89,-77.9,27.1,-7.8,52,318,0.62,2.53,0.00,0.000,4,0.054,0.038,2520,471,3373,0,0,0,0,0,0
$GC,365,-1.03,-77.9,31.6,-8.3,61,372,0.10,2.33,0.00,0.000,6,0.030,0.020,2470,1904,3372,0,0,0,0,0,0
$GC,628,-1.03,-77.9,61.7,-11.3,86,630,0.10,0.00,0.00,0.000,6,0.118,0.000,2489,1910,3373,0,0,0,0,0,0
$GC,880,-1.13,-77.9,86.8,-9.7,110,884,0.00,2.47,0.00,0.000,4,0.000,0.044,2490,468,3374,0,0,0,0,0,0
$GC,1007,-1.23,-77.9,98.4,-8.7,123,1012,0.20,2.22,0.00,0.000,6,0.044,0.019,2426,1880,3374,0,0,0,0,0,0
$GC,1269,-1.23,-77.9,124.2,-10.2,147,1270,0.10,0.00,0.00,0.000,6,0.105,0.000,2447,1885,3375,0,0,0,0,0,0
$GC,1525,-1.30,-77.9,149.5,-9.7,171,1530,0.00,2.42,0.00,0.000,4,0.000,0.042,2447,464,3376,0,0,0,0,0,0
$GC,1578,-1.36,-77.9,155.6,-11.0,176,1583,0.12,2.22,0.00,0.000,6,0.061,0.020,2402,1872,3376,0,0,0,0,0,0
$GC,1839,-1.36,-77.9,185.3,-10.7,200,1843,0.00,2.42,0.00,0.000,4,0.000,0.044,2403,460,3376,0,0,0,0,0,0
$GC,1917,-1.32,-77.9,193.6,-10.3,208,1922,0.12,2.25,0.00,0.000,6,0.097,0.020,2429,1881,3377,0,0,0,0,0,0
$GC,2184,-1.36,-77.9,216.8,-9.0,224,2189,0.00,2.42,0.00,0.000,4,0.000,0.044,2429,466,3377,0,0,0,0,0,0
$GC,2239,-1.36,-77.9,222.1,-10.1,226,2243,0.00,2.25,0.00,0.000,6,0.000,0.021,2428,1878,3377,0,0,0,0,0,0
$GC,2559,-1.43,-77.9,247.1,-8.4,242,2564,0.12,2.45,0.00,0.000,4,0.063,0.045,2385,463,3376,0,0,0,0,0,0
$GC,2627,-1.35,-77.9,254.9,-12.1,245,2631,0.17,2.25,0.00,0.000,6,0.088,0.021,2421,1879,3376,0,0,0,0,0,0
$GC,2959,-1.43,-77.9,283.5,-8.0,261,2963,0.00,2.42,0.00,0.000,4,0.000,0.046,2422,463,3376,0,0,0,0,0,0
$GC,3077,-1.47,-77.9,293.4,-8.3,266,3082,0.12,2.25,0.00,0.000,6,0.063,0.022,2380,1874,3375,0,0,0,0,0,0
$GC,3404,-1.47,-77.9,323.2,-9.2,276,3408,0.00,2.40,0.00,0.000,4,0.000,0.047,2378,470,3374,0,0,0,0,0,0
$GC,3482,-1.43,-77.9,332.1,-11.4,277,3487,0.10,2.28,0.00,0.000,6,0.109,0.024,2399,1870,3373,0,0,0,0,0,0
$GC,3814,-1.48,-77.9,363.4,-9.2,285,3818,0.00,2.45,0.00,0.000,4,0.000,0.049,2392,461,3372,0,0,0,0,0,0
$GC,3888,-1.48,-77.9,370.6,-9.6,286,3893,0.00,2.30,0.00,0.000,6,0.000,0.025,2399,1882,3371,0,0,0,0,0,0
$GC,4224,-1.53,-77.9,396.9,-7.7,295,4228,0.00,2.45,0.00,0.000,4,0.000,0.051,2398,469,3369,0,0,0,0,0,0
$GC,4331,-1.53,-77.9,406.0,-8.7,297,4335,0.00,2.33,0.00,0.000,6,0.000,0.026,2399,1883,3368,0,0,0,0,0,0
