version: 66.06
glider: 139
mission: 7
dive: 441
start: 6 4 110 9 15 0
data:
$ID,139
$MISSION,7
$DIVE,441
$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,-2137541.5
$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
$GPS1,090906,2108.245,-15748.669,59,1.5,64,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.3
$GPS2,091408,2108.270,-15748.712,14,1.5,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.176,-0.052
$KALMAN_X,-144506.0,222.3,-419.1,155445.7,-1387.3
$KALMAN_Y,18476.5,-71.6,-72.5,-15811.0,317.1
$MHEAD_RNG_PITCHd_Wd,96.7,10996,-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,17,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-51.92,0.000,2,0.000,0.000,426,1855,3175,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.4,-5.6,10,95,10.57,2.42,-3.83,0.000,4,0.133,0.054,2401,439,3370,0,0,0,0,0,0
$GC,115,-0.78,-77.9,16.5,-29.0,18,122,0.65,2.40,0.00,0.000,6,0.096,0.020,2542,1914,3371,0,0,0,0,0,0
$GC,320,-0.92,-77.9,39.0,-10.2,47,325,0.12,2.53,0.00,0.000,4,0.062,0.043,2496,467,3372,0,0,0,0,0,0
$GC,376,-0.98,-77.9,45.4,-11.0,52,382,0.00,2.28,0.00,0.000,6,0.000,0.020,2495,1873,3372,0,0,0,0,0,0
$GC,639,-1.07,-77.9,73.4,-11.1,77,643,0.00,2.42,0.00,0.000,4,0.000,0.043,2496,468,3374,0,0,0,0,0,0
$GC,691,-1.14,-77.9,79.1,-10.0,82,696,0.12,2.25,0.00,0.000,6,0.061,0.019,2449,1879,3374,0,0,0,0,0,0
$GC,952,-1.14,-77.9,110.2,-10.6,106,956,0.00,2.40,0.00,0.000,4,0.000,0.042,2448,468,3375,0,0,0,0,0,0
$GC,968,-1.14,-77.9,111.8,-11.4,107,972,0.00,2.22,0.00,0.000,6,0.000,0.019,2447,1883,3375,0,0,0,0,0,0
$GC,1232,-1.20,-77.9,135.7,-7.3,131,1236,0.00,2.42,0.00,0.000,4,0.000,0.042,2448,468,3376,0,0,0,0,0,0
$GC,1251,-1.23,-77.9,137.5,-7.9,132,1258,0.00,2.25,0.00,0.000,6,0.000,0.020,2448,1875,3376,0,0,0,0,0,0
$GC,1515,-1.31,-77.9,158.3,-8.9,157,1519,0.00,2.40,0.00,0.000,4,0.000,0.044,2448,464,3377,0,0,0,0,0,0
$GC,1641,-1.36,-77.9,170.0,-7.6,170,1646,0.12,2.22,0.00,0.000,6,0.062,0.020,2402,1883,3377,0,0,0,0,0,0
$GC,1902,-1.36,-77.9,197.2,-9.8,194,1906,0.00,2.42,0.00,0.000,4,0.000,0.044,2402,470,3377,0,0,0,0,0,0
$GC,1957,-1.30,-77.9,203.2,-10.5,198,1962,0.15,2.22,0.00,0.000,6,0.104,0.020,2432,1865,3377,0,0,0,0,0,0
$GC,2276,-1.36,-77.9,227.5,-7.7,213,2280,0.00,2.40,0.00,0.000,4,0.000,0.044,2432,466,3377,0,0,0,0,0,0
$GC,2304,-1.36,-77.9,230.2,-8.1,214,2307,0.00,2.22,0.00,0.000,6,0.000,0.021,2432,1875,3378,0,0,0,0,0,0
$GC,2628,-1.45,-77.9,256.2,-9.3,230,2633,0.15,2.45,0.00,0.000,4,0.056,0.046,2380,462,3377,0,0,0,0,0,0
