version: 66.06
glider: 139
mission: 7
dive: 444
start: 6 4 110 18 30 27
data:
$ID,139
$MISSION,7
$DIVE,444
$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,-2137652
$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
$GPS1,182357,2107.781,-15748.032,78,7.2,97,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.7
$GPS2,182936,2107.820,-15748.085,23,1.1,39,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.179,-0.041
$KALMAN_X,-149060.8,-439.1,-198.4,161527.4,-1641.4
$KALMAN_Y,18376.3,-87.5,-263.6,-16338.6,306.6
$MHEAD_RNG_PITCHd_Wd,93.1,9670,-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,15,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-53.22,0.000,2,0.000,0.000,424,1878,3223,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.6,-6.0,10,91,10.60,0.00,-2.83,0.000,6,0.133,0.000,2403,1878,3370,0,0,0,0,0,0
$GC,294,-1.24,-77.9,48.1,-16.3,40,298,0.22,2.33,0.00,0.000,4,0.093,0.022,2451,3299,3372,0,0,0,0,0,0
$GC,328,-1.30,-77.9,53.4,-14.5,43,333,0.10,2.40,0.00,0.000,6,0.107,0.031,2458,1873,3372,0,0,0,0,0,0
$GC,592,-1.34,-77.9,83.9,-11.7,67,597,0.17,2.40,0.00,0.000,4,0.051,0.044,2416,470,3373,0,0,0,0,0,0
$GC,710,-1.26,-77.9,102.3,-15.2,79,715,0.10,2.30,0.00,0.000,6,0.109,0.020,2437,1913,3373,0,0,0,0,0,0
$GC,971,-1.26,-77.9,133.3,-9.8,103,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1919,3375,0,0,0,0,0,0
$GC,1229,-1.31,-77.9,154.0,-7.9,127,1233,0.00,2.47,0.00,0.000,4,0.000,0.043,2437,460,3376,0,0,0,0,0,0
$GC,1283,-1.31,-77.9,159.2,-8.5,132,1290,0.00,2.30,0.00,0.000,6,0.000,0.020,2437,1880,3376,0,0,0,0,0,0
$GC,1548,-1.37,-77.9,183.5,-9.3,157,1552,0.00,2.40,0.00,0.000,4,0.000,0.042,2438,468,3376,0,0,0,0,0,0
$GC,1618,-1.40,-77.9,190.8,-9.8,164,1623,0.12,2.22,0.00,0.000,6,0.062,0.021,2394,1878,3377,0,0,0,0,0,0
$GC,1875,-1.40,-77.9,220.4,-11.8,180,1879,0.00,2.40,0.00,0.000,4,0.000,0.044,2394,470,3376,0,0,0,0,0,0
$GC,1917,-1.37,-77.9,225.3,-11.0,181,1923,0.10,2.25,0.00,0.000,6,0.108,0.021,2413,1878,3377,0,0,0,0,0,0
$GC,2235,-1.42,-77.9,251.5,-7.8,197,2239,0.00,2.40,0.00,0.000,4,0.000,0.044,2414,467,3377,0,0,0,0,0,0
$GC,2309,-1.45,-77.9,257.8,-8.4,200,2313,0.00,2.28,0.00,0.000,6,0.000,0.021,2415,1881,3377,0,0,0,0,0,0
$GC,2630,-1.52,-77.9,285.8,-9.4,216,2635,0.15,2.45,0.00,0.000,4,0.057,0.047,2369,462,3376,0,0,0,0,0,0
$GC,2714,-1.44,-77.9,296.3,-12.5,219,2721,0.15,2.28,0.00,0.000,6,0.094,0.023,2400,1877,3376,0,0,0,0,0,0
