version: 66.06
glider: 139
mission: 7
dive: 452
start: 6 5 110 18 50 43
data:
$ID,139
$MISSION,7
$DIVE,452
$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,-2137944.2
$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
$GPS1,184421,2107.390,-15748.594,49,4.4,68,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.5
$GPS2,184952,2107.393,-15748.646,14,4.3,33,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.181,0.032
$KALMAN_X,-166236.3,-430.1,46.5,177481.7,-2772.7
$KALMAN_Y,15612.5,76.7,-92.2,-14705.8,-137.0
$MHEAD_RNG_PITCHd_Wd,70.3,10319,-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,-52.25,0.000,2,0.000,0.000,426,1906,3202,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.5,-5.9,10,94,10.62,2.50,-3.22,0.000,4,0.135,0.053,2403,471,3370,0,0,0,0,0,0
$GC,102,-0.22,-77.9,13.6,-31.1,15,108,1.27,2.30,0.00,0.000,6,0.094,0.020,2661,1911,3371,0,0,0,0,0,0
$GC,307,-0.89,-77.9,27.6,-7.6,52,315,0.60,2.50,0.00,0.000,4,0.057,0.039,2520,473,3371,0,0,0,0,0,0
$GC,369,-0.99,-77.9,32.7,-8.2,61,376,0.00,2.28,0.00,0.000,6,0.000,0.019,2520,1878,3371,0,0,0,0,0,0
$GC,631,-1.12,-77.9,55.5,-8.1,86,636,0.20,2.42,0.00,0.000,4,0.048,0.041,2456,460,3373,0,0,0,0,0,0
$GC,704,-1.08,-77.9,65.0,-12.4,93,711,0.00,2.28,0.00,0.000,6,0.000,0.020,2457,1871,3373,0,0,0,0,0,0
$GC,966,-1.13,-77.9,99.2,-12.5,118,970,0.00,2.40,0.00,0.000,4,0.000,0.043,2456,461,3374,0,0,0,0,0,0
$GC,1039,-1.13,-77.9,108.4,-11.0,125,1044,0.00,2.22,0.00,0.000,6,0.000,0.019,2456,1881,3375,0,0,0,0,0,0
$GC,1301,-1.19,-77.9,130.9,-7.5,150,1305,0.00,2.40,0.00,0.000,4,0.000,0.041,2456,464,3375,0,0,0,0,0,0
$GC,1392,-1.23,-77.9,138.6,-7.7,159,1398,0.00,2.25,0.00,0.000,6,0.000,0.019,2456,1877,3376,0,0,0,0,0,0
$GC,1655,-1.33,-77.9,156.8,-7.6,184,1660,0.15,2.42,0.00,0.000,4,0.054,0.043,2406,465,3376,0,0,0,0,0,0
$GC,1691,-1.23,-77.9,160.4,-11.6,187,1696,0.17,2.22,0.00,0.000,6,0.088,0.020,2443,1874,3377,0,0,0,0,0,0
$GC,1953,-1.30,-77.9,184.1,-9.1,211,1957,0.00,2.40,0.00,0.000,4,0.000,0.044,2442,462,3376,0,0,0,0,0,0
$GC,2015,-1.35,-77.9,190.0,-8.9,217,2020,0.10,2.25,0.00,0.000,6,0.072,0.020,2405,1881,3376,0,0,0,0,0,0
$GC,2272,-1.35,-77.9,213.2,-8.7,234,2276,0.00,2.42,0.00,0.000,4,0.000,0.044,2405,459,3376,0,0,0,0,0,0
$GC,2309,-1.31,-77.9,216.5,-9.0,235,2315,0.10,2.25,0.00,0.000,6,0.107,0.021,2426,1874,3377,0,0,0,0,0,0
$GC,2631,-1.37,-77.9,241.1,-8.3,251,2635,0.00,2.42,0.00,0.000,4,0.000,0.044,2426,461,3377,0,0,0,0,0,0
$GC,2709,-1.37,-77.9,248.8,-9.1,254,2713,0.00,2.25,0.00,0.000,6,0.000,0.021,2426,1881,3377,0,0,0,0,0,0
