version: 66.06
glider: 139
mission: 7
dive: 442
start: 6 4 110 12 23 38
data:
$ID,139
$MISSION,7
$DIVE,442
$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,-2137575.5
$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
$GPS1,121656,2108.032,-15748.230,72,2.9,91,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-71.2
$GPS2,122246,2108.073,-15748.228,13,2.9,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.016
$KALMAN_X,-145818.1,-160.4,138.4,157420.9,-1345.2
$KALMAN_Y,18468.3,-152.2,236.0,-16395.4,-146.3
$MHEAD_RNG_PITCHd_Wd,85.1,10083,-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,13,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-52.85,0.000,2,0.000,0.000,417,1875,3209,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.5,-5.6,10,91,10.88,0.00,-3.12,0.000,6,0.142,0.000,2399,1877,3370,0,0,0,0,0,0
$GC,289,-1.23,-77.9,43.5,-15.7,41,294,0.20,2.33,0.00,0.000,4,0.110,0.022,2445,3298,3372,0,0,0,0,0,0
$GC,306,-1.12,-77.9,46.0,-14.7,42,311,0.30,2.38,0.00,0.000,6,0.096,0.028,2464,1871,3372,0,0,0,0,0,0
$GC,571,-1.24,-77.9,71.1,-9.2,66,576,0.17,2.40,0.00,0.000,4,0.051,0.044,2450,470,3373,0,0,0,0,0,0
$GC,648,-1.19,-77.9,81.3,-14.1,74,652,0.00,2.30,0.00,0.000,6,0.000,0.019,2449,1914,3374,0,0,0,0,0,0
$GC,910,-1.24,-77.9,111.0,-10.8,98,915,0.00,2.47,0.00,0.000,4,0.000,0.042,2449,463,3375,0,0,0,0,0,0
$GC,981,-1.28,-77.9,118.9,-11.1,105,985,0.00,2.28,0.00,0.000,6,0.000,0.019,2451,1883,3375,0,0,0,0,0,0
$GC,1245,-1.36,-77.9,141.0,-8.5,129,1250,0.12,2.45,0.00,0.000,4,0.063,0.043,2406,467,3375,0,0,0,0,0,0
$GC,1271,-1.30,-77.9,143.9,-11.6,131,1276,0.12,2.25,0.00,0.000,6,0.099,0.020,2433,1885,3376,0,0,0,0,0,0
$GC,1537,-1.33,-77.9,169.1,-8.8,156,1541,0.00,2.42,0.00,0.000,4,0.000,0.043,2431,471,3376,0,0,0,0,0,0
$GC,1653,-1.33,-77.9,181.7,-10.8,168,1657,0.00,2.22,0.00,0.000,6,0.000,0.020,2431,1878,3377,0,0,0,0,0,0
$GC,1914,-1.38,-77.9,206.4,-9.7,189,1919,0.00,2.42,0.00,0.000,4,0.000,0.044,2432,465,3377,0,0,0,0,0,0
$GC,1983,-1.38,-77.9,213.6,-9.3,192,1987,0.00,2.25,0.00,0.000,6,0.000,0.021,2432,1873,3377,0,0,0,0,0,0
$GC,2309,-1.45,-77.9,242.0,-8.2,208,2314,0.15,2.40,0.00,0.000,4,0.057,0.045,2383,473,3377,0,0,0,0,0,0
$GC,2394,-1.39,-77.9,251.4,-10.6,211,2400,0.12,2.25,0.00,0.000,6,0.100,0.021,2409,1873,3377,0,0,0,0,0,0
$GC,2712,-1.43,-77.9,280.0,-9.2,227,2717,0.00,2.42,0.00,0.000,4,0.000,0.045,2409,464,3377,0,0,0,0,0,0
$GC,2748,-1.43,-77.9,283.8,-9.6,228,2753,0.00,2.25,0.00,0.000,6,0.000,0.021,2405,1879,3376,0,0,0,0,0,0
