version: 66.06
glider: 139
mission: 7
dive: 439
start: 6 4 110 3 16 47
data:
$ID,139
$MISSION,7
$DIVE,439
$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,-2137489.5
$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
$GPS1,030701,2108.153,-15748.802,155,1.7,155,9.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.0
$GPS2,031555,2108.114,-15748.808,11,1.8,16,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.177,0.050
$KALMAN_X,-141882.8,539.2,518.6,151402.9,-2271.1
$KALMAN_Y,18287.7,153.7,74.4,-16288.0,-439.5
$MHEAD_RNG_PITCHd_Wd,64.5,11032,-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,15,begin dive
$GC,17,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-51.38,0.000,2,0.000,0.000,424,1892,3183,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.5,-6.2,10,95,10.62,2.35,-3.60,0.000,4,0.135,0.038,2402,3297,3370,0,0,0,0,0,0
$GC,159,-1.40,-77.9,23.4,-14.9,28,166,0.00,2.42,0.00,0.000,6,0.000,0.030,2393,1877,3372,0,0,0,0,0,0
$GC,360,-1.26,-77.9,56.0,-15.2,50,365,0.20,2.42,0.00,0.000,4,0.097,0.042,2442,462,3373,0,0,0,0,0,0
$GC,425,-1.19,-77.9,65.8,-14.2,56,431,0.00,2.35,0.00,0.000,6,0.000,0.020,2440,1904,3373,0,0,0,0,0,0
$GC,686,-1.19,-77.9,102.0,-12.9,81,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1909,3374,0,0,0,0,0,0
$GC,942,-1.23,-77.9,129.9,-9.7,105,946,0.00,2.45,0.00,0.000,4,0.000,0.043,2440,467,3374,0,0,0,0,0,0
$GC,1033,-1.23,-77.9,138.7,-9.5,114,1039,0.00,2.30,0.00,0.000,6,0.000,0.019,2441,1888,3375,0,0,0,0,0,0
$GC,1296,-1.29,-77.9,163.2,-9.8,139,1300,0.00,2.45,0.00,0.000,4,0.000,0.043,2441,463,3376,0,0,0,0,0,0
$GC,1340,-1.29,-77.9,168.2,-11.5,143,1344,0.00,2.25,0.00,0.000,6,0.000,0.020,2441,1880,3376,0,0,0,0,0,0
$GC,1603,-1.35,-77.9,194.1,-9.6,167,1608,0.00,2.42,0.00,0.000,4,0.000,0.044,2441,468,3376,0,0,0,0,0,0
$GC,1629,-1.38,-77.9,196.8,-10.0,169,1634,0.12,2.25,0.00,0.000,6,0.063,0.021,2398,1876,3377,0,0,0,0,0,0
$GC,1895,-1.38,-77.9,223.7,-9.6,183,1899,0.00,2.40,0.00,0.000,4,0.000,0.043,2399,465,3376,0,0,0,0,0,0
$GC,1914,-1.34,-77.9,225.6,-9.1,184,1919,0.10,2.25,0.00,0.000,6,0.110,0.021,2419,1879,3376,0,0,0,0,0,0
$GC,2246,-1.39,-77.9,251.5,-7.9,200,2250,0.00,2.40,0.00,0.000,4,0.000,0.044,2419,470,3376,0,0,0,0,0,0
$GC,2292,-1.39,-77.9,255.7,-8.5,202,2296,0.00,2.25,0.00,0.000,6,0.000,0.021,2418,1884,3376,0,0,0,0,0,0
$GC,2617,-1.44,-77.9,284.9,-9.0,218,2621,0.00,2.42,0.00,0.000,4,0.000,0.046,2419,467,3375,0,0,0,0,0,0
$GC,2685,-1.48,-77.9,291.0,-9.2,221,2690,0.12,2.25,0.00,0.000,6,0.064,0.023,2379,1872,3375,0,0,0,0,0,0