$GC,3026,-1.46,-77.9,275.0,-8.7,269,3031,0.15,2.42,0.00,0.000,4,0.057,0.046,2379,470,3376,0,0,0,0,0,0
$GC,3108,-1.42,-77.9,284.6,-11.5,272,3113,0.12,2.25,0.00,0.000,6,0.100,0.022,2404,1877,3376,0,0,0,0,0,0
$GC,3441,-1.46,-77.9,316.6,-9.2,284,3445,0.00,2.42,0.00,0.000,4,0.000,0.047,2404,470,3375,0,0,0,0,0,0
$GC,3472,-1.46,-77.9,319.8,-9.5,284,3479,0.00,2.28,0.00,0.000,6,0.000,0.023,2404,1874,3375,0,0,0,0,0,0
$GC,3817,-1.50,-77.9,349.1,-8.5,293,3822,0.00,2.42,0.00,0.000,4,0.000,0.048,2404,470,3374,0,0,0,0,0,0
$GC,3849,-1.50,-77.9,352.3,-9.1,293,3853,0.00,2.30,0.00,0.000,6,0.000,0.025,2404,1881,3373,0,0,0,0,0,0
$GC,4185,-1.55,-77.9,379.5,-7.6,302,4190,0.12,2.45,0.00,0.000,4,0.067,0.051,2366,471,3371,0,0,0,0,0,0
$GC,4266,-1.47,-77.9,386.9,-9.8,303,4271,0.12,2.30,0.00,0.000,6,0.100,0.025,2391,1874,3370,0,0,0,0,0,0
$GC,4596,-1.47,-77.9,416.5,-9.0,311,4601,0.00,2.42,0.00,0.000,4,0.000,0.051,2391,471,3368,0,0,0,0,0,0
$GC,4666,-1.47,-77.9,423.9,-10.1,312,4670,0.00,2.28,0.00,0.000,6,0.000,0.027,2391,1871,3368,0,0,0,0,0,0
$STATE,4922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4922,begin apogee
$GC,4928,-0.31,0.0,451.0,10.7,319,4996,1.17,0.00,65.05,0.874,6,0.073,0.000,2643,2036,3050,0,0,0,0,0,0
$STATE,4997,end apogee,CONTROL_FINISHED_OK
$STATE,4997,begin climb
$GC,5000,1.40,77.9,453.1,0.0,320,5075,1.62,2.42,65.20,0.852,4,0.031,0.042,3020,3377,2732,0,0,0,0,0,0
$GC,5338,1.24,129.3,452.4,4.5,327,5388,0.20,2.35,43.60,0.851,6,0.114,0.036,2987,2005,2523,0,0,0,0,0,0
$GC,5725,1.12,129.3,420.5,8.8,337,5730,0.15,2.47,0.00,0.000,4,0.122,0.052,2961,602,2516,0,0,0,0,0,0
$GC,5739,0.99,129.3,419.0,8.7,337,5744,0.15,2.35,0.00,0.000,6,0.124,0.029,2934,1995,2515,0,0,0,0,0,0
$GC,6089,1.01,144.8,393.8,7.0,346,6110,0.00,2.50,13.45,0.789,4,0.000,0.051,2934,606,2457,0,0,0,0,0,0
$GC,6162,0.96,144.8,387.3,9.4,347,6166,0.00,2.35,0.00,0.000,6,0.000,0.030,2934,2008,2456,0,0,0,0,0,0
$GC,6506,0.98,155.0,360.3,7.3,356,6522,0.00,2.55,9.57,0.741,4,0.000,0.051,2935,608,2417,0,0,0,0,0,0
$GC,6584,0.94,155.0,354.0,8.5,357,6588,0.00,2.38,0.00,0.000,6,0.000,0.031,2934,2009,2415,0,0,0,0,0,0
$GC,6919,0.95,168.6,329.9,7.1,366,6939,0.00,2.53,13.18,0.765,4,0.000,0.050,2934,606,2360,0,0,0,0,0,0
$GC,7082,0.95,168.6,313.7,11.4,369,7086,0.00,2.38,0.00,0.000,6,0.000,0.030,2934,2018,2357,0,0,0,0,0,0
$GC,7405,1.00,168.6,285.1,8.7,381,7410,0.00,2.50,0.00,0.000,4,0.000,0.051,2934,604,2356,0,0,0,0,0,0
$GC,7589,1.00,168.6,264.7,11.2,389,7594,0.00,2.38,0.00,0.000,6,0.000,0.029,2935,2021,2354,0,0,0,0,0,0
$GC,7920,1.10,199.1,239.0,5.9,405,7952,0.00,2.55,27.00,0.742,4,0.000,0.050,2935,598,2238,0,0,0,0,0,0
