version: 66.06
glider: 139
mission: 7
dive: 449
start: 6 5 110 9 38 34
data:
$ID,139
$MISSION,7
$DIVE,449
$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,-2137860
$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
$GPS1,092906,2107.050,-15747.981,99,1.3,111,9.8
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.1
$GPS2,093743,2107.095,-15748.082,21,1.3,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,0.010
$KALMAN_X,-159347.6,229.7,-520.0,171473.7,-1953.0
$KALMAN_Y,16463.3,-94.2,-81.4,-15942.1,-136.4
$MHEAD_RNG_PITCHd_Wd,77.2,9232,-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,16,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-52.30,0.000,2,0.000,0.000,426,1868,3175,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.1,-4.0,10,95,10.52,2.45,-3.88,0.000,4,0.132,0.052,2401,446,3370,0,0,0,0,0,0
$GC,114,-0.80,-77.9,15.6,-27.0,18,122,0.60,2.38,0.00,0.000,6,0.088,0.020,2533,1904,3371,0,0,0,0,0,0
$GC,325,-0.94,-77.9,36.9,-9.2,49,330,0.10,2.50,0.00,0.000,4,0.072,0.044,2494,460,3372,0,0,0,0,0,0
$GC,397,-0.97,-77.9,44.7,-10.7,56,404,0.00,2.28,0.00,0.000,6,0.000,0.019,2495,1865,3373,0,0,0,0,0,0
$GC,660,-1.05,-77.9,70.2,-9.4,81,664,0.00,2.38,0.00,0.000,4,0.000,0.042,2494,469,3374,0,0,0,0,0,0
$GC,693,-1.09,-77.9,73.6,-10.3,84,697,0.00,2.25,0.00,0.000,6,0.000,0.019,2495,1877,3374,0,0,0,0,0,0
$GC,956,-1.19,-77.9,99.8,-10.7,108,961,0.17,2.42,0.00,0.000,4,0.051,0.044,2439,468,3374,0,0,0,0,0,0
$GC,1061,-1.14,-77.9,113.8,-13.3,119,1066,0.12,2.22,0.00,0.000,6,0.097,0.019,2465,1874,3375,0,0,0,0,0,0
$GC,1323,-1.23,-77.9,137.1,-8.4,143,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1879,3376,0,0,0,0,0,0
$GC,1578,-1.34,-77.9,160.0,-9.6,167,1583,0.17,2.42,0.00,0.000,4,0.050,0.044,2407,467,3376,0,0,0,0,0,0
$GC,1700,-1.27,-77.9,175.3,-12.7,180,1705,0.15,2.22,0.00,0.000,6,0.093,0.020,2439,1878,3377,0,0,0,0,0,0
$GC,1960,-1.33,-77.9,198.3,-8.4,204,1965,0.00,2.42,0.00,0.000,4,0.000,0.043,2439,464,3377,0,0,0,0,0,0
$GC,1997,-1.33,-77.9,202.0,-9.4,206,2004,0.00,2.28,0.00,0.000,6,0.000,0.021,2439,1874,3377,0,0,0,0,0,0
$GC,2312,-1.41,-77.9,229.0,-8.6,222,2317,0.15,2.45,0.00,0.000,4,0.056,0.045,2390,460,3377,0,0,0,0,0,0
$GC,2369,-1.36,-77.9,235.3,-11.3,224,2373,0.12,2.25,0.00,0.000,6,0.098,0.021,2415,1876,3377,0,0,0,0,0,0
$GC,2686,-1.41,-77.9,266.4,-10.1,239,2690,0.00,2.40,0.00,0.000,4,0.000,0.045,2416,467,3377,0,0,0,0,0,0
$GC,2760,-1.41,-77.9,274.7,-10.8,242,2764,0.00,2.28,0.00,0.000,6,0.000,0.022,2416,1880,3376,0,0,0,0,0,0
$GC,3081,-1.47,-77.9,301.0,-7.2,258,3086,0.00,2.45,0.00,0.000,4,0.000,0.047,2416,464,3375,0,0,0,0,0,0
