version: 66.06
glider: 139
mission: 7
dive: 448
start: 6 5 110 6 34 52
data:
$ID,139
$MISSION,7
$DIVE,448
$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,-2137827.2
$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
$GPS1,062145,2107.064,-15747.445,40,2.5,59,9.8
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,2
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.6
$GPS2,063401,2107.050,-15747.581,59,0.9,59,9.8
$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,-157180.0,366.6,48.0,169463.2,-2707.5
$KALMAN_Y,16887.0,-48.8,-169.2,-16408.1,-266.8
$MHEAD_RNG_PITCHd_Wd,67.2,8376,-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,-77.9,0.0,0.0,0,72,0.00,0.00,-52.75,0.000,2,0.000,0.000,429,1910,3219,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.5,-5.9,10,92,10.55,0.00,-2.88,0.000,6,0.131,0.000,2403,1910,3370,0,0,0,0,0,0
$GC,294,-1.24,-77.9,50.0,-17.2,39,299,0.20,2.47,0.00,0.000,4,0.096,0.042,2444,467,3372,0,0,0,0,0,0
$GC,320,-1.11,-77.9,53.8,-14.0,41,325,0.12,2.33,0.00,0.000,6,0.106,0.020,2469,1911,3372,0,0,0,0,0,0
$GC,584,-1.14,-77.9,84.1,-11.2,65,588,0.00,2.50,0.00,0.000,4,0.000,0.044,2468,466,3372,0,0,0,0,0,0
$GC,663,-1.14,-77.9,93.7,-11.9,73,668,0.00,2.25,0.00,0.000,6,0.000,0.019,2469,1883,3373,0,0,0,0,0,0
$GC,927,-1.22,-77.9,119.0,-8.7,97,931,0.00,2.42,0.00,0.000,4,0.000,0.042,2468,460,3374,0,0,0,0,0,0
$GC,964,-1.29,-77.9,122.7,-9.0,100,971,0.12,2.28,0.00,0.000,6,0.031,0.019,2419,1878,3374,0,0,0,0,0,0
$GC,1226,-1.29,-77.9,150.4,-11.7,125,1230,0.00,2.40,0.00,0.000,4,0.000,0.042,2418,466,3374,0,0,0,0,0,0
$GC,1271,-1.25,-77.9,156.7,-13.6,129,1278,0.10,2.25,0.00,0.000,6,0.107,0.019,2440,1876,3375,0,0,0,0,0,0
$GC,1534,-1.31,-77.9,182.9,-8.7,154,1538,0.00,2.40,0.00,0.000,4,0.000,0.043,2439,464,3375,0,0,0,0,0,0
$GC,1605,-1.35,-77.9,189.0,-7.8,161,1609,0.00,2.22,0.00,0.000,6,0.000,0.020,2440,1878,3376,0,0,0,0,0,0
$GC,1864,-1.44,-77.9,209.1,-8.1,180,1869,0.17,2.42,0.00,0.000,4,0.051,0.044,2385,464,3376,0,0,0,0,0,0
$GC,1977,-1.36,-77.9,221.6,-10.1,185,1982,0.15,2.25,0.00,0.000,6,0.093,0.021,2417,1875,3376,0,0,0,0,0,0
$GC,2310,-1.40,-77.9,248.3,-7.7,201,2314,0.00,2.40,0.00,0.000,4,0.000,0.044,2416,467,3376,0,0,0,0,0,0
$GC,2383,-1.40,-77.9,255.3,-9.4,204,2387,0.00,2.22,0.00,0.000,6,0.000,0.021,2416,1871,3375,0,0,0,0,0,0
$GC,2705,-1.46,-77.9,280.9,-8.2,220,2709,0.00,2.40,0.00,0.000,4,0.000,0.046,2417,470,3375,0,0,0,0,0,0
$GC,2742,-1.46,-77.9,284.4,-9.1,221,2747,0.00,2.25,0.00,0.000,6,0.000,0.022,2416,1879,3374,0,0,0,0,0,0
