version: 66.06
glider: 139
mission: 7
dive: 431
start: 6 3 110 2 39 20
data:
$ID,139
$MISSION,7
$DIVE,431
$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,-2137211
$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
$GPS1,023232,2107.409,-15750.226,82,1.9,82,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.5
$GPS2,023828,2107.429,-15750.256,16,2.5,35,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.166,0.078
$KALMAN_X,-128584.6,455.9,721.6,135481.2,-3321.6
$KALMAN_Y,19867.2,-113.2,-64.9,-18726.8,-531.9
$MHEAD_RNG_PITCHd_Wd,55.1,13027,-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,-77.9,0.0,0.0,0,70,0.00,0.00,-52.50,0.000,2,0.000,0.000,430,1868,3214,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.7,-6.4,10,95,10.57,2.42,-2.92,0.000,4,0.133,0.049,2405,462,3371,0,0,0,0,0,0
$GC,111,-0.62,-77.9,16.5,-32.3,17,117,0.82,2.33,0.00,0.000,6,0.088,0.021,2573,1904,3372,0,0,0,0,0,0
$GC,322,-0.85,-77.9,33.9,-6.7,50,327,0.20,2.47,0.00,0.000,4,0.045,0.042,2511,461,3373,0,0,0,0,0,0
$GC,366,-0.90,-77.9,38.2,-11.5,54,370,0.00,2.28,0.00,0.000,6,0.000,0.019,2511,1883,3373,0,0,0,0,0,0
$GC,630,-1.02,-77.9,62.9,-9.5,78,634,0.00,2.45,0.00,0.000,4,0.000,0.043,2511,462,3374,0,0,0,0,0,0
$GC,718,-1.18,-77.9,71.5,-9.4,87,723,0.22,2.25,0.00,0.000,6,0.043,0.019,2442,1882,3375,0,0,0,0,0,0
$GC,982,-1.18,-77.9,99.5,-9.5,111,989,0.00,2.42,0.00,0.000,4,0.000,0.042,2443,468,3376,0,0,0,0,0,0
$GC,1059,-1.18,-77.9,107.5,-9.3,119,1064,0.00,2.22,0.00,0.000,6,0.000,0.019,2442,1876,3376,0,0,0,0,0,0
$GC,1323,-1.22,-77.9,131.0,-9.2,143,1327,0.00,2.25,0.00,0.000,4,0.000,0.025,2442,3264,3376,0,0,0,0,0,0
$GC,1356,-1.37,-77.9,134.6,-10.0,146,1361,0.12,2.33,0.00,0.000,6,0.063,0.028,2397,1863,3377,0,0,0,0,0,0
$GC,1618,-1.37,-77.9,164.4,-10.9,170,1622,0.00,2.35,0.00,0.000,4,0.000,0.043,2399,467,3377,0,0,0,0,0,0
$GC,1689,-1.31,-77.9,172.5,-10.7,177,1694,0.15,2.25,0.00,0.000,6,0.096,0.020,2429,1880,3377,0,0,0,0,0,0
$GC,1952,-1.35,-77.9,193.9,-7.0,201,1956,0.00,2.40,0.00,0.000,4,0.000,0.044,2429,464,3377,0,0,0,0,0,0
$GC,2031,-1.35,-77.9,200.7,-8.1,209,2035,0.00,2.25,0.00,0.000,6,0.000,0.021,2429,1880,3377,0,0,0,0,0,0
$GC,2352,-1.41,-77.9,227.8,-10.1,225,2356,0.00,2.42,0.00,0.000,4,0.000,0.044,2429,463,3377,0,0,0,0,0,0
$GC,2399,-1.46,-77.9,233.9,-12.9,227,2404,0.15,2.25,0.00,0.000,6,0.056,0.021,2381,1892,3377,0,0,0,0,0,0
$GC,2727,-1.46,-77.9,272.7,-12.5,243,2732,0.00,2.42,0.00,0.000,4,0.000,0.045,2382,468,3377,0,0,0,0,0,0
$GC,2772,-1.39,-77.9,278.3,-12.3,245,2777,0.15,2.25,0.00,0.000,6,0.095,0.022,2412,1868,3377,0,0,0,0,0,0
