version: 66.06
glider: 139
mission: 7
dive: 457
start: 6 6 110 10 27 49
data:
$ID,139
$MISSION,7
$DIVE,457
$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,-2138104.2
$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
$GPS1,101727,2108.255,-15748.877,73,2.7,92,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.2
$GPS2,102658,2108.327,-15748.930,12,3.1,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,-0.010
$KALMAN_X,-177139.4,341.4,-383.5,187546.8,-2008.3
$KALMAN_Y,15505.5,-14.4,-25.5,-12843.0,93.4
$MHEAD_RNG_PITCHd_Wd,83.4,11382,-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,-52.95,0.000,2,0.000,0.000,425,1881,3197,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.2,-4.8,10,97,10.55,2.38,-3.45,0.000,4,0.131,0.038,2404,3297,3371,0,0,0,0,0,0
$GC,153,-1.34,-77.9,20.7,-15.2,26,160,0.00,2.45,0.00,0.000,6,0.000,0.031,2405,1869,3372,0,0,0,0,0,0
$GC,360,-1.16,-77.9,57.2,-19.1,50,365,0.25,2.42,0.00,0.000,4,0.091,0.044,2458,460,3373,0,0,0,0,0,0
$GC,378,-0.99,-77.9,60.3,-18.4,51,383,0.20,2.33,0.00,0.000,6,0.097,0.019,2496,1922,3372,0,0,0,0,0,0
$GC,641,-1.07,-77.9,87.7,-9.8,75,645,0.00,2.50,0.00,0.000,4,0.000,0.042,2497,459,3373,0,0,0,0,0,0
$GC,703,-1.18,-77.9,94.0,-9.6,81,708,0.17,2.22,0.00,0.000,6,0.048,0.019,2437,1867,3374,0,0,0,0,0,0
$GC,965,-1.18,-77.9,120.5,-9.8,105,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1872,3375,0,0,0,0,0,0
$GC,1221,-1.22,-77.9,147.0,-9.8,129,1225,0.00,2.40,0.00,0.000,4,0.000,0.043,2440,469,3376,0,0,0,0,0,0
$GC,1320,-1.22,-77.9,158.1,-11.0,139,1326,0.00,2.22,0.00,0.000,6,0.000,0.019,2440,1881,3376,0,0,0,0,0,0
$GC,1585,-1.30,-77.9,180.1,-8.9,164,1589,0.00,2.42,0.00,0.000,4,0.000,0.043,2439,468,3376,0,0,0,0,0,0
$GC,1621,-1.30,-77.9,184.1,-9.4,167,1627,0.00,2.22,0.00,0.000,6,0.000,0.020,2440,1874,3377,0,0,0,0,0,0
$GC,1881,-1.36,-77.9,208.8,-10.1,188,1886,0.10,2.40,0.00,0.000,4,0.072,0.044,2400,469,3377,0,0,0,0,0,0
$GC,1918,-1.31,-77.9,213.8,-12.7,189,1925,0.12,2.25,0.00,0.000,6,0.097,0.021,2427,1876,3377,0,0,0,0,0,0
$GC,2237,-1.37,-77.9,243.4,-8.9,205,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1881,3377,0,0,0,0,0,0
$GC,2543,-1.46,-77.9,268.1,-7.9,220,2548,0.15,2.45,0.00,0.000,4,0.054,0.046,2377,464,3376,0,0,0,0,0,0
$GC,2638,-1.40,-77.9,278.3,-10.7,224,2643,0.15,2.28,0.00,0.000,6,0.094,0.022,2409,1877,3376,0,0,0,0,0,0
$GC,2963,-1.44,-77.9,309.1,-9.8,238,2967,0.00,2.42,0.00,0.000,4,0.000,0.047,2409,470,3375,0,0,0,0,0,0
