version: 66.06
glider: 139
mission: 7
dive: 446
start: 6 5 110 0 24 30
data:
$ID,139
$MISSION,7
$DIVE,446
$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,-2137723.8
$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
$GPS1,001636,2107.107,-15747.740,70,1.2,75,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.9
$GPS2,002338,2107.126,-15747.741,13,1.7,13,9.8
$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,-153181.2,39.7,50.3,165515.4,-1387.1
$KALMAN_Y,17612.3,40.5,146.3,-17394.7,-370.7
$MHEAD_RNG_PITCHd_Wd,75.3,8681,-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,16,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-53.08,0.000,2,0.000,0.000,425,1920,3235,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.7,-5.8,10,91,10.60,0.00,-2.55,0.000,6,0.133,0.000,2405,1921,3370,0,0,0,0,0,0
$GC,293,-1.21,-77.9,47.4,-18.3,41,298,0.22,2.50,0.00,0.000,4,0.094,0.043,2451,464,3373,0,0,0,0,0,0
$GC,312,-1.04,-77.9,51.3,-18.1,42,319,0.12,2.35,0.00,0.000,6,0.081,0.020,2480,1917,3372,0,0,0,0,0,0
$GC,576,-1.09,-77.9,82.8,-10.6,67,580,0.00,2.47,0.00,0.000,4,0.000,0.043,2482,468,3374,0,0,0,0,0,0
$GC,638,-1.13,-77.9,89.5,-10.0,73,642,0.00,2.22,0.00,0.000,6,0.000,0.019,2481,1874,3374,0,0,0,0,0,0
$GC,901,-1.24,-77.9,113.0,-8.1,97,906,0.15,2.42,0.00,0.000,4,0.056,0.043,2431,460,3375,0,0,0,0,0,0
$GC,1001,-1.21,-77.9,123.2,-10.7,107,1005,0.00,2.25,0.00,0.000,6,0.000,0.019,2431,1879,3375,0,0,0,0,0,0
$GC,1264,-1.21,-77.9,149.5,-9.5,131,1269,0.12,2.25,0.00,0.000,4,0.096,0.025,2458,3262,3376,0,0,0,0,0,0
$GC,1291,-1.33,-77.9,152.1,-9.3,133,1296,0.15,2.30,0.00,0.000,6,0.055,0.028,2404,1868,3376,0,0,0,0,0,0
$GC,1552,-1.33,-77.9,179.6,-10.9,157,1559,0.00,2.38,0.00,0.000,4,0.000,0.043,2408,461,3377,0,0,0,0,0,0
$GC,1612,-1.28,-77.9,186.3,-11.4,163,1617,0.12,2.25,0.00,0.000,6,0.097,0.020,2434,1883,3377,0,0,0,0,0,0
$GC,1881,-1.33,-77.9,212.1,-9.6,182,1885,0.00,2.42,0.00,0.000,4,0.000,0.044,2434,469,3377,0,0,0,0,0,0
$GC,1932,-1.38,-77.9,217.4,-10.0,184,1936,0.00,2.22,0.00,0.000,6,0.000,0.021,2434,1876,3377,0,0,0,0,0,0
$GC,2258,-1.47,-77.9,244.3,-7.7,200,2263,0.17,2.40,0.00,0.000,4,0.051,0.044,2380,473,3377,0,0,0,0,0,0
$GC,2327,-1.41,-77.9,251.2,-10.3,203,2332,0.12,2.22,0.00,0.000,6,0.100,0.021,2407,1875,3377,0,0,0,0,0,0
$GC,2656,-1.41,-77.9,279.6,-8.9,219,2661,0.00,2.42,0.00,0.000,4,0.000,0.046,2406,469,3377,0,0,0,0,0,0