$GC,3142,-1.50,-77.9,306.2,-8.4,259,3147,0.12,2.25,0.00,0.000,6,0.064,0.023,2375,1872,3375,0,0,0,0,0,0
$GC,3493,-1.50,-77.9,337.0,-9.0,268,3497,0.00,2.45,0.00,0.000,4,0.000,0.048,2374,461,3374,0,0,0,0,0,0
$GC,3543,-1.45,-77.9,342.4,-9.9,269,3548,0.12,2.28,0.00,0.000,6,0.100,0.025,2401,1870,3373,0,0,0,0,0,0
$GC,3863,-1.49,-77.9,371.1,-8.9,277,3867,0.00,2.47,0.00,0.000,4,0.000,0.050,2399,461,3371,0,0,0,0,0,0
$GC,3910,-1.49,-77.9,375.5,-9.2,278,3914,0.00,2.30,0.00,0.000,6,0.000,0.025,2400,1880,3371,0,0,0,0,0,0
$GC,4233,-1.53,-77.9,405.8,-9.5,286,4237,0.00,2.47,0.00,0.000,4,0.000,0.051,2399,463,3369,0,0,0,0,0,0
$GC,4275,-1.53,-77.9,410.3,-10.6,287,4279,0.00,2.30,0.00,0.000,6,0.000,0.027,2400,1875,3369,0,0,0,0,0,0
$GC,4605,-1.57,-77.9,440.6,-9.1,295,4610,0.12,2.47,0.00,0.000,4,0.069,0.053,2363,473,3366,0,0,0,0,0,0
$GC,4657,-1.50,-77.9,446.2,-10.6,296,4662,0.12,2.33,0.00,0.000,6,0.104,0.028,2388,1878,3366,0,0,0,0,0,0
$STATE,4729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4729,begin apogee
$GC,4735,-0.31,0.0,452.9,8.6,298,4803,1.20,0.00,64.70,0.877,6,0.077,0.000,2642,2039,3050,0,0,0,0,0,0
$STATE,4804,end apogee,CONTROL_FINISHED_OK
$STATE,4804,begin climb
$GC,4807,1.40,77.9,454.0,0.0,299,4881,1.62,2.42,64.72,0.854,4,0.032,0.043,3009,3380,2732,0,0,0,0,0,0
$GC,5136,1.25,132.7,446.3,4.3,306,5190,0.20,2.35,46.47,0.852,6,0.114,0.035,2986,2001,2508,0,0,0,0,0,0
$GC,5535,1.13,132.7,414.7,8.6,316,5539,0.12,2.40,0.00,0.000,4,0.124,0.041,2961,3381,2501,0,0,0,0,0,0
$GC,5640,1.08,132.7,406.1,8.6,318,5644,0.00,2.38,0.00,0.000,6,0.000,0.038,2963,2009,2501,0,0,0,0,0,0
$GC,5954,1.03,132.7,380.2,8.5,326,5958,0.12,2.38,0.00,0.000,4,0.122,0.041,2939,3383,2498,0,0,0,0,0,0
$GC,5973,1.03,135.3,378.5,7.8,326,5977,0.00,2.38,0.00,0.000,6,0.000,0.037,2942,2005,2498,0,0,0,0,0,0
$GC,6322,1.04,144.1,353.3,7.4,335,6332,0.00,0.00,9.10,0.736,6,0.000,0.000,2942,2005,2461,0,0,0,0,0,0
$GC,6647,1.07,169.6,331.2,6.3,343,6676,0.00,2.55,23.27,0.799,4,0.000,0.054,2942,598,2358,0,0,0,0,0,0
$GC,6764,1.03,169.6,321.2,10.1,345,6768,0.00,2.33,0.00,0.000,6,0.000,0.030,2942,1989,2353,0,0,0,0,0,0
$GC,7081,1.03,169.6,292.8,9.0,355,7086,0.00,2.42,0.00,0.000,4,0.000,0.051,2942,604,2352,0,0,0,0,0,0
$GC,7115,0.99,169.6,289.4,9.7,356,7120,0.00,2.38,0.00,0.000,6,0.000,0.030,2942,2016,2350,0,0,0,0,0,0
$GC,7432,1.01,187.9,264.6,6.8,371,7454,0.00,2.55,16.38,0.739,4,0.000,0.050,2942,602,2283,0,0,0,0,0,0
$GC,7505,1.01,187.9,258.9,8.3,374,7509,0.00,2.35,0.00,0.000,6,0.000,0.028,2942,2011,2280,0,0,0,0,0,0
$GC,7829,1.08,195.6,236.6,7.5,390,7842,0.00,2.53,7.80,0.645,4,0.000,0.050,2942,599,2252,0,0,0,0,0,0
