version: 66.06
glider: 139
mission: 7
dive: 440
start: 6 4 110 6 13 19
data:
$ID,139
$MISSION,7
$DIVE,440
$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,-2137526.5
$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
$GPS1,060651,2108.284,-15748.760,132,2.1,151,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.3
$GPS2,061228,2108.273,-15748.802,16,2.1,35,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,-0.007
$KALMAN_X,-143232.8,503.9,-71.8,153387.7,-2291.3
$KALMAN_Y,18461.5,57.3,-265.4,-15729.2,185.8
$MHEAD_RNG_PITCHd_Wd,82.5,11140,-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,-77.9,0.0,0.0,0,70,0.00,0.00,-51.28,0.000,2,0.000,0.000,428,1887,3169,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.4,-5.4,10,94,10.57,2.38,-3.95,0.000,4,0.133,0.040,2401,3295,3371,0,0,0,0,0,0
$GC,119,-1.09,-77.9,16.7,-24.5,19,126,0.40,2.42,0.00,0.000,6,0.082,0.032,2483,1868,3371,0,0,0,0,0,0
$GC,328,-1.12,-77.9,42.1,-10.7,47,332,0.00,2.38,0.00,0.000,4,0.000,0.044,2484,470,3372,0,0,0,0,0,0
$GC,403,-1.16,-77.9,50.1,-9.1,55,408,0.10,2.30,0.00,0.000,6,0.074,0.019,2447,1913,3373,0,0,0,0,0,0
$GC,667,-1.16,-77.9,81.3,-12.5,79,671,0.00,2.50,0.00,0.000,4,0.000,0.044,2447,463,3374,0,0,0,0,0,0
$GC,765,-1.16,-77.9,94.8,-12.7,89,770,0.00,2.22,0.00,0.000,6,0.000,0.019,2447,1872,3374,0,0,0,0,0,0
$GC,1029,-1.20,-77.9,121.8,-9.1,113,1032,0.00,2.40,0.00,0.000,4,0.000,0.043,2446,466,3376,0,0,0,0,0,0
$GC,1122,-1.20,-77.9,130.2,-8.3,123,1126,0.00,2.25,0.00,0.000,6,0.000,0.019,2447,1887,3375,0,0,0,0,0,0
$GC,1385,-1.27,-77.9,153.3,-9.4,147,1389,0.00,2.42,0.00,0.000,4,0.000,0.043,2446,462,3377,0,0,0,0,0,0
$GC,1439,-1.27,-77.9,159.5,-10.3,152,1446,0.00,2.30,0.00,0.000,6,0.000,0.020,2447,1882,3376,0,0,0,0,0,0
$GC,1703,-1.34,-77.9,181.9,-8.0,177,1708,0.12,2.45,0.00,0.000,4,0.063,0.044,2402,466,3377,0,0,0,0,0,0
$GC,1749,-1.27,-77.9,187.0,-11.2,181,1755,0.17,2.25,0.00,0.000,6,0.087,0.021,2439,1874,3377,0,0,0,0,0,0
$GC,2009,-1.34,-77.9,209.1,-8.5,201,2014,0.00,2.40,0.00,0.000,4,0.000,0.044,2440,464,3377,0,0,0,0,0,0
$GC,2042,-1.34,-77.9,212.3,-8.9,202,2046,0.00,2.22,0.00,0.000,6,0.000,0.021,2439,1873,3377,0,0,0,0,0,0
$GC,2359,-1.45,-77.9,239.6,-8.7,217,2364,0.17,2.40,0.00,0.000,4,0.051,0.045,2383,466,3377,0,0,0,0,0,0
$GC,2430,-1.39,-77.9,247.6,-11.6,220,2434,0.12,2.25,0.00,0.000,6,0.099,0.021,2409,1879,3377,0,0,0,0,0,0
$GC,2761,-1.43,-77.9,277.1,-8.3,236,2765,0.00,2.40,0.00,0.000,4,0.000,0.045,2409,470,3377,0,0,0,0,0,0
$GC,2827,-1.43,-77.9,283.2,-9.2,239,2832,0.00,2.28,0.00,0.000,6,0.000,0.022,2409,1880,3376,0,0,0,0,0,0
