version: 66.06
glider: 139
mission: 7
dive: 443
start: 6 4 110 15 28 58
data:
$ID,139
$MISSION,7
$DIVE,443
$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,-2137611
$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
$GPS1,152243,2107.837,-15747.948,117,2.5,136,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.9
$GPS2,152807,2107.852,-15747.970,34,1.5,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,0.021
$KALMAN_X,-147448.8,-431.9,432.7,159477.6,-2134.8
$KALMAN_Y,18438.4,-162.6,42.4,-16572.2,-196.0
$MHEAD_RNG_PITCHd_Wd,73.7,9510,-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,17,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-51.83,0.000,2,0.000,0.000,429,1858,3190,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.6,-6.7,10,91,10.60,0.00,-3.47,0.000,6,0.133,0.000,2406,1860,3369,0,0,0,0,0,0
$GC,294,-1.25,-77.9,47.4,-18.5,41,299,0.17,2.38,0.00,0.000,4,0.099,0.024,2441,3304,3372,0,0,0,0,0,0
$GC,339,-1.32,-77.9,54.7,-13.3,45,346,0.00,2.42,0.00,0.000,6,0.000,0.031,2435,1879,3372,0,0,0,0,0,0
$GC,600,-1.32,-77.9,89.3,-12.9,70,604,0.00,2.40,0.00,0.000,4,0.000,0.045,2441,467,3373,0,0,0,0,0,0
$GC,700,-1.32,-77.9,102.1,-12.2,80,707,0.00,2.33,0.00,0.000,6,0.000,0.019,2441,1904,3373,0,0,0,0,0,0
$GC,964,-1.36,-77.9,126.2,-6.6,105,968,0.00,2.22,0.00,0.000,4,0.000,0.028,2440,3270,3374,0,0,0,0,0,0
$GC,1001,-1.47,-77.9,128.8,-7.5,108,1009,0.10,2.35,0.00,0.000,6,0.034,0.028,2395,1870,3374,0,0,0,0,0,0
$GC,1263,-1.43,-77.9,156.8,-10.6,133,1267,0.00,2.38,0.00,0.000,4,0.000,0.044,2396,466,3375,0,0,0,0,0,0
$GC,1362,-1.34,-77.9,169.2,-12.5,143,1367,0.10,2.25,0.00,0.000,6,0.112,0.020,2419,1884,3375,0,0,0,0,0,0
$GC,1624,-1.34,-77.9,195.6,-9.9,167,1628,0.00,2.42,0.00,0.000,4,0.000,0.043,2417,470,3376,0,0,0,0,0,0
$GC,1668,-1.34,-77.9,200.0,-9.2,171,1675,0.00,2.22,0.00,0.000,6,0.000,0.021,2419,1875,3376,0,0,0,0,0,0
$GC,1929,-1.37,-77.9,225.4,-9.0,184,1934,0.00,2.40,0.00,0.000,4,0.000,0.044,2418,467,3376,0,0,0,0,0,0
$GC,2007,-1.37,-77.9,232.8,-8.7,187,2011,0.00,2.22,0.00,0.000,6,0.000,0.021,2419,1876,3376,0,0,0,0,0,0
$GC,2323,-1.41,-77.9,256.6,-7.6,202,2327,0.00,2.40,0.00,0.000,4,0.000,0.044,2418,471,3376,0,0,0,0,0,0
$GC,2382,-1.41,-77.9,262.0,-8.8,204,2386,0.00,2.25,0.00,0.000,6,0.000,0.021,2418,1885,3376,0,0,0,0,0,0
$GC,2699,-1.48,-77.9,286.6,-7.4,219,2704,0.12,2.47,0.00,0.000,4,0.064,0.047,2377,466,3375,0,0,0,0,0,0
$GC,2791,-1.42,-77.9,296.5,-11.6,223,2796,0.12,2.25,0.00,0.000,6,0.100,0.023,2402,1875,3375,0,0,0,0,0,0