$GC,3045,-1.44,-77.9,327.3,-9.2,229,3049,0.00,2.42,0.00,0.000,4,0.000,0.048,2397,466,3375,0,0,0,0,0,0
$GC,3074,-1.41,-77.9,330.2,-11.0,229,3078,0.00,2.28,0.00,0.000,6,0.000,0.025,2400,1870,3374,0,0,0,0,0,0
$GC,3410,-1.44,-77.9,361.4,-9.0,238,3414,0.00,2.45,0.00,0.000,4,0.000,0.050,2400,466,3373,0,0,0,0,0,0
$GC,3452,-1.44,-77.9,365.5,-9.6,239,3456,0.00,2.28,0.00,0.000,6,0.000,0.026,2399,1872,3373,0,0,0,0,0,0
$GC,3781,-1.48,-77.9,395.2,-9.5,247,3785,0.00,2.42,0.00,0.000,4,0.000,0.051,2400,471,3370,0,0,0,0,0,0
$GC,3887,-1.48,-77.9,406.7,-10.5,249,3891,0.00,2.30,0.00,0.000,6,0.000,0.027,2400,1870,3370,0,0,0,0,0,0
$GC,4237,-1.53,-77.9,439.8,-9.3,258,4242,0.00,2.45,0.00,0.000,4,0.000,0.053,2400,471,3367,0,0,0,0,0,0
$GC,4311,-1.53,-77.9,447.0,-8.8,259,4316,0.00,2.33,0.00,0.000,6,0.000,0.028,2400,1882,3367,0,0,0,0,0,0
$STATE,4365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4365,begin apogee
$GC,4370,-0.31,0.0,452.0,9.0,261,4438,1.12,0.00,64.90,0.874,6,0.071,0.000,2643,2029,3050,0,0,0,0,0,0
$STATE,4439,end apogee,CONTROL_FINISHED_OK
$STATE,4439,begin climb
$GC,4442,1.40,77.9,453.4,0.0,262,4516,1.62,2.45,64.82,0.854,4,0.031,0.044,3017,3387,2732,0,0,0,0,0,0
$GC,4592,1.27,155.6,455.4,2.7,265,4667,0.15,2.40,66.68,0.851,6,0.120,0.035,2994,2000,2414,0,0,0,0,0,0
$GC,4990,1.14,155.6,412.9,12.0,275,4995,0.17,2.47,0.00,0.000,4,0.116,0.052,2964,598,2405,0,0,0,0,0,0
$GC,5005,1.02,155.6,410.8,12.5,275,5011,0.15,2.33,0.00,0.000,6,0.120,0.030,2938,1991,2403,0,0,0,0,0,0
$GC,5355,1.02,155.6,378.1,8.5,284,5359,0.00,2.47,0.00,0.000,4,0.000,0.053,2939,598,2401,0,0,0,0,0,0
$GC,5434,0.96,155.6,370.6,9.5,285,5438,0.00,2.35,0.00,0.000,6,0.000,0.031,2939,2009,2399,0,0,0,0,0,0
$GC,5769,0.97,162.0,344.6,7.6,294,5778,0.00,2.50,3.90,0.518,4,0.000,0.052,2939,602,2389,0,0,0,0,0,0
$GC,5978,0.93,162.0,326.3,9.4,298,5983,0.12,2.38,0.00,0.000,6,0.121,0.030,2917,2013,2386,0,0,0,0,0,0
$GC,6319,1.02,178.7,301.8,6.9,307,6340,0.00,2.55,15.68,0.761,4,0.000,0.052,2917,606,2321,0,0,0,0,0,0
$GC,6408,1.05,178.7,294.7,8.2,310,6413,0.12,2.38,0.00,0.000,6,0.072,0.030,2949,2012,2317,0,0,0,0,0,0
$GC,6738,1.05,178.7,266.8,8.6,326,6742,0.00,2.47,0.00,0.000,4,0.000,0.051,2949,605,2317,0,0,0,0,0,0
$GC,6789,1.05,178.7,261.7,9.9,328,6793,0.00,2.38,0.00,0.000,6,0.000,0.029,2949,2020,2315,0,0,0,0,0,0
$GC,7109,1.12,208.2,237.2,6.0,344,7143,0.00,2.55,26.83,0.736,4,0.000,0.048,2950,604,2200,0,0,0,0,0,0
