version: 66.06
glider: 139
mission: 7
dive: 456
start: 6 6 110 7 14 52
data:
$ID,139
$MISSION,7
$DIVE,456
$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,-2138071
$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
$GPS1,070828,2709.310,-15956.786,72,5.9,91,10.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.9
$GPS2,071401,2107.918,-15748.603,15,1.7,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.175,0.055
$KALMAN_X,-175234.2,484.3,101.3,185579.9,-3045.6
$KALMAN_Y,15314.4,26.7,-17.6,-13455.4,-186.7
$MHEAD_RNG_PITCHd_Wd,62.9,10567,-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,-52.05,0.000,2,0.000,0.000,431,1864,3212,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.9,-7.2,10,95,10.52,2.45,-2.97,0.000,4,0.133,0.054,2400,463,3371,0,0,0,0,0,0
$GC,106,-0.40,-77.9,15.3,-33.2,16,113,1.05,2.35,0.00,0.000,6,0.091,0.020,2624,1906,3372,0,0,0,0,0,0
$GC,315,-0.77,-77.9,29.9,-5.7,53,321,0.30,2.40,0.00,0.000,4,0.048,0.041,2543,468,3372,0,0,0,0,0,0
$GC,391,-0.96,-77.9,36.9,-9.6,62,395,0.17,2.25,0.00,0.000,6,0.051,0.019,2486,1884,3373,0,0,0,0,0,0
$GC,654,-1.02,-77.9,67.8,-10.9,86,658,0.00,2.42,0.00,0.000,4,0.000,0.043,2484,465,3374,0,0,0,0,0,0
$GC,715,-1.06,-77.9,75.1,-11.8,92,719,0.00,2.25,0.00,0.000,6,0.000,0.019,2485,1875,3374,0,0,0,0,0,0
$GC,977,-1.17,-77.9,102.0,-10.5,116,982,0.12,2.42,0.00,0.000,4,0.064,0.042,2440,460,3375,0,0,0,0,0,0
$GC,1006,-1.17,-77.9,105.7,-12.3,118,1012,0.00,2.28,0.00,0.000,6,0.000,0.019,2439,1872,3375,0,0,0,0,0,0
$GC,1269,-1.17,-77.9,133.2,-9.9,143,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1877,3376,0,0,0,0,0,0
$GC,1524,-1.22,-77.9,156.3,-9.0,167,1528,0.00,2.42,0.00,0.000,4,0.000,0.043,2440,460,3377,0,0,0,0,0,0
$GC,1605,-1.27,-77.9,164.5,-9.4,175,1611,0.00,2.25,0.00,0.000,6,0.000,0.020,2441,1880,3377,0,0,0,0,0,0
$GC,1867,-1.33,-77.9,187.4,-9.0,200,1872,0.00,2.40,0.00,0.000,4,0.000,0.043,2441,468,3377,0,0,0,0,0,0
$GC,1901,-1.33,-77.9,190.5,-9.8,203,1906,0.00,2.25,0.00,0.000,6,0.000,0.020,2441,1879,3377,0,0,0,0,0,0
$GC,2158,-1.41,-77.9,212.8,-8.4,220,2163,0.15,2.45,0.00,0.000,4,0.055,0.044,2390,465,3377,0,0,0,0,0,0
$GC,2210,-1.34,-77.9,218.2,-9.8,222,2215,0.15,2.22,0.00,0.000,6,0.093,0.021,2421,1877,3377,0,0,0,0,0,0
$GC,2532,-1.40,-77.9,245.7,-8.5,238,2537,0.00,2.42,0.00,0.000,4,0.000,0.044,2421,464,3377,0,0,0,0,0,0
$GC,2623,-1.40,-77.9,254.5,-10.0,242,2628,0.00,2.22,0.00,0.000,6,0.000,0.021,2422,1871,3377,0,0,0,0,0,0
$GC,2950,-1.48,-77.9,282.2,-7.9,258,2955,0.15,2.42,0.00,0.000,4,0.056,0.046,2375,461,3376,0,0,0,0,0,0
$GC,2983,-1.38,-77.9,285.9,-11.1,259,2988,0.20,2.25,0.00,0.000,6,0.087,0.023,2415,1872,3376,0,0,0,0,0,0
