version: 66.06
glider: 139
mission: 7
dive: 460
start: 6 6 110 19 41 10
data:
$ID,139
$MISSION,7
$DIVE,460
$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,-2138211
$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
$GPS1,193454,2108.635,-15747.794,55,1.6,65,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.8
$GPS2,194019,2108.632,-15747.843,13,1.7,19,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.016
$KALMAN_X,-181442.4,-134.4,109.3,193709.3,-2070.8
$KALMAN_Y,16125.9,77.2,-31.7,-12982.4,194.6
$MHEAD_RNG_PITCHd_Wd,85.3,9982,-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,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-53.22,0.000,2,0.000,0.000,425,1905,3217,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.4,-5.3,10,95,10.52,2.50,-2.95,0.000,4,0.131,0.052,2401,473,3370,0,0,0,0,0,0
$GC,115,-0.80,-77.9,16.8,-28.9,18,122,0.60,2.35,0.00,0.000,6,0.086,0.020,2536,1908,3371,0,0,0,0,0,0
$GC,321,-0.94,-77.9,38.5,-9.3,47,326,0.10,2.50,0.00,0.000,4,0.073,0.044,2496,461,3372,0,0,0,0,0,0
$GC,392,-0.94,-77.9,46.8,-11.9,54,397,0.00,2.28,0.00,0.000,6,0.000,0.019,2497,1886,3373,0,0,0,0,0,0
$GC,656,-1.03,-77.9,74.8,-10.2,78,660,0.00,2.42,0.00,0.000,4,0.000,0.043,2496,465,3373,0,0,0,0,0,0
$GC,705,-1.11,-77.9,79.5,-8.5,83,713,0.08,2.28,0.00,0.000,6,0.038,0.019,2457,1879,3374,0,0,0,0,0,0
$GC,968,-1.17,-77.9,102.3,-7.1,108,972,0.00,2.42,0.00,0.000,4,0.000,0.041,2457,466,3374,0,0,0,0,0,0
$GC,1031,-1.20,-77.9,107.8,-8.7,114,1038,0.00,2.28,0.00,0.000,6,0.000,0.019,2457,1874,3375,0,0,0,0,0,0
$GC,1295,-1.28,-77.9,130.6,-8.8,139,1297,0.10,0.00,0.00,0.000,6,0.073,0.000,2418,1880,3376,0,0,0,0,0,0
$GC,1550,-1.28,-77.9,158.9,-11.4,163,1554,0.00,2.40,0.00,0.000,4,0.000,0.043,2417,463,3376,0,0,0,0,0,0
$GC,1647,-1.28,-77.9,170.2,-11.3,173,1651,0.00,2.28,0.00,0.000,6,0.000,0.020,2418,1883,3376,0,0,0,0,0,0
$GC,1910,-1.28,-77.9,196.1,-9.6,197,1914,0.00,2.42,0.00,0.000,4,0.000,0.043,2417,468,3377,0,0,0,0,0,0
$GC,1987,-1.28,-77.9,204.1,-10.0,202,1991,0.00,2.25,0.00,0.000,6,0.000,0.020,2418,1877,3377,0,0,0,0,0,0
$GC,2304,-1.32,-77.9,234.5,-9.5,217,2309,0.00,2.40,0.00,0.000,4,0.000,0.044,2418,466,3377,0,0,0,0,0,0
$GC,2323,-1.32,-77.9,236.5,-9.2,218,2328,0.00,2.25,0.00,0.000,6,0.000,0.021,2417,1883,3376,0,0,0,0,0,0
$GC,2655,-1.36,-77.9,264.9,-8.9,234,2659,0.00,2.45,0.00,0.000,4,0.000,0.045,2418,463,3377,0,0,0,0,0,0
$GC,2748,-1.40,-77.9,273.9,-7.9,238,2752,0.00,2.28,0.00,0.000,6,0.000,0.021,2417,1875,3376,0,0,0,0,0,0
