version: 66.06
glider: 139
mission: 7
dive: 458
start: 6 6 110 13 29 28
data:
$ID,139
$MISSION,7
$DIVE,458
$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,-2138155.2
$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
$GPS1,132250,2108.355,-15748.525,55,4.0,74,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.4
$GPS2,132836,2108.389,-15748.522,33,1.8,49,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.017
$KALMAN_X,-178726.0,85.4,103.6,189605.1,-1826.6
$KALMAN_Y,15646.8,-23.9,75.9,-12959.4,79.4
$MHEAD_RNG_PITCHd_Wd,85.5,10794,-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,16,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-53.33,0.000,2,0.000,0.000,426,1897,3225,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.7,-6.1,10,97,10.52,2.50,-2.72,0.000,4,0.131,0.053,2401,467,3371,0,0,0,0,0,0
$GC,107,-0.40,-77.9,15.6,-34.0,16,114,1.05,2.35,0.00,0.000,6,0.091,0.020,2625,1916,3372,0,0,0,0,0,0
$GC,316,-0.77,-77.9,29.0,-5.4,53,322,0.32,2.45,0.00,0.000,4,0.045,0.040,2535,459,3373,0,0,0,0,0,0
$GC,391,-0.93,-77.9,36.3,-8.6,62,396,0.10,2.22,0.00,0.000,6,0.073,0.019,2494,1873,3373,0,0,0,0,0,0
$GC,655,-0.98,-77.9,67.4,-13.4,86,659,0.00,2.40,0.00,0.000,4,0.000,0.042,2494,467,3374,0,0,0,0,0,0
$GC,707,-0.98,-77.9,74.8,-14.0,91,711,0.00,2.22,0.00,0.000,6,0.000,0.019,2493,1873,3374,0,0,0,0,0,0
$GC,971,-1.07,-77.9,105.6,-11.1,115,975,0.00,2.40,0.00,0.000,4,0.000,0.044,2493,466,3375,0,0,0,0,0,0
$GC,1014,-1.17,-77.9,109.9,-8.3,119,1019,0.15,2.22,0.00,0.000,6,0.054,0.019,2442,1878,3376,0,0,0,0,0,0
$GC,1276,-1.17,-77.9,135.5,-10.0,143,1280,0.00,2.40,0.00,0.000,4,0.000,0.041,2441,460,3377,0,0,0,0,0,0
$GC,1291,-1.17,-77.9,136.9,-9.1,144,1295,0.00,2.22,0.00,0.000,6,0.000,0.019,2441,1886,3377,0,0,0,0,0,0
$GC,1554,-1.22,-77.9,160.1,-9.6,168,1558,0.00,2.42,0.00,0.000,4,0.000,0.043,2441,459,3377,0,0,0,0,0,0
$GC,1683,-1.27,-77.9,174.1,-9.9,181,1688,0.00,2.22,0.00,0.000,6,0.000,0.019,2442,1877,3377,0,0,0,0,0,0
$GC,1945,-1.33,-77.9,199.1,-10.4,206,1949,0.00,2.42,0.00,0.000,4,0.000,0.043,2441,461,3378,0,0,0,0,0,0
$GC,2010,-1.33,-77.9,206.4,-10.6,210,2014,0.00,2.25,0.00,0.000,6,0.000,0.020,2442,1874,3378,0,0,0,0,0,0
$GC,2341,-1.41,-77.9,233.6,-7.9,226,2346,0.15,2.42,0.00,0.000,4,0.054,0.044,2389,470,3378,0,0,0,0,0,0
$GC,2420,-1.34,-77.9,241.4,-11.1,229,2425,0.15,2.25,0.00,0.000,6,0.094,0.021,2421,1872,3378,0,0,0,0,0,0