$GC,2684,-1.41,-77.9,282.8,-9.8,220,2688,0.00,2.25,0.00,0.000,6,0.000,0.022,2406,1881,3377,0,0,0,0,0,0
$GC,3029,-1.46,-77.9,317.2,-10.2,233,3033,0.00,2.42,0.00,0.000,4,0.000,0.047,2406,468,3376,0,0,0,0,0,0
$GC,3120,-1.46,-77.9,326.5,-9.6,235,3125,0.00,2.28,0.00,0.000,6,0.000,0.024,2407,1870,3375,0,0,0,0,0,0
$GC,3444,-1.50,-77.9,355.0,-8.7,243,3448,0.00,2.40,0.00,0.000,4,0.000,0.048,2406,474,3373,0,0,0,0,0,0
$GC,3540,-1.50,-77.9,364.7,-10.2,245,3544,0.00,2.28,0.00,0.000,6,0.000,0.025,2406,1874,3373,0,0,0,0,0,0
$GC,3863,-1.56,-77.9,395.7,-9.8,253,3868,0.15,2.45,0.00,0.000,4,0.060,0.051,2362,468,3371,0,0,0,0,0,0
$GC,3928,-1.50,-77.9,404.1,-12.4,254,3933,0.12,2.28,0.00,0.000,6,0.102,0.026,2388,1874,3371,0,0,0,0,0,0
$GC,4274,-1.50,-77.9,439.1,-9.5,263,4278,0.00,2.45,0.00,0.000,4,0.000,0.052,2388,475,3368,0,0,0,0,0,0
$GC,4352,-1.50,-77.9,447.3,-10.5,264,4356,0.00,2.30,0.00,0.000,6,0.000,0.028,2389,1873,3368,0,0,0,0,0,0
$STATE,4400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4400,begin apogee
$GC,4406,-0.31,0.0,451.6,9.1,266,4474,1.20,0.00,64.80,0.864,6,0.072,0.000,2647,2034,3050,0,0,0,0,0,0
$STATE,4475,end apogee,CONTROL_FINISHED_OK
$STATE,4475,begin climb
$GC,4478,1.40,77.9,452.7,0.0,267,4552,1.62,2.42,64.60,0.844,4,0.032,0.042,3023,3384,2732,0,0,0,0,0,0
$GC,4817,1.20,100.5,439.6,6.5,274,4842,0.25,2.38,19.62,0.808,6,0.110,0.035,2979,2006,2640,0,0,0,0,0,0
$GC,5165,1.09,105.4,412.9,7.7,283,5178,0.15,2.47,5.22,0.617,4,0.120,0.050,2952,605,2619,0,0,0,0,0,0
$GC,5295,0.99,128.0,404.2,6.5,285,5321,0.12,2.30,20.05,0.808,6,0.128,0.028,2931,1995,2528,0,0,0,0,0,0
$GC,5629,1.04,167.0,384.8,5.3,294,5672,0.00,2.50,34.28,0.823,4,0.000,0.040,2930,3394,2369,0,0,0,0,0,0
$GC,5682,1.11,194.9,381.7,6.1,295,5716,0.10,2.42,26.50,0.800,6,0.082,0.037,2958,2005,2254,0,0,0,0,0,0
$GC,6042,1.11,194.9,349.6,9.4,304,6046,0.00,2.47,0.00,0.000,4,0.000,0.052,2956,603,2246,0,0,0,0,0,0
$GC,6214,1.04,194.9,330.6,12.0,307,6219,0.00,2.35,0.00,0.000,6,0.000,0.029,2957,2008,2242,0,0,0,0,0,0
$GC,6526,1.04,194.9,297.1,10.8,315,6530,0.00,2.47,0.00,0.000,4,0.000,0.051,2957,597,2241,0,0,0,0,0,0
$GC,6549,1.00,194.9,293.8,13.2,316,6554,0.15,2.38,0.00,0.000,6,0.120,0.029,2931,2011,2240,0,0,0,0,0,0
$GC,6876,1.07,194.9,264.1,8.2,332,6880,0.00,2.47,0.00,0.000,4,0.000,0.051,2931,604,2239,0,0,0,0,0,0
$GC,6981,1.07,194.9,254.7,8.6,336,6987,0.00,2.38,0.00,0.000,6,0.000,0.028,2931,2009,2237,0,0,0,0,0,0
$GC,7297,1.15,197.6,231.0,7.8,352,7302,0.15,2.47,0.00,0.000,4,0.068,0.050,2969,601,2237,0,0,0,0,0,0