$GC,3093,-1.46,-77.9,304.1,-8.6,254,3098,0.10,2.45,0.00,0.000,4,0.074,0.047,2382,468,3376,0,0,0,0,0,0
$GC,3138,-1.39,-77.9,308.7,-10.8,255,3142,0.15,2.28,0.00,0.000,6,0.094,0.023,2413,1877,3376,0,0,0,0,0,0
$GC,3465,-1.44,-77.9,336.9,-8.5,263,3470,0.00,2.45,0.00,0.000,4,0.000,0.048,2413,464,3374,0,0,0,0,0,0
$GC,3531,-1.47,-77.9,343.0,-9.7,264,3535,0.00,2.28,0.00,0.000,6,0.000,0.025,2413,1877,3374,0,0,0,0,0,0
$GC,3875,-1.54,-77.9,373.5,-9.0,273,3880,0.15,2.45,0.00,0.000,4,0.060,0.050,2369,466,3372,0,0,0,0,0,0
$GC,3923,-1.47,-77.9,379.1,-11.8,274,3928,0.12,2.28,0.00,0.000,6,0.100,0.025,2394,1871,3371,0,0,0,0,0,0
$GC,4247,-1.47,-77.9,411.4,-9.7,282,4251,0.00,2.45,0.00,0.000,4,0.000,0.051,2395,468,3369,0,0,0,0,0,0
$GC,4302,-1.47,-77.9,417.4,-10.8,283,4307,0.00,2.33,0.00,0.000,6,0.000,0.027,2393,1881,3369,0,0,0,0,0,0
$GC,4616,-1.51,-77.9,446.9,-9.4,291,4620,0.00,2.47,0.00,0.000,4,0.000,0.053,2394,472,3366,0,0,0,0,0,0
$STATE,4646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4646,begin apogee
$GC,4654,-0.31,0.0,450.2,10.3,291,4723,1.15,0.00,64.85,0.871,6,0.076,0.000,2642,2012,3050,0,0,0,0,0,0
$STATE,4723,end apogee,CONTROL_FINISHED_OK
$STATE,4723,begin climb
$GC,4726,1.40,77.9,451.9,0.0,293,4801,1.65,2.50,64.47,0.850,4,0.031,0.042,3028,3402,2731,0,0,0,0,0,0
$GC,4940,1.21,117.4,447.8,5.3,297,4982,0.25,2.40,33.85,0.837,6,0.108,0.035,2982,2008,2570,0,0,0,0,0,0
$GC,5318,1.10,117.4,417.8,8.2,307,5320,0.15,0.00,0.00,0.000,6,0.117,0.000,2955,2008,2564,0,0,0,0,0,0
$GC,5644,1.07,128.8,394.3,7.2,315,5655,0.00,0.00,9.45,0.745,6,0.000,0.000,2956,2008,2524,0,0,0,0,0,0
$GC,5968,1.05,144.9,371.7,6.9,323,5988,0.00,2.53,15.07,0.788,4,0.000,0.052,2955,604,2459,0,0,0,0,0,0
$GC,6003,0.98,154.9,369.2,7.3,323,6020,0.15,2.38,10.52,0.739,6,0.119,0.030,2929,2019,2417,0,0,0,0,0,0
$GC,6346,1.03,168.7,345.8,7.1,332,6362,0.00,0.00,12.77,0.760,6,0.000,0.000,2929,2019,2361,0,0,0,0,0,0
$GC,6676,1.08,168.7,317.3,9.0,340,6680,0.00,2.50,0.00,0.000,4,0.000,0.051,2928,599,2357,0,0,0,0,0,0
$GC,6727,1.08,168.7,312.2,9.8,341,6731,0.00,2.38,0.00,0.000,6,0.000,0.030,2930,2010,2356,0,0,0,0,0,0
$GC,7049,1.14,169.4,284.0,8.0,353,7054,0.15,2.50,0.00,0.000,4,0.069,0.051,2966,604,2356,0,0,0,0,0,0
$GC,7260,1.08,182.7,266.2,7.1,362,7278,0.00,2.35,12.75,0.722,6,0.000,0.029,2967,2015,2304,0,0,0,0,0,0
$GC,7610,1.08,182.7,241.3,8.8,379,7615,0.00,2.47,0.00,0.000,4,0.000,0.049,2967,604,2302,0,0,0,0,0,0
