version: 66.06
glider: 139
mission: 7
dive: 438
start: 6 4 110 0 9 53
data:
$ID,139
$MISSION,7
$DIVE,438
$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,-2137472.5
$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
$GPS1,000027,2108.081,-15749.533,68,2.2,87,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.1
$GPS2,000901,2108.132,-15749.511,11,1.4,16,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,0.008
$KALMAN_X,-140430.6,296.7,152.1,149343.8,-1102.2
$KALMAN_Y,18094.5,202.0,344.3,-16380.3,-454.5
$MHEAD_RNG_PITCHd_Wd,77.6,12173,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.40,-77.9,0.0,0.0,0,73,0.00,0.00,-52.67,0.000,2,0.000,0.000,425,1903,3199,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.4,-5.4,10,97,10.62,2.50,-3.38,0.000,4,0.134,0.052,2404,470,3370,0,0,0,0,0,0
$GC,131,-1.12,-77.9,18.7,-21.4,21,138,0.32,2.33,0.00,0.000,6,0.092,0.020,2468,1911,3372,0,0,0,0,0,0
$GC,342,-1.12,-77.9,48.4,-15.1,47,346,0.00,2.47,0.00,0.000,4,0.000,0.044,2469,470,3373,0,0,0,0,0,0
$GC,397,-1.09,-77.9,58.0,-16.1,52,403,0.00,2.28,0.00,0.000,6,0.000,0.020,2468,1873,3373,0,0,0,0,0,0
$GC,660,-1.12,-77.9,93.7,-13.1,77,664,0.00,2.42,0.00,0.000,4,0.000,0.044,2469,468,3374,0,0,0,0,0,0
$GC,742,-1.19,-77.9,104.6,-10.3,85,746,0.00,2.25,0.00,0.000,6,0.000,0.019,2469,1890,3374,0,0,0,0,0,0
$GC,1008,-1.28,-77.9,125.8,-9.4,109,1013,0.15,2.47,0.00,0.000,4,0.056,0.044,2417,462,3375,0,0,0,0,0,0
$GC,1091,-1.22,-77.9,136.4,-11.9,117,1097,0.15,2.25,0.00,0.000,6,0.092,0.019,2449,1888,3375,0,0,0,0,0,0
$GC,1354,-1.29,-77.9,160.9,-8.9,142,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1894,3376,0,0,0,0,0,0
$GC,1608,-1.37,-77.9,182.3,-7.6,166,1613,0.15,2.45,0.00,0.000,4,0.056,0.044,2401,468,3376,0,0,0,0,0,0
$GC,1663,-1.31,-77.9,188.3,-11.3,171,1670,0.12,2.25,0.00,0.000,6,0.098,0.021,2426,1878,3376,0,0,0,0,0,0
$GC,1922,-1.35,-77.9,212.1,-9.5,190,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1882,3377,0,0,0,0,0,0
$GC,2231,-1.40,-77.9,242.0,-8.8,205,2235,0.00,2.40,0.00,0.000,4,0.000,0.044,2427,467,3377,0,0,0,0,0,0
$GC,2314,-1.45,-77.9,249.1,-8.2,208,2319,0.12,2.28,0.00,0.000,6,0.063,0.021,2384,1885,3377,0,0,0,0,0,0
$GC,2630,-1.45,-77.9,278.9,-9.7,223,2635,0.00,2.45,0.00,0.000,4,0.000,0.045,2385,464,3376,0,0,0,0,0,0
$GC,2690,-1.45,-77.9,285.4,-10.8,225,2695,0.00,2.25,0.00,0.000,6,0.000,0.022,2383,1874,3376,0,0,0,0,0,0
$GC,3023,-1.45,-77.9,316.6,-9.4,238,3027,0.00,2.42,0.00,0.000,4,0.000,0.047,2383,468,3375,0,0,0,0,0,0