$GC,3176,-1.50,-77.9,310.9,-8.6,253,3180,0.00,2.42,0.00,0.000,4,0.000,0.048,2409,468,3375,0,0,0,0,0,0
$GC,3237,-1.50,-77.9,316.4,-8.6,254,3241,0.00,2.28,0.00,0.000,6,0.000,0.024,2410,1871,3375,0,0,0,0,0,0
$GC,3587,-1.56,-77.9,344.7,-7.8,263,3592,0.17,2.42,0.00,0.000,4,0.054,0.048,2359,471,3374,0,0,0,0,0,0
$GC,3653,-1.46,-77.9,351.7,-11.1,264,3658,0.17,2.28,0.00,0.000,6,0.094,0.025,2394,1878,3373,0,0,0,0,0,0
$GC,3999,-1.49,-77.9,379.5,-7.8,273,4003,0.00,2.45,0.00,0.000,4,0.000,0.050,2394,472,3371,0,0,0,0,0,0
$GC,4059,-1.49,-77.9,384.7,-8.9,274,4063,0.00,2.30,0.00,0.000,6,0.000,0.026,2394,1881,3370,0,0,0,0,0,0
$GC,4410,-1.52,-77.9,409.6,-6.8,283,4414,0.00,2.47,0.00,0.000,4,0.000,0.051,2394,466,3368,0,0,0,0,0,0
$GC,4475,-1.52,-77.9,415.4,-9.0,284,4479,0.00,2.30,0.00,0.000,6,0.000,0.028,2395,1880,3368,0,0,0,0,0,0
$GC,4821,-1.56,-77.9,444.8,-8.7,293,4825,0.00,2.45,0.00,0.000,4,0.000,0.054,2395,472,3365,0,0,0,0,0,0
$STATE,4869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4870,begin apogee
$GC,4878,-0.31,0.0,450.2,10.3,294,4946,1.15,0.00,64.47,0.875,6,0.079,0.000,2642,2011,3050,0,0,0,0,0,0
$STATE,4947,end apogee,CONTROL_FINISHED_OK
$STATE,4947,begin climb
$GC,4949,1.40,77.9,451.7,0.0,295,5024,1.65,2.53,65.03,0.856,4,0.033,0.043,3023,3412,2732,0,0,0,0,0,0
$GC,5145,1.24,135.5,450.7,4.1,299,5202,0.20,2.42,49.65,0.851,6,0.117,0.035,2979,1999,2496,0,0,0,0,0,0
$GC,5538,1.12,135.5,412.6,11.0,309,5543,0.12,2.47,0.00,0.000,4,0.130,0.052,2966,599,2489,0,0,0,0,0,0
$GC,5566,0.98,135.5,409.3,11.5,309,5571,0.22,2.40,0.00,0.000,6,0.117,0.030,2927,2019,2487,0,0,0,0,0,0
$GC,5903,0.99,147.2,383.7,7.2,318,5919,0.00,2.58,9.55,0.742,4,0.000,0.052,2927,609,2449,0,0,0,0,0,0
$GC,6017,0.96,153.6,374.3,7.6,320,6030,0.00,2.38,7.05,0.687,6,0.000,0.031,2928,2016,2422,0,0,0,0,0,0
$GC,6366,1.01,172.5,348.9,6.7,329,6390,0.00,2.58,17.62,0.789,4,0.000,0.052,2928,609,2345,0,0,0,0,0,0
$GC,6437,1.02,182.3,343.8,7.3,330,6455,0.00,2.38,10.30,0.732,6,0.000,0.031,2928,2012,2305,0,0,0,0,0,0
$GC,6780,1.09,189.6,317.1,7.5,339,6794,0.10,2.53,7.32,0.674,4,0.086,0.052,2953,605,2276,0,0,0,0,0,0
$GC,6856,1.03,189.6,310.1,10.8,340,6860,0.00,2.35,0.00,0.000,6,0.000,0.030,2953,2008,2273,0,0,0,0,0,0
$GC,7175,1.03,189.6,283.4,8.3,353,7179,0.00,2.47,0.00,0.000,4,0.000,0.051,2953,604,2272,0,0,0,0,0,0
$GC,7258,1.00,189.6,275.7,9.4,356,7265,0.08,2.38,0.00,0.000,6,0.102,0.030,2935,2009,2270,0,0,0,0,0,0
$GC,7574,1.07,199.7,253.3,7.3,372,7590,0.00,2.55,9.68,0.686,4,0.000,0.050,2936,601,2235,0,0,0,0,0,0