$GC,3117,-1.46,-77.9,325.1,-8.4,232,3121,0.00,2.40,0.00,0.000,4,0.000,0.048,2401,474,3374,0,0,0,0,0,0
$GC,3135,-1.46,-77.9,326.8,-8.8,232,3139,0.00,2.25,0.00,0.000,6,0.000,0.024,2402,1872,3374,0,0,0,0,0,0
$GC,3480,-1.50,-77.9,355.7,-8.7,241,3484,0.00,2.42,0.00,0.000,4,0.000,0.049,2401,467,3372,0,0,0,0,0,0
$GC,3569,-1.50,-77.9,364.0,-9.2,243,3573,0.00,2.28,0.00,0.000,6,0.000,0.025,2402,1875,3372,0,0,0,0,0,0
$GC,3896,-1.55,-77.9,392.6,-8.8,251,3901,0.12,2.47,0.00,0.000,4,0.067,0.051,2364,468,3369,0,0,0,0,0,0
$GC,4021,-1.48,-77.9,406.8,-11.3,253,4026,0.12,2.28,0.00,0.000,6,0.102,0.027,2390,1871,3368,0,0,0,0,0,0
$GC,4352,-1.48,-77.9,437.0,-8.7,261,4356,0.00,2.45,0.00,0.000,4,0.000,0.053,2390,475,3366,0,0,0,0,0,0
$GC,4416,-1.48,-77.9,443.3,-9.7,262,4421,0.00,2.30,0.00,0.000,6,0.000,0.028,2389,1880,3366,0,0,0,0,0,0
$STATE,4515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4515,begin apogee
$GC,4520,-0.31,0.0,451.9,8.6,265,4589,1.20,0.00,64.75,0.872,6,0.075,0.000,2646,2028,3050,0,0,0,0,0,0
$STATE,4589,end apogee,CONTROL_FINISHED_OK
$STATE,4590,begin climb
$GC,4592,1.40,77.9,452.7,0.0,266,4667,1.62,2.45,65.07,0.850,4,0.031,0.044,3014,3382,2732,0,0,0,0,0,0
$GC,4806,1.22,122.1,449.3,5.0,270,4852,0.17,2.35,38.05,0.841,6,0.117,0.035,2990,2004,2551,0,0,0,0,0,0
$GC,5183,1.09,122.1,416.7,9.1,280,5185,0.20,0.00,0.00,0.000,6,0.111,0.000,2955,2004,2545,0,0,0,0,0,0
$GC,5509,1.05,132.1,391.7,7.3,288,5524,0.00,2.47,8.55,0.727,4,0.000,0.051,2957,603,2510,0,0,0,0,0,0
$GC,5571,0.93,132.1,386.4,8.8,289,5576,0.20,2.35,0.00,0.000,6,0.117,0.030,2918,1997,2507,0,0,0,0,0,0
$GC,5922,0.98,143.5,361.3,7.2,298,5938,0.00,2.55,10.75,0.754,4,0.000,0.052,2921,600,2463,0,0,0,0,0,0
$GC,6062,0.98,143.5,350.1,8.4,301,6066,0.00,2.38,0.00,0.000,6,0.000,0.030,2919,2009,2460,0,0,0,0,0,0
$GC,6385,1.07,174.6,329.7,5.9,309,6415,0.12,0.00,28.00,0.802,6,0.076,0.000,2952,2014,2338,0,0,0,0,0,0
$GC,6710,1.08,183.0,304.4,7.4,317,6726,0.00,2.42,8.57,0.693,4,0.000,0.037,2952,3405,2302,0,0,0,0,0,0
$GC,6777,1.13,193.0,299.4,7.3,318,6794,0.00,2.40,10.20,0.710,6,0.000,0.037,2953,2012,2263,0,0,0,0,0,0
$GC,7111,1.13,193.0,273.5,9.0,334,7115,0.00,2.47,0.00,0.000,4,0.000,0.051,2953,603,2259,0,0,0,0,0,0
$GC,7156,1.13,193.0,268.4,10.4,336,7161,0.00,2.38,0.00,0.000,6,0.000,0.029,2952,2015,2256,0,0,0,0,0,0
$GC,7481,1.17,193.0,240.0,9.3,352,7485,0.00,2.50,0.00,0.000,4,0.000,0.050,2953,597,2256,0,0,0,0,0,0
$GC,7632,1.17,193.0,225.5,8.7,358,7639,0.00,2.40,0.00,0.000,6,0.000,0.028,2953,2017,2254,0,0,0,0,0,0