$GC,3100,-1.44,-77.9,312.0,-9.3,258,3104,0.00,2.40,0.00,0.000,4,0.000,0.047,2413,464,3376,0,0,0,0,0,0
$GC,3185,-1.48,-77.9,320.2,-9.8,259,3189,0.00,2.28,0.00,0.000,6,0.000,0.023,2413,1880,3376,0,0,0,0,0,0
$GC,3516,-1.55,-77.9,347.3,-8.8,267,3521,0.17,2.42,0.00,0.000,4,0.054,0.048,2362,473,3374,0,0,0,0,0,0
$GC,3582,-1.46,-77.9,355.3,-13.2,268,3587,0.15,2.28,0.00,0.000,6,0.096,0.025,2394,1872,3374,0,0,0,0,0,0
$GC,3927,-1.46,-77.9,389.4,-9.6,277,3931,0.00,2.40,0.00,0.000,4,0.000,0.049,2393,473,3372,0,0,0,0,0,0
$GC,3973,-1.46,-77.9,394.3,-10.7,278,3977,0.00,2.30,0.00,0.000,6,0.000,0.026,2393,1881,3372,0,0,0,0,0,0
$GC,4295,-1.46,-77.9,425.4,-10.2,286,4300,0.00,2.42,0.00,0.000,4,0.000,0.051,2393,474,3370,0,0,0,0,0,0
$GC,4332,-1.46,-77.9,429.8,-12.1,286,4337,0.00,2.30,0.00,0.000,6,0.000,0.027,2393,1877,3369,0,0,0,0,0,0
$STATE,4539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4539,begin apogee
$GC,4545,-0.31,0.0,452.4,10.9,292,4614,1.17,0.00,65.32,0.869,6,0.073,0.000,2645,2029,3050,0,0,0,0,0,0
$STATE,4614,end apogee,CONTROL_FINISHED_OK
$STATE,4615,begin climb
$GC,4617,1.40,77.9,454.4,0.0,293,4691,1.62,2.42,64.93,0.848,4,0.033,0.042,3026,3381,2732,0,0,0,0,0,0
$GC,4851,1.27,156.8,456.1,2.6,298,4928,0.17,2.35,67.35,0.851,6,0.117,0.035,2994,2011,2410,0,0,0,0,0,0
$GC,5251,1.15,156.8,420.3,11.0,308,5256,0.15,2.38,0.00,0.000,4,0.120,0.039,2967,3387,2401,0,0,0,0,0,0
$GC,5280,1.11,156.8,416.9,10.3,308,5284,0.00,2.38,0.00,0.000,6,0.000,0.038,2969,2014,2401,0,0,0,0,0,0
$GC,5615,1.06,156.8,383.2,9.8,317,5620,0.12,2.47,0.00,0.000,4,0.121,0.051,2945,602,2397,0,0,0,0,0,0
$GC,5631,1.00,156.8,381.7,9.4,317,5635,0.00,2.30,0.00,0.000,6,0.000,0.029,2946,1991,2396,0,0,0,0,0,0
$GC,5944,1.00,157.5,355.7,8.0,325,5948,0.00,2.45,0.00,0.000,4,0.000,0.051,2946,597,2395,0,0,0,0,0,0
$GC,5962,0.95,157.5,354.0,9.2,325,5967,0.12,2.38,0.00,0.000,6,0.123,0.031,2924,2016,2394,0,0,0,0,0,0
$GC,6313,1.01,164.0,325.9,7.6,334,6324,0.00,2.50,4.60,0.568,4,0.000,0.051,2924,604,2380,0,0,0,0,0,0
$GC,6418,1.01,164.0,317.0,8.2,336,6422,0.00,2.35,0.00,0.000,6,0.000,0.029,2924,2014,2378,0,0,0,0,0,0
$GC,6734,1.10,176.5,293.4,7.2,346,6756,0.12,2.50,12.32,0.732,4,0.076,0.049,2956,602,2328,0,0,0,0,0,0
$GC,6867,1.05,176.5,282.2,8.3,351,6873,0.00,2.35,0.00,0.000,6,0.000,0.029,2956,2005,2325,0,0,0,0,0,0
$GC,7184,1.06,184.8,260.4,7.5,367,7199,0.00,2.50,8.32,0.663,4,0.000,0.048,2956,599,2295,0,0,0,0,0,0
$GC,7254,1.02,184.8,253.9,9.8,370,7259,0.00,2.38,0.00,0.000,6,0.000,0.028,2955,2015,2293,0,0,0,0,0,0