$GC,3062,-1.48,-77.9,312.8,-9.7,240,3066,0.00,2.42,0.00,0.000,4,0.000,0.046,2408,471,3376,0,0,0,0,0,0
$GC,3157,-1.48,-77.9,321.9,-9.9,242,3161,0.00,2.25,0.00,0.000,6,0.000,0.023,2409,1877,3375,0,0,0,0,0,0
$GC,3484,-1.53,-77.9,350.2,-8.3,250,3489,0.12,2.45,0.00,0.000,4,0.066,0.048,2370,473,3374,0,0,0,0,0,0
$GC,3508,-1.47,-77.9,352.6,-10.0,250,3513,0.12,2.25,0.00,0.000,6,0.100,0.025,2395,1877,3374,0,0,0,0,0,0
$GC,3850,-1.50,-77.9,380.4,-8.2,259,3854,0.00,2.42,0.00,0.000,4,0.000,0.049,2395,470,3372,0,0,0,0,0,0
$GC,3933,-1.50,-77.9,388.6,-9.4,260,3939,0.00,2.28,0.00,0.000,6,0.000,0.025,2395,1875,3372,0,0,0,0,0,0
$GC,4264,-1.54,-77.9,418.4,-9.0,269,4268,0.00,2.42,0.00,0.000,4,0.000,0.051,2395,475,3370,0,0,0,0,0,0
$GC,4353,-1.54,-77.9,426.6,-9.0,271,4357,0.00,2.28,0.00,0.000,6,0.000,0.027,2396,1873,3369,0,0,0,0,0,0
$STATE,4637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4637,begin apogee
$GC,4643,-0.31,0.0,450.2,7.9,278,4711,1.17,0.00,64.75,0.869,6,0.079,0.000,2643,2036,3050,0,0,0,0,0,0
$STATE,4712,end apogee,CONTROL_FINISHED_OK
$STATE,4712,begin climb
$GC,4714,1.40,77.9,450.9,0.0,279,4789,1.65,2.42,64.78,0.848,4,0.040,0.043,3011,3379,2731,0,0,0,0,0,0
$GC,5053,1.23,110.7,438.0,5.8,286,5087,0.17,2.35,27.88,0.829,6,0.121,0.037,2985,2013,2598,0,0,0,0,0,0
$GC,5402,1.11,113.3,411.6,7.8,295,5407,0.15,2.40,0.00,0.000,4,0.120,0.041,2951,3384,2593,0,0,0,0,0,0
$GC,5468,1.07,131.6,406.5,6.8,296,5492,0.00,2.35,18.50,0.805,6,0.000,0.035,2958,2007,2512,0,0,0,0,0,0
$GC,5821,1.02,131.6,376.7,8.6,305,5825,0.00,2.47,0.00,0.000,4,0.000,0.052,2958,604,2507,0,0,0,0,0,0
$GC,5877,0.91,131.6,371.8,8.1,306,5882,0.25,2.33,0.00,0.000,6,0.113,0.030,2913,1990,2505,0,0,0,0,0,0
$GC,6191,1.02,181.1,354.7,4.6,314,6240,0.10,2.53,43.05,0.823,4,0.084,0.053,2939,606,2310,0,0,0,0,0,0
$GC,6352,1.02,181.1,341.3,9.8,317,6356,0.00,2.35,0.00,0.000,6,0.000,0.030,2939,2009,2304,0,0,0,0,0,0
$GC,6692,1.06,181.1,312.9,8.5,326,6697,0.00,2.50,0.00,0.000,4,0.000,0.052,2939,600,2302,0,0,0,0,0,0
$GC,6782,1.06,181.1,304.5,9.5,328,6787,0.00,2.38,0.00,0.000,6,0.000,0.030,2939,2022,2299,0,0,0,0,0,0
$GC,7115,1.11,191.6,279.7,7.3,342,7131,0.00,2.53,8.68,0.674,4,0.000,0.049,2939,605,2267,0,0,0,0,0,0
$GC,7259,1.11,191.6,267.2,8.4,348,7263,0.00,2.38,0.00,0.000,6,0.000,0.028,2939,2022,2265,0,0,0,0,0,0
$GC,7579,1.19,202.9,244.3,7.2,364,7596,0.15,2.40,11.15,0.691,4,0.066,0.037,2978,3407,2222,0,0,0,0,0,0
$GC,7678,1.19,202.9,235.2,9.2,368,7682,0.00,2.40,0.00,0.000,6,0.000,0.035,2978,2011,2221,0,0,0,0,0,0