$GC,7948,1.22,199.5,202.3,7.6,374,7961,0.12,2.53,5.80,0.565,4,0.074,0.048,2986,605,2236,0,0,0,0,0,0
$GC,8095,1.14,199.5,187.5,9.4,387,8100,0.12,2.35,0.00,0.000,6,0.117,0.026,2964,2021,2234,0,0,0,0,0,0
$GC,8357,1.14,201.9,165.7,7.9,411,8362,0.00,2.45,0.00,0.000,4,0.000,0.046,2964,601,2234,0,0,0,0,0,0
$GC,8473,1.14,201.9,155.4,8.8,423,8477,0.00,2.33,0.00,0.000,6,0.000,0.025,2964,2012,2234,0,0,0,0,0,0
$GC,8737,1.20,213.6,136.2,7.2,447,8757,0.00,2.50,13.93,0.611,4,0.000,0.044,2964,591,2178,0,0,0,0,0,0
$GC,8868,1.20,213.6,124.1,10.3,461,8873,0.00,2.35,0.00,0.000,6,0.000,0.024,2963,2016,2175,0,0,0,0,0,0
$GC,9132,1.27,220.0,102.1,7.6,485,9145,0.12,2.35,6.82,0.511,4,0.069,0.031,2999,3391,2152,0,0,0,0,0,0
$GC,9235,1.27,220.0,92.7,9.8,496,9241,0.00,2.38,0.00,0.000,6,0.000,0.031,2998,2004,2152,0,0,0,0,0,0
$GC,9498,1.32,258.9,75.4,5.4,521,9540,0.00,2.50,35.22,0.581,4,0.000,0.043,2998,599,1993,0,0,0,0,0,0
$GC,9601,1.32,258.9,66.0,11.2,532,9608,0.00,2.35,0.00,0.000,6,0.000,0.021,3000,2018,1989,0,0,0,0,0,0
$GC,9865,1.36,258.9,43.1,8.9,557,9869,0.00,2.42,0.00,0.000,4,0.000,0.042,2999,601,1990,0,0,0,0,0,0
$GC,9893,1.36,258.9,39.9,10.5,559,9900,0.00,2.33,0.00,0.000,6,0.000,0.021,3000,2017,1987,0,0,0,0,0,0
$GC,10159,1.41,258.9,17.2,8.6,598,10166,0.00,2.30,0.00,0.000,4,0.000,0.028,2999,3392,1987,0,0,0,0,0,0
$GC,10178,1.46,258.9,15.4,9.6,601,10185,0.15,2.30,0.00,0.000,6,0.058,0.028,3043,2005,1987,0,0,0,0,0,0
$STATE,10293,end climb,SURFACE_DEPTH_REACHED
$STATE,10295,begin surface coast
$FINISH,0.5,1.018089
$STATE,10322,end surface coast,CONTROL_FINISHED_OK
$STATE,10323,begin surface
$SM_CCo,10342,20.65,0.499,0,0,1826,300.00
$SM_GC,1.25,0.00,0.00,20.65,0.000,0.000,0.499,425,1878,1826,-10.53,0.08,300.00
$IRIDIUM_FIX,2059.45,-15746.61,290899,121225
$TT8_MAMPS,0.029146
$HUMID,49.76
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.60
$XPDR_PINGS,1
$24V_AH,23.4,39.141
$10V_AH,10.0,37.149
$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,26.775,119.150,295.725,20.650,0.000,23.617,29.734,143.230,4.750,0.000,34.825,1232.904,6743.270,380.950,1916.606,412.883,33.380,1228.771,0.000,1881.150,0.000,29.251,0.000
$DEVICE_MAMPS,133.458,63.661,872.079,498.550,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,423.484,404.215,777.121,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,34943,627
$CAP_FILE_SIZE,119382,0
$CFSIZE,260165632,232890368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040610,182357,2107.781,-15748.032,78,7.2,97,9.8