$GC,7684,1.03,182.7,233.6,9.6,382,7689,0.15,2.33,0.00,0.000,6,0.117,0.028,2939,2008,2299,0,0,0,0,0,0
$GC,8007,1.13,200.1,209.6,6.8,398,8030,0.00,2.53,15.95,0.693,4,0.000,0.049,2940,611,2233,0,0,0,0,0,0
$GC,8141,1.14,215.6,200.5,7.0,403,8162,0.10,2.35,15.05,0.673,6,0.083,0.027,2966,2019,2171,0,0,0,0,0,0
$GC,8490,1.18,215.6,173.4,8.6,435,8494,0.00,2.47,0.00,0.000,4,0.000,0.047,2966,601,2167,0,0,0,0,0,0
$GC,8600,1.18,215.6,160.6,11.8,446,8607,0.00,2.35,0.00,0.000,6,0.000,0.025,2967,2001,2164,0,0,0,0,0,0
$GC,8863,1.23,215.6,137.5,8.3,471,8867,0.00,2.45,0.00,0.000,4,0.000,0.046,2966,596,2164,0,0,0,0,0,0
$GC,8992,1.23,215.6,124.0,10.4,484,8998,0.00,2.35,0.00,0.000,6,0.000,0.024,2967,2007,2164,0,0,0,0,0,0
$GC,9256,1.29,219.7,101.3,7.7,509,9267,0.12,2.45,4.15,0.416,4,0.069,0.043,3002,600,2154,0,0,0,0,0,0
$GC,9394,1.25,219.7,87.5,9.8,524,9399,0.00,2.30,0.00,0.000,6,0.000,0.023,3003,2016,2153,0,0,0,0,0,0
$GC,9658,1.28,246.5,69.7,6.2,548,9688,0.00,2.47,25.05,0.574,4,0.000,0.041,3002,602,2044,0,0,0,0,0,0
$GC,9694,1.32,275.6,67.5,6.0,551,9730,0.00,2.35,26.65,0.563,6,0.000,0.022,3002,2018,1925,0,0,0,0,0,0
$GC,9985,1.38,275.6,43.0,8.4,579,9989,0.00,2.45,0.00,0.000,4,0.000,0.042,3002,598,1921,0,0,0,0,0,0
$GC,10044,1.38,275.6,37.0,9.9,585,10049,0.00,2.28,0.00,0.000,6,0.000,0.021,3002,2008,1919,0,0,0,0,0,0
$GC,10317,1.45,275.6,13.2,9.2,627,10323,0.12,2.45,0.00,0.000,4,0.064,0.042,3042,599,1919,0,0,0,0,0,0
$STATE,10400,end climb,SURFACE_DEPTH_REACHED
$STATE,10400,begin surface coast
$FINISH,0.5,1.023287
$STATE,10422,end surface coast,CONTROL_FINISHED_OK
$STATE,10422,begin surface
$SM_CCo,10445,12.85,0.481,0,0,1826,300.00
$SM_GC,1.61,0.00,0.00,12.85,0.000,0.000,0.481,427,1893,1826,-10.52,0.51,300.00
$IRIDIUM_FIX,2059.45,-15731.16,310899,161609
$TT8_MAMPS,0.029146
$HUMID,49.37
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,40.590
$10V_AH,10.0,38.554
$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,27.125,119.450,310.600,12.850,0.000,29.610,42.140,138.351,4.500,0.000,19.125,1258.673,6777.257,370.131,1937.427,437.843,33.382,1228.842,0.000,1919.546,0.000,29.237,0.000
$DEVICE_MAMPS,131.157,52.923,871.312,480.909,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,438.548,423.749,827.294,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34880,650
$CAP_FILE_SIZE,120079,0
$CFSIZE,260165632,231866368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060610,223727,2108.673,-15747.729,62,4.3,81,9.8