version: 66.06
glider: 139
mission: 7
dive: 432
start: 6 3 110 5 45 26
data:
$ID,139
$MISSION,7
$DIVE,432
$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,-2137273.5
$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
$GPS1,053128,2107.546,-15750.500,62,8.6,81,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-68.9
$GPS2,054434,2107.541,-15750.685,40,3.1,59,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,0.008
$KALMAN_X,-130440.5,521.3,-91.3,137342.1,-2931.0
$KALMAN_Y,19476.2,-125.3,-329.4,-17850.7,117.2
$MHEAD_RNG_PITCHd_Wd,77.7,13795,-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,-52.83,0.000,2,0.000,0.000,430,1863,3239,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.9,-7.3,10,96,10.55,2.45,-2.42,0.000,4,0.133,0.039,2404,3299,3370,0,0,0,0,0,0
$GC,148,-1.36,-77.9,22.7,-16.5,25,154,0.17,2.40,0.00,0.000,6,0.092,0.032,2421,1873,3371,0,0,0,0,0,0
$GC,355,-1.30,-77.9,53.1,-13.6,48,359,0.00,2.40,0.00,0.000,4,0.000,0.044,2439,465,3372,0,0,0,0,0,0
$GC,418,-1.24,-77.9,63.0,-13.9,54,425,0.00,2.33,0.00,0.000,6,0.000,0.020,2438,1900,3372,0,0,0,0,0,0
$GC,680,-1.24,-77.9,94.9,-10.7,79,684,0.00,2.47,0.00,0.000,4,0.000,0.043,2439,463,3373,0,0,0,0,0,0
$GC,735,-1.20,-77.9,102.0,-12.9,84,742,0.00,2.28,0.00,0.000,6,0.000,0.020,2439,1873,3373,0,0,0,0,0,0
$GC,999,-1.24,-77.9,127.4,-9.6,109,1004,0.00,2.42,0.00,0.000,4,0.000,0.043,2439,462,3374,0,0,0,0,0,0
$GC,1017,-1.24,-77.9,129.9,-10.6,110,1024,0.00,2.28,0.00,0.000,6,0.000,0.020,2438,1881,3374,0,0,0,0,0,0
$GC,1281,-1.30,-77.9,155.1,-9.9,135,1285,0.00,2.42,0.00,0.000,4,0.000,0.043,2439,467,3375,0,0,0,0,0,0
$GC,1350,-1.34,-77.9,162.6,-10.7,142,1354,0.00,2.25,0.00,0.000,6,0.000,0.020,2440,1873,3374,0,0,0,0,0,0
$GC,1613,-1.40,-77.9,188.1,-10.2,166,1618,0.12,2.42,0.00,0.000,4,0.063,0.045,2397,461,3375,0,0,0,0,0,0
$GC,1660,-1.32,-77.9,193.8,-12.7,170,1667,0.10,2.30,0.00,0.000,6,0.073,0.021,2423,1880,3375,0,0,0,0,0,0
$GC,1927,-1.37,-77.9,219.3,-9.4,186,1932,0.00,2.40,0.00,0.000,4,0.000,0.044,2423,468,3375,0,0,0,0,0,0
$GC,1954,-1.37,-77.9,221.9,-10.0,187,1958,0.00,2.25,0.00,0.000,6,0.000,0.021,2422,1885,3375,0,0,0,0,0,0
$GC,2286,-1.43,-77.9,255.3,-10.1,203,2291,0.00,2.45,0.00,0.000,4,0.000,0.045,2423,463,3374,0,0,0,0,0,0
$GC,2315,-1.43,-77.9,258.7,-11.6,204,2319,0.00,2.28,0.00,0.000,6,0.000,0.021,2421,1881,3375,0,0,0,0,0,0
$GC,2636,-1.51,-77.9,284.2,-6.7,220,2641,0.17,2.42,0.00,0.000,4,0.052,0.046,2372,470,3373,0,0,0,0,0,0