$GC,7579,1.02,184.8,226.5,9.0,386,7583,0.00,2.38,0.00,0.000,4,0.000,0.037,2955,3406,2292,0,0,0,0,0,0
$GC,7622,1.05,184.8,222.4,10.1,388,7626,0.00,2.40,0.00,0.000,6,0.000,0.034,2956,2001,2292,0,0,0,0,0,0
$GC,7945,1.09,184.8,186.9,11.0,408,7949,0.00,2.40,0.00,0.000,4,0.000,0.048,2956,602,2292,0,0,0,0,0,0
$GC,8010,1.09,184.8,179.7,11.0,415,8014,0.00,2.33,0.00,0.000,6,0.000,0.026,2955,2023,2290,0,0,0,0,0,0
$GC,8274,1.16,210.4,161.0,6.3,439,8303,0.00,2.50,23.15,0.664,4,0.000,0.045,2955,603,2192,0,0,0,0,0,0
$GC,8398,1.16,210.4,150.5,9.1,452,8405,0.00,2.35,0.00,0.000,6,0.000,0.025,2956,2008,2187,0,0,0,0,0,0
$GC,8662,1.21,210.4,128.8,8.5,477,8667,0.10,2.47,0.00,0.000,4,0.081,0.046,2985,598,2187,0,0,0,0,0,0
$GC,8807,1.17,210.4,113.2,9.2,492,8811,0.00,2.30,0.00,0.000,6,0.000,0.024,2985,2017,2185,0,0,0,0,0,0
$GC,9070,1.25,243.0,95.3,5.8,516,9107,0.00,2.55,28.92,0.604,4,0.000,0.044,2985,598,2058,0,0,0,0,0,0
$GC,9186,1.25,245.9,87.5,7.8,528,9192,0.00,2.33,0.00,0.000,6,0.000,0.023,2985,2006,2054,0,0,0,0,0,0
$GC,9449,1.30,245.9,64.4,8.5,553,9450,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2012,2054,0,0,0,0,0,0
$GC,9703,1.40,271.7,48.3,6.2,577,9734,0.15,2.40,25.60,0.551,4,0.060,0.028,3029,3399,1941,0,0,0,0,0,0
$GC,9755,1.40,271.7,44.2,8.8,582,9759,0.00,2.38,0.00,0.000,6,0.000,0.029,3028,1998,1941,0,0,0,0,0,0
$GC,10019,1.40,271.7,18.1,9.5,616,10026,0.00,2.40,0.00,0.000,4,0.000,0.043,3028,608,1939,0,0,0,0,0,0
$GC,10100,1.35,271.7,9.0,12.9,633,10106,0.00,2.25,0.00,0.000,6,0.000,0.021,3029,2012,1936,0,0,0,0,0,0
$STATE,10149,end climb,SURFACE_DEPTH_REACHED
$STATE,10149,begin surface coast
$FINISH,0.5,1.010791
$STATE,10173,end surface coast,CONTROL_FINISHED_OK
$STATE,10173,begin surface
$SM_CCo,10193,15.80,0.494,0,0,1827,300.00
$SM_GC,2.02,0.00,0.00,15.80,0.000,0.000,0.494,430,1862,1827,-10.51,-0.34,300.00
$IRIDIUM_FIX,2059.45,-15750.89,270899,232346
$TT8_MAMPS,0.029146
$HUMID,49.68
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,38.121
$10V_AH,10.0,36.167
$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,27.750,128.350,300.525,15.800,0.000,25.281,27.127,173.934,4.500,0.000,36.286,1246.722,6598.039,373.296,1898.772,448.293,33.376,1213.221,0.000,1864.509,0.000,30.329,0.000
$DEVICE_MAMPS,133.458,53.690,869.011,493.948,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.871,424.101,835.341,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,38104,646
$CAP_FILE_SIZE,121092,0
$CFSIZE,260165632,233607168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030610,053128,2107.546,-15750.500,62,8.6,81,9.8