version: 66.06
glider: 139
mission: 7
dive: 459
start: 6 6 110 16 35 4
data:
$ID,139
$MISSION,7
$DIVE,459
$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,-2138191.2
$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
$GPS1,162836,2108.396,-15747.972,85,1.7,85,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-72.8
$GPS2,163413,2108.410,-15747.993,18,1.7,35,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,0.015
$KALMAN_X,-180153.0,-116.0,595.1,191655.7,-2425.3
$KALMAN_Y,15841.6,-5.3,92.6,-13151.2,33.3
$MHEAD_RNG_PITCHd_Wd,75.5,10000,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.40,-77.9,0.0,0.0,0,77,0.00,0.00,-57.65,0.000,2,0.000,0.000,425,1901,3353,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.9,-6.4,11,97,10.60,2.33,-0.25,0.000,4,0.133,0.036,2406,3306,3368,0,0,0,0,0,0
$GC,113,-0.46,-77.9,16.7,-36.4,17,120,0.98,2.42,0.00,0.000,6,0.081,0.031,2611,1867,3369,0,0,0,0,0,0
$GC,325,-0.78,-77.9,30.9,-7.0,54,330,0.28,2.40,0.00,0.000,4,0.042,0.042,2527,462,3370,0,0,0,0,0,0
$GC,413,-0.88,-77.9,40.3,-10.1,63,417,0.00,2.33,0.00,0.000,6,0.000,0.019,2527,1919,3370,0,0,0,0,0,0
$GC,682,-1.03,-77.9,66.1,-8.3,88,687,0.17,2.50,0.00,0.000,4,0.051,0.043,2469,467,3371,0,0,0,0,0,0
$GC,768,-1.03,-77.9,76.5,-13.0,97,772,0.00,2.25,0.00,0.000,6,0.000,0.019,2471,1881,3372,0,0,0,0,0,0
$GC,1035,-1.09,-77.9,103.6,-9.4,122,1039,0.00,2.40,0.00,0.000,4,0.000,0.043,2470,468,3373,0,0,0,0,0,0
$GC,1088,-1.15,-77.9,109.3,-9.9,127,1092,0.00,2.22,0.00,0.000,6,0.000,0.019,2471,1881,3373,0,0,0,0,0,0
$GC,1351,-1.25,-77.9,134.3,-8.3,151,1353,0.12,0.00,0.00,0.000,6,0.061,0.000,2425,1885,3373,0,0,0,0,0,0
$GC,1606,-1.25,-77.9,160.0,-9.3,175,1611,0.00,2.42,0.00,0.000,4,0.000,0.042,2423,464,3375,0,0,0,0,0,0
$GC,1693,-1.25,-77.9,169.2,-9.0,184,1699,0.00,2.28,0.00,0.000,6,0.000,0.019,2424,1878,3375,0,0,0,0,0,0
$GC,1956,-1.25,-77.9,191.0,-8.2,209,1960,0.00,2.42,0.00,0.000,4,0.000,0.043,2424,464,3375,0,0,0,0,0,0
$GC,2019,-1.25,-77.9,197.6,-10.3,215,2025,0.00,2.25,0.00,0.000,6,0.000,0.020,2424,1886,3375,0,0,0,0,0,0
$GC,2275,-1.29,-77.9,219.0,-7.9,229,2280,0.00,2.42,0.00,0.000,4,0.000,0.044,2424,463,3375,0,0,0,0,0,0
$GC,2368,-1.33,-77.9,227.8,-8.6,233,2372,0.00,2.28,0.00,0.000,6,0.000,0.021,2424,1882,3375,0,0,0,0,0,0
$GC,2696,-1.39,-77.9,253.5,-7.6,249,2700,0.00,2.42,0.00,0.000,4,0.000,0.044,2424,470,3375,0,0,0,0,0,0
$GC,2728,-1.39,-77.9,256.4,-8.1,250,2732,0.00,2.25,0.00,0.000,6,0.000,0.021,2424,1884,3375,0,0,0,0,0,0