$GC,2743,-1.41,-77.9,266.4,-7.8,245,2744,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,1877,3378,0,0,0,0,0,0
$GC,3050,-1.49,-77.9,292.9,-8.2,260,3055,0.15,2.45,0.00,0.000,4,0.056,0.047,2373,461,3377,0,0,0,0,0,0
$GC,3132,-1.42,-77.9,302.1,-11.4,263,3137,0.15,2.28,0.00,0.000,6,0.095,0.022,2403,1882,3377,0,0,0,0,0,0
$GC,3464,-1.46,-77.9,333.0,-9.2,271,3468,0.00,2.42,0.00,0.000,4,0.000,0.048,2404,470,3375,0,0,0,0,0,0
$GC,3575,-1.46,-77.9,343.5,-9.4,273,3579,0.00,2.25,0.00,0.000,6,0.000,0.024,2404,1871,3375,0,0,0,0,0,0
$GC,3920,-1.52,-77.9,371.6,-8.0,282,3925,0.00,2.42,0.00,0.000,4,0.000,0.049,2404,470,3373,0,0,0,0,0,0
$GC,3995,-1.55,-77.9,377.7,-7.5,283,4000,0.12,2.30,0.00,0.000,6,0.064,0.025,2364,1878,3373,0,0,0,0,0,0
$GC,4332,-1.51,-77.9,410.2,-9.9,292,4336,0.00,2.45,0.00,0.000,4,0.000,0.051,2364,471,3370,0,0,0,0,0,0
$GC,4378,-1.43,-77.9,415.5,-11.4,293,4383,0.17,2.28,0.00,0.000,6,0.093,0.027,2400,1872,3370,0,0,0,0,0,0
$GC,4703,-1.48,-77.9,443.6,-8.7,301,4707,0.00,2.45,0.00,0.000,4,0.000,0.053,2400,464,3367,0,0,0,0,0,0
$STATE,4766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4766,begin apogee
$GC,4774,-0.31,0.0,450.0,9.4,302,4842,1.12,0.00,64.90,0.872,6,0.075,0.000,2642,2006,3049,0,0,0,0,0,0
$STATE,4843,end apogee,CONTROL_FINISHED_OK
$STATE,4843,begin climb
$GC,4846,1.40,77.9,452.1,0.0,304,4920,1.62,2.53,65.03,0.852,4,0.030,0.043,3011,3409,2732,0,0,0,0,0,0
$GC,5103,1.23,126.2,448.7,4.7,309,5152,0.20,2.40,41.25,0.845,6,0.110,0.035,2986,2006,2535,0,0,0,0,0,0
$GC,5484,1.12,128.9,419.8,7.8,319,5486,0.15,0.00,0.00,0.000,6,0.116,0.000,2960,2005,2528,0,0,0,0,0,0
$GC,5809,1.09,153.5,398.8,6.3,327,5835,0.00,0.00,23.42,0.826,6,0.000,0.000,2960,2006,2424,0,0,0,0,0,0
$GC,6134,1.05,153.5,370.8,8.9,335,6138,0.00,2.47,0.00,0.000,4,0.000,0.052,2960,601,2419,0,0,0,0,0,0
$GC,6189,0.95,153.5,365.0,10.5,336,6194,0.22,2.38,0.00,0.000,6,0.110,0.031,2920,2020,2417,0,0,0,0,0,0
$GC,6504,1.02,166.5,342.1,7.1,344,6521,0.00,2.55,11.55,0.755,4,0.000,0.052,2919,604,2371,0,0,0,0,0,0
$GC,6601,1.02,166.5,333.3,8.9,346,6605,0.00,2.38,0.00,0.000,6,0.000,0.030,2920,2012,2368,0,0,0,0,0,0
$GC,6919,1.10,171.8,308.2,7.7,354,6932,0.15,2.55,5.70,0.624,4,0.067,0.051,2957,599,2348,0,0,0,0,0,0
$GC,7029,1.04,171.8,298.1,9.7,356,7036,0.00,2.40,0.00,0.000,6,0.000,0.030,2958,2006,2347,0,0,0,0,0,0
$GC,7344,1.04,171.8,272.4,8.5,372,7348,0.00,2.45,0.00,0.000,4,0.000,0.050,2957,602,2346,0,0,0,0,0,0
$GC,7537,0.99,171.8,254.5,10.1,380,7542,0.15,2.38,0.00,0.000,6,0.113,0.029,2930,2019,2344,0,0,0,0,0,0