$GC,3140,-1.41,-77.9,328.8,-10.9,240,3145,0.10,2.28,0.00,0.000,6,0.108,0.023,2405,1871,3375,0,0,0,0,0,0
$GC,3486,-1.46,-77.9,359.6,-9.0,249,3493,0.00,2.45,0.00,0.000,4,0.000,0.049,2403,455,3373,0,0,0,0,0,0
$GC,3516,-1.46,-77.9,362.8,-10.3,249,3520,0.00,2.33,0.00,0.000,6,0.000,0.025,2405,1881,3373,0,0,0,0,0,0
$GC,3856,-1.51,-77.9,391.6,-8.2,258,3860,0.00,2.45,0.00,0.000,4,0.000,0.050,2403,463,3371,0,0,0,0,0,0
$GC,3935,-1.51,-77.9,399.1,-9.2,259,3939,0.00,2.28,0.00,0.000,6,0.000,0.026,2404,1870,3370,0,0,0,0,0,0
$GC,4266,-1.57,-77.9,425.2,-7.6,267,4271,0.15,2.47,0.00,0.000,4,0.061,0.052,2361,466,3368,0,0,0,0,0,0
$GC,4390,-1.50,-77.9,438.0,-11.2,269,4395,0.12,2.33,0.00,0.000,6,0.103,0.028,2388,1872,3367,0,0,0,0,0,0
$STATE,4521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4521,begin apogee
$GC,4527,-0.31,0.0,451.1,9.6,273,4595,1.20,0.00,64.65,0.871,6,0.075,0.000,2643,2035,3050,0,0,0,0,0,0
$STATE,4596,end apogee,CONTROL_FINISHED_OK
$STATE,4596,begin climb
$GC,4598,1.40,77.9,452.5,0.0,274,4673,1.62,2.42,64.72,0.853,4,0.033,0.043,3005,3380,2731,0,0,0,0,0,0
$GC,4937,1.22,109.0,445.1,5.9,281,4970,0.22,2.35,26.88,0.834,6,0.112,0.036,2978,2009,2604,0,0,0,0,0,0
$GC,5289,1.11,113.7,418.5,7.7,290,5301,0.12,2.38,4.70,0.592,4,0.122,0.038,2954,3381,2586,0,0,0,0,0,0
$GC,5344,1.07,131.9,414.6,6.8,291,5367,0.00,2.35,16.85,0.805,6,0.000,0.037,2958,2005,2512,0,0,0,0,0,0
$GC,5705,1.03,138.6,386.9,7.6,300,5717,0.00,2.53,6.93,0.691,4,0.000,0.053,2957,609,2483,0,0,0,0,0,0
$GC,5829,0.92,138.6,376.1,8.8,302,5834,0.22,2.30,0.00,0.000,6,0.110,0.030,2917,1989,2480,0,0,0,0,0,0
$GC,6166,1.02,173.1,355.7,5.7,311,6202,0.00,2.55,30.62,0.816,4,0.000,0.052,2917,604,2344,0,0,0,0,0,0
$GC,6230,1.02,173.2,351.6,8.0,312,6235,0.00,2.38,0.00,0.000,6,0.000,0.030,2917,2009,2340,0,0,0,0,0,0
$GC,6575,1.09,173.2,324.1,8.3,321,6577,0.15,0.00,0.00,0.000,6,0.068,0.000,2953,2014,2338,0,0,0,0,0,0
$GC,6882,1.09,173.2,295.4,9.2,329,6886,0.00,2.47,0.00,0.000,4,0.000,0.051,2953,604,2336,0,0,0,0,0,0
$GC,6988,1.03,173.2,285.5,8.6,333,6994,0.00,2.35,0.00,0.000,6,0.000,0.029,2953,2019,2334,0,0,0,0,0,0
$GC,7305,1.03,173.2,262.9,8.8,349,7306,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2023,2334,0,0,0,0,0,0
$GC,7612,1.03,173.2,232.9,9.4,364,7617,0.00,2.47,0.00,0.000,4,0.000,0.050,2954,598,2333,0,0,0,0,0,0
$GC,7809,1.06,196.7,218.3,6.4,372,7837,0.00,2.38,20.00,0.714,6,0.000,0.028,2953,2012,2247,0,0,0,0,0,0
$GC,8148,1.11,196.7,192.7,9.6,392,8152,0.00,2.47,0.00,0.000,4,0.000,0.048,2953,597,2244,0,0,0,0,0,0