$GC,3069,-1.44,-77.9,320.7,-11.1,240,3073,0.00,2.28,0.00,0.000,6,0.000,0.023,2408,1877,3375,0,0,0,0,0,0
$GC,3382,-1.50,-77.9,349.9,-9.0,248,3386,0.00,2.42,0.00,0.000,4,0.000,0.048,2409,466,3373,0,0,0,0,0,0
$GC,3479,-1.50,-77.9,359.1,-8.7,250,3483,0.00,2.30,0.00,0.000,6,0.000,0.025,2409,1878,3373,0,0,0,0,0,0
$GC,3797,-1.56,-77.9,385.5,-8.1,258,3802,0.17,2.47,0.00,0.000,4,0.054,0.050,2359,464,3371,0,0,0,0,0,0
$GC,3844,-1.47,-77.9,390.5,-10.9,259,3849,0.17,2.30,0.00,0.000,6,0.094,0.026,2395,1874,3370,0,0,0,0,0,0
$GC,4169,-1.47,-77.9,421.5,-9.8,267,4173,0.00,2.45,0.00,0.000,4,0.000,0.051,2395,471,3368,0,0,0,0,0,0
$GC,4211,-1.47,-77.9,426.2,-11.6,268,4215,0.00,2.33,0.00,0.000,6,0.000,0.028,2394,1879,3368,0,0,0,0,0,0
$STATE,4495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4495,begin apogee
$GC,4501,-0.31,0.0,452.7,9.1,275,4570,1.17,0.00,64.75,0.872,6,0.074,0.000,2646,2031,3050,0,0,0,0,0,0
$STATE,4570,end apogee,CONTROL_FINISHED_OK
$STATE,4570,begin climb
$GC,4572,1.40,77.9,453.7,0.0,276,4648,1.62,2.42,64.72,0.851,4,0.031,0.042,3023,3377,2732,0,0,0,0,0,0
$GC,4912,1.20,102.9,441.6,6.3,283,4941,0.28,2.35,21.83,0.824,6,0.107,0.035,2978,2009,2629,0,0,0,0,0,0
$GC,5264,1.12,128.4,418.3,6.3,292,5288,0.00,0.00,22.15,0.823,6,0.000,0.000,2978,2009,2526,0,0,0,0,0,0
$GC,5589,1.06,152.4,397.5,6.4,300,5618,0.17,2.45,21.55,0.818,4,0.109,0.038,2937,3375,2428,0,0,0,0,0,0
$GC,5667,1.07,159.9,392.2,7.5,301,5681,0.00,2.38,7.95,0.709,6,0.000,0.037,2945,2002,2397,0,0,0,0,0,0
$GC,6005,1.07,159.9,365.5,8.2,310,6009,0.00,2.47,0.00,0.000,4,0.000,0.051,2944,597,2393,0,0,0,0,0,0
$GC,6021,1.07,162.3,364.3,7.9,310,6025,0.00,2.35,0.00,0.000,6,0.000,0.030,2945,1989,2391,0,0,0,0,0,0
$GC,6370,1.08,168.0,337.4,7.6,319,6383,0.00,2.50,7.45,0.692,4,0.000,0.051,2945,599,2364,0,0,0,0,0,0
$GC,6429,1.03,168.0,332.7,8.5,320,6434,0.00,2.38,0.00,0.000,6,0.000,0.030,2945,2016,2362,0,0,0,0,0,0
$GC,6780,1.04,173.3,305.8,7.7,329,6792,0.00,2.55,5.65,0.617,4,0.000,0.051,2945,604,2343,0,0,0,0,0,0
$GC,6925,1.00,173.3,293.1,9.0,333,6930,0.00,2.38,0.00,0.000,6,0.000,0.028,2945,2014,2341,0,0,0,0,0,0
$GC,7248,1.04,177.1,267.3,7.8,349,7259,0.00,2.50,4.95,0.568,4,0.000,0.050,2945,594,2326,0,0,0,0,0,0
$GC,7301,1.04,177.1,262.6,9.0,351,7305,0.00,2.40,0.00,0.000,6,0.000,0.029,2945,2020,2325,0,0,0,0,0,0
$GC,7623,1.10,186.8,237.2,7.4,367,7639,0.00,2.40,9.75,0.675,4,0.000,0.036,2935,3399,2288,0,0,0,0,0,0
