version: 66.06
glider: 139
mission: 7
dive: 450
start: 6 5 110 12 45 37
data:
$ID,139
$MISSION,7
$DIVE,450
$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,-2137892.5
$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
$GPS1,123657,2107.051,-15748.071,102,4.1,121,9.8
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.6
$GPS2,124446,2107.083,-15748.075,10,2.7,29,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.181,0.033
$KALMAN_X,-161559.7,-67.3,-60.7,173534.0,-1905.4
$KALMAN_Y,16089.1,-83.8,151.3,-15834.1,-402.7
$MHEAD_RNG_PITCHd_Wd,69.9,9216,-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,-77.9,0.0,0.0,0,70,0.00,0.00,-52.35,0.000,2,0.000,0.000,428,1871,3203,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.6,-6.5,10,95,10.60,2.45,-3.20,0.000,4,0.134,0.054,2403,467,3371,0,0,0,0,0,0
$GC,102,-0.20,-77.9,13.8,-31.2,15,108,1.33,2.35,0.00,0.000,6,0.100,0.020,2665,1927,3371,0,0,0,0,0,0
$GC,307,-0.87,-77.9,25.9,-7.1,52,315,0.62,2.53,0.00,0.000,4,0.055,0.040,2522,464,3372,0,0,0,0,0,0
$GC,336,-1.32,-77.9,27.9,-7.1,57,343,0.40,2.30,0.00,0.000,6,0.032,0.019,2411,1927,3372,0,0,0,0,0,0
$GC,542,-1.18,-77.9,58.9,-15.8,78,544,0.22,0.00,0.00,0.000,6,0.094,0.000,2453,1930,3373,0,0,0,0,0,0
$GC,794,-1.18,-77.9,88.6,-10.4,102,798,0.00,2.50,0.00,0.000,4,0.000,0.043,2456,463,3374,0,0,0,0,0,0
$GC,853,-1.18,-77.9,95.2,-10.9,108,857,0.00,2.30,0.00,0.000,6,0.000,0.019,2456,1911,3374,0,0,0,0,0,0
$GC,1114,-1.24,-77.9,123.1,-11.0,132,1118,0.00,2.45,0.00,0.000,4,0.000,0.042,2455,468,3375,0,0,0,0,0,0
$GC,1250,-1.31,-77.9,136.4,-8.5,146,1257,0.10,2.28,0.00,0.000,6,0.033,0.019,2413,1878,3376,0,0,0,0,0,0
$GC,1511,-1.31,-77.9,161.9,-10.1,171,1515,0.00,2.42,0.00,0.000,4,0.000,0.043,2412,463,3376,0,0,0,0,0,0
$GC,1541,-1.24,-77.9,165.0,-11.8,174,1546,0.15,2.25,0.00,0.000,6,0.092,0.020,2444,1876,3376,0,0,0,0,0,0
$GC,1802,-1.31,-77.9,190.3,-10.1,198,1806,0.00,2.42,0.00,0.000,4,0.000,0.043,2444,461,3376,0,0,0,0,0,0
$GC,1848,-1.37,-77.9,195.3,-10.9,202,1855,0.10,2.28,0.00,0.000,6,0.034,0.020,2401,1871,3377,0,0,0,0,0,0
$GC,2104,-1.37,-77.9,223.1,-10.9,217,2108,0.00,2.42,0.00,0.000,4,0.000,0.044,2400,458,3377,0,0,0,0,0,0
$GC,2167,-1.31,-77.9,231.0,-11.8,219,2173,0.12,2.25,0.00,0.000,6,0.099,0.021,2426,1880,3376,0,0,0,0,0,0
$GC,2486,-1.38,-77.9,256.5,-7.0,235,2490,0.00,2.42,0.00,0.000,4,0.000,0.044,2425,465,3377,0,0,0,0,0,0
$GC,2536,-1.42,-77.9,260.7,-8.0,237,2540,0.00,2.25,0.00,0.000,6,0.000,0.021,2425,1881,3377,0,0,0,0,0,0
