version: 66.06
glider: 139
mission: 7
dive: 729
start: 7 12 110 13 56 43
data:
$ID,139
$MISSION,7
$DIVE,729
$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,-2148222.5
$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
$GPS1,134954,2105.754,-15755.111,83,1.8,83,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.2
$GPS2,135550,2105.756,-15755.153,19,1.7,19,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.143,-0.115
$KALMAN_X,-381102.8,-461.2,169.0,381026.6,-1413.4
$KALMAN_Y,-2536.0,-31.6,375.6,162.3,1295.2
$MHEAD_RNG_PITCHd_Wd,119.1,21141,-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,-77.9,0.0,0.0,0,67,0.00,0.00,-49.60,0.000,2,0.000,0.000,424,1901,3112,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.1,-4.7,10,92,10.52,0.00,-5.30,0.000,6,0.130,0.000,2402,1903,3368,0,0,0,0,0,0
$GC,291,-1.22,-77.9,42.4,-16.0,43,296,0.20,2.47,0.00,0.000,4,0.094,0.043,2442,465,3370,0,0,0,0,0,0
$GC,316,-1.08,-77.9,46.4,-15.4,45,321,0.17,2.33,0.00,0.000,6,0.092,0.020,2478,1912,3370,0,0,0,0,0,0
$GC,579,-1.08,-77.9,72.8,-8.4,69,584,0.00,2.50,0.00,0.000,4,0.000,0.041,2478,462,3371,0,0,0,0,0,0
$GC,641,-1.08,-77.9,78.3,-8.3,75,645,0.00,2.28,0.00,0.000,6,0.000,0.019,2478,1889,3372,0,0,0,0,0,0
$GC,904,-1.16,-77.9,99.1,-8.6,99,909,0.00,2.45,0.00,0.000,4,0.000,0.041,2477,463,3373,0,0,0,0,0,0
$GC,951,-1.22,-77.9,103.6,-8.8,103,957,0.15,2.28,0.00,0.000,6,0.055,0.019,2427,1889,3373,0,0,0,0,0,0
$GC,1212,-1.22,-77.9,128.3,-9.3,128,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1894,3374,0,0,0,0,0,0
$GC,1467,-1.22,-77.9,151.6,-9.0,152,1471,0.00,2.25,0.00,0.000,4,0.000,0.025,2428,3263,3375,0,0,0,0,0,0
$GC,1501,-1.30,-77.9,154.4,-8.2,155,1505,0.00,2.33,0.00,0.000,6,0.000,0.026,2427,1866,3375,0,0,0,0,0,0
$GC,1765,-1.30,-77.9,174.2,-7.4,179,1769,0.00,2.38,0.00,0.000,4,0.000,0.041,2426,468,3375,0,0,0,0,0,0
$GC,1831,-1.27,-77.9,179.5,-8.3,185,1837,0.00,2.25,0.00,0.000,6,0.000,0.019,2427,1883,3376,0,0,0,0,0,0
$GC,2093,-1.31,-77.9,204.0,-9.8,208,2097,0.00,2.40,0.00,0.000,4,0.000,0.041,2427,466,3376,0,0,0,0,0,0
$GC,2191,-1.31,-77.9,213.3,-8.4,212,2195,0.00,2.25,0.00,0.000,6,0.000,0.019,2427,1878,3376,0,0,0,0,0,0
$GC,2513,-1.38,-77.9,234.6,-6.2,228,2517,0.00,2.25,0.00,0.000,4,0.000,0.026,2427,3253,3376,0,0,0,0,0,0
$GC,2534,-1.49,-77.9,235.9,-5.6,229,2539,0.17,2.28,0.00,0.000,6,0.050,0.027,2373,1869,3376,0,0,0,0,0,0
$GC,2867,-1.46,-77.9,264.8,-9.6,245,2872,0.10,2.38,0.00,0.000,4,0.110,0.043,2394,473,3376,0,0,0,0,0,0
$GC,2961,-1.46,-77.9,274.5,-9.4,249,2965,0.00,2.25,0.00,0.000,6,0.000,0.021,2394,1876,3375,0,0,0,0,0,0
$GC,3305,-1.46,-77.9,304.5,-8.8,265,3309,0.00,2.40,0.00,0.000,4,0.000,0.044,2393,473,3375,0,0,0,0,0,0
$GC,3342,-1.46,-77.9,307.9,-9.0,265,3347,0.00,2.28,0.00,0.000,6,0.000,0.021,2394,1882,3376,0,0,0,0,0,0
$GC,3674,-1.46,-77.9,333.9,-7.9,273,3679,0.00,2.40,0.00,0.000,4,0.000,0.045,2393,475,3374,0,0,0,0,0,0
$GC,3758,-1.46,-77.9,341.5,-9.1,274,3763,0.00,2.28,0.00,0.000,6,0.000,0.023,2393,1880,3374,0,0,0,0,0,0
$GC,4090,-1.46,-77.9,368.1,-7.8,283,4094,0.00,2.40,0.00,0.000,4,0.000,0.046,2394,476,3373,0,0,0,0,0,0
$GC,4133,-1.46,-77.9,371.7,-8.2,284,4137,0.00,2.28,0.00,0.000,6,0.000,0.024,2394,1873,3373,0,0,0,0,0,0