$GC,3055,-1.53,-77.9,310.7,-7.9,234,3060,0.17,2.45,0.00,0.000,4,0.053,0.048,2365,462,3373,0,0,0,0,0,0
$GC,3131,-1.47,-77.9,318.1,-8.9,235,3136,0.12,2.28,0.00,0.000,6,0.100,0.024,2391,1876,3373,0,0,0,0,0,0
$GC,3466,-1.47,-77.9,346.2,-8.7,244,3471,0.00,2.42,0.00,0.000,4,0.000,0.048,2391,468,3371,0,0,0,0,0,0
$GC,3485,-1.47,-77.9,348.1,-9.3,244,3489,0.00,2.30,0.00,0.000,6,0.000,0.025,2391,1880,3371,0,0,0,0,0,0
$GC,3830,-1.47,-77.9,381.1,-9.9,253,3835,0.00,2.45,0.00,0.000,4,0.000,0.050,2392,463,3369,0,0,0,0,0,0
$GC,3910,-1.47,-77.9,390.1,-11.1,254,3914,0.00,2.28,0.00,0.000,6,0.000,0.026,2391,1867,3368,0,0,0,0,0,0
$GC,4242,-1.47,-77.9,423.3,-9.8,262,4246,0.00,2.45,0.00,0.000,4,0.000,0.052,2390,470,3366,0,0,0,0,0,0
$GC,4284,-1.47,-77.9,427.9,-10.4,263,4289,0.00,2.30,0.00,0.000,6,0.000,0.028,2391,1876,3365,0,0,0,0,0,0
$STATE,4528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4528,begin apogee
$GC,4533,-0.31,0.0,450.6,9.3,269,4601,1.17,0.00,64.28,0.875,6,0.072,0.000,2644,2033,3050,0,0,0,0,0,0
$STATE,4602,end apogee,CONTROL_FINISHED_OK
$STATE,4602,begin climb
$GC,4605,1.40,77.9,451.7,0.0,270,4680,1.62,2.42,65.00,0.853,4,0.032,0.043,3002,3377,2731,0,0,0,0,0,0
$GC,4943,1.23,115.6,440.6,5.4,277,4981,0.20,2.35,31.98,0.838,6,0.113,0.036,2984,2004,2578,0,0,0,0,0,0
$GC,5290,1.10,115.6,412.4,8.8,286,5295,0.15,2.42,0.00,0.000,4,0.119,0.041,2954,3388,2573,0,0,0,0,0,0
$GC,5505,1.08,137.3,395.7,6.5,290,5530,0.00,2.38,19.12,0.815,6,0.000,0.037,2957,2002,2488,0,0,0,0,0,0
$GC,5849,1.04,146.4,370.6,7.4,299,5865,0.00,2.50,8.45,0.725,4,0.000,0.052,2957,604,2452,0,0,0,0,0,0
$GC,5870,0.97,146.4,368.7,8.4,299,5875,0.15,2.38,0.00,0.000,6,0.123,0.031,2929,1999,2451,0,0,0,0,0,0
$GC,6216,0.99,163.6,344.8,6.8,308,6237,0.00,2.55,15.95,0.785,4,0.000,0.053,2932,596,2382,0,0,0,0,0,0
$GC,6334,0.99,163.6,333.8,9.6,310,6339,0.00,2.40,0.00,0.000,6,0.000,0.031,2931,2011,2378,0,0,0,0,0,0
$GC,6670,1.05,175.7,309.4,7.2,319,6686,0.00,2.55,11.25,0.740,4,0.000,0.052,2932,598,2332,0,0,0,0,0,0
$GC,6775,1.05,175.7,300.9,8.6,321,6780,0.00,2.40,0.00,0.000,6,0.000,0.030,2932,2023,2330,0,0,0,0,0,0
$GC,7094,1.10,175.7,274.1,9.2,336,7099,0.10,2.53,0.00,0.000,4,0.084,0.051,2957,604,2329,0,0,0,0,0,0
$GC,7224,1.05,175.7,259.3,11.7,341,7229,0.00,2.38,0.00,0.000,6,0.000,0.029,2957,2015,2328,0,0,0,0,0,0
$GC,7540,1.05,176.6,231.7,8.0,357,7544,0.00,2.50,0.00,0.000,4,0.000,0.051,2957,597,2327,0,0,0,0,0,0
