version: 66.06
glider: 139
mission: 7
dive: 453
start: 6 5 110 22 0 16
data:
$ID,139
$MISSION,7
$DIVE,453
$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,-2137990.5
$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
$GPS1,215331,2107.532,-15748.927,119,1.5,125,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-68.8
$GPS2,215925,2107.547,-15748.989,34,0.9,45,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,-0.004
$KALMAN_X,-168507.6,-244.4,-494.4,179512.0,-1534.2
$KALMAN_Y,15388.0,157.4,-15.4,-14350.5,-114.3
$MHEAD_RNG_PITCHd_Wd,81.5,10969,-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,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-52.50,0.000,2,0.000,0.000,426,1888,3176,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.1,-4.1,10,91,10.60,0.00,-3.97,0.000,6,0.133,0.000,2406,1888,3370,0,0,0,0,0,0
$GC,289,-1.22,-77.9,45.5,-17.7,41,294,0.20,2.45,0.00,0.000,4,0.099,0.043,2446,460,3372,0,0,0,0,0,0
$GC,332,-1.07,-77.9,53.4,-17.5,45,337,0.17,2.30,0.00,0.000,6,0.101,0.019,2480,1909,3372,0,0,0,0,0,0
$GC,596,-1.11,-77.9,82.6,-10.7,69,600,0.00,2.47,0.00,0.000,4,0.000,0.043,2480,460,3373,0,0,0,0,0,0
$GC,657,-1.11,-77.9,89.4,-10.1,75,661,0.00,2.25,0.00,0.000,6,0.000,0.019,2480,1879,3374,0,0,0,0,0,0
$GC,921,-1.21,-77.9,112.4,-8.3,99,926,0.12,2.42,0.00,0.000,4,0.062,0.043,2435,463,3375,0,0,0,0,0,0
$GC,967,-1.18,-77.9,118.2,-12.2,103,973,0.10,2.25,0.00,0.000,6,0.107,0.019,2456,1877,3375,0,0,0,0,0,0
$GC,1228,-1.25,-77.9,147.1,-10.6,128,1232,0.00,2.40,0.00,0.000,4,0.000,0.042,2456,464,3376,0,0,0,0,0,0
$GC,1280,-1.32,-77.9,151.8,-8.8,133,1285,0.12,2.25,0.00,0.000,6,0.062,0.019,2412,1891,3377,0,0,0,0,0,0
$GC,1542,-1.32,-77.9,176.0,-9.3,157,1546,0.00,2.45,0.00,0.000,4,0.000,0.043,2411,463,3376,0,0,0,0,0,0
$GC,1580,-1.27,-77.9,179.9,-10.0,160,1588,0.08,2.28,0.00,0.000,6,0.076,0.020,2433,1869,3377,0,0,0,0,0,0
$GC,1840,-1.31,-77.9,202.7,-9.6,184,1844,0.00,2.38,0.00,0.000,4,0.000,0.044,2432,470,3377,0,0,0,0,0,0
$GC,1890,-1.31,-77.9,208.2,-10.5,186,1894,0.00,2.25,0.00,0.000,6,0.000,0.020,2433,1877,3377,0,0,0,0,0,0
$GC,2210,-1.39,-77.9,239.6,-8.3,202,2214,0.00,2.40,0.00,0.000,4,0.000,0.044,2433,456,3377,0,0,0,0,0,0
$GC,2292,-1.44,-77.9,247.1,-8.7,205,2297,0.15,2.28,0.00,0.000,6,0.056,0.021,2386,1876,3377,0,0,0,0,0,0
$GC,2614,-1.44,-77.9,277.3,-9.2,221,2619,0.00,2.40,0.00,0.000,4,0.000,0.044,2384,468,3376,0,0,0,0,0,0
$GC,2646,-1.37,-77.9,280.8,-10.6,222,2651,0.15,2.25,0.00,0.000,6,0.092,0.021,2415,1877,3376,0,0,0,0,0,0
