version: 66.06
glider: 139
mission: 7
dive: 429
start: 6 2 110 20 44 57
data:
$ID,139
$MISSION,7
$DIVE,429
$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,-2137161
$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
$GPS1,203831,2107.455,-15751.097,247,1.7,247,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-70.0
$GPS2,204406,2107.507,-15751.154,16,1.0,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,-0.004
$KALMAN_X,-124182.7,-158.1,-640.7,131508.9,-923.5
$KALMAN_Y,20366.2,68.3,117.3,-19446.2,-203.9
$MHEAD_RNG_PITCHd_Wd,81.5,14572,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-51.90,0.000,2,0.000,0.000,427,1872,3173,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.2,-4.3,10,95,10.60,2.38,-3.90,0.000,4,0.134,0.037,2405,3305,3370,0,0,0,0,0,0
$GC,175,-1.35,-77.9,25.4,-15.0,31,182,0.32,2.40,0.00,0.000,6,0.085,0.027,2434,1863,3372,1,0,0,0,0,0
$GC,375,-1.35,-77.9,52.4,-13.1,52,376,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,1863,3372,0,0,0,0,0,0
$GC,630,-1.39,-77.9,78.6,-8.7,76,632,0.20,0.00,0.00,0.000,6,0.048,0.000,2396,1863,3373,0,0,0,0,0,0
$GC,885,-1.35,-77.9,108.6,-11.2,100,889,0.00,2.35,0.00,0.000,4,0.000,0.044,2417,473,3375,0,0,0,0,0,0
$GC,956,-1.25,-77.9,118.5,-14.4,107,961,0.12,2.28,0.00,0.000,6,0.099,0.019,2441,1910,3375,0,0,0,0,0,0
$GC,1217,-1.31,-77.9,147.6,-11.4,131,1222,0.00,2.47,0.00,0.000,4,0.000,0.043,2443,468,3376,0,0,0,0,0,0
$GC,1251,-1.31,-77.9,151.6,-12.4,134,1255,0.00,2.22,0.00,0.000,6,0.000,0.020,2442,1875,3376,0,0,0,0,0,0
$GC,1513,-1.37,-77.9,179.2,-9.8,158,1517,0.12,2.42,0.00,0.000,4,0.063,0.044,2399,471,3376,0,0,0,0,0,0
$GC,1587,-1.28,-77.9,188.7,-12.1,165,1593,0.17,2.25,0.00,0.000,6,0.089,0.020,2436,1877,3376,0,0,0,0,0,0
$GC,1845,-1.34,-77.9,211.0,-8.4,184,1849,0.00,2.38,0.00,0.000,4,0.000,0.041,2436,471,3377,0,0,0,0,0,0
$GC,1901,-1.38,-77.9,216.2,-8.5,186,1905,0.00,2.25,0.00,0.000,6,0.000,0.021,2435,1872,3377,0,0,0,0,0,0
$GC,2217,-1.46,-77.9,245.3,-8.8,201,2222,0.17,2.42,0.00,0.000,4,0.051,0.044,2381,473,3377,0,0,0,0,0,0
$GC,2232,-1.46,-77.9,247.1,-9.3,201,2238,0.00,2.25,0.00,0.000,6,0.000,0.021,2380,1881,3377,0,0,0,0,0,0
$GC,2549,-1.46,-77.9,283.1,-10.8,217,2553,0.00,2.42,0.00,0.000,4,0.000,0.045,2382,473,3376,0,0,0,0,0,0
$GC,2631,-1.41,-77.9,292.8,-11.2,220,2639,0.08,2.28,0.00,0.000,6,0.078,0.022,2402,1870,3376,0,0,0,0,0,0
$GC,2964,-1.44,-77.9,319.1,-7.6,231,2969,0.00,2.42,0.00,0.000,4,0.000,0.047,2402,464,3375,0,0,0,0,0,0
