version: 66.06
glider: 139
mission: 7
dive: 423
start: 6 2 110 2 22 29
data:
$ID,139
$MISSION,7
$DIVE,423
$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,-2136051
$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
$GPS1,021125,2106.730,-15749.431,141,1.1,141,9.8
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-68.8
$GPS2,022137,2106.674,-15749.530,11,1.4,16,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.164,0.082
$KALMAN_X,-111426.2,455.8,572.3,119727.6,-3275.8
$KALMAN_Y,22051.3,-11.5,-81.7,-22393.5,-723.4
$MHEAD_RNG_PITCHd_Wd,53.6,11535,-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,-53.25,0.000,2,0.000,0.000,426,1895,3251,0,0,0,0,0,0
$GC,74,-1.40,-77.9,4.0,-6.8,10,92,10.73,2.38,-2.20,0.000,4,0.140,0.038,2401,3298,3370,0,0,0,0,0,0
$GC,131,-1.27,-77.9,19.2,-16.7,21,137,0.20,2.40,0.00,0.000,6,0.091,0.032,2424,1875,3372,0,0,0,0,0,0
$GC,342,-1.22,-77.9,47.4,-13.2,47,346,0.00,2.45,0.00,0.000,4,0.000,0.045,2442,461,3372,0,0,0,0,0,0
$GC,449,-1.22,-77.9,63.1,-13.6,58,455,0.00,2.35,0.00,0.000,6,0.000,0.020,2441,1899,3373,0,0,0,0,0,0
$GC,711,-1.22,-77.9,94.9,-11.6,83,715,0.00,2.47,0.00,0.000,4,0.000,0.043,2442,464,3373,0,0,0,0,0,0
$GC,744,-1.16,-77.9,99.1,-12.6,86,748,0.00,2.28,0.00,0.000,6,0.000,0.019,2442,1883,3374,0,0,0,0,0,0
$GC,1007,-1.20,-77.9,127.4,-10.0,110,1011,0.00,2.45,0.00,0.000,4,0.000,0.044,2442,463,3374,0,0,0,0,0,0
$GC,1053,-1.20,-77.9,132.8,-11.3,114,1060,0.00,2.28,0.00,0.000,6,0.000,0.020,2441,1875,3375,0,0,0,0,0,0
$GC,1317,-1.26,-77.9,157.2,-9.2,139,1321,0.00,2.42,0.00,0.000,4,0.000,0.043,2442,466,3375,0,0,0,0,0,0
$GC,1399,-1.30,-77.9,166.0,-10.0,147,1405,0.00,2.28,0.00,0.000,6,0.000,0.020,2442,1885,3375,0,0,0,0,0,0
$GC,1662,-1.37,-77.9,188.8,-8.2,172,1664,0.12,0.00,0.00,0.000,6,0.064,0.000,2399,1889,3376,0,0,0,0,0,0
$GC,1911,-1.37,-77.9,212.2,-9.2,190,1915,0.00,2.45,0.00,0.000,4,0.000,0.044,2399,462,3376,0,0,0,0,0,0
$GC,1989,-1.32,-77.9,220.5,-10.8,193,1994,0.12,2.25,0.00,0.000,6,0.100,0.021,2424,1873,3376,0,0,0,0,0,0
$GC,2314,-1.36,-77.9,247.9,-9.1,209,2318,0.00,2.40,0.00,0.000,4,0.000,0.045,2425,470,3375,0,0,0,0,0,0
$GC,2374,-1.40,-77.9,254.6,-10.6,211,2379,0.00,2.28,0.00,0.000,6,0.000,0.021,2425,1882,3375,0,0,0,0,0,0
$GC,2691,-1.45,-77.9,284.1,-9.0,227,2693,0.12,0.00,0.00,0.000,6,0.064,0.000,2384,1885,3374,0,0,0,0,0,0
$GC,3016,-1.45,-77.9,317.6,-10.1,239,3020,0.00,2.45,0.00,0.000,4,0.000,0.047,2384,467,3373,0,0,0,0,0,0