$GC,3045,-1.46,-77.9,279.7,-7.9,265,3047,0.12,0.00,0.00,0.000,6,0.063,0.000,2382,1889,3375,0,0,0,0,0,0
$GC,3351,-1.46,-77.9,308.1,-8.9,278,3355,0.00,2.42,0.00,0.000,4,0.000,0.047,2381,471,3373,0,0,0,0,0,0
$GC,3429,-1.40,-77.9,316.4,-10.2,279,3434,0.12,2.25,0.00,0.000,6,0.101,0.024,2407,1875,3373,0,0,0,0,0,0
$GC,3761,-1.45,-77.9,345.5,-9.1,287,3765,0.00,2.42,0.00,0.000,4,0.000,0.048,2407,466,3372,0,0,0,0,0,0
$GC,3825,-1.45,-77.9,352.3,-9.9,288,3829,0.00,2.28,0.00,0.000,6,0.000,0.025,2407,1872,3371,0,0,0,0,0,0
$GC,4172,-1.51,-77.9,384.3,-9.1,297,4176,0.00,2.42,0.00,0.000,4,0.000,0.050,2407,467,3369,0,0,0,0,0,0
$GC,4246,-1.51,-77.9,391.3,-9.0,298,4250,0.00,2.28,0.00,0.000,6,0.000,0.026,2407,1872,3369,0,0,0,0,0,0
$GC,4582,-1.57,-77.9,417.6,-7.6,307,4587,0.17,2.45,0.00,0.000,4,0.055,0.052,2358,471,3367,0,0,0,0,0,0
$GC,4673,-1.48,-77.9,426.9,-10.9,309,4678,0.17,2.30,0.00,0.000,6,0.096,0.028,2392,1877,3365,0,0,0,0,0,0
$STATE,4917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4917,begin apogee
$GC,4923,-0.31,0.0,450.2,9.5,315,4991,1.17,0.00,64.50,0.880,6,0.072,0.000,2646,2038,3050,0,0,0,0,0,0
$STATE,4992,end apogee,CONTROL_FINISHED_OK
$STATE,4992,begin climb
$GC,4994,1.40,77.9,451.6,0.0,316,5069,1.62,2.42,64.72,0.860,4,0.032,0.044,3025,3381,2731,0,0,0,0,0,0
$GC,5333,1.25,145.9,447.3,3.3,323,5399,0.20,2.35,57.97,0.861,6,0.113,0.036,2989,2008,2454,0,0,0,0,0,0
$GC,5728,1.15,145.9,413.9,9.3,333,5730,0.12,0.00,0.00,0.000,6,0.121,0.000,2967,2008,2446,0,0,0,0,0,0
$GC,6053,1.09,145.9,384.3,9.4,341,6057,0.00,2.38,0.00,0.000,4,0.000,0.039,2962,3384,2444,0,0,0,0,0,0
$GC,6109,1.05,145.9,379.2,8.8,342,6114,0.15,2.38,0.00,0.000,6,0.111,0.037,2941,2002,2444,0,0,0,0,0,0
$GC,6424,1.08,173.5,358.2,6.1,350,6453,0.00,2.55,22.98,0.813,4,0.000,0.054,2941,609,2341,0,0,0,0,0,0
$GC,6493,1.04,178.5,353.7,7.7,351,6505,0.00,2.33,5.50,0.621,6,0.000,0.031,2941,1995,2322,0,0,0,0,0,0
$GC,6841,1.06,193.5,330.2,7.0,360,6861,0.00,2.55,14.52,0.771,4,0.000,0.052,2941,601,2261,0,0,0,0,0,0
$GC,6898,1.06,193.5,325.3,9.5,361,6903,0.00,2.40,0.00,0.000,6,0.000,0.030,2941,2012,2258,0,0,0,0,0,0
$GC,7212,1.11,193.5,299.4,8.5,369,7216,0.00,2.50,0.00,0.000,4,0.000,0.052,2941,598,2257,0,0,0,0,0,0
$GC,7360,1.11,193.5,284.7,9.1,375,7364,0.00,2.38,0.00,0.000,6,0.000,0.030,2941,2020,2254,0,0,0,0,0,0
$GC,7675,1.16,193.5,257.9,9.1,390,7680,0.12,2.50,0.00,0.000,4,0.074,0.051,2973,602,2253,0,0,0,0,0,0
$GC,7774,1.10,193.5,246.1,12.6,394,7778,0.00,2.35,0.00,0.000,6,0.000,0.028,2973,2019,2252,0,0,0,0,0,0