$GC,2983,-1.43,-77.9,304.0,-7.0,237,2987,0.00,2.42,0.00,0.000,4,0.000,0.046,2415,470,3376,0,0,0,0,0,0
$GC,3011,-1.43,-77.9,306.5,-8.2,237,3015,0.00,2.25,0.00,0.000,6,0.000,0.023,2415,1876,3376,0,0,0,0,0,0
$GC,3346,-1.50,-77.9,334.6,-9.0,246,3351,0.12,2.45,0.00,0.000,4,0.064,0.049,2376,461,3374,0,0,0,0,0,0
$GC,3446,-1.44,-77.9,345.1,-9.9,248,3451,0.10,2.30,0.00,0.000,6,0.109,0.025,2397,1870,3373,0,0,0,0,0,0
$GC,3764,-1.44,-77.9,371.9,-8.5,256,3768,0.00,2.47,0.00,0.000,4,0.000,0.050,2396,462,3372,0,0,0,0,0,0
$GC,3866,-1.44,-77.9,382.0,-10.3,258,3869,0.00,2.30,0.00,0.000,6,0.000,0.025,2397,1879,3371,0,0,0,0,0,0
$GC,4183,-1.48,-77.9,410.5,-9.0,266,4187,0.00,2.45,0.00,0.000,4,0.000,0.051,2397,464,3369,0,0,0,0,0,0
$GC,4229,-1.48,-77.9,415.3,-11.2,267,4233,0.00,2.33,0.00,0.000,6,0.000,0.027,2397,1879,3368,0,0,0,0,0,0
$GC,4552,-1.53,-77.9,443.9,-8.6,275,4556,0.00,2.47,0.00,0.000,4,0.000,0.052,2397,464,3366,0,0,0,0,0,0
$STATE,4615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4615,begin apogee
$GC,4623,-0.31,0.0,450.5,9.6,276,4691,1.12,0.00,64.78,0.872,6,0.076,0.000,2640,2007,3050,0,0,0,0,0,0
$STATE,4692,end apogee,CONTROL_FINISHED_OK
$STATE,4692,begin climb
$GC,4694,1.40,77.9,452.4,0.0,278,4769,1.65,2.50,65.00,0.851,4,0.032,0.041,3025,3403,2731,0,0,0,0,0,0
$GC,4935,1.23,125.5,448.8,4.7,283,4984,0.22,2.40,40.62,0.845,6,0.114,0.035,2984,1999,2537,0,0,0,0,0,0
$GC,5293,1.12,125.5,418.3,9.2,292,5298,0.15,2.47,0.00,0.000,4,0.117,0.052,2958,605,2531,0,0,0,0,0,0
$GC,5388,1.00,125.5,409.5,9.0,294,5393,0.15,2.38,0.00,0.000,6,0.122,0.029,2932,2020,2529,0,0,0,0,0,0
$GC,5712,1.01,139.4,387.1,7.1,302,5728,0.00,2.40,11.77,0.772,4,0.000,0.041,2932,3404,2481,0,0,0,0,0,0
$GC,5743,1.02,147.1,384.5,7.5,302,5756,0.00,2.42,8.32,0.716,6,0.000,0.036,2932,2007,2450,0,0,0,0,0,0
$GC,6079,1.02,147.1,356.2,8.6,311,6083,0.00,2.47,0.00,0.000,4,0.000,0.051,2932,602,2446,0,0,0,0,0,0
$GC,6172,0.99,147.1,348.1,8.5,313,6176,0.00,2.38,0.00,0.000,6,0.000,0.030,2932,2019,2444,0,0,0,0,0,0
$GC,6495,1.05,169.5,325.5,6.5,321,6520,0.00,2.55,19.62,0.787,4,0.000,0.051,2932,602,2359,0,0,0,0,0,0
$GC,6539,1.05,174.3,322.1,7.7,322,6551,0.00,2.38,5.80,0.621,6,0.000,0.030,2932,2019,2339,0,0,0,0,0,0
$GC,6865,1.11,174.3,298.1,8.2,330,6870,0.10,2.53,0.00,0.000,4,0.086,0.051,2957,601,2336,0,0,0,0,0,0
$GC,7059,1.05,174.3,277.5,10.6,338,7063,0.00,2.33,0.00,0.000,6,0.000,0.029,2957,2006,2333,0,0,0,0,0,0
$GC,7375,1.08,202.9,254.6,6.1,353,7403,0.00,0.00,26.27,0.753,6,0.000,0.000,2957,2011,2222,0,0,0,0,0,0