$GC,3049,-1.39,-77.9,321.3,-11.2,239,3054,0.12,2.28,0.00,0.000,6,0.100,0.024,2410,1870,3373,0,0,0,0,0,0
$GC,3380,-1.45,-77.9,352.9,-9.5,247,3384,0.00,2.42,0.00,0.000,4,0.000,0.048,2410,461,3372,0,0,0,0,0,0
$GC,3472,-1.45,-77.9,362.5,-10.3,249,3476,0.00,2.33,0.00,0.000,6,0.000,0.025,2410,1882,3372,0,0,0,0,0,0
$GC,3796,-1.51,-77.9,392.2,-9.2,257,3801,0.12,2.47,0.00,0.000,4,0.066,0.051,2373,463,3369,0,0,0,0,0,0
$GC,3848,-1.45,-77.9,398.4,-12.2,258,3853,0.12,2.30,0.00,0.000,6,0.103,0.026,2398,1880,3369,0,0,0,0,0,0
$GC,4168,-1.48,-77.9,427.8,-8.9,266,4172,0.00,2.45,0.00,0.000,4,0.000,0.051,2397,471,3367,0,0,0,0,0,0
$GC,4236,-1.48,-77.9,434.8,-9.8,267,4241,0.00,2.33,0.00,0.000,6,0.000,0.027,2398,1883,3366,0,0,0,0,0,0
$STATE,4416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4416,begin apogee
$GC,4422,-0.31,0.0,450.5,8.6,272,4490,1.15,0.00,64.38,0.874,6,0.073,0.000,2645,2032,3050,0,0,0,0,0,0
$STATE,4491,end apogee,CONTROL_FINISHED_OK
$STATE,4491,begin climb
$GC,4493,1.40,77.9,451.8,0.0,273,4568,1.62,2.42,64.72,0.852,4,0.031,0.042,3026,3380,2732,0,0,0,0,0,0
$GC,4719,1.22,114.4,449.0,5.5,278,4756,0.25,2.38,31.33,0.834,6,0.111,0.036,2982,2006,2582,0,0,0,0,0,0
$GC,5090,1.11,117.1,420.8,7.8,287,5094,0.12,2.40,0.00,0.000,4,0.126,0.041,2958,3387,2577,0,0,0,0,0,0
$GC,5225,1.10,146.7,411.1,6.0,290,5258,0.00,2.38,27.90,0.829,6,0.000,0.036,2960,2000,2450,0,0,0,0,0,0
$GC,5591,1.09,170.2,386.7,6.4,299,5619,0.00,2.45,21.02,0.812,4,0.000,0.039,2959,3390,2353,0,0,0,0,0,0
$GC,5643,1.09,175.9,382.9,7.6,300,5655,0.00,2.40,6.50,0.663,6,0.000,0.038,2960,2011,2331,0,0,0,0,0,0
$GC,5964,1.09,175.9,355.0,9.5,308,5968,0.00,2.47,0.00,0.000,4,0.000,0.053,2957,598,2327,0,0,0,0,0,0
$GC,6066,1.01,175.9,343.5,11.1,310,6071,0.12,2.35,0.00,0.000,6,0.128,0.029,2937,1992,2324,0,0,0,0,0,0
$GC,6380,1.05,175.9,314.8,8.7,318,6384,0.00,2.45,0.00,0.000,4,0.000,0.052,2937,604,2324,0,0,0,0,0,0
$GC,6454,1.05,175.9,307.2,10.0,319,6458,0.00,2.33,0.00,0.000,6,0.000,0.029,2938,2012,2322,0,0,0,0,0,0
$GC,6774,1.11,175.9,278.1,9.5,333,6778,0.00,2.47,0.00,0.000,4,0.000,0.051,2938,604,2322,0,0,0,0,0,0
$GC,6842,1.11,175.9,271.4,9.9,336,6847,0.00,2.35,0.00,0.000,6,0.000,0.029,2938,2012,2320,0,0,0,0,0,0
$GC,7167,1.15,175.9,242.0,8.6,352,7172,0.12,2.38,0.00,0.000,4,0.077,0.038,2969,3408,2320,0,0,0,0,0,0
$GC,7213,1.15,175.9,237.4,9.9,354,7218,0.00,2.40,0.00,0.000,6,0.000,0.035,2969,2001,2320,0,0,0,0,0,0
