version: 66.06
glider: 139
mission: 7
dive: 428
start: 6 2 110 17 38 47
data:
$ID,139
$MISSION,7
$DIVE,428
$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,-2137127.8
$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
$GPS1,171734,2107.339,-15750.696,37,2.9,56,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-68.4
$GPS2,171734,2107.339,-15750.696,901,99.0,901,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,0.003
$KALMAN_X,-121879.0,-440.2,-352.3,129446.1,-2165.5
$KALMAN_Y,20594.8,148.0,-296.7,-19479.6,-11.7
$MHEAD_RNG_PITCHd_Wd,79.3,13734,-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,-52.85,0.000,2,0.000,0.000,427,1861,3254,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.9,-7.3,10,92,10.50,2.42,-2.15,0.000,4,0.133,0.037,2404,3301,3372,0,0,0,0,0,0
$GC,104,-0.30,-77.9,15.4,-34.6,15,110,1.15,2.40,0.00,0.000,6,0.082,0.031,2644,1874,3373,0,0,0,0,0,0
$GC,310,-0.71,-77.9,25.7,-4.8,52,317,0.35,2.42,0.00,0.000,4,0.047,0.042,2554,473,3374,0,0,0,0,0,0
$GC,388,-0.94,-77.9,32.6,-9.6,65,393,0.17,2.30,0.00,0.000,6,0.051,0.019,2493,1917,3374,0,0,0,0,0,0
$GC,651,-1.05,-77.9,62.5,-10.1,89,656,0.00,2.47,0.00,0.000,4,0.000,0.042,2495,462,3374,0,0,0,0,0,0
$GC,694,-1.13,-77.9,67.3,-10.6,93,699,0.12,2.25,0.00,0.000,6,0.064,0.019,2448,1881,3374,0,0,0,0,0,0
$GC,958,-1.17,-77.9,97.6,-11.1,117,962,0.00,2.40,0.00,0.000,4,0.000,0.043,2450,468,3375,0,0,0,0,0,0
$GC,1013,-1.17,-77.9,103.7,-9.6,122,1019,0.00,2.25,0.00,0.000,6,0.000,0.019,2449,1870,3375,0,0,0,0,0,0
$GC,1278,-1.23,-77.9,125.9,-7.4,147,1282,0.00,2.38,0.00,0.000,4,0.000,0.042,2450,468,3376,0,0,0,0,0,0
$GC,1331,-1.27,-77.9,130.3,-8.8,152,1335,0.00,2.25,0.00,0.000,6,0.000,0.019,2448,1881,3376,0,0,0,0,0,0
$GC,1594,-1.34,-77.9,151.4,-9.2,176,1599,0.12,2.42,0.00,0.000,4,0.062,0.044,2406,466,3376,0,0,0,0,0,0
$GC,1649,-1.27,-77.9,158.1,-12.2,181,1655,0.15,2.25,0.00,0.000,6,0.093,0.020,2437,1876,3376,0,0,0,0,0,0
$GC,1909,-1.34,-77.9,183.7,-8.9,206,1914,0.00,2.40,0.00,0.000,4,0.000,0.043,2437,462,3376,0,0,0,0,0,0
$GC,2000,-1.37,-77.9,192.5,-9.2,215,2006,0.10,2.25,0.00,0.000,6,0.072,0.021,2399,1878,3376,0,0,0,0,0,0
$GC,2266,-1.37,-77.9,220.5,-10.6,232,2271,0.00,2.40,0.00,0.000,4,0.000,0.041,2399,459,3376,0,0,0,0,0,0
$GC,2276,-1.34,-77.9,221.6,-10.4,232,2280,0.12,2.25,0.00,0.000,6,0.100,0.021,2424,1883,3376,0,0,0,0,0,0
$GC,2598,-1.40,-77.9,251.2,-9.6,248,2602,0.00,2.45,0.00,0.000,4,0.000,0.045,2425,460,3376,0,0,0,0,0,0
$GC,2670,-1.40,-77.9,259.3,-11.3,251,2674,0.00,2.25,0.00,0.000,6,0.000,0.021,2422,1872,3375,0,0,0,0,0,0