$GC,2987,-1.44,-77.9,321.2,-8.0,231,2992,0.00,2.28,0.00,0.000,6,0.000,0.023,2402,1883,3375,0,0,0,0,0,0
$GC,3328,-1.49,-77.9,347.9,-8.1,240,3332,0.00,2.42,0.00,0.000,4,0.000,0.048,2401,473,3374,0,0,0,0,0,0
$GC,3444,-1.49,-77.9,359.0,-9.5,242,3449,0.00,2.28,0.00,0.000,6,0.000,0.025,2402,1868,3373,0,0,0,0,0,0
$GC,3785,-1.53,-77.9,389.8,-9.1,251,3789,0.00,2.42,0.00,0.000,4,0.000,0.051,2402,467,3371,0,0,0,0,0,0
$GC,3854,-1.53,-77.9,395.9,-7.9,252,3859,0.00,2.30,0.00,0.000,6,0.000,0.027,2401,1878,3370,0,0,0,0,0,0
$GC,4195,-1.57,-77.9,423.6,-9.3,261,4200,0.15,2.45,0.00,0.000,4,0.061,0.053,2359,475,3368,0,0,0,0,0,0
$GC,4275,-1.49,-77.9,432.9,-11.4,262,4280,0.15,2.33,0.00,0.000,6,0.099,0.028,2390,1881,3367,0,0,0,0,0,0
$STATE,4482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4482,begin apogee
$GC,4487,-0.31,0.0,453.3,9.6,267,4555,1.20,0.00,64.80,0.881,6,0.074,0.000,2647,2041,3050,0,0,0,0,0,0
$STATE,4556,end apogee,CONTROL_FINISHED_OK
$STATE,4556,begin climb
$GC,4559,1.40,77.9,454.5,0.0,268,4633,1.62,2.42,65.03,0.858,4,0.031,0.045,2919,3380,2732,0,0,0,0,0,0
$GC,4737,1.25,146.6,455.1,3.3,272,4803,0.20,2.35,58.92,0.853,6,0.115,0.036,2990,2009,2451,0,0,0,0,0,0
$GC,5149,1.14,146.6,416.9,9.8,282,5154,0.15,2.38,0.00,0.000,4,0.120,0.040,2959,3387,2443,0,0,0,0,0,0
$GC,5169,1.07,146.6,415.0,9.5,282,5173,0.00,2.38,0.00,0.000,6,0.000,0.038,2963,2013,2443,0,0,0,0,0,0
$GC,5514,1.03,146.6,382.1,9.7,291,5519,0.12,2.45,0.00,0.000,4,0.123,0.052,2937,603,2439,0,0,0,0,0,0
$GC,5533,0.96,146.6,380.2,9.2,291,5538,0.00,2.33,0.00,0.000,6,0.000,0.029,2940,2000,2439,0,0,0,0,0,0
$GC,5878,0.99,171.9,356.5,6.3,300,5906,0.00,2.50,20.85,0.802,4,0.000,0.051,2940,604,2347,0,0,0,0,0,0
$GC,6031,0.95,171.9,344.4,8.2,303,6036,0.00,2.38,0.00,0.000,6,0.000,0.030,2940,2016,2342,0,0,0,0,0,0
$GC,6381,1.00,183.3,319.0,7.2,312,6397,0.00,2.58,10.75,0.734,4,0.000,0.052,2940,604,2301,0,0,0,0,0,0
$GC,6407,1.00,183.3,316.7,8.1,312,6411,0.00,2.40,0.00,0.000,6,0.000,0.030,2940,2017,2300,0,0,0,0,0,0
$GC,6730,1.03,183.3,289.6,8.9,323,6734,0.00,2.50,0.00,0.000,4,0.000,0.051,2940,604,2298,0,0,0,0,0,0
$GC,6850,1.03,183.3,277.2,10.3,328,6854,0.00,2.38,0.00,0.000,6,0.000,0.029,2940,2019,2296,0,0,0,0,0,0
$GC,7170,1.11,207.3,254.3,6.4,344,7199,0.00,2.55,22.00,0.746,4,0.000,0.050,2940,594,2202,0,0,0,0,0,0
$GC,7300,1.11,207.3,243.5,10.7,349,7306,0.00,2.38,0.00,0.000,6,0.000,0.029,2941,2015,2198,0,0,0,0,0,0
$GC,7617,1.21,207.3,210.2,10.3,365,7622,0.17,2.50,0.00,0.000,4,0.063,0.051,2985,595,2197,0,0,0,0,0,0