$GC,2698,-1.43,-77.9,290.4,-11.1,222,2705,0.10,2.28,0.00,0.000,6,0.076,0.023,2398,1867,3373,0,0,0,0,0,0
$GC,3030,-1.43,-77.9,323.9,-9.8,233,3034,0.00,2.40,0.00,0.000,4,0.000,0.048,2397,470,3372,0,0,0,0,0,0
$GC,3132,-1.43,-77.9,332.6,-7.9,235,3136,0.00,2.25,0.00,0.000,6,0.000,0.024,2398,1876,3371,0,0,0,0,0,0
$GC,3445,-1.43,-77.9,358.1,-8.9,243,3449,0.00,2.42,0.00,0.000,4,0.000,0.049,2397,468,3370,0,0,0,0,0,0
$GC,3519,-1.43,-77.9,365.6,-9.5,244,3523,0.00,2.28,0.00,0.000,6,0.000,0.025,2397,1876,3369,0,0,0,0,0,0
$GC,3854,-1.43,-77.9,395.2,-8.5,253,3858,0.00,2.45,0.00,0.000,4,0.000,0.051,2397,471,3367,0,0,0,0,0,0
$GC,3878,-1.43,-77.9,397.3,-9.3,253,3882,0.00,2.28,0.00,0.000,6,0.000,0.027,2397,1873,3367,0,0,0,0,0,0
$GC,4218,-1.47,-77.9,426.5,-9.3,262,4222,0.00,2.45,0.00,0.000,4,0.000,0.052,2398,473,3364,0,0,0,0,0,0
$GC,4282,-1.47,-77.9,433.1,-9.9,263,4287,0.00,2.30,0.00,0.000,6,0.000,0.028,2397,1878,3364,0,0,0,0,0,0
$STATE,4507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4507,begin apogee
$GC,4513,-0.31,0.0,452.2,8.2,269,4581,1.15,0.00,64.05,0.874,6,0.071,0.000,2645,2029,3050,0,0,0,0,0,0
$STATE,4582,end apogee,CONTROL_FINISHED_OK
$STATE,4582,begin climb
$GC,4584,1.40,77.9,453.1,0.0,270,4658,1.62,2.42,64.82,0.853,4,0.032,0.042,3023,3381,2732,0,0,0,0,0,0
$GC,4895,1.22,121.0,443.5,5.1,276,4941,0.22,2.38,36.85,0.843,6,0.113,0.036,2984,2005,2556,0,0,0,0,0,0
$GC,5266,1.12,126.8,414.9,7.6,286,5278,0.12,2.53,5.55,0.638,4,0.122,0.051,2960,605,2532,0,0,0,0,0,0
$GC,5312,0.99,126.8,411.2,8.1,287,5317,0.15,2.33,0.00,0.000,6,0.123,0.029,2934,1998,2530,0,0,0,0,0,0
$GC,5641,1.03,160.6,391.7,5.7,295,5677,0.00,2.55,29.85,0.830,4,0.000,0.051,2933,609,2394,0,0,0,0,0,0
$GC,5716,0.99,160.6,386.1,8.8,296,5720,0.00,2.35,0.00,0.000,6,0.000,0.030,2934,2011,2391,0,0,0,0,0,0
$GC,6051,1.01,181.7,362.5,6.6,305,6072,0.00,0.00,19.23,0.797,6,0.000,0.000,2934,2015,2309,0,0,0,0,0,0
$GC,6376,1.05,181.7,334.6,9.6,313,6380,0.00,2.50,0.00,0.000,4,0.000,0.052,2935,599,2304,0,0,0,0,0,0
$GC,6459,1.05,181.7,325.4,11.1,314,6464,0.00,2.38,0.00,0.000,6,0.000,0.030,2935,2016,2302,0,0,0,0,0,0
$GC,6772,1.10,181.7,298.1,8.9,323,6776,0.00,2.47,0.00,0.000,4,0.000,0.052,2935,605,2302,0,0,0,0,0,0
$GC,6892,1.10,181.7,285.7,11.2,328,6896,0.00,2.35,0.00,0.000,6,0.000,0.029,2935,2020,2299,0,0,0,0,0,0
$GC,7212,1.19,202.5,260.0,6.6,344,7236,0.17,2.55,18.42,0.740,4,0.064,0.050,2979,598,2223,0,0,0,0,0,0
$GC,7423,1.11,202.5,241.1,8.6,353,7428,0.12,2.35,0.00,0.000,6,0.122,0.028,2957,2014,2218,0,0,0,0,0,0