$GC,2999,-1.47,-77.9,286.5,-7.8,267,3004,0.15,2.45,0.00,0.000,4,0.057,0.046,2377,462,3374,0,0,0,0,0,0
$GC,3014,-1.47,-77.9,288.3,-8.1,267,3019,0.00,2.28,0.00,0.000,6,0.000,0.022,2376,1884,3374,0,0,0,0,0,0
$GC,3348,-1.47,-77.9,322.8,-10.6,279,3352,0.00,2.42,0.00,0.000,4,0.000,0.047,2377,470,3373,0,0,0,0,0,0
$GC,3399,-1.41,-77.9,328.5,-10.6,280,3404,0.15,2.28,0.00,0.000,6,0.096,0.023,2408,1874,3372,0,0,0,0,0,0
$GC,3718,-1.46,-77.9,358.3,-9.4,288,3722,0.00,2.45,0.00,0.000,4,0.000,0.049,2407,464,3371,0,0,0,0,0,0
$GC,3807,-1.49,-77.9,366.8,-9.4,290,3811,0.00,2.30,0.00,0.000,6,0.000,0.025,2408,1871,3371,0,0,0,0,0,0
$GC,4136,-1.55,-77.9,394.5,-7.9,298,4141,0.15,2.47,0.00,0.000,4,0.060,0.051,2364,465,3368,0,0,0,0,0,0
$GC,4222,-1.48,-77.9,403.0,-9.9,299,4228,0.12,2.33,0.00,0.000,6,0.104,0.026,2389,1880,3368,0,0,0,0,0,0
$GC,4553,-1.48,-77.9,430.8,-8.4,308,4557,0.00,2.47,0.00,0.000,4,0.000,0.052,2389,467,3365,0,0,0,0,0,0
$GC,4580,-1.45,-77.9,433.5,-10.1,308,4585,0.00,2.30,0.00,0.000,6,0.000,0.028,2389,1873,3365,0,0,0,0,0,0
$STATE,4796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4796,begin apogee
$GC,4802,-0.31,0.0,453.6,9.2,314,4870,1.20,0.00,64.47,0.876,6,0.074,0.000,2646,2035,3050,0,0,0,0,0,0
$STATE,4871,end apogee,CONTROL_FINISHED_OK
$STATE,4871,begin climb
$GC,4873,1.40,77.9,454.9,0.0,315,4948,1.62,2.42,64.97,0.853,4,0.033,0.044,3014,3382,2731,0,0,0,0,0,0
$GC,5133,1.23,122.7,449.0,4.9,320,5178,0.22,2.38,38.42,0.844,6,0.112,0.036,2985,2006,2548,0,0,0,0,0,0
$GC,5510,1.12,131.2,420.9,7.4,330,5523,0.15,2.42,7.65,0.713,4,0.119,0.040,2956,3383,2514,0,0,0,0,0,0
$GC,5567,1.10,151.6,417.1,6.6,331,5591,0.00,2.35,19.17,0.811,6,0.000,0.037,2959,2013,2431,0,0,0,0,0,0
$GC,5923,1.07,151.6,388.7,8.3,340,5927,0.00,2.50,0.00,0.000,4,0.000,0.052,2956,597,2426,0,0,0,0,0,0
$GC,5992,0.98,151.6,382.2,9.4,341,5997,0.17,2.35,0.00,0.000,6,0.118,0.030,2927,1989,2423,0,0,0,0,0,0
$GC,6334,1.02,151.6,351.2,9.7,350,6338,0.00,2.45,0.00,0.000,4,0.000,0.052,2925,605,2422,0,0,0,0,0,0
$GC,6403,1.02,151.6,343.5,10.1,351,6407,0.00,2.35,0.00,0.000,6,0.000,0.030,2926,2020,2421,0,0,0,0,0,0
$GC,6743,1.07,151.6,309.3,9.7,360,6747,0.00,2.50,0.00,0.000,4,0.000,0.051,2926,602,2420,0,0,0,0,0,0
$GC,6821,1.07,151.6,302.5,8.4,361,6826,0.00,2.38,0.00,0.000,6,0.000,0.030,2927,2016,2418,0,0,0,0,0,0
$GC,7138,1.13,162.5,280.0,7.3,375,7154,0.15,2.53,8.57,0.691,4,0.070,0.048,2963,598,2386,0,0,0,0,0,0
$GC,7239,1.05,162.5,270.2,9.9,379,7243,0.00,2.38,0.00,0.000,6,0.000,0.029,2963,2012,2384,0,0,0,0,0,0
$GC,7560,1.06,169.3,243.9,7.6,395,7569,0.00,0.00,7.07,0.637,6,0.000,0.000,2963,2016,2360,0,0,0,0,0,0