$GC,8094,1.12,211.3,221.0,6.8,410,8115,0.00,0.00,16.17,0.703,6,0.000,0.000,2973,2023,2187,0,0,0,0,0,0
$GC,8424,1.12,211.3,194.8,9.9,428,8428,0.00,2.47,0.00,0.000,4,0.000,0.048,2973,597,2184,0,0,0,0,0,0
$GC,8587,1.07,211.3,176.5,11.3,445,8593,0.12,2.38,0.00,0.000,6,0.115,0.026,2951,2025,2181,0,0,0,0,0,0
$GC,8850,1.15,218.4,155.1,7.5,470,8862,0.00,2.55,6.85,0.559,4,0.000,0.047,2950,599,2159,0,0,0,0,0,0
$GC,8879,1.17,230.4,152.9,7.2,473,8898,0.00,2.35,12.38,0.618,6,0.000,0.025,2951,2020,2110,0,0,0,0,0,0
$GC,9153,1.26,238.7,133.4,7.5,499,9173,0.17,2.47,8.90,0.568,4,0.059,0.045,2997,602,2075,0,0,0,0,0,0
$GC,9398,1.20,238.7,107.8,10.5,525,9403,0.00,2.33,0.00,0.000,6,0.000,0.023,2997,2018,2072,0,0,0,0,0,0
$GC,9660,1.23,238.7,81.2,9.8,550,9664,0.00,2.45,0.00,0.000,4,0.000,0.044,2997,601,2071,0,0,0,0,0,0
$GC,9700,1.23,238.7,76.6,10.7,554,9707,0.00,2.33,0.00,0.000,6,0.000,0.022,2998,2009,2071,0,0,0,0,0,0
$GC,9964,1.29,241.2,53.8,7.8,579,9968,0.00,2.42,0.00,0.000,4,0.000,0.042,2997,600,2071,0,0,0,0,0,0
$GC,9982,1.29,242.0,52.0,8.0,580,9989,0.00,2.33,0.00,0.000,6,0.000,0.022,2998,2016,2070,0,0,0,0,0,0
$GC,10246,1.37,258.1,35.3,6.9,605,10270,0.00,2.53,18.02,0.532,4,0.000,0.043,2998,598,1996,0,0,0,0,0,0
$GC,10387,1.37,258.1,22.6,9.5,629,10393,0.00,2.30,0.00,0.000,6,0.000,0.021,2997,2019,1993,0,0,0,0,0,0
$GC,10591,1.42,258.1,5.4,8.8,666,10599,0.12,2.50,0.00,0.000,4,0.065,0.043,3038,595,1993,0,0,0,0,0,0
$STATE,10612,end climb,SURFACE_DEPTH_REACHED
$STATE,10612,begin surface coast
$FINISH,0.4,1.013618
$STATE,10645,end surface coast,CONTROL_FINISHED_OK
$STATE,10645,begin surface
$SM_CCo,10667,21.05,0.499,0,0,1827,300.00
$SM_GC,1.26,0.00,0.00,21.05,0.000,0.000,0.499,425,1904,1827,-10.53,0.82,300.00
$IRIDIUM_FIX,2059.45,-15748.75,310899,131321
$TT8_MAMPS,0.029146
$HUMID,49.05
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,40.508
$10V_AH,10.0,38.473
$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,27.750,119.200,292.525,21.050,0.000,30.871,33.437,142.381,4.750,0.000,35.157,1304.400,6873.051,378.485,2038.024,431.010,33.384,1254.219,0.000,1995.498,0.000,32.104,0.000
$DEVICE_MAMPS,132.691,53.690,879.749,499.317,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,456.757,439.393,867.848,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,38118,677
$CAP_FILE_SIZE,121506,0
$CFSIZE,260165632,231927808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,060610,193454,2108.635,-15747.794,55,1.6,65,9.8