version: 66.06
glider: 139
mission: 7
dive: 454
start: 6 6 110 1 2 12
data:
$ID,139
$MISSION,7
$DIVE,454
$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,-2138005.8
$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
$GPS1,005601,2107.440,-15748.714,148,1.8,148,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.7
$GPS2,010120,2107.452,-15748.728,14,1.9,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.181,0.030
$KALMAN_X,-170903.1,79.7,-30.9,181574.2,-1613.6
$KALMAN_Y,15121.3,162.0,120.0,-14397.5,-468.4
$MHEAD_RNG_PITCHd_Wd,70.7,10486,-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,17,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-52.95,0.000,2,0.000,0.000,425,1903,3194,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.3,-5.1,10,97,10.60,2.50,-3.53,0.000,4,0.133,0.052,2402,469,3370,0,0,0,0,0,0
$GC,113,-0.65,-77.9,14.5,-28.4,17,119,0.82,2.30,0.00,0.000,6,0.090,0.020,2570,1910,3371,0,0,0,0,0,0
$GC,326,-0.88,-77.9,31.7,-6.6,53,331,0.20,2.47,0.00,0.000,4,0.045,0.041,2506,466,3372,0,0,0,0,0,0
$GC,396,-0.94,-77.9,38.5,-10.2,60,400,0.00,2.25,0.00,0.000,6,0.000,0.019,2506,1884,3372,0,0,0,0,0,0
$GC,660,-1.04,-77.9,61.1,-8.4,84,664,0.00,2.42,0.00,0.000,4,0.000,0.043,2505,463,3373,0,0,0,0,0,0
$GC,722,-1.12,-77.9,67.5,-8.9,90,729,0.12,2.28,0.00,0.000,6,0.031,0.019,2455,1877,3374,0,0,0,0,0,0
$GC,985,-1.12,-77.9,97.3,-12.0,115,989,0.00,2.40,0.00,0.000,4,0.000,0.043,2454,468,3375,0,0,0,0,0,0
$GC,1131,-1.18,-77.9,115.9,-10.1,130,1138,0.00,2.28,0.00,0.000,6,0.000,0.019,2454,1880,3375,0,0,0,0,0,0
$GC,1395,-1.26,-77.9,137.5,-6.9,155,1399,0.00,2.40,0.00,0.000,4,0.000,0.043,2453,468,3376,0,0,0,0,0,0
$GC,1502,-1.33,-77.9,145.1,-7.2,166,1507,0.15,2.22,0.00,0.000,6,0.054,0.019,2404,1880,3377,0,0,0,0,0,0
$GC,1762,-1.33,-77.9,170.3,-10.2,190,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1884,3377,0,0,0,0,0,0
$GC,2017,-1.33,-77.9,198.9,-11.7,214,2022,0.00,2.40,0.00,0.000,4,0.000,0.044,2403,469,3376,0,0,0,0,0,0
$GC,2062,-1.27,-77.9,203.7,-11.7,217,2066,0.15,2.22,0.00,0.000,6,0.091,0.020,2436,1876,3377,0,0,0,0,0,0
$GC,2400,-1.34,-77.9,229.7,-7.4,233,2404,0.00,2.40,0.00,0.000,4,0.000,0.044,2436,463,3377,0,0,0,0,0,0
$GC,2460,-1.42,-77.9,235.5,-9.0,235,2466,0.15,2.25,0.00,0.000,6,0.055,0.021,2387,1882,3377,0,0,0,0,0,0
$GC,2776,-1.42,-77.9,271.3,-11.4,251,2780,0.00,2.42,0.00,0.000,4,0.000,0.045,2385,459,3377,0,0,0,0,0,0
$GC,2845,-1.38,-77.9,279.3,-11.2,254,2850,0.12,2.28,0.00,0.000,6,0.098,0.021,2412,1875,3376,0,0,0,0,0,0