$GC,4680,-1.58,-77.9,435.7,-9.1,306,4685,0.15,2.47,0.00,0.000,4,0.061,0.054,2356,470,3365,0,0,0,0,0,0
$GC,4771,-1.50,-77.9,446.8,-13.2,308,4776,0.15,2.33,0.00,0.000,6,0.100,0.028,2386,1878,3365,0,0,0,0,0,0
$STATE,4798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4798,begin apogee
$GC,4803,-0.31,0.0,450.4,10.2,308,4871,1.17,0.00,64.57,0.873,6,0.074,0.000,2642,2038,3050,0,0,0,0,0,0
$STATE,4872,end apogee,CONTROL_FINISHED_OK
$STATE,4872,begin climb
$GC,4875,1.40,77.9,452.3,0.0,310,4949,1.65,2.42,64.95,0.851,4,0.031,0.043,3026,3384,2732,0,0,0,0,0,0
$GC,5177,1.23,132.8,446.3,4.2,316,5232,0.25,2.35,46.85,0.848,6,0.110,0.036,2983,2009,2507,0,0,0,0,0,0
$GC,5556,1.12,132.8,414.4,9.1,326,5561,0.12,2.47,0.00,0.000,4,0.122,0.051,2959,602,2501,0,0,0,0,0,0
$GC,5572,1.00,132.8,412.8,9.4,326,5577,0.15,2.35,0.00,0.000,6,0.120,0.029,2934,1995,2500,0,0,0,0,0,0
$GC,5922,1.02,148.8,387.5,6.9,335,5942,0.00,2.55,13.52,0.786,4,0.000,0.051,2934,601,2441,0,0,0,0,0,0
$GC,5976,0.98,148.8,382.9,9.1,336,5980,0.00,2.38,0.00,0.000,6,0.000,0.030,2934,2015,2440,0,0,0,0,0,0
$GC,6293,0.99,160.3,358.5,7.2,344,6309,0.00,2.58,10.73,0.752,4,0.000,0.052,2935,605,2395,0,0,0,0,0,0
$GC,6399,0.96,160.3,349.4,9.4,346,6404,0.00,2.35,0.00,0.000,6,0.000,0.030,2935,2012,2393,0,0,0,0,0,0
$GC,6712,0.98,175.3,326.0,7.0,354,6733,0.00,2.47,14.05,0.766,4,0.000,0.039,2935,3407,2335,0,0,0,0,0,0
$GC,6823,1.04,184.6,317.9,7.4,356,6839,0.00,2.40,10.07,0.724,6,0.000,0.037,2935,2008,2296,0,0,0,0,0,0
$GC,7157,1.08,184.6,289.5,9.2,367,7162,0.00,2.45,0.00,0.000,4,0.000,0.051,2934,602,2292,0,0,0,0,0,0
$GC,7247,1.08,184.6,280.1,11.2,371,7251,0.00,2.35,0.00,0.000,6,0.000,0.030,2935,2015,2289,0,0,0,0,0,0
$GC,7579,1.17,193.0,251.4,7.4,387,7593,0.15,2.53,7.68,0.654,4,0.067,0.051,2974,601,2263,0,0,0,0,0,0
$GC,7682,1.10,193.0,242.5,8.6,391,7686,0.00,2.38,0.00,0.000,6,0.000,0.028,2973,2019,2260,0,0,0,0,0,0
$GC,7997,1.10,193.0,215.6,8.9,406,8001,0.00,2.50,0.00,0.000,4,0.000,0.049,2974,595,2260,0,0,0,0,0,0
$GC,8114,1.05,193.0,204.5,10.7,411,8119,0.17,2.35,0.00,0.000,6,0.111,0.028,2942,2021,2258,0,0,0,0,0,0
$GC,8447,1.18,228.6,181.5,5.6,440,8486,0.12,2.45,32.28,0.689,4,0.072,0.033,2975,3412,2117,0,0,0,0,0,0