$GC,7525,1.09,197.6,208.8,9.2,362,7529,0.00,2.35,0.00,0.000,6,0.000,0.028,2969,2014,2235,0,0,0,0,0,0
$GC,7852,1.11,214.6,186.0,6.9,387,7874,0.00,2.45,15.38,0.667,4,0.000,0.034,2968,3411,2173,0,0,0,0,0,0
$GC,7892,1.17,229.2,183.0,7.0,391,7912,0.00,2.40,14.30,0.650,6,0.000,0.033,2968,2003,2115,0,0,0,0,0,0
$GC,8166,1.17,229.2,159.0,8.7,417,8170,0.00,2.42,0.00,0.000,4,0.000,0.048,2968,598,2111,0,0,0,0,0,0
$GC,8304,1.17,229.2,143.4,11.2,431,8310,0.00,2.35,0.00,0.000,6,0.000,0.025,2969,2021,2108,0,0,0,0,0,0
$GC,8566,1.22,229.5,121.0,8.0,456,8571,0.00,2.47,0.00,0.000,4,0.000,0.045,2969,598,2108,0,0,0,0,0,0
$GC,8648,1.22,229.5,113.8,8.5,464,8655,0.00,2.35,0.00,0.000,6,0.000,0.024,2969,2012,2107,0,0,0,0,0,0
$GC,8912,1.33,256.5,95.5,6.2,489,8943,0.15,2.53,24.10,0.595,4,0.061,0.044,3011,604,2003,0,0,0,0,0,0
$GC,8978,1.27,256.5,89.9,9.4,496,8982,0.00,2.33,0.00,0.000,6,0.000,0.023,3011,2011,2000,0,0,0,0,0,0
$GC,9240,1.27,256.5,63.2,10.3,520,9241,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2016,2000,0,0,0,0,0,0
$GC,9495,1.27,256.5,39.3,8.2,544,9499,0.00,2.42,0.00,0.000,4,0.000,0.043,3011,601,1999,0,0,0,0,0,0
$GC,9582,1.27,256.5,31.6,10.0,553,9586,0.00,2.28,0.00,0.000,6,0.000,0.021,3011,2018,1998,0,0,0,0,0,0
$GC,9852,1.31,256.5,8.2,10.0,599,9856,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2023,1998,0,0,0,0,0,0
$STATE,9905,end climb,SURFACE_DEPTH_REACHED
$STATE,9905,begin surface coast
$FINISH,0.4,1.023218
$STATE,9941,end surface coast,CONTROL_FINISHED_OK
$STATE,9941,begin surface
$SM_CCo,9961,23.40,0.505,0,0,1826,300.00
$SM_GC,1.83,0.00,0.00,23.40,0.000,0.000,0.505,423,1858,1826,-10.54,-0.48,300.00
$IRIDIUM_FIX,2059.45,-15745.74,290899,212146
$TT8_MAMPS,0.029146
$HUMID,49.44
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.4,39.404
$10V_AH,10.0,37.389
$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,27.050,114.500,288.850,23.400,0.000,29.314,31.252,251.706,4.500,0.000,14.251,1229.816,6355.010,364.457,1933.894,524.277,33.376,1221.178,0.000,1908.703,0.000,29.264,0.000
$DEVICE_MAMPS,132.691,52.156,863.642,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.246,397.340,767.525,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355728
$DATA_FILE_SIZE,34872,615
$CAP_FILE_SIZE,120510,0
$CFSIZE,260165632,232718336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050610,031340,2107.010,-15747.254,108,3.6,127,9.8