version: 66.06
glider: 139
mission: 7
dive: 451
start: 6 5 110 15 48 50
data:
$ID,139
$MISSION,7
$DIVE,451
$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,-2137908.5
$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
$GPS1,154214,2107.056,-15748.032,87,1.8,87,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.3
$GPS2,154756,2107.055,-15748.050,14,1.7,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.171,0.068
$KALMAN_X,-163812.1,-340.9,480.1,175563.3,-2742.7
$KALMAN_Y,15692.5,-34.6,75.4,-15463.9,-546.9
$MHEAD_RNG_PITCHd_Wd,58.5,9160,-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,-53.15,0.000,2,0.000,0.000,424,1855,3215,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.5,-5.8,10,96,10.62,2.45,-3.00,0.000,4,0.134,0.038,2404,3304,3370,0,0,0,0,0,0
$GC,112,-0.67,-77.9,15.4,-30.1,17,118,0.80,2.45,0.00,0.000,6,0.083,0.031,2567,1867,3371,0,0,0,0,0,0
$GC,317,-0.88,-77.9,30.1,-6.6,54,322,0.20,2.40,0.00,0.000,4,0.045,0.043,2506,461,3372,0,0,0,0,0,0
$GC,399,-0.95,-77.9,38.8,-10.3,62,406,0.00,2.35,0.00,0.000,6,0.000,0.020,2506,1907,3372,0,0,0,0,0,0
$GC,663,-1.06,-77.9,65.6,-10.6,87,667,0.00,2.47,0.00,0.000,4,0.000,0.043,2506,461,3373,0,0,0,0,0,0
$GC,752,-1.20,-77.9,75.0,-9.5,96,760,0.20,2.30,0.00,0.000,6,0.027,0.019,2437,1886,3373,0,0,0,0,0,0
$GC,1014,-1.20,-77.9,106.6,-9.9,121,1018,0.00,2.42,0.00,0.000,4,0.000,0.043,2437,464,3374,0,0,0,0,0,0
$GC,1105,-1.16,-77.9,116.3,-9.9,130,1112,0.08,2.28,0.00,0.000,6,0.075,0.019,2457,1880,3375,0,0,0,0,0,0
$GC,1367,-1.23,-77.9,141.8,-10.1,155,1371,0.00,2.40,0.00,0.000,4,0.000,0.042,2456,468,3376,0,0,0,0,0,0
$GC,1419,-1.30,-77.9,147.6,-11.3,160,1423,0.12,2.22,0.00,0.000,6,0.062,0.019,2413,1876,3376,0,0,0,0,0,0
$GC,1679,-1.30,-77.9,175.1,-9.6,184,1683,0.00,2.40,0.00,0.000,4,0.000,0.043,2412,466,3376,0,0,0,0,0,0
$GC,1713,-1.23,-77.9,178.9,-12.7,187,1718,0.15,2.25,0.00,0.000,6,0.091,0.020,2445,1876,3376,0,0,0,0,0,0
$GC,1984,-1.30,-77.9,206.7,-9.5,209,1988,0.00,2.42,0.00,0.000,4,0.000,0.042,2444,458,3376,0,0,0,0,0,0
$GC,2012,-1.35,-77.9,209.4,-8.9,210,2016,0.12,2.28,0.00,0.000,6,0.061,0.021,2401,1882,3377,0,0,0,0,0,0
$GC,2342,-1.35,-77.9,241.9,-11.1,226,2347,0.00,2.42,0.00,0.000,4,0.000,0.044,2400,460,3377,0,0,0,0,0,0
$GC,2420,-1.35,-77.9,251.8,-11.0,229,2425,0.00,2.28,0.00,0.000,6,0.000,0.021,2400,1874,3376,0,0,0,0,0,0
$GC,2738,-1.35,-77.9,281.4,-9.3,244,2742,0.00,2.40,0.00,0.000,4,0.000,0.045,2400,470,3376,0,0,0,0,0,0