$GC,7650,1.12,207.3,206.1,11.7,366,7656,0.15,2.35,0.00,0.000,6,0.114,0.028,2958,2016,2196,0,0,0,0,0,0
$GC,7975,1.21,236.8,180.3,6.0,393,8011,0.00,2.53,26.35,0.682,4,0.000,0.047,2958,595,2082,0,0,0,0,0,0
$GC,8116,1.21,236.8,166.6,11.5,408,8123,0.00,2.38,0.00,0.000,6,0.000,0.025,2958,2011,2078,0,0,0,0,0,0
$GC,8379,1.27,236.8,137.3,9.7,433,8384,0.15,2.47,0.00,0.000,4,0.064,0.046,2998,602,2078,0,0,0,0,0,0
$GC,8435,1.21,236.8,131.2,11.3,438,8442,0.08,2.35,0.00,0.000,6,0.091,0.024,2980,2013,2076,0,0,0,0,0,0
$GC,8698,1.24,236.8,109.0,8.9,463,8699,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2018,2076,0,0,0,0,0,0
$GC,8952,1.28,236.8,85.5,9.4,487,8956,0.00,2.45,0.00,0.000,4,0.000,0.044,2979,598,2076,0,0,0,0,0,0
$GC,9024,1.28,236.8,78.6,8.5,494,9031,0.00,2.33,0.00,0.000,6,0.000,0.022,2979,2009,2075,0,0,0,0,0,0
$GC,9288,1.40,272.2,61.8,5.6,519,9328,0.17,2.40,31.05,0.568,4,0.054,0.028,3030,3401,1939,0,0,0,0,0,0
$GC,9340,1.40,272.2,57.7,8.9,524,9344,0.00,2.35,0.00,0.000,6,0.000,0.028,3028,2002,1939,0,0,0,0,0,0
$GC,9603,1.40,272.2,34.2,9.4,548,9607,0.00,2.33,0.00,0.000,4,0.000,0.027,3030,3398,1937,0,0,0,0,0,0
$GC,9646,1.40,272.2,29.7,10.2,552,9653,0.00,2.35,0.00,0.000,6,0.000,0.028,3028,2008,1936,0,0,0,0,0,0
$GC,9853,1.40,272.2,8.5,10.6,589,9858,0.00,2.38,0.00,0.000,4,0.000,0.041,3030,604,1936,0,0,0,0,0,0
$GC,9875,1.36,272.2,6.0,11.0,593,9880,0.00,2.30,0.00,0.000,6,0.000,0.020,3029,2027,1935,0,0,0,0,0,0
$STATE,9900,end climb,SURFACE_DEPTH_REACHED
$STATE,9901,begin surface coast
$FINISH,0.5,1.023311
$STATE,9931,end surface coast,CONTROL_FINISHED_OK
$STATE,9932,begin surface
$SM_CCo,9952,14.48,0.489,0,0,1826,300.00
$SM_GC,2.36,0.00,0.00,14.48,0.000,0.000,0.489,424,1864,1826,-10.54,-0.34,300.00
$IRIDIUM_FIX,2059.45,-15748.75,270899,171758
$TT8_MAMPS,0.029146
$HUMID,49.68
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.4,37.954
$10V_AH,10.0,36.005
$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,27.350,119.525,299.750,14.475,0.000,31.273,32.172,143.558,4.500,0.000,32.578,1170.404,6586.098,370.988,1770.057,402.332,33.382,1164.727,0.000,1731.323,0.000,29.244,0.000
$DEVICE_MAMPS,134.225,52.923,880.516,488.579,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,406.395,384.449,767.146,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,34948,603
$CAP_FILE_SIZE,114966,0
$CFSIZE,260165632,233734144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,020610,233202,2107.334,-15750.521,22,1.5,22,9.8