$GC,7868,1.07,178.8,219.7,7.4,410,7884,0.00,2.55,9.80,0.659,4,0.000,0.049,2963,602,2320,0,0,0,0,0,0
$GC,8059,1.05,199.9,205.9,6.6,418,8085,0.00,2.33,19.88,0.700,6,0.000,0.027,2963,2019,2234,0,0,0,0,0,0
$GC,8414,1.09,199.9,179.2,9.1,447,8418,0.00,2.47,0.00,0.000,4,0.000,0.047,2963,601,2230,0,0,0,0,0,0
$GC,8530,1.09,199.9,167.5,10.5,459,8535,0.00,2.33,0.00,0.000,6,0.000,0.026,2964,2013,2228,0,0,0,0,0,0
$GC,8794,1.14,199.9,144.4,8.3,483,8798,0.00,2.33,0.00,0.000,4,0.000,0.031,2962,3404,2228,0,0,0,0,0,0
$GC,8828,1.20,202.0,141.6,7.9,486,8833,0.00,2.35,0.00,0.000,6,0.000,0.031,2963,2003,2228,0,0,0,0,0,0
$GC,9091,1.27,209.6,121.6,7.5,510,9105,0.12,2.45,9.20,0.568,4,0.070,0.046,2997,602,2195,0,0,0,0,0,0
$GC,9212,1.19,209.6,111.3,9.2,522,9219,0.10,2.35,0.00,0.000,6,0.086,0.023,2976,2022,2192,0,0,0,0,0,0
$GC,9476,1.28,249.4,95.5,5.3,547,9520,0.00,2.50,35.67,0.603,4,0.000,0.042,2975,597,2032,0,0,0,0,0,0
$GC,9533,1.30,266.8,91.9,6.8,553,9555,0.10,2.33,16.45,0.567,6,0.080,0.022,3005,2026,1961,0,0,0,0,0,0
$GC,9818,1.33,266.8,67.7,9.1,580,9822,0.00,2.45,0.00,0.000,4,0.000,0.042,3005,604,1958,0,0,0,0,0,0
$GC,9869,1.33,266.8,62.6,10.9,585,9873,0.00,2.25,0.00,0.000,6,0.000,0.021,3005,2000,1955,0,0,0,0,0,0
$GC,10138,1.38,266.8,36.2,9.7,610,10142,0.00,2.33,0.00,0.000,4,0.000,0.028,3006,3405,1955,0,0,0,0,0,0
$GC,10206,1.45,266.8,29.2,10.4,617,10212,0.12,2.35,0.00,0.000,6,0.065,0.028,3042,2001,1955,0,0,0,0,0,0
$GC,10411,1.45,266.8,6.4,11.4,654,10417,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2001,1955,0,0,0,0,0,0
$STATE,10439,end climb,SURFACE_DEPTH_REACHED
$STATE,10439,begin surface coast
$FINISH,0.6,1.023652
$STATE,10464,end surface coast,CONTROL_FINISHED_OK
$STATE,10464,begin surface
$SM_CCo,10483,16.33,0.494,0,0,1826,300.00
$SM_GC,1.39,0.00,0.00,16.33,0.000,0.000,0.494,428,1872,1826,-10.52,-0.08,300.00
$IRIDIUM_FIX,2101.76,-15750.89,270899,141417
$TT8_MAMPS,0.029146
$HUMID,49.13
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,37.872
$10V_AH,10.0,35.925
$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,28.600,128.725,301.350,16.325,0.000,28.498,29.670,173.212,4.500,0.000,902.514,1289.625,6776.640,376.164,2829.881,451.051,33.377,1238.080,0.000,1924.763,0.000,29.253,0.000
$DEVICE_MAMPS,133.458,62.894,875.914,493.948,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.445,430.943,830.358,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,38064,663
$CAP_FILE_SIZE,126834,0
$CFSIZE,260165632,233787392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020610,203831,2107.455,-15751.097,247,1.7,247,9.8