$GC,8500,1.21,232.4,177.9,7.8,445,8510,0.00,2.42,5.20,0.507,6,0.000,0.032,2976,2006,2102,0,0,0,0,0,0
$GC,8764,1.25,232.4,152.6,9.2,470,8769,0.00,2.42,0.00,0.000,4,0.000,0.047,2976,597,2098,0,0,0,0,0,0
$GC,8837,1.25,232.4,144.5,10.9,477,8843,0.00,2.35,0.00,0.000,6,0.000,0.025,2977,2021,2095,0,0,0,0,0,0
$GC,9099,1.28,232.4,119.9,9.3,502,9103,0.00,2.47,0.00,0.000,4,0.000,0.046,2976,598,2095,0,0,0,0,0,0
$GC,9266,1.28,232.4,101.1,10.6,520,9271,0.00,2.30,0.00,0.000,6,0.000,0.023,2975,2015,2094,0,0,0,0,0,0
$GC,9529,1.41,278.3,84.5,4.9,544,9576,0.20,2.50,39.92,0.595,4,0.050,0.042,3032,597,1914,0,0,0,0,0,0
$GC,9588,1.34,278.3,80.1,8.3,550,9593,0.12,2.33,0.00,0.000,6,0.106,0.022,3008,2014,1911,0,0,0,0,0,0
$GC,9850,1.38,278.3,57.3,8.3,574,9854,0.00,2.45,0.00,0.000,4,0.000,0.043,3007,600,1910,0,0,0,0,0,0
$GC,9875,1.38,278.3,54.9,9.9,576,9879,0.00,2.30,0.00,0.000,6,0.000,0.021,3008,2014,1908,0,0,0,0,0,0
$GC,10139,1.43,278.3,32.8,8.7,600,10143,0.00,2.42,0.00,0.000,4,0.000,0.043,3007,597,1908,0,0,0,0,0,0
$GC,10157,1.43,278.3,30.6,9.6,601,10163,0.00,2.33,0.00,0.000,6,0.000,0.021,3008,2017,1908,0,0,0,0,0,0
$GC,10428,1.48,278.3,4.5,9.3,649,10434,0.12,2.47,0.00,0.000,4,0.063,0.044,3050,592,1908,0,0,0,0,0,0
$STATE,10442,end climb,SURFACE_DEPTH_REACHED
$STATE,10442,begin surface coast
$FINISH,0.4,1.015283
$STATE,10475,end surface coast,CONTROL_FINISHED_OK
$STATE,10475,begin surface
$SM_CCo,10497,11.07,0.474,0,0,1826,300.00
$SM_GC,2.47,0.00,0.00,11.07,0.000,0.000,0.474,425,1906,1826,-10.53,0.85,300.00
$IRIDIUM_FIX,2101.76,-15748.75,280899,212112
$TT8_MAMPS,0.029146
$HUMID,49.52
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,38.643
$10V_AH,10.0,36.661
$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,29.625,129.200,309.825,11.075,0.000,90.833,138.986,227.837,4.500,0.000,34.964,1299.507,6832.081,369.960,2032.648,709.005,33.373,1259.500,0.000,1987.439,0.000,29.248,0.000
$DEVICE_MAMPS,134.992,53.690,872.846,474.006,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,444.570,422.181,832.862,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,38161,659
$CAP_FILE_SIZE,131126,0
$CFSIZE,260165632,233242624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040610,000027,2108.081,-15749.533,68,2.2,87,9.8