$GC,7997,1.19,202.9,206.2,9.2,384,8001,0.00,2.45,0.00,0.000,4,0.000,0.048,2978,597,2220,0,0,0,0,0,0
$GC,8043,1.13,202.9,201.1,11.8,386,8047,0.00,2.38,0.00,0.000,6,0.000,0.027,2977,2024,2218,0,0,0,0,0,0
$GC,8378,1.13,202.9,169.4,8.2,417,8382,0.00,2.47,0.00,0.000,4,0.000,0.046,2978,601,2217,0,0,0,0,0,0
$GC,8484,1.09,202.9,160.0,9.1,428,8489,0.15,2.33,0.00,0.000,6,0.117,0.025,2951,2023,2216,0,0,0,0,0,0
$GC,8745,1.16,204.1,139.6,7.9,452,8749,0.00,2.47,0.00,0.000,4,0.000,0.045,2951,597,2216,0,0,0,0,0,0
$GC,8896,1.16,204.1,126.9,10.0,468,8900,0.00,2.33,0.00,0.000,6,0.000,0.024,2950,2015,2216,0,0,0,0,0,0
$GC,9158,1.26,222.3,107.8,6.8,492,9182,0.17,2.33,17.83,0.597,4,0.057,0.028,2998,3398,2142,0,0,0,0,0,0
$GC,9247,1.26,222.3,99.9,9.9,501,9252,0.00,2.35,0.00,0.000,6,0.000,0.030,2998,2000,2142,0,0,0,0,0,0
$GC,9511,1.29,242.2,79.1,6.7,525,9534,0.00,2.42,18.52,0.569,4,0.000,0.044,2998,604,2062,0,0,0,0,0,0
$GC,9565,1.24,242.2,75.3,8.0,530,9569,0.00,2.30,0.00,0.000,6,0.000,0.021,2999,2022,2058,0,0,0,0,0,0
$GC,9828,1.29,256.3,56.9,7.0,554,9846,0.00,0.00,13.32,0.530,6,0.000,0.000,2998,2026,2004,0,0,0,0,0,0
$GC,10104,1.35,270.9,36.7,7.0,580,10125,0.00,2.47,14.18,0.515,4,0.000,0.041,2998,602,1944,0,0,0,0,0,0
$GC,10145,1.35,270.9,33.0,9.3,584,10149,0.00,2.28,0.00,0.000,6,0.000,0.021,2998,2009,1941,0,0,0,0,0,0
$GC,10417,1.40,270.9,10.1,8.6,630,10422,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2015,1941,0,0,0,0,0,0
$STATE,10492,end climb,SURFACE_DEPTH_REACHED
$STATE,10493,begin surface coast
$FINISH,0.6,1.023381
$STATE,10534,end surface coast,CONTROL_FINISHED_OK
$STATE,10536,begin surface
$SM_CCo,10556,15.07,0.483,0,0,1826,300.00
$SM_GC,1.10,0.00,0.00,15.07,0.000,0.000,0.483,430,1858,1826,-10.51,-0.48,300.00
$IRIDIUM_FIX,2059.45,-15748.75,290899,090934
$TT8_MAMPS,0.029146
$HUMID,49.44
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,39.061
$10V_AH,10.1,37.068
$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,27.325,119.050,302.625,15.075,0.000,24.737,30.824,165.752,4.500,0.000,33.221,1290.604,6778.482,359.506,2046.561,445.552,33.375,1250.672,0.000,2004.864,0.000,29.248,0.000
$DEVICE_MAMPS,141.895,52.923,869.011,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,440.072,421.727,830.325,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,38132,651
$CAP_FILE_SIZE,124171,0
$CFSIZE,260165632,232939520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040610,152243,2107.837,-15747.948,117,2.5,136,9.8