$GC,3031,-1.48,-77.9,327.4,-10.4,232,3035,0.00,2.42,0.00,0.000,4,0.000,0.048,2378,461,3374,0,0,0,0,0,0
$GC,3092,-1.42,-77.9,333.8,-11.0,233,3097,0.12,2.28,0.00,0.000,6,0.100,0.024,2404,1872,3373,0,0,0,0,0,0
$GC,3441,-1.42,-77.9,367.3,-9.6,242,3445,0.00,2.42,0.00,0.000,4,0.000,0.050,2403,467,3372,0,0,0,0,0,0
$GC,3484,-1.42,-77.9,371.6,-10.6,243,3488,0.00,2.28,0.00,0.000,6,0.000,0.025,2403,1871,3372,0,0,0,0,0,0
$GC,3813,-1.47,-77.9,401.2,-8.8,251,3818,0.00,2.45,0.00,0.000,4,0.000,0.051,2403,467,3369,0,0,0,0,0,0
$GC,3841,-1.47,-77.9,404.2,-10.1,251,3845,0.00,2.30,0.00,0.000,6,0.000,0.026,2402,1880,3369,0,0,0,0,0,0
$GC,4182,-1.52,-77.9,433.7,-8.5,260,4186,0.00,2.47,0.00,0.000,4,0.000,0.052,2404,468,3367,0,0,0,0,0,0
$GC,4266,-1.52,-77.9,441.2,-7.8,261,4271,0.00,2.30,0.00,0.000,6,0.000,0.027,2404,1872,3366,0,0,0,0,0,0
$STATE,4393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4393,begin apogee
$GC,4398,-0.31,0.0,450.4,7.3,265,4467,1.12,0.00,64.62,0.871,6,0.072,0.000,2646,2035,3050,0,0,0,0,0,0
$STATE,4467,end apogee,CONTROL_FINISHED_OK
$STATE,4467,begin climb
$GC,4470,1.40,77.9,451.0,0.0,266,4545,1.62,2.40,64.75,0.850,4,0.031,0.042,3021,3373,2732,0,0,0,0,0,0
$GC,4624,1.22,123.6,448.6,4.9,269,4670,0.25,2.35,39.20,0.836,6,0.112,0.035,2980,2000,2545,0,0,0,0,0,0
$GC,5015,1.12,123.6,410.5,10.3,279,5020,0.12,2.42,0.00,0.000,4,0.127,0.041,2952,3383,2539,0,0,0,0,0,0
$GC,5059,1.07,123.6,406.2,9.2,280,5063,0.00,2.38,0.00,0.000,6,0.000,0.037,2958,2011,2539,0,0,0,0,0,0
$GC,5386,1.01,123.6,377.3,8.6,288,5391,0.12,2.47,0.00,0.000,4,0.122,0.051,2937,598,2536,0,0,0,0,0,0
$GC,5415,0.93,123.6,374.8,8.4,288,5419,0.00,2.35,0.00,0.000,6,0.000,0.029,2937,1996,2536,0,0,0,0,0,0
$GC,5751,0.97,152.5,352.5,6.0,297,5778,0.00,0.00,24.02,0.804,6,0.000,0.000,2938,2000,2428,0,0,0,0,0,0
$GC,6119,0.97,154.2,325.7,7.9,306,6123,0.00,2.47,0.00,0.000,4,0.000,0.051,2938,597,2423,0,0,0,0,0,0
$GC,6143,0.93,154.2,323.4,9.9,306,6147,0.12,2.38,0.00,0.000,6,0.120,0.030,2916,2009,2422,0,0,0,0,0,0
$GC,6484,1.03,175.9,298.8,6.5,315,6512,0.10,2.55,20.80,0.768,4,0.084,0.050,2942,600,2331,0,0,0,0,0,0
$GC,6604,1.00,175.9,288.1,8.9,320,6609,0.00,2.35,0.00,0.000,6,0.000,0.029,2941,2012,2327,0,0,0,0,0,0
$GC,6924,1.06,193.6,265.7,6.8,336,6948,0.00,2.53,16.35,0.731,4,0.000,0.050,2941,604,2259,0,0,0,0,0,0
$GC,6966,1.06,193.6,262.0,8.2,337,6971,0.00,2.38,0.00,0.000,6,0.000,0.029,2941,2012,2257,0,0,0,0,0,0