$GC,3318,-1.44,-77.9,315.1,-8.7,271,3322,0.00,2.42,0.00,0.000,4,0.000,0.047,2416,470,3375,0,0,0,0,0,0
$GC,3407,-1.47,-77.9,323.1,-8.8,273,3412,0.10,2.25,0.00,0.000,6,0.074,0.024,2381,1872,3375,0,0,0,0,0,0
$GC,3735,-1.47,-77.9,353.0,-9.2,281,3739,0.00,2.42,0.00,0.000,4,0.000,0.049,2381,467,3373,0,0,0,0,0,0
$GC,3797,-1.43,-77.9,359.4,-11.0,282,3802,0.00,2.28,0.00,0.000,6,0.000,0.025,2382,1882,3373,0,0,0,0,0,0
$GC,4110,-1.43,-77.9,387.7,-8.9,290,4115,0.10,2.45,0.00,0.000,4,0.111,0.051,2402,471,3370,0,0,0,0,0,0
$GC,4144,-1.43,-77.9,390.9,-9.3,290,4148,0.00,2.28,0.00,0.000,6,0.000,0.026,2402,1874,3371,0,0,0,0,0,0
$GC,4474,-1.48,-77.9,419.4,-8.8,298,4479,0.00,2.45,0.00,0.000,4,0.000,0.051,2402,466,3368,0,0,0,0,0,0
$GC,4502,-1.48,-77.9,422.3,-9.9,298,4507,0.00,2.33,0.00,0.000,6,0.000,0.027,2401,1880,3368,0,0,0,0,0,0
$STATE,4840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4840,begin apogee
$GC,4846,-0.31,0.0,451.7,8.6,307,4915,1.12,0.00,65.00,0.879,6,0.072,0.000,2644,2028,3050,0,0,0,0,0,0
$STATE,4916,end apogee,CONTROL_FINISHED_OK
$STATE,4916,begin climb
$GC,4918,1.40,77.9,452.9,0.0,308,4993,1.62,2.42,64.93,0.856,4,0.031,0.043,3026,3374,2732,0,0,0,0,0,0
$GC,5257,1.20,106.2,441.5,6.1,315,5289,0.25,2.35,24.35,0.833,6,0.110,0.035,2978,2007,2617,0,0,0,0,0,0
$GC,5608,1.09,110.5,414.7,7.7,324,5620,0.15,2.38,4.70,0.594,4,0.115,0.038,2948,3380,2598,0,0,0,0,0,0
$GC,5702,1.07,134.4,408.2,6.4,326,5730,0.00,2.38,21.60,0.825,6,0.000,0.036,2952,2007,2501,0,0,0,0,0,0
$GC,6072,1.06,155.8,383.3,6.6,335,6097,0.00,2.45,19.15,0.807,4,0.000,0.041,2949,3381,2414,0,0,0,0,0,0
$GC,6164,1.06,155.8,376.2,8.1,337,6168,0.00,2.40,0.00,0.000,6,0.000,0.038,2953,2002,2414,0,0,0,0,0,0
$GC,6491,1.06,155.8,349.5,8.4,345,6492,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2002,2410,0,0,0,0,0,0
$GC,6816,1.06,155.8,321.7,8.4,353,6820,0.00,2.47,0.00,0.000,4,0.000,0.053,2953,597,2408,0,0,0,0,0,0
$GC,6953,0.99,155.8,309.9,8.8,356,6958,0.12,2.35,0.00,0.000,6,0.122,0.031,2931,1991,2406,0,0,0,0,0,0
$GC,7285,1.05,164.3,285.4,7.4,368,7297,0.00,2.47,7.30,0.660,4,0.000,0.051,2931,598,2380,0,0,0,0,0,0
$GC,7395,1.05,164.3,276.2,8.4,372,7401,0.00,2.40,0.00,0.000,6,0.000,0.030,2931,2007,2378,0,0,0,0,0,0
$GC,7710,1.13,187.7,253.1,6.4,388,7738,0.12,2.50,21.92,0.749,4,0.076,0.049,2962,603,2284,0,0,0,0,0,0
$GC,7786,1.06,187.7,247.2,9.2,391,7790,0.00,2.38,0.00,0.000,6,0.000,0.028,2962,2013,2280,0,0,0,0,0,0
$GC,8106,1.06,187.7,221.4,8.6,407,8111,0.00,2.47,0.00,0.000,4,0.000,0.049,2962,604,2279,0,0,0,0,0,0
$GC,8127,1.06,188.0,219.8,8.0,408,8132,0.00,2.38,0.00,0.000,6,0.000,0.028,2962,2019,2278,0,0,0,0,0,0