$GC,2859,-1.51,-77.9,281.8,-6.7,253,2864,0.17,2.45,0.00,0.000,4,0.051,0.046,2372,468,3376,0,0,0,0,0,0
$GC,2929,-1.42,-77.9,289.4,-11.1,256,2934,0.15,2.25,0.00,0.000,6,0.094,0.022,2403,1876,3376,0,0,0,0,0,0
$GC,3274,-1.46,-77.9,316.2,-7.1,268,3278,0.00,2.42,0.00,0.000,4,0.000,0.048,2403,463,3375,0,0,0,0,0,0
$GC,3356,-1.46,-77.9,323.8,-9.0,269,3361,0.00,2.28,0.00,0.000,6,0.000,0.024,2404,1872,3374,0,0,0,0,0,0
$GC,3687,-1.51,-77.9,352.7,-9.1,278,3691,0.00,2.45,0.00,0.000,4,0.000,0.048,2404,464,3373,0,0,0,0,0,0
$GC,3738,-1.51,-77.9,358.2,-10.2,279,3742,0.00,2.28,0.00,0.000,6,0.000,0.025,2404,1874,3372,0,0,0,0,0,0
$GC,4055,-1.56,-77.9,388.0,-9.3,287,4060,0.15,2.45,0.00,0.000,4,0.061,0.051,2361,467,3370,0,0,0,0,0,0
$GC,4140,-1.48,-77.9,397.4,-11.2,288,4146,0.15,2.30,0.00,0.000,6,0.096,0.026,2391,1871,3370,0,0,0,0,0,0
$GC,4470,-1.48,-77.9,426.1,-8.2,297,4474,0.00,2.47,0.00,0.000,4,0.000,0.052,2392,471,3367,0,0,0,0,0,0
$GC,4532,-1.48,-77.9,431.4,-8.2,298,4536,0.00,2.30,0.00,0.000,6,0.000,0.028,2392,1877,3367,0,0,0,0,0,0
$STATE,4799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4799,begin apogee
$GC,4804,-0.31,0.0,450.1,6.7,305,4872,1.20,0.00,64.50,0.872,6,0.079,0.000,2645,2038,3050,0,0,0,0,0,0
$STATE,4873,end apogee,CONTROL_FINISHED_OK
$STATE,4873,begin climb
$GC,4875,1.40,77.9,450.3,0.0,306,4950,1.62,2.42,64.72,0.849,4,0.035,0.043,3006,3380,2732,0,0,0,0,0,0
$GC,5016,1.24,129.9,448.0,4.4,309,5069,0.20,2.35,44.50,0.837,6,0.117,0.035,2986,2007,2520,0,0,0,0,0,0
$GC,5377,1.12,129.9,417.2,8.8,318,5382,0.15,2.40,0.00,0.000,4,0.119,0.040,2954,3384,2513,0,0,0,0,0,0
$GC,5392,1.04,129.9,415.9,8.4,318,5396,0.00,2.38,0.00,0.000,6,0.000,0.036,2959,2011,2513,0,0,0,0,0,0
$GC,5742,1.00,145.8,391.8,6.9,327,5758,0.12,0.00,13.32,0.780,6,0.123,0.000,2936,2011,2455,0,0,0,0,0,0
$GC,6066,1.01,151.5,367.4,7.6,335,6078,0.00,2.55,6.03,0.657,4,0.000,0.051,2937,598,2432,0,0,0,0,0,0
$GC,6140,0.96,151.5,361.1,9.7,336,6144,0.00,2.35,0.00,0.000,6,0.000,0.030,2936,1988,2430,0,0,0,0,0,0
$GC,6479,0.96,151.5,331.6,9.1,345,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1993,2429,0,0,0,0,0,0
$GC,6805,0.97,159.8,306.1,7.5,353,6818,0.00,2.50,7.95,0.693,4,0.000,0.051,2937,595,2398,0,0,0,0,0,0
$GC,6890,0.95,161.8,300.0,7.9,354,6895,0.00,2.40,0.00,0.000,6,0.000,0.030,2937,2015,2397,0,0,0,0,0,0
$GC,7205,1.04,206.8,281.9,4.9,370,7255,0.00,2.55,42.38,0.780,4,0.000,0.051,2937,599,2206,0,0,0,0,0,0
$GC,7401,1.04,206.8,265.1,9.7,378,7408,0.00,2.40,0.00,0.000,6,0.000,0.029,2937,2007,2199,0,0,0,0,0,0