$GC,7896,1.08,195.6,231.2,8.8,393,7900,0.00,2.38,0.00,0.000,6,0.000,0.028,2942,2014,2249,0,0,0,0,0,0
$GC,8226,1.15,208.9,206.2,7.1,409,8249,0.10,2.53,13.20,0.676,4,0.084,0.048,2969,604,2196,0,0,0,0,0,0
$GC,8436,1.11,208.9,183.3,9.9,428,8440,0.00,2.35,0.00,0.000,6,0.000,0.027,2969,2024,2192,0,0,0,0,0,0
$GC,8699,1.16,215.8,162.1,7.5,452,8710,0.00,2.58,6.78,0.566,4,0.000,0.047,2969,596,2170,0,0,0,0,0,0
$GC,8805,1.17,224.3,154.4,7.4,463,8824,0.00,2.35,9.07,0.595,6,0.000,0.025,2969,2029,2135,0,0,0,0,0,0
$GC,9079,1.24,227.5,132.6,7.8,489,9089,0.00,2.33,4.60,0.464,4,0.000,0.029,2968,3401,2122,0,0,0,0,0,0
$GC,9104,1.35,245.9,130.7,6.8,491,9128,0.17,2.38,17.98,0.620,6,0.058,0.030,3015,2001,2047,0,0,0,0,0,0
$GC,9382,1.38,274.2,109.2,6.1,518,9414,0.00,2.50,25.48,0.608,4,0.000,0.044,3014,602,1931,0,0,0,0,0,0
$GC,9430,1.34,274.2,105.4,9.2,523,9435,0.00,2.33,0.00,0.000,6,0.000,0.023,3015,2022,1929,0,0,0,0,0,0
$GC,9694,1.34,274.2,78.2,11.1,547,9698,0.00,2.45,0.00,0.000,4,0.000,0.043,3015,604,1928,0,0,0,0,0,0
$GC,9771,1.30,274.2,69.1,11.3,555,9776,0.00,2.30,0.00,0.000,6,0.000,0.021,3015,2014,1926,0,0,0,0,0,0
$GC,10035,1.34,274.2,43.1,8.7,579,10039,0.00,2.42,0.00,0.000,4,0.000,0.042,3015,605,1925,0,0,0,0,0,0
$GC,10079,1.34,274.2,38.4,10.9,583,10086,0.00,2.30,0.00,0.000,6,0.000,0.021,3015,2007,1925,0,0,0,0,0,0
$GC,10347,1.39,285.6,17.2,7.2,623,10363,0.00,2.42,10.80,0.486,4,0.000,0.041,3015,604,1884,0,0,0,0,0,0
$GC,10443,1.39,285.6,7.3,12.6,643,10448,0.00,2.28,0.00,0.000,6,0.000,0.020,3015,2024,1881,0,0,0,0,0,0
$STATE,10487,end climb,SURFACE_DEPTH_REACHED
$STATE,10487,begin surface coast
$FINISH,0.5,1.014703
$STATE,10514,end surface coast,CONTROL_FINISHED_OK
$STATE,10514,begin surface
$SM_CCo,10534,9.65,0.467,0,0,1826,300.00
$SM_GC,2.14,0.00,0.00,9.65,0.000,0.000,0.467,429,1871,1826,-10.52,-0.08,300.00
$IRIDIUM_FIX,2057.14,-15753.90,300899,060637
$TT8_MAMPS,0.029146
$HUMID,49.76
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.4,39.684
$10V_AH,10.0,37.644
$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,27.325,129.100,320.350,9.650,0.000,49.417,117.933,161.914,4.750,0.000,32.118,1288.052,6875.247,383.997,1980.427,532.440,33.372,1258.272,0.000,1927.752,0.000,32.091,0.000
$DEVICE_MAMPS,131.924,54.457,877.448,467.103,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.301,419.281,820.359,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,38133,656
$CAP_FILE_SIZE,126671,0
$CFSIZE,260165632,232525824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050610,123657,2107.051,-15748.071,102,4.1,121,9.8