$GC,8227,1.11,196.7,184.8,10.0,400,8232,0.00,2.33,0.00,0.000,6,0.000,0.027,2953,2007,2241,0,0,0,0,0,0
$GC,8490,1.19,212.4,165.4,6.9,424,8509,0.00,2.47,14.50,0.647,4,0.000,0.045,2953,601,2183,0,0,0,0,0,0
$GC,8522,1.22,212.4,162.9,8.4,427,8527,0.12,2.33,0.00,0.000,6,0.071,0.025,2986,2014,2181,0,0,0,0,0,0
$GC,8784,1.22,212.4,138.4,10.0,451,8788,0.00,2.30,0.00,0.000,4,0.000,0.031,2985,3400,2181,0,0,0,0,0,0
$GC,8818,1.25,212.4,135.0,10.4,454,8822,0.00,2.35,0.00,0.000,6,0.000,0.030,2986,2001,2181,0,0,0,0,0,0
$GC,9079,1.25,212.4,108.9,9.0,478,9083,0.00,2.40,0.00,0.000,4,0.000,0.044,2986,595,2181,0,0,0,0,0,0
$GC,9182,1.20,212.4,100.1,9.1,489,9187,0.00,2.30,0.00,0.000,6,0.000,0.023,2985,2012,2178,0,0,0,0,0,0
$GC,9446,1.27,242.4,83.2,6.0,513,9484,0.00,2.47,27.35,0.591,4,0.000,0.041,2986,604,2059,0,0,0,0,0,0
$GC,9498,1.30,260.8,79.7,6.8,518,9524,0.00,2.35,17.10,0.565,6,0.000,0.022,2986,2025,1986,0,0,0,0,0,0
$GC,9779,1.37,260.8,57.5,8.8,545,9784,0.12,2.47,0.00,0.000,4,0.067,0.044,3024,604,1983,0,0,0,0,0,0
$GC,9809,1.29,260.8,54.5,11.3,547,9816,0.12,2.30,0.00,0.000,6,0.080,0.021,2996,2007,1981,0,0,0,0,0,0
$GC,10071,1.35,260.8,30.8,8.6,572,10075,0.00,2.42,0.00,0.000,4,0.000,0.042,2994,599,1981,0,0,0,0,0,0
$GC,10149,1.35,260.8,23.6,9.1,587,10155,0.00,2.30,0.00,0.000,6,0.000,0.021,2995,2026,1980,0,0,0,0,0,0
$GC,10354,1.44,260.8,5.3,8.9,624,10361,0.15,2.50,0.00,0.000,4,0.058,0.043,3040,600,1979,0,0,0,0,0,0
$STATE,10383,end climb,SURFACE_DEPTH_REACHED
$STATE,10383,begin surface coast
$FINISH,2.0,1.023216
$STATE,10390,end surface coast,CONTROL_FINISHED_OK
$STATE,10390,begin surface
$SM_CCo,10413,23.12,0.507,0,0,1827,300.00
$SM_GC,1.90,0.00,0.00,23.12,0.000,0.000,0.507,425,1891,1827,-10.53,0.45,300.00
$IRIDIUM_FIX,2059.45,-15750.89,290899,000059
$TT8_MAMPS,0.029146
$HUMID,49.05
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.60
$XPDR_PINGS,1
$24V_AH,23.4,38.730
$10V_AH,10.0,36.742
$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,27.550,119.025,294.300,23.125,0.000,53.439,68.905,204.423,4.750,0.000,16.865,1239.344,6890.503,377.569,1887.284,554.708,33.381,1221.294,0.000,1865.479,0.000,29.256,0.000
$DEVICE_MAMPS,134.225,52.923,870.545,506.987,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,425.581,404.004,782.515,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,34876,631
$CAP_FILE_SIZE,121766,0
$CFSIZE,260165632,233193472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040610,030701,2108.153,-15748.802,155,1.7,155,9.8