$GC,7681,1.18,196.7,232.7,7.3,369,7698,0.12,2.40,10.62,0.673,6,0.069,0.035,2980,2004,2247,0,0,0,0,0,0
$GC,8022,1.18,196.7,203.4,8.1,386,8023,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2004,2244,0,0,0,0,0,0
$GC,8341,1.22,224.9,179.2,6.1,413,8368,0.00,0.00,25.42,0.680,6,0.000,0.000,2980,2004,2133,0,0,0,0,0,0
$GC,8623,1.23,234.8,156.2,7.3,440,8642,0.00,2.45,10.10,0.601,4,0.000,0.047,2980,602,2091,0,0,0,0,0,0
$GC,8765,1.19,234.8,141.3,10.1,455,8770,0.00,2.33,0.00,0.000,6,0.000,0.024,2980,2023,2087,0,0,0,0,0,0
$GC,9027,1.24,234.8,117.3,8.7,480,9031,0.00,2.30,0.00,0.000,4,0.000,0.031,2978,3412,2087,0,0,0,0,0,0
$GC,9051,1.31,234.8,115.2,8.8,482,9056,0.10,2.35,0.00,0.000,6,0.076,0.029,3010,2006,2087,0,0,0,0,0,0
$GC,9311,1.33,248.6,94.5,7.1,506,9331,0.00,2.40,12.75,0.564,4,0.000,0.030,3011,3411,2036,0,0,0,0,0,0
$GC,9393,1.37,255.6,88.3,7.5,514,9408,0.00,2.40,7.97,0.515,6,0.000,0.028,3009,2004,2007,0,0,0,0,0,0
$GC,9664,1.37,255.6,65.5,8.6,540,9668,0.00,2.35,0.00,0.000,4,0.000,0.028,3010,3408,2005,0,0,0,0,0,0
$GC,9689,1.41,255.6,63.4,9.1,542,9693,0.00,2.35,0.00,0.000,6,0.000,0.028,3010,2008,2005,0,0,0,0,0,0
$GC,9957,1.44,255.6,41.1,8.8,567,9961,0.00,2.38,0.00,0.000,4,0.000,0.042,3010,603,2005,0,0,0,0,0,0
$GC,10001,1.44,255.6,36.5,10.7,571,10008,0.00,2.33,0.00,0.000,6,0.000,0.021,3009,2027,2003,0,0,0,0,0,0
$GC,10270,1.48,255.6,9.8,9.7,614,10278,0.12,2.47,0.00,0.000,4,0.064,0.041,3052,606,2003,0,0,0,0,0,0
$STATE,10335,end climb,SURFACE_DEPTH_REACHED
$STATE,10335,begin surface coast
$FINISH,2.2,1.023262
$STATE,10344,end surface coast,CONTROL_FINISHED_OK
$STATE,10344,begin surface
$SM_CCo,10366,23.80,0.502,0,0,1826,300.00
$SM_GC,1.44,0.00,0.00,23.80,0.000,0.000,0.502,428,1896,1826,-10.52,0.59,300.00
$IRIDIUM_FIX,2059.45,-15745.74,310899,101001
$TT8_MAMPS,0.029913
$HUMID,48.62
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,40.348
$10V_AH,10.0,38.306
$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,26.825,114.200,297.625,23.800,0.000,56.942,65.672,253.568,4.500,0.000,32.516,1220.666,6894.445,383.847,1858.883,600.798,33.383,1199.213,0.000,1822.590,0.000,30.584,0.000
$DEVICE_MAMPS,131.157,53.690,872.079,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.122,404.168,775.326,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,34928,629
$CAP_FILE_SIZE,121035,0
$CFSIZE,260165632,232046592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060610,132250,2108.355,-15748.525,55,4.0,74,9.8