$GC,7630,1.01,176.6,222.9,9.4,361,7635,0.12,2.38,0.00,0.000,6,0.123,0.029,2935,2015,2326,0,0,0,0,0,0
$GC,7963,1.13,211.2,199.8,5.6,377,8001,0.12,2.53,31.80,0.717,4,0.075,0.048,2967,604,2187,0,0,0,0,0,0
$GC,8086,1.10,211.2,189.9,9.9,390,8090,0.00,2.35,0.00,0.000,6,0.000,0.028,2966,2015,2182,0,0,0,0,0,0
$GC,8348,1.14,218.0,169.0,7.6,414,8359,0.00,2.50,6.47,0.565,4,0.000,0.047,2967,599,2160,0,0,0,0,0,0
$GC,8410,1.14,218.0,162.9,9.7,420,8417,0.00,2.38,0.00,0.000,6,0.000,0.027,2966,2008,2157,0,0,0,0,0,0
$GC,8673,1.20,218.0,138.8,10.8,445,8677,0.00,2.45,0.00,0.000,4,0.000,0.048,2966,597,2157,0,0,0,0,0,0
$GC,8861,1.23,247.6,121.2,6.0,465,8898,0.00,2.35,26.92,0.633,6,0.000,0.024,2967,2026,2040,0,0,0,0,0,0
$GC,9153,1.33,253.8,100.0,7.6,493,9163,0.17,0.00,6.38,0.495,6,0.057,0.000,3015,2026,2014,0,0,0,0,0,0
$GC,9420,1.33,253.8,76.9,9.4,518,9424,0.00,2.45,0.00,0.000,4,0.000,0.043,3014,597,2014,0,0,0,0,0,0
$GC,9439,1.28,253.8,74.7,10.0,519,9446,0.08,2.33,0.00,0.000,6,0.086,0.022,2996,2008,2012,0,0,0,0,0,0
$GC,9703,1.34,255.4,52.4,7.9,544,9707,0.00,2.28,0.00,0.000,4,0.000,0.028,2995,3393,2012,0,0,0,0,0,0
$GC,9739,1.44,255.4,48.9,9.8,547,9747,0.10,2.35,0.00,0.000,6,0.037,0.028,3033,2006,2012,0,0,0,0,0,0
$GC,10004,1.44,255.4,23.9,9.2,577,10009,0.00,2.40,0.00,0.000,4,0.000,0.042,3034,598,2012,0,0,0,0,0,0
$GC,10079,1.35,255.4,16.6,10.4,593,10085,0.12,2.28,0.00,0.000,6,0.107,0.020,3010,2012,2012,0,0,0,0,0,0
$STATE,10224,end climb,SURFACE_DEPTH_REACHED
$STATE,10224,begin surface coast
$FINISH,0.3,1.023177
$STATE,10262,end surface coast,CONTROL_FINISHED_OK
$STATE,10262,begin surface
$SM_CCo,10282,23.62,0.503,0,0,1826,300.00
$SM_GC,1.06,0.00,0.00,23.62,0.000,0.000,0.503,427,1869,1826,-10.52,-0.17,300.00
$IRIDIUM_FIX,2059.45,-15745.74,300899,060616
$TT8_MAMPS,0.029146
$HUMID,49.88
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,39.595
$10V_AH,10.0,37.560
$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,26.925,119.575,287.600,23.625,0.000,53.543,63.999,395.951,4.500,0.000,59.837,1243.008,6722.564,369.578,1978.839,727.101,33.375,1222.751,0.000,1901.637,0.000,29.248,0.000
$DEVICE_MAMPS,131.157,57.525,875.147,503.152,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,422.319,400.801,777.247,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355728
$DATA_FILE_SIZE,34902,626
$CAP_FILE_SIZE,127578,0
$CFSIZE,260165632,232587264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050610,092906,2107.050,-15747.981,99,1.3,111,9.8