$GC,8446,1.10,219.4,198.4,5.9,424,8483,0.00,2.58,28.40,0.708,4,0.000,0.048,2962,608,2153,0,0,0,0,0,0
$GC,8497,1.11,227.3,194.8,7.5,429,8513,0.00,2.38,8.48,0.605,6,0.000,0.028,2962,2025,2123,0,0,0,0,0,0
$GC,8768,1.16,227.3,170.7,9.4,455,8772,0.00,2.50,0.00,0.000,4,0.000,0.048,2962,598,2119,0,0,0,0,0,0
$GC,8805,1.16,227.3,166.6,10.5,458,8812,0.00,2.38,0.00,0.000,6,0.000,0.026,2962,2005,2116,0,0,0,0,0,0
$GC,9069,1.21,229.1,143.1,7.9,483,9073,0.00,2.42,0.00,0.000,4,0.000,0.046,2962,602,2116,0,0,0,0,0,0
$GC,9205,1.21,229.1,131.9,8.5,497,9209,0.00,2.35,0.00,0.000,6,0.000,0.025,2962,2023,2114,0,0,0,0,0,0
$GC,9468,1.29,229.7,111.7,8.0,521,9473,0.15,2.33,0.00,0.000,4,0.062,0.031,3003,3406,2114,0,0,0,0,0,0
$GC,9549,1.30,237.9,104.4,7.5,529,9569,0.00,2.38,9.70,0.557,6,0.000,0.030,3001,2001,2079,0,0,0,0,0,0
$GC,9824,1.33,239.0,82.4,7.9,555,9828,0.00,2.38,0.00,0.000,4,0.000,0.044,3004,605,2079,0,0,0,0,0,0
$GC,9840,1.34,244.3,80.9,7.7,556,9853,0.00,2.33,7.30,0.505,6,0.000,0.022,3004,2033,2053,0,0,0,0,0,0
$GC,10116,1.38,244.7,58.6,8.0,582,10120,0.00,2.45,0.00,0.000,4,0.000,0.041,3003,604,2052,0,0,0,0,0,0
$GC,10133,1.39,253.0,57.4,7.4,583,10146,0.00,2.28,8.82,0.504,6,0.000,0.021,3003,2016,2018,0,0,0,0,0,0
$GC,10409,1.44,253.0,36.4,8.9,609,10414,0.10,2.45,0.00,0.000,4,0.075,0.041,3037,597,2017,0,0,0,0,0,0
$GC,10444,1.34,253.0,33.1,10.1,612,10449,0.15,2.28,0.00,0.000,6,0.100,0.021,3007,2007,2016,0,0,0,0,0,0
$GC,10715,1.38,253.0,7.8,9.9,657,10720,0.00,2.42,0.00,0.000,4,0.000,0.042,3006,598,2016,0,0,0,0,0,0
$STATE,10755,end climb,SURFACE_DEPTH_REACHED
$STATE,10755,begin surface coast
$FINISH,0.4,0.999493
$STATE,10779,end surface coast,CONTROL_FINISHED_OK
$STATE,10780,begin surface
$SM_CCo,10801,24.20,0.503,0,0,1826,300.00
$SM_GC,0.97,0.00,0.00,24.20,0.000,0.000,0.503,425,1881,1826,-10.53,0.17,300.00
$IRIDIUM_FIX,2101.76,-15748.75,310899,040448
$TT8_MAMPS,0.029913
$HUMID,49.13
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.4,40.258
$10V_AH,10.0,38.225
$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,27.850,132.975,291.650,24.200,0.000,24.094,35.514,143.022,4.500,0.000,32.933,1306.680,7033.138,378.702,2003.195,435.901,33.384,1261.747,0.000,1966.469,0.000,29.263,0.000
$DEVICE_MAMPS,133.458,54.457,878.982,503.152,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,452.784,433.917,847.843,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,38058,671
$CAP_FILE_SIZE,126595,0
$CFSIZE,260165632,232103936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060610,101727,2108.255,-15748.877,73,2.7,92,9.8