$GC,7538,1.16,183.4,208.8,7.5,370,7550,0.00,2.50,5.68,0.574,4,0.000,0.050,2968,599,2302,0,0,0,0,0,0
$GC,7592,1.10,183.4,203.7,10.1,372,7597,0.00,2.38,0.00,0.000,6,0.000,0.027,2969,2019,2299,0,0,0,0,0,0
$GC,7921,1.11,193.7,179.9,7.3,401,7934,0.00,0.00,10.32,0.640,6,0.000,0.000,2970,2023,2260,0,0,0,0,0,0
$GC,8186,1.12,196.3,159.9,7.8,426,8197,0.00,2.53,3.95,0.442,4,0.000,0.048,2969,607,2249,0,0,0,0,0,0
$GC,8365,1.08,196.3,143.0,9.5,445,8369,0.00,2.30,0.00,0.000,6,0.000,0.025,2969,2016,2247,0,0,0,0,0,0
$GC,8628,1.14,214.7,124.0,6.8,469,8648,0.00,0.00,17.55,0.619,6,0.000,0.000,2969,2022,2174,0,0,0,0,0,0
$GC,8903,1.21,218.6,103.5,7.8,495,8913,0.00,2.47,4.80,0.453,4,0.000,0.044,2969,602,2157,0,0,0,0,0,0
$GC,9051,1.21,218.6,89.8,8.8,511,9056,0.00,2.33,0.00,0.000,6,0.000,0.022,2969,2022,2155,0,0,0,0,0,0
$GC,9316,1.32,242.1,71.9,6.4,535,9348,0.12,2.38,21.77,0.572,4,0.067,0.029,3007,3399,2062,0,0,0,0,0,0
$GC,9377,1.32,242.1,66.7,8.8,541,9381,0.00,2.38,0.00,0.000,6,0.000,0.028,3006,1996,2062,0,0,0,0,0,0
$GC,9640,1.32,242.1,40.9,10.4,565,9644,0.00,2.38,0.00,0.000,4,0.000,0.042,3006,604,2060,0,0,0,0,0,0
$GC,9822,1.28,242.1,22.7,9.6,592,9829,0.00,2.30,0.00,0.000,6,0.000,0.021,3006,2011,2057,0,0,0,0,0,0
$GC,10031,1.31,242.1,5.0,8.7,629,10037,0.00,2.42,0.00,0.000,4,0.000,0.041,3006,599,2057,0,0,0,0,0,0
$STATE,10051,end climb,SURFACE_DEPTH_REACHED
$STATE,10051,begin surface coast
$FINISH,0.5,1.023329
$STATE,10088,end surface coast,CONTROL_FINISHED_OK
$STATE,10088,begin surface
$SM_CCo,10110,29.17,0.509,0,0,1826,300.00
$SM_GC,1.16,0.00,0.00,29.17,0.000,0.000,0.509,424,1889,1826,-10.53,0.37,300.00
$IRIDIUM_FIX,2059.45,-15750.89,270899,020255
$TT8_MAMPS,0.029146
$HUMID,49.09
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.60
$XPDR_PINGS,20
$24V_AH,23.4,37.453
$10V_AH,10.1,35.494
$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,26.250,114.375,279.925,29.175,0.000,51.359,68.311,311.248,9.500,0.000,16.592,1246.314,6597.189,366.408,1892.035,651.604,33.374,1190.990,0.000,1872.299,0.000,29.250,0.000
$DEVICE_MAMPS,139.594,53.690,874.380,509.288,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.249,415.354,807.852,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,34918,641
$CAP_FILE_SIZE,121533,0
$CFSIZE,260165632,234094592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020610,051357,2106.843,-15750.041,91,2.4,110,9.8