$GC,2732,-1.39,-77.9,268.8,-11.7,234,2737,0.15,2.25,0.00,0.000,6,0.104,0.021,2409,1872,3378,0,0,0,0,0,0
$GC,3056,-1.43,-77.9,300.7,-9.6,250,3060,0.00,2.40,0.00,0.000,4,0.000,0.047,2409,470,3376,0,0,0,0,0,0
$GC,3157,-1.43,-77.9,310.9,-9.4,252,3161,0.00,2.25,0.00,0.000,6,0.000,0.023,2411,1881,3376,0,0,0,0,0,0
$GC,3471,-1.49,-77.9,331.8,-6.3,260,3475,0.00,2.45,0.00,0.000,4,0.000,0.048,2410,466,3375,0,0,0,0,0,0
$GC,3514,-1.52,-77.9,335.1,-7.6,261,3519,0.12,2.30,0.00,0.000,6,0.064,0.025,2368,1879,3375,0,0,0,0,0,0
$GC,3845,-1.52,-77.9,362.8,-8.9,269,3849,0.00,2.45,0.00,0.000,4,0.000,0.049,2365,470,3373,0,0,0,0,0,0
$GC,3928,-1.44,-77.9,372.3,-11.7,270,3935,0.15,2.30,0.00,0.000,6,0.104,0.025,2396,1879,3372,0,0,0,0,0,0
$GC,4261,-1.48,-77.9,403.9,-9.8,279,4266,0.00,2.47,0.00,0.000,4,0.000,0.051,2397,462,3370,0,0,0,0,0,0
$GC,4330,-1.48,-77.9,412.0,-10.8,280,4335,0.00,2.30,0.00,0.000,6,0.000,0.027,2397,1873,3370,0,0,0,0,0,0
$GC,4673,-1.52,-77.9,446.3,-9.8,289,4677,0.00,2.45,0.00,0.000,4,0.000,0.053,2395,466,3367,0,0,0,0,0,0
$STATE,4703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4703,begin apogee
$GC,4711,-0.31,0.0,450.0,10.9,289,4780,1.15,0.00,65.10,0.874,6,0.086,0.000,2640,2008,3050,0,0,0,0,0,0
$STATE,4780,end apogee,CONTROL_FINISHED_OK
$STATE,4780,begin climb
$GC,4783,1.40,77.9,452.0,0.0,291,4858,1.67,2.50,64.82,0.853,4,0.041,0.042,3015,3400,2732,0,0,0,0,0,0
$GC,5122,1.24,123.2,445.6,4.9,298,5168,0.17,2.40,38.72,0.847,6,0.117,0.035,2986,2000,2547,0,0,0,0,0,0
$GC,5513,1.11,123.2,412.0,9.3,308,5518,0.15,2.47,0.00,0.000,4,0.121,0.041,2949,3411,2540,0,0,0,0,0,0
$GC,5604,1.06,123.2,404.0,9.0,310,5609,0.00,2.42,0.00,0.000,6,0.000,0.037,2961,2010,2540,0,0,0,0,0,0
$GC,5932,1.01,129.7,378.2,7.6,318,5940,0.15,0.00,5.20,0.622,6,0.122,0.000,2935,2010,2521,0,0,0,0,0,0
$GC,6257,1.06,168.9,359.4,5.3,326,6299,0.00,2.55,35.08,0.825,4,0.000,0.053,2933,604,2360,0,0,0,0,0,0
$GC,6369,1.02,168.9,351.3,8.7,328,6373,0.00,2.38,0.00,0.000,6,0.000,0.029,2933,2021,2356,0,0,0,0,0,0
$GC,6714,1.06,168.9,323.2,8.1,337,6718,0.00,2.53,0.00,0.000,4,0.000,0.051,2934,597,2354,0,0,0,0,0,0
$GC,6742,1.02,168.9,320.8,9.4,337,6746,0.00,2.38,0.00,0.000,6,0.000,0.030,2934,2019,2352,0,0,0,0,0,0
$GC,7058,1.09,180.2,298.4,7.2,346,7074,0.00,2.58,9.82,0.714,4,0.000,0.051,2935,606,2314,0,0,0,0,0,0
$GC,7172,1.09,180.2,288.8,8.8,351,7177,0.00,2.35,0.00,0.000,6,0.000,0.029,2934,2012,2311,0,0,0,0,0,0
$GC,7508,1.16,192.8,265.6,7.2,367,7529,0.15,2.50,12.45,0.717,4,0.066,0.048,2973,604,2261,0,0,0,0,0,0
$GC,7592,1.08,192.8,257.4,10.6,370,7596,0.12,2.38,0.00,0.000,6,0.126,0.028,2951,2016,2258,0,0,0,0,0,0