$GC,7756,1.15,202.5,211.5,9.6,369,7760,0.00,2.33,0.00,0.000,4,0.000,0.035,2955,3404,2218,0,0,0,0,0,0
$GC,7825,1.22,202.5,204.6,9.0,372,7829,0.00,2.38,0.00,0.000,6,0.000,0.034,2957,2008,2217,0,0,0,0,0,0
$GC,8157,1.26,202.5,178.3,8.0,400,8162,0.15,2.45,0.00,0.000,4,0.067,0.048,2995,596,2217,0,0,0,0,0,0
$GC,8273,1.17,202.5,166.2,11.9,412,8278,0.15,2.35,0.00,0.000,6,0.112,0.025,2968,2017,2215,0,0,0,0,0,0
$GC,8535,1.20,202.5,143.3,8.6,436,8540,0.00,2.45,0.00,0.000,4,0.000,0.047,2968,597,2215,0,0,0,0,0,0
$GC,8599,1.20,202.5,137.3,8.8,442,8605,0.00,2.35,0.00,0.000,6,0.000,0.025,2968,2015,2215,0,0,0,0,0,0
$GC,8862,1.27,217.9,118.5,7.0,467,8883,0.10,2.47,13.73,0.597,4,0.080,0.044,2998,602,2161,0,0,0,0,0,0
$GC,8953,1.22,217.9,109.7,9.5,476,8960,0.00,2.35,0.00,0.000,6,0.000,0.023,2997,2014,2157,0,0,0,0,0,0
$GC,9215,1.22,217.9,88.2,9.1,501,9219,0.00,2.45,0.00,0.000,4,0.000,0.043,2998,596,2157,0,0,0,0,0,0
$GC,9304,1.18,217.9,78.3,11.2,510,9309,0.15,2.33,0.00,0.000,6,0.107,0.022,2969,2021,2156,0,0,0,0,0,0
$GC,9566,1.30,249.0,58.7,5.9,534,9597,0.12,0.00,27.95,0.565,6,0.068,0.000,3007,2025,2035,0,0,0,0,0,0
$GC,9852,1.34,255.0,36.7,7.6,561,9864,0.00,2.47,6.45,0.452,4,0.000,0.041,3006,595,2010,0,0,0,0,0,0
$GC,10003,1.35,264.7,24.4,7.4,585,10019,0.00,2.28,9.85,0.487,6,0.000,0.021,3007,2019,1970,0,0,0,0,0,0
$GC,10218,1.39,264.7,4.1,10.6,624,10225,0.00,2.45,0.00,0.000,4,0.000,0.041,3007,602,1968,0,0,0,0,0,0
$STATE,10228,end climb,SURFACE_DEPTH_REACHED
$STATE,10229,begin surface coast
$FINISH,0.5,1.010046
$STATE,10264,end surface coast,CONTROL_FINISHED_OK
$STATE,10264,begin surface
$SM_CCo,10286,18.58,0.498,0,0,1827,300.00
$SM_GC,0.98,0.00,0.00,18.58,0.000,0.000,0.498,425,1879,1827,-10.53,0.11,300.00
$IRIDIUM_FIX,2101.76,-15750.89,280899,050547
$TT8_MAMPS,0.029146
$HUMID,49.52
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,38.216
$10V_AH,10.0,36.251
$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,26.600,123.825,296.750,18.575,0.000,81.334,100.042,312.600,4.500,0.000,61.745,1233.617,6833.962,383.291,1933.163,708.007,33.374,1220.305,0.000,1856.160,0.000,29.256,0.000
$DEVICE_MAMPS,132.691,53.690,874.380,497.783,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,427.518,402.308,797.369,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,34985,634
$CAP_FILE_SIZE,125918,0
$CFSIZE,260165632,233549824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030610,083945,2107.347,-15750.672,97,4.2,116,9.8