$GC,7204,1.12,208.2,229.7,9.5,348,7208,0.00,2.35,0.00,0.000,6,0.000,0.028,2949,2016,2195,0,0,0,0,0,0
$GC,7529,1.18,208.2,203.9,8.9,364,7533,0.00,2.50,0.00,0.000,4,0.000,0.050,2950,597,2194,0,0,0,0,0,0
$GC,7607,1.18,208.2,194.6,12.4,370,7611,0.00,2.35,0.00,0.000,6,0.000,0.027,2950,2020,2191,0,0,0,0,0,0
$GC,7869,1.28,243.9,174.5,5.6,394,7907,0.20,2.55,31.83,0.678,4,0.057,0.046,3001,599,2054,0,0,0,0,0,0
$GC,7967,1.20,243.9,164.7,11.5,404,7974,0.10,2.38,0.00,0.000,6,0.090,0.025,2979,2008,2050,0,0,0,0,0,0
$GC,8231,1.24,243.9,135.9,11.0,429,8235,0.00,2.45,0.00,0.000,4,0.000,0.046,2978,596,2049,0,0,0,0,0,0
$GC,8318,1.24,243.9,125.9,11.4,438,8323,0.00,2.35,0.00,0.000,6,0.000,0.024,2978,2016,2046,0,0,0,0,0,0
$GC,8580,1.29,243.9,103.1,8.4,462,8582,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2022,2046,0,0,0,0,0,0
$GC,8835,1.38,243.9,82.5,8.8,486,8840,0.15,2.45,0.00,0.000,4,0.060,0.044,3021,598,2045,0,0,0,0,0,0
$GC,8870,1.29,243.9,78.8,12.2,489,8875,0.12,2.33,0.00,0.000,6,0.110,0.022,2997,2022,2045,0,0,0,0,0,0
$GC,9132,1.35,243.9,52.7,9.9,513,9136,0.00,2.42,0.00,0.000,4,0.000,0.042,2997,600,2045,0,0,0,0,0,0
$GC,9218,1.35,243.9,44.5,9.1,522,9222,0.00,2.28,0.00,0.000,6,0.000,0.021,2997,2019,2045,0,0,0,0,0,0
$GC,9482,1.41,245.6,24.4,7.9,552,9489,0.10,2.30,0.00,0.000,4,0.075,0.028,3030,3390,2045,0,0,0,0,0,0
$GC,9521,1.41,245.6,20.9,9.3,560,9528,0.00,2.33,0.00,0.000,6,0.000,0.027,3028,2009,2045,0,0,0,0,0,0
$STATE,9709,end climb,SURFACE_DEPTH_REACHED
$STATE,9709,begin surface coast
$FINISH,0.5,1.023328
$STATE,9743,end surface coast,CONTROL_FINISHED_OK
$STATE,9743,begin surface
$SM_CCo,9763,28.35,0.505,0,0,1826,300.00
$SM_GC,0.95,0.00,0.00,28.35,0.000,0.000,0.505,423,1869,1826,-10.54,-0.17,300.00
$IRIDIUM_FIX,2059.45,-15746.61,290899,151509
$TT8_MAMPS,0.029146
$HUMID,49.17
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,39.220
$10V_AH,10.0,37.225
$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,27.050,114.875,274.625,28.350,0.000,30.731,32.265,141.730,4.500,0.000,40.152,1178.641,6371.674,355.862,1813.405,409.548,33.386,1150.016,0.000,1765.898,0.000,29.244,0.000
$DEVICE_MAMPS,132.691,59.059,873.613,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.444,385.135,750.311,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,34795,600
$CAP_FILE_SIZE,114097,0
$CFSIZE,260165632,232841216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040610,211526,2107.454,-15748.154,71,1.4,71,9.8