$GC,7855,1.09,198.2,234.3,6.2,395,7885,0.10,2.42,23.92,0.735,4,0.084,0.037,2956,3408,2242,0,0,0,0,0,0
$GC,7933,1.15,198.2,228.2,8.3,398,7937,0.00,2.42,0.00,0.000,6,0.000,0.035,2955,2004,2242,0,0,0,0,0,0
$GC,8250,1.19,203.9,204.6,7.6,413,8258,0.00,0.00,6.30,0.582,6,0.000,0.000,2955,2004,2218,0,0,0,0,0,0
$GC,8567,1.25,203.9,178.9,8.8,440,8572,0.12,2.47,0.00,0.000,4,0.071,0.049,2991,595,2217,0,0,0,0,0,0
$GC,8703,1.17,203.9,163.3,10.7,454,8710,0.08,2.38,0.00,0.000,6,0.089,0.026,2973,2015,2214,0,0,0,0,0,0
$GC,8965,1.21,232.6,143.8,6.0,479,9001,0.00,2.50,26.27,0.648,4,0.000,0.046,2973,602,2099,0,0,0,0,0,0
$GC,9185,1.21,232.6,123.6,9.3,503,9189,0.00,2.33,0.00,0.000,6,0.000,0.024,2973,2025,2094,0,0,0,0,0,0
$GC,9449,1.28,242.7,101.4,7.3,527,9469,0.00,2.50,9.50,0.550,4,0.000,0.041,2973,593,2058,0,0,0,0,0,0
$GC,9483,1.28,242.7,97.9,9.4,530,9490,0.00,2.35,0.00,0.000,6,0.000,0.023,2973,2015,2058,0,0,0,0,0,0
$GC,9746,1.39,251.6,77.9,7.4,555,9758,0.20,0.00,9.12,0.525,6,0.050,0.000,3031,2019,2024,0,0,0,0,0,0
$GC,10011,1.39,251.6,53.4,8.8,580,10012,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2019,2023,0,0,0,0,0,0
$GC,10264,1.39,251.6,31.7,8.8,604,10265,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2019,2023,0,0,0,0,0,0
$GC,10527,1.39,251.6,5.3,10.5,650,10534,0.00,2.45,0.00,0.000,4,0.000,0.042,3030,604,2023,0,0,0,0,0,0
$STATE,10546,end climb,SURFACE_DEPTH_REACHED
$STATE,10546,begin surface coast
$FINISH,0.4,1.003418
$STATE,10579,end surface coast,CONTROL_FINISHED_OK
$STATE,10579,begin surface
$SM_CCo,10602,24.70,0.505,0,0,1826,300.00
$SM_GC,1.04,0.00,0.00,24.70,0.000,0.000,0.505,425,1900,1826,-10.53,0.65,300.00
$IRIDIUM_FIX,2101.76,-15747.88,310899,101007
$TT8_MAMPS,0.029146
$HUMID,49.40
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,40.427
$10V_AH,10.0,38.388
$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,28.350,109.675,286.975,24.700,0.000,28.156,29.734,140.345,4.750,0.000,50.163,1276.436,6922.888,373.391,1984.706,414.914,33.380,1216.645,0.000,1921.725,0.000,32.115,0.000
$DEVICE_MAMPS,131.157,52.923,872.079,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,446.018,424.770,829.804,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,38054,661
$CAP_FILE_SIZE,120254,0
$CFSIZE,260165632,231985152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,8
$GPS,060610,162836,2108.396,-15747.972,85,1.7,85,9.8