$GC,7706,1.12,202.9,229.8,8.5,369,7710,0.00,2.45,0.00,0.000,4,0.000,0.049,2957,604,2217,0,0,0,0,0,0
$GC,7779,1.12,202.9,221.9,10.8,372,7783,0.00,2.38,0.00,0.000,6,0.000,0.028,2957,2021,2215,0,0,0,0,0,0
$GC,8105,1.19,220.1,195.3,6.8,391,8127,0.00,2.60,15.32,0.676,4,0.000,0.048,2957,594,2152,0,0,0,0,0,0
$GC,8289,1.19,220.1,179.7,8.7,411,8293,0.00,2.38,0.00,0.000,6,0.000,0.026,2957,2015,2147,0,0,0,0,0,0
$GC,8552,1.25,220.1,156.7,9.7,435,8557,0.12,2.50,0.00,0.000,4,0.072,0.048,2991,598,2147,0,0,0,0,0,0
$GC,8616,1.20,220.1,148.5,13.9,441,8620,0.00,2.33,0.00,0.000,6,0.000,0.025,2991,2015,2146,0,0,0,0,0,0
$GC,8879,1.21,236.2,127.6,6.9,465,8899,0.00,2.50,15.07,0.610,4,0.000,0.044,2991,601,2086,0,0,0,0,0,0
$GC,8977,1.17,236.2,118.6,10.2,475,8982,0.12,2.33,0.00,0.000,6,0.111,0.024,2969,2018,2083,0,0,0,0,0,0
$GC,9243,1.30,258.5,102.2,6.5,500,9266,0.12,0.00,20.62,0.596,6,0.068,0.000,3006,2024,1995,0,0,0,0,0,0
$GC,9518,1.34,258.5,78.5,9.2,526,9523,0.00,2.47,0.00,0.000,4,0.000,0.044,3006,591,1994,0,0,0,0,0,0
$GC,9552,1.29,258.5,74.9,12.0,529,9556,0.00,2.30,0.00,0.000,6,0.000,0.021,3006,2018,1992,0,0,0,0,0,0
$GC,9816,1.33,258.5,48.6,9.3,553,9820,0.00,2.45,0.00,0.000,4,0.000,0.042,3006,595,1992,0,0,0,0,0,0
$GC,9875,1.33,258.5,42.5,9.8,559,9880,0.00,2.30,0.00,0.000,6,0.000,0.021,3005,2018,1991,0,0,0,0,0,0
$GC,10148,1.38,258.5,17.8,8.5,596,10155,0.00,2.45,0.00,0.000,4,0.000,0.041,3006,605,1992,0,0,0,0,0,0
$STATE,10292,end climb,SURFACE_DEPTH_REACHED
$STATE,10292,begin surface coast
$FINISH,0.6,1.001804
$STATE,10316,end surface coast,CONTROL_FINISHED_OK
$STATE,10316,begin surface
$SM_CCo,10339,21.38,0.498,0,0,1826,300.00
$SM_GC,1.16,0.00,0.00,21.38,0.000,0.000,0.498,425,1903,1826,-10.53,0.79,300.00
$IRIDIUM_FIX,2101.76,-15743.60,300899,181853
$TT8_MAMPS,0.029146
$HUMID,49.17
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,40.013
$10V_AH,10.1,37.974
$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,26.825,124.225,293.225,21.375,0.000,30.885,37.838,135.275,4.750,0.000,45.454,1250.882,6717.315,369.305,1949.077,425.820,33.381,1217.028,0.000,1894.627,0.000,32.106,0.000
$DEVICE_MAMPS,132.691,52.156,872.079,497.783,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,427.800,407.685,777.840,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,35020,633
$CAP_FILE_SIZE,120885,0
$CFSIZE,260165632,232288256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060610,005601,2107.440,-15748.714,148,1.8,148,9.8