$GC,3170,-1.42,-77.9,308.5,-9.3,268,3175,0.00,2.42,0.00,0.000,4,0.000,0.047,2412,470,3376,0,0,0,0,0,0
$GC,3218,-1.42,-77.9,313.5,-10.8,269,3222,0.00,2.25,0.00,0.000,6,0.000,0.023,2411,1876,3375,0,0,0,0,0,0
$GC,3541,-1.49,-77.9,341.9,-8.6,277,3546,0.00,2.45,0.00,0.000,4,0.000,0.048,2412,463,3374,0,0,0,0,0,0
$GC,3657,-1.49,-77.9,352.5,-8.9,279,3661,0.00,2.28,0.00,0.000,6,0.000,0.025,2412,1870,3373,0,0,0,0,0,0
$GC,4000,-1.56,-77.9,381.5,-8.1,288,4004,0.17,2.45,0.00,0.000,4,0.054,0.050,2362,460,3371,0,0,0,0,0,0
$GC,4092,-1.46,-77.9,391.2,-11.0,290,4097,0.17,2.33,0.00,0.000,6,0.093,0.025,2397,1880,3371,0,0,0,0,0,0
$GC,4422,-1.50,-77.9,417.7,-7.8,298,4426,0.00,2.47,0.00,0.000,4,0.000,0.051,2397,463,3368,0,0,0,0,0,0
$GC,4477,-1.50,-77.9,423.1,-9.5,299,4481,0.00,2.33,0.00,0.000,6,0.000,0.027,2397,1878,3368,0,0,0,0,0,0
$STATE,4788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4788,begin apogee
$GC,4794,-0.31,0.0,452.3,9.6,307,4863,1.15,0.00,65.00,0.876,6,0.072,0.000,2645,2029,3050,0,0,0,0,0,0
$STATE,4864,end apogee,CONTROL_FINISHED_OK
$STATE,4864,begin climb
$GC,4866,1.40,77.9,454.0,0.0,308,4941,1.62,2.42,64.90,0.854,4,0.031,0.043,3025,3374,2731,0,0,0,0,0,0
$GC,5204,1.23,124.7,448.3,4.8,315,5250,0.25,2.35,39.88,0.852,6,0.110,0.035,2982,2002,2541,0,0,0,0,0,0
$GC,5591,1.12,124.7,417.3,8.5,325,5596,0.12,2.40,0.00,0.000,4,0.120,0.040,2932,3386,2534,0,0,0,0,0,0
$GC,5624,1.08,124.7,414.3,8.3,325,5628,0.00,2.35,0.00,0.000,6,0.000,0.036,2960,2009,2534,0,0,0,0,0,0
$GC,5956,1.05,134.6,390.1,7.3,333,5966,0.00,0.00,8.20,0.728,6,0.000,0.000,2960,2009,2501,0,0,0,0,0,0
$GC,6280,1.02,147.5,367.4,7.1,341,6300,0.12,2.50,12.57,0.778,4,0.122,0.051,2937,604,2447,0,0,0,0,0,0
$GC,6315,1.00,162.5,365.0,7.0,341,6336,0.00,2.35,14.68,0.780,6,0.000,0.030,2938,1993,2386,0,0,0,0,0,0
$GC,6656,1.03,187.0,342.5,6.3,350,6684,0.00,2.55,22.20,0.796,4,0.000,0.051,2938,605,2287,0,0,0,0,0,0
$GC,6808,1.03,187.0,329.5,9.9,353,6812,0.00,2.35,0.00,0.000,6,0.000,0.029,2937,2011,2281,0,0,0,0,0,0
$GC,7157,1.07,187.0,300.6,8.4,362,7162,0.00,2.50,0.00,0.000,4,0.000,0.051,2938,598,2280,0,0,0,0,0,0
$GC,7248,1.07,187.0,292.2,8.6,365,7252,0.00,2.38,0.00,0.000,6,0.000,0.030,2937,2010,2279,0,0,0,0,0,0
$GC,7578,1.14,207.8,265.6,6.6,381,7604,0.12,2.45,18.65,0.742,4,0.077,0.037,2969,3401,2202,0,0,0,0,0,0
$GC,7619,1.16,217.6,262.4,7.4,382,7636,0.00,2.45,10.40,0.680,6,0.000,0.036,2969,2006,2163,0,0,0,0,0,0
$GC,7958,1.16,217.6,234.5,8.5,399,7962,0.00,2.45,0.00,0.000,4,0.000,0.051,2969,598,2157,0,0,0,0,0,0