$GC,8012,1.11,212.8,233.2,7.1,409,8034,0.00,2.40,13.30,0.690,6,0.000,0.029,2934,2022,2181,0,0,0,0,0,0
$GC,8347,1.22,225.0,210.6,7.2,425,8365,0.20,2.53,11.85,0.666,4,0.059,0.048,2985,605,2132,0,0,0,0,0,0
$GC,8539,1.16,225.0,189.9,10.3,438,8545,0.00,2.38,0.00,0.000,6,0.000,0.027,2985,2011,2127,0,0,0,0,0,0
$GC,8802,1.16,225.0,166.5,8.4,463,8807,0.00,2.47,0.00,0.000,4,0.000,0.048,2984,601,2127,0,0,0,0,0,0
$GC,8846,1.11,225.0,161.7,10.8,467,8851,0.15,2.35,0.00,0.000,6,0.114,0.026,2958,2014,2126,0,0,0,0,0,0
$GC,9109,1.20,230.7,140.4,7.6,491,9119,0.00,2.53,5.53,0.512,4,0.000,0.046,2957,605,2109,0,0,0,0,0,0
$GC,9204,1.20,230.7,131.9,9.9,501,9208,0.00,2.33,0.00,0.000,6,0.000,0.024,2958,2013,2107,0,0,0,0,0,0
$GC,9467,1.29,230.7,107.6,9.9,525,9472,0.17,2.45,0.00,0.000,4,0.058,0.045,3006,601,2107,0,0,0,0,0,0
$GC,9486,1.29,230.7,105.2,10.0,526,9493,0.00,2.35,0.00,0.000,6,0.000,0.023,3006,2020,2107,0,0,0,0,0,0
$GC,9750,1.31,252.6,84.2,6.5,551,9776,0.00,0.00,20.85,0.584,6,0.000,0.000,3006,2025,2019,0,0,0,0,0,0
$GC,10034,1.35,259.5,61.9,7.5,578,10049,0.00,2.53,7.35,0.489,4,0.000,0.042,3006,603,1992,0,0,0,0,0,0
$GC,10074,1.32,259.5,58.7,8.1,582,10078,0.00,2.28,0.00,0.000,6,0.000,0.021,3006,2014,1990,0,0,0,0,0,0
$GC,10338,1.36,259.6,39.3,8.0,606,10342,0.00,2.45,0.00,0.000,4,0.000,0.042,3006,593,1989,0,0,0,0,0,0
$GC,10418,1.36,259.6,31.1,10.5,614,10425,0.00,2.33,0.00,0.000,6,0.000,0.021,3006,2014,1988,0,0,0,0,0,0
$GC,10689,1.41,259.6,6.7,9.3,662,10695,0.00,2.45,0.00,0.000,4,0.000,0.042,3006,603,1988,0,0,0,0,0,0
$STATE,10726,end climb,SURFACE_DEPTH_REACHED
$STATE,10726,begin surface coast
$FINISH,0.7,1.023402
$STATE,10762,end surface coast,CONTROL_FINISHED_OK
$STATE,10763,begin surface
$SM_CCo,10784,21.10,0.499,0,0,1826,300.00
$SM_GC,1.06,0.00,0.00,21.10,0.000,0.000,0.499,427,1885,1826,-10.52,0.28,300.00
$IRIDIUM_FIX,2057.14,-15746.61,300899,151537
$TT8_MAMPS,0.029146
$HUMID,49.13
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.4,39.932
$10V_AH,10.0,37.893
$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,28.600,133.525,295.925,21.100,0.000,31.470,29.013,140.489,4.750,0.000,34.961,1320.942,6947.881,393.198,2057.567,415.825,33.379,1286.122,0.000,2008.944,0.000,32.065,0.000
$DEVICE_MAMPS,134.992,52.923,874.380,499.317,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,457.444,435.457,862.851,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,38099,678
$CAP_FILE_SIZE,126828,0
$CFSIZE,260165632,232345600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050610,215331,2107.532,-15748.927,119,1.5,125,9.8