$GC,7910,1.12,192.8,230.1,8.0,385,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2021,2258,0,0,0,0,0,0
$GC,8216,1.18,202.6,208.1,7.3,400,8233,0.00,2.53,9.48,0.645,4,0.000,0.048,2951,597,2222,0,0,0,0,0,0
$GC,8347,1.18,202.6,197.4,8.3,407,8352,0.00,2.38,0.00,0.000,6,0.000,0.027,2951,2023,2220,0,0,0,0,0,0
$GC,8609,1.23,202.6,176.4,9.0,432,8611,0.15,0.00,0.00,0.000,6,0.063,0.000,2992,2028,2219,0,0,0,0,0,0
$GC,8863,1.23,202.6,153.4,8.2,456,8867,0.00,2.47,0.00,0.000,4,0.000,0.045,2992,597,2219,0,0,0,0,0,0
$GC,8927,1.15,202.6,146.8,11.2,462,8934,0.10,2.35,0.00,0.000,6,0.096,0.025,2970,2012,2218,0,0,0,0,0,0
$GC,9189,1.19,202.6,122.7,8.7,487,9194,0.00,2.45,0.00,0.000,4,0.000,0.045,2969,601,2218,0,0,0,0,0,0
$GC,9341,1.20,215.0,110.5,7.2,503,9360,0.00,2.30,11.90,0.580,6,0.000,0.023,2970,2027,2171,0,0,0,0,0,0
$GC,9616,1.28,222.8,92.7,7.5,529,9626,0.00,0.00,8.25,0.528,6,0.000,0.000,2970,2027,2141,0,0,0,0,0,0
$GC,9882,1.39,246.8,74.6,6.4,554,9913,0.20,2.55,22.33,0.569,4,0.050,0.044,3027,595,2043,0,0,0,0,0,0
$GC,9934,1.30,246.8,69.8,10.6,559,9939,0.15,2.33,0.00,0.000,6,0.106,0.021,2999,2012,2040,0,0,0,0,0,0
$GC,10197,1.34,246.8,46.0,9.2,583,10198,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2017,2040,0,0,0,0,0,0
$GC,10453,1.41,250.0,25.1,7.8,612,10466,0.10,2.33,3.80,0.347,4,0.075,0.028,3033,3390,2030,0,0,0,0,0,0
$GC,10546,1.41,250.0,17.1,8.9,631,10551,0.00,2.30,0.00,0.000,6,0.000,0.027,3030,2002,2030,0,0,0,0,0,0
$STATE,10701,end climb,SURFACE_DEPTH_REACHED
$STATE,10701,begin surface coast
$FINISH,0.4,1.009868
$STATE,10739,end surface coast,CONTROL_FINISHED_OK
$STATE,10739,begin surface
$SM_CCo,10760,27.45,0.507,0,0,1826,300.00
$SM_GC,1.22,0.00,0.00,27.45,0.000,0.000,0.507,418,1876,1826,-10.56,0.03,300.00
$IRIDIUM_FIX,2059.45,-15750.89,290899,060619
$TT8_MAMPS,0.029913
$HUMID,48.89
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,38.979
$10V_AH,10.0,36.985
$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,27.750,119.775,286.950,27.450,0.000,28.014,28.951,135.682,4.500,0.000,14.305,1299.678,7016.617,375.586,1962.122,435.552,33.381,1240.739,0.000,1952.012,0.000,29.238,0.000
$DEVICE_MAMPS,133.458,65.195,873.613,506.987,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,449.471,432.908,837.551,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,38064,666
$CAP_FILE_SIZE,124017,0
$CFSIZE,260165632,233009152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040610,121656,2108.032,-15748.230,72,2.9,91,9.8