$GC,7660,1.07,199.7,245.4,9.8,375,7666,0.00,2.38,0.00,0.000,6,0.000,0.028,2935,2018,2232,0,0,0,0,0,0
$GC,7977,1.16,199.7,214.4,9.1,391,7982,0.15,2.50,0.00,0.000,4,0.067,0.051,2974,603,2232,0,0,0,0,0,0
$GC,8015,1.11,199.7,210.1,11.0,392,8022,0.00,2.38,0.00,0.000,6,0.000,0.028,2974,2012,2230,0,0,0,0,0,0
$GC,8338,1.14,228.3,185.7,6.1,417,8374,0.00,2.53,26.30,0.692,4,0.000,0.048,2973,604,2117,0,0,0,0,0,0
$GC,8426,1.09,228.3,178.4,10.2,426,8434,0.10,2.38,0.00,0.000,6,0.097,0.026,2953,2012,2113,0,0,0,0,0,0
$GC,8690,1.16,228.3,155.8,9.2,451,8694,0.00,2.45,0.00,0.000,4,0.000,0.047,2953,600,2113,0,0,0,0,0,0
$GC,8942,1.21,228.3,127.3,10.7,478,8947,0.12,2.33,0.00,0.000,6,0.072,0.024,2986,2023,2110,0,0,0,0,0,0
$GC,9202,1.21,228.3,104.5,8.8,502,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2029,2110,0,0,0,0,0,0
$GC,9458,1.27,228.3,84.0,8.5,526,9459,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2028,2110,0,0,0,0,0,0
$GC,9714,1.33,228.6,62.0,8.0,550,9718,0.00,2.42,0.00,0.000,4,0.000,0.042,2986,600,2110,0,0,0,0,0,0
$GC,9730,1.34,232.2,60.5,7.8,551,9734,0.00,2.30,0.00,0.000,6,0.000,0.022,2986,2023,2110,0,0,0,0,0,0
$GC,9994,1.42,249.0,41.8,6.9,575,10015,0.17,0.00,18.33,0.536,6,0.054,0.000,3037,2029,2035,0,0,0,0,0,0
$GC,10273,1.42,249.0,13.2,10.9,615,10278,0.00,2.45,0.00,0.000,4,0.000,0.040,3036,594,2033,0,0,0,0,0,0
$GC,10342,1.33,249.0,6.0,10.2,630,10349,0.12,2.30,0.00,0.000,6,0.078,0.021,3007,2001,2031,0,0,0,0,0,0
$STATE,10371,end climb,SURFACE_DEPTH_REACHED
$STATE,10371,begin surface coast
$FINISH,0.5,1.013465
$STATE,10398,end surface coast,CONTROL_FINISHED_OK
$STATE,10399,begin surface
$SM_CCo,10419,26.67,0.507,0,0,1826,300.00
$SM_GC,0.91,0.00,0.00,26.67,0.000,0.000,0.507,425,1855,1826,-10.53,-0.57,300.00
$IRIDIUM_FIX,2059.45,-15746.61,290899,030319
$TT8_MAMPS,0.029913
$HUMID,48.66
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,38.900
$10V_AH,10.0,36.903
$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,27.325,124.825,285.300,26.675,0.000,30.283,29.542,148.218,4.500,0.000,36.245,1248.358,6845.767,369.335,1900.846,419.385,33.377,1210.248,0.000,1860.653,0.000,29.254,0.000
$DEVICE_MAMPS,133.458,53.690,875.147,506.987,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,432.368,416.401,805.324,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,34943,640
$CAP_FILE_SIZE,120572,0
$CFSIZE,260165632,233074688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040610,090906,2108.245,-15748.669,59,1.5,64,9.8