$GC,2783,-1.35,-77.9,287.1,-12.5,246,2788,0.10,2.28,0.00,0.000,6,0.106,0.021,2420,1881,3376,0,0,0,0,0,0
$GC,3128,-1.43,-77.9,323.4,-10.3,258,3132,0.00,2.42,0.00,0.000,4,0.000,0.047,2421,466,3376,0,0,0,0,0,0
$GC,3180,-1.49,-77.9,328.3,-8.9,259,3185,0.15,2.28,0.00,0.000,6,0.057,0.023,2375,1871,3375,0,0,0,0,0,0
$GC,3498,-1.49,-77.9,356.1,-8.4,267,3502,0.00,2.40,0.00,0.000,4,0.000,0.048,2374,470,3373,0,0,0,0,0,0
$GC,3521,-1.42,-77.9,358.4,-9.7,267,3526,0.15,2.28,0.00,0.000,6,0.094,0.025,2405,1882,3374,0,0,0,0,0,0
$GC,3865,-1.47,-77.9,381.0,-6.5,276,3869,0.00,2.45,0.00,0.000,4,0.000,0.050,2405,464,3372,0,0,0,0,0,0
$GC,3957,-1.47,-77.9,389.3,-8.6,278,3961,0.00,2.33,0.00,0.000,6,0.000,0.026,2405,1881,3371,0,0,0,0,0,0
$GC,4282,-1.53,-77.9,412.9,-7.1,286,4287,0.12,2.47,0.00,0.000,4,0.067,0.053,2368,466,3369,0,0,0,0,0,0
$GC,4386,-1.47,-77.9,423.5,-10.3,288,4391,0.12,2.33,0.00,0.000,6,0.101,0.028,2393,1873,3367,0,0,0,0,0,0
$STATE,4698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4698,begin apogee
$GC,4704,-0.31,0.0,450.8,8.8,296,4772,1.17,0.00,64.88,0.881,6,0.074,0.000,2645,2035,3050,0,0,0,0,0,0
$STATE,4773,end apogee,CONTROL_FINISHED_OK
$STATE,4773,begin climb
$GC,4775,1.40,77.9,452.0,0.0,297,4851,1.62,2.42,64.93,0.857,4,0.032,0.043,3010,3380,2731,0,0,0,0,0,0
$GC,5115,1.24,129.2,446.2,4.5,304,5165,0.22,2.35,43.65,0.851,6,0.113,0.037,2984,2009,2523,0,0,0,0,0,0
$GC,5501,1.12,129.2,412.4,9.2,314,5506,0.15,2.40,0.00,0.000,4,0.117,0.041,2919,3388,2516,0,0,0,0,0,0
$GC,5587,1.07,131.2,405.5,7.9,315,5593,0.00,2.38,0.00,0.000,6,0.000,0.038,2957,2011,2516,0,0,0,0,0,0
$GC,5918,1.03,138.2,379.9,7.5,324,5931,0.00,2.53,7.60,0.714,4,0.000,0.053,2957,602,2486,0,0,0,0,0,0
$GC,5978,0.92,138.2,374.3,10.0,325,5983,0.22,2.33,0.00,0.000,6,0.114,0.030,2916,1990,2484,0,0,0,0,0,0
$GC,6328,0.99,152.3,349.2,7.1,334,6348,0.00,2.47,13.20,0.770,4,0.000,0.051,2916,605,2428,0,0,0,0,0,0
$GC,6363,1.00,160.8,346.5,7.4,334,6379,0.00,2.40,9.12,0.721,6,0.000,0.031,2916,2022,2394,0,0,0,0,0,0
$GC,6704,1.11,186.6,323.2,6.2,343,6734,0.17,2.58,23.75,0.794,4,0.064,0.053,2958,604,2288,0,0,0,0,0,0
$GC,6858,1.06,186.6,307.9,11.0,346,6863,0.00,2.35,0.00,0.000,6,0.000,0.030,2958,2012,2282,0,0,0,0,0,0
$GC,7186,1.06,186.6,280.7,8.6,360,7190,0.00,2.42,0.00,0.000,4,0.000,0.039,2959,3412,2282,0,0,0,0,0,0
$GC,7229,1.09,186.6,276.5,9.7,362,7233,0.00,2.42,0.00,0.000,6,0.000,0.036,2959,2006,2282,0,0,0,0,0,0
$GC,7557,1.09,186.6,245.8,8.7,378,7561,0.00,2.47,0.00,0.000,4,0.000,0.051,2959,594,2281,0,0,0,0,0,0