$GC,7717,1.11,206.8,238.1,8.4,394,7721,0.00,2.47,0.00,0.000,4,0.000,0.049,2937,602,2198,0,0,0,0,0,0
$GC,7763,1.11,206.8,233.6,9.8,396,7767,0.00,2.38,0.00,0.000,6,0.000,0.028,2937,2016,2196,0,0,0,0,0,0
$GC,8093,1.21,206.8,206.6,8.1,412,8098,0.17,2.47,0.00,0.000,4,0.063,0.049,2981,603,2195,0,0,0,0,0,0
$GC,8321,1.14,206.8,184.7,10.6,431,8325,0.00,2.33,0.00,0.000,6,0.000,0.026,2981,2016,2194,0,0,0,0,0,0
$GC,8584,1.14,206.8,163.5,8.1,455,8588,0.00,2.45,0.00,0.000,4,0.000,0.047,2981,598,2194,0,0,0,0,0,0
$GC,8628,1.09,206.8,159.1,9.9,459,8633,0.15,2.35,0.00,0.000,6,0.114,0.025,2955,2018,2193,0,0,0,0,0,0
$GC,8892,1.16,206.8,138.2,8.1,483,8897,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2024,2192,0,0,0,0,0,0
$GC,9153,1.28,233.0,119.2,6.2,508,9183,0.17,2.50,22.30,0.613,4,0.058,0.044,3002,601,2098,0,0,0,0,0,0
$GC,9298,1.21,233.0,104.7,10.6,523,9304,0.12,2.33,0.00,0.000,6,0.110,0.022,2980,2018,2095,0,0,0,0,0,0
$GC,9560,1.30,247.9,83.9,7.0,548,9580,0.00,2.47,13.88,0.553,4,0.000,0.042,2980,597,2038,0,0,0,0,0,0
$GC,9611,1.30,247.9,80.1,8.2,553,9615,0.00,2.33,0.00,0.000,6,0.000,0.022,2980,2014,2035,0,0,0,0,0,0
$GC,9875,1.38,247.9,57.2,9.4,577,9882,0.15,0.00,0.00,0.000,6,0.059,0.000,3024,2018,2035,0,0,0,0,0,0
$GC,10139,1.41,272.1,33.3,6.4,602,10170,0.00,2.53,22.10,0.530,4,0.000,0.042,3024,598,1939,0,0,0,0,0,0
$GC,10212,1.36,272.1,25.6,12.0,613,10218,0.00,2.30,0.00,0.000,6,0.000,0.021,3024,2008,1936,0,0,0,0,0,0
$STATE,10411,end climb,SURFACE_DEPTH_REACHED
$STATE,10411,begin surface coast
$FINISH,0.4,1.007942
$STATE,10438,end surface coast,CONTROL_FINISHED_OK
$STATE,10438,begin surface
$SM_CCo,10458,14.57,0.486,0,0,1827,300.00
$SM_GC,2.30,0.00,0.00,14.57,0.000,0.000,0.486,424,1854,1827,-10.53,-0.59,300.00
$IRIDIUM_FIX,2101.76,-15748.75,300899,090923
$TT8_MAMPS,0.029146
$HUMID,49.21
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,39.767
$10V_AH,10.0,37.726
$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,29.475,115.150,301.675,14.575,0.000,61.386,56.360,161.279,4.500,0.000,31.823,1248.014,6948.956,379.353,1878.187,486.486,33.377,1205.886,0.000,1840.062,0.000,29.253,0.000
$DEVICE_MAMPS,134.225,53.690,872.079,486.278,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,440.409,419.752,812.849,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,38140,654
$CAP_FILE_SIZE,119309,0
$CFSIZE,260165632,232468480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050610,154214,2107.056,-15748.032,87,1.8,87,9.8