$GC,8071,1.12,217.6,222.4,10.7,404,8075,0.00,2.38,0.00,0.000,6,0.000,0.028,2969,2019,2154,0,0,0,0,0,0
$GC,8394,1.15,217.6,192.4,9.4,423,8399,0.00,2.47,0.00,0.000,4,0.000,0.049,2970,598,2154,0,0,0,0,0,0
$GC,8531,1.12,217.6,178.5,11.1,437,8535,0.00,2.35,0.00,0.000,6,0.000,0.026,2969,2021,2153,0,0,0,0,0,0
$GC,8797,1.12,217.6,152.3,8.9,462,8802,0.00,2.47,0.00,0.000,4,0.000,0.047,2969,602,2153,0,0,0,0,0,0
$GC,8834,1.12,217.6,148.1,12.0,465,8839,0.00,2.33,0.00,0.000,6,0.000,0.025,2969,2009,2152,0,0,0,0,0,0
$GC,9096,1.18,217.6,126.9,8.4,490,9100,0.00,2.42,0.00,0.000,4,0.000,0.044,2970,599,2152,0,0,0,0,0,0
$GC,9196,1.18,217.6,118.9,9.2,500,9203,0.00,2.35,0.00,0.000,6,0.000,0.024,2969,2018,2151,0,0,0,0,0,0
$GC,9460,1.29,259.1,100.5,5.2,525,9499,0.10,0.00,36.17,0.611,6,0.079,0.000,3000,2023,1993,0,0,0,0,0,0
$GC,9754,1.33,259.1,77.6,8.8,553,9758,0.00,2.47,0.00,0.000,4,0.000,0.044,2999,594,1989,0,0,0,0,0,0
$GC,9813,1.33,259.1,71.5,10.3,559,9817,0.00,2.33,0.00,0.000,6,0.000,0.022,3000,2022,1986,0,0,0,0,0,0
$GC,10082,1.38,259.1,48.2,8.8,584,10086,0.00,2.45,0.00,0.000,4,0.000,0.042,3000,600,1986,0,0,0,0,0,0
$GC,10185,1.38,259.1,37.7,10.3,595,10189,0.00,2.28,0.00,0.000,6,0.000,0.021,3000,2015,1986,0,0,0,0,0,0
$GC,10456,1.46,259.1,15.2,9.0,636,10464,0.15,2.47,0.00,0.000,4,0.058,0.044,3045,604,1986,0,0,0,0,0,0
$GC,10493,1.37,259.1,11.3,11.0,643,10500,0.17,2.28,0.00,0.000,6,0.098,0.020,3012,2012,1986,0,0,0,0,0,0
$STATE,10576,end climb,SURFACE_DEPTH_REACHED
$STATE,10576,begin surface coast
$FINISH,0.5,1.012020
$STATE,10612,end surface coast,CONTROL_FINISHED_OK
$STATE,10612,begin surface
$SM_CCo,10632,20.45,0.500,0,0,1826,300.00
$SM_GC,1.23,0.00,0.00,20.45,0.000,0.000,0.500,424,1854,1826,-10.53,-0.59,300.00
$IRIDIUM_FIX,2057.14,-15748.75,300899,222212
$TT8_MAMPS,0.028379
$HUMID,49.37
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,40.095
$10V_AH,10.0,38.059
$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,27.625,119.450,292.650,20.450,0.000,27.997,27.958,154.060,4.500,0.000,14.581,1296.141,6867.437,373.413,2013.215,421.004,33.385,1246.436,0.000,1985.338,0.000,29.245,0.000
$DEVICE_MAMPS,133.458,53.690,875.914,500.084,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,448.320,423.240,840.347,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,38166,664
$CAP_FILE_SIZE,122242,0
$CFSIZE,260165632,232226816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060610,040220,2107.733,-15748.306,99,6.4,118,9.8