$GC,7674,1.05,186.6,234.7,8.9,383,7678,0.00,2.38,0.00,0.000,6,0.000,0.028,2959,2022,2277,0,0,0,0,0,0
$GC,8000,1.05,190.4,207.1,7.8,399,8004,0.00,2.50,0.00,0.000,4,0.000,0.048,2959,594,2278,0,0,0,0,0,0
$GC,8078,1.05,190.4,200.5,9.7,402,8082,0.00,2.38,0.00,0.000,6,0.000,0.028,2959,2016,2276,0,0,0,0,0,0
$GC,8404,1.14,224.4,178.8,5.7,431,8443,0.00,0.00,32.80,0.688,6,0.000,0.000,2959,2022,2133,0,0,0,0,0,0
$GC,8701,1.20,224.4,155.0,8.6,459,8705,0.00,2.47,0.00,0.000,4,0.000,0.047,2959,594,2130,0,0,0,0,0,0
$GC,8764,1.20,224.4,148.2,10.5,465,8769,0.00,2.35,0.00,0.000,6,0.000,0.025,2958,2016,2127,0,0,0,0,0,0
$GC,9027,1.30,245.7,128.4,6.6,490,9056,0.17,2.55,19.10,0.618,4,0.059,0.045,3005,598,2047,0,0,0,0,0,0
$GC,9175,1.23,245.7,113.9,11.9,506,9180,0.12,2.35,0.00,0.000,6,0.109,0.023,2982,2020,2043,0,0,0,0,0,0
$GC,9438,1.28,245.7,86.9,10.5,530,9439,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2024,2043,0,0,0,0,0,0
$GC,9692,1.36,245.7,62.6,9.3,554,9696,0.12,2.45,0.00,0.000,4,0.067,0.043,3019,601,2043,0,0,0,0,0,0
$GC,9745,1.30,245.7,57.1,10.8,559,9750,0.12,2.30,0.00,0.000,6,0.107,0.021,2996,2027,2042,0,0,0,0,0,0
$GC,10007,1.41,277.5,38.5,5.8,583,10047,0.10,2.50,28.67,0.545,4,0.077,0.041,3028,594,1916,0,0,0,0,0,0
$GC,10111,1.35,277.5,29.1,11.1,594,10118,0.00,2.33,0.00,0.000,6,0.000,0.021,3028,2011,1912,0,0,0,0,0,0
$GC,10319,1.35,277.5,7.2,11.0,631,10324,0.00,2.45,0.00,0.000,4,0.000,0.043,3028,593,1912,0,0,0,0,0,0
$STATE,10359,end climb,SURFACE_DEPTH_REACHED
$STATE,10359,begin surface coast
$FINISH,0.6,1.023318
$STATE,10392,end surface coast,CONTROL_FINISHED_OK
$STATE,10392,begin surface
$SM_CCo,10414,11.45,0.472,0,0,1826,300.00
$SM_GC,2.11,0.00,0.00,11.45,0.000,0.000,0.472,426,1906,1826,-10.52,0.85,300.00
$IRIDIUM_FIX,2101.76,-15747.88,300899,121228
$TT8_MAMPS,0.029146
$HUMID,49.96
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,39.851
$10V_AH,10.0,37.808
$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,28.400,124.250,307.700,11.450,0.000,24.918,31.255,173.876,4.750,0.000,15.180,1270.189,6696.519,381.156,1962.565,460.257,33.378,1249.293,0.000,1944.270,0.000,32.093,0.000
$DEVICE_MAMPS,134.225,52.923,880.516,472.472,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,436.225,412.290,819.996,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,34952,647
$CAP_FILE_SIZE,123377,0
$CFSIZE,260165632,232411136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050610,184421,2107.390,-15748.594,49,4.4,68,9.8