$GC,7283,1.12,193.6,237.9,8.2,353,7287,0.00,2.50,0.00,0.000,4,0.000,0.050,2942,597,2255,0,0,0,0,0,0
$GC,7374,1.12,193.6,229.3,9.1,357,7378,0.00,2.38,0.00,0.000,6,0.000,0.028,2941,2014,2254,0,0,0,0,0,0
$GC,7701,1.21,216.9,206.6,6.4,373,7730,0.17,2.53,21.30,0.699,4,0.061,0.048,2986,604,2163,0,0,0,0,0,0
$GC,7747,1.15,216.9,203.1,8.7,375,7752,0.12,2.38,0.00,0.000,6,0.117,0.028,2964,2012,2161,0,0,0,0,0,0
$GC,8074,1.20,216.9,172.6,9.2,404,8079,0.00,2.45,0.00,0.000,4,0.000,0.048,2964,602,2159,0,0,0,0,0,0
$GC,8128,1.20,216.9,167.2,9.4,409,8134,0.00,2.35,0.00,0.000,6,0.000,0.026,2964,2017,2156,0,0,0,0,0,0
$GC,8391,1.25,227.7,146.7,7.3,434,8410,0.10,2.50,9.95,0.597,4,0.080,0.046,2994,601,2120,0,0,0,0,0,0
$GC,8478,1.19,227.7,137.8,11.6,443,8483,0.12,2.35,0.00,0.000,6,0.111,0.025,2972,2021,2118,0,0,0,0,0,0
$GC,8742,1.23,227.7,112.3,9.1,467,8746,0.00,2.47,0.00,0.000,4,0.000,0.044,2971,597,2117,0,0,0,0,0,0
$GC,8870,1.23,227.7,99.6,9.9,480,8877,0.00,2.35,0.00,0.000,6,0.000,0.023,2971,2015,2116,0,0,0,0,0,0
$GC,9134,1.39,286.9,86.2,3.9,505,9196,0.20,2.50,52.17,0.598,4,0.051,0.042,3028,593,1878,0,0,0,0,0,0
$GC,9203,1.35,286.9,81.6,8.7,512,9209,0.00,2.38,0.00,0.000,6,0.000,0.022,3027,2016,1876,0,0,0,0,0,0
$GC,9465,1.35,286.9,53.8,10.9,537,9469,0.00,2.45,0.00,0.000,4,0.000,0.044,3027,594,1874,0,0,0,0,0,0
$GC,9579,1.31,286.9,40.0,12.4,549,9584,0.15,2.30,0.00,0.000,6,0.099,0.021,2998,2016,1871,0,0,0,0,0,0
$GC,9847,1.38,286.9,15.2,10.9,587,9853,0.00,2.45,0.00,0.000,4,0.000,0.041,2997,593,1871,0,0,0,0,0,0
$STATE,9959,end climb,SURFACE_DEPTH_REACHED
$STATE,9961,begin surface coast
$FINISH,0.5,1.010414
$STATE,9985,end surface coast,CONTROL_FINISHED_OK
$STATE,9985,begin surface
$SM_CCo,10007,7.78,0.449,0,0,1827,300.00
$SM_GC,2.68,0.00,0.00,7.78,0.000,0.000,0.449,428,1886,1827,-10.52,0.31,300.00
$IRIDIUM_FIX,2059.45,-15750.89,290899,030330
$TT8_MAMPS,0.029146
$HUMID,49.48
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.4,38.820
$10V_AH,10.0,36.821
$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,26.775,124.225,313.175,7.775,0.000,56.673,59.823,238.610,4.500,0.000,16.200,1183.793,6677.897,377.311,1754.866,555.734,33.376,1171.591,0.000,1726.595,0.000,29.249,0.000
$DEVICE_MAMPS,134.992,52.156,871.312,448.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.940,392.857,755.315,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,34828,617
$CAP_FILE_SIZE,118865,0
$CFSIZE,260165632,233132032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040610,060651,2108.284,-15748.760,132,2.1,151,9.8