$GC,4461,-1.49,-77.9,399.2,-8.7,292,4465,0.00,2.42,0.00,0.000,4,0.000,0.048,2393,476,3371,0,0,0,0,0,0
$GC,4508,-1.49,-77.9,403.4,-9.1,293,4512,0.00,2.28,0.00,0.000,6,0.000,0.025,2393,1872,3371,0,0,0,0,0,0
$GC,4831,-1.49,-77.9,427.4,-7.1,301,4835,0.00,2.42,0.00,0.000,4,0.000,0.048,2393,474,3368,0,0,0,0,0,0
$GC,4879,-1.49,-77.9,431.0,-7.4,302,4883,0.00,2.28,0.00,0.000,6,0.000,0.025,2393,1874,3368,0,0,0,0,0,0
$STATE,5128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5128,begin apogee
$GC,5136,-0.31,0.0,450.7,8.3,308,5204,1.17,0.00,65.00,0.855,6,0.069,0.000,2647,2032,3050,0,0,0,0,0,0
$STATE,5205,end apogee,CONTROL_FINISHED_OK
$STATE,5205,begin climb
$GC,5208,1.40,77.9,452.5,0.0,309,5284,1.60,2.40,64.93,0.838,4,0.028,0.038,3027,3377,2732,0,0,0,0,0,0
$GC,5369,1.26,157.8,456.4,2.5,312,5448,0.20,2.35,68.60,0.838,6,0.111,0.033,2992,2011,2405,0,0,0,0,0,0
$GC,5758,1.14,157.8,423.1,9.8,322,5763,0.15,2.47,0.00,0.000,4,0.120,0.049,2965,599,2397,0,0,0,0,0,0
$GC,5844,1.01,157.8,414.3,10.6,323,5850,0.17,2.35,0.00,0.000,6,0.116,0.027,2934,1993,2393,0,0,0,0,0,0
$GC,6175,1.04,179.9,390.0,6.5,332,6199,0.00,2.53,18.25,0.785,4,0.000,0.050,2934,614,2316,0,0,0,0,0,0
$GC,6242,1.01,179.9,385.0,8.1,333,6246,0.00,2.38,0.00,0.000,6,0.000,0.028,2934,2017,2313,0,0,0,0,0,0
$GC,6588,1.04,179.9,359.5,8.2,342,6592,0.00,2.50,0.00,0.000,4,0.000,0.050,2933,604,2311,0,0,0,0,0,0
$GC,6720,1.04,179.9,347.9,8.7,344,6725,0.00,2.35,0.00,0.000,6,0.000,0.028,2934,2013,2309,0,0,0,0,0,0
$GC,7052,1.14,220.3,327.5,5.2,353,7095,0.12,2.55,36.33,0.790,4,0.075,0.056,2965,608,2150,0,0,0,0,0,0
$GC,7291,1.09,220.3,306.5,9.7,358,7295,0.00,2.38,0.00,0.000,6,0.000,0.028,2965,2013,2143,0,0,0,0,0,0
$GC,7613,1.09,220.3,278.8,8.4,372,7617,0.00,2.47,0.00,0.000,4,0.000,0.050,2965,600,2142,0,0,0,0,0,0
$GC,7724,1.05,220.3,269.9,8.6,376,7730,0.12,2.38,0.00,0.000,6,0.122,0.028,2943,2017,2140,0,0,0,0,0,0
$GC,8040,1.17,241.2,248.3,6.6,392,8066,0.12,2.58,18.40,0.711,4,0.074,0.049,2975,605,2065,0,0,0,0,0,0
$GC,8217,1.13,241.2,228.8,11.4,399,8221,0.00,2.35,0.00,0.000,6,0.000,0.027,2975,2015,2060,0,0,0,0,0,0
$GC,8533,1.17,246.7,200.2,7.6,414,8545,0.00,2.55,5.55,0.532,4,0.000,0.047,2975,596,2043,0,0,0,0,0,0
$GC,8678,1.17,246.7,189.3,9.1,428,8683,0.00,2.38,0.00,0.000,6,0.000,0.025,2975,2021,2041,0,0,0,0,0,0
$GC,8942,1.23,254.0,170.5,7.5,453,8955,0.00,2.53,7.80,0.569,4,0.000,0.046,2975,599,2014,0,0,0,0,0,0
$GC,9221,1.23,254.0,144.5,10.7,482,9227,0.00,2.35,0.00,0.000,6,0.000,0.024,2976,2022,2011,0,0,0,0,0,0
$GC,9485,1.32,271.2,126.9,6.8,507,9511,0.12,2.50,16.92,0.598,4,0.070,0.044,3012,600,1943,0,0,0,0,0,0
$GC,9579,1.26,271.2,117.8,10.0,517,9584,0.12,2.35,0.00,0.000,6,0.107,0.023,2989,2018,1940,0,0,0,0,0,0
$GC,9842,1.32,272.5,96.4,7.9,541,9847,0.00,2.45,0.00,0.000,4,0.000,0.044,2988,598,1939,0,0,0,0,0,0
$GC,9923,1.35,272.5,89.5,9.5,549,9928,0.00,2.33,0.00,0.000,6,0.000,0.023,2988,2013,1938,0,0,0,0,0,0
$GC,10187,1.50,321.7,73.7,4.6,573,10240,0.22,2.40,44.40,0.571,4,0.048,0.028,3049,3401,1738,0,0,0,0,0,0
$GC,10326,1.50,326.0,63.2,7.7,588,10336,0.00,2.35,5.28,0.420,6,0.000,0.028,3049,2007,1720,0,0,0,0,0,0
$GC,10591,1.50,326.0,38.8,9.8,613,10595,0.00,2.42,0.00,0.000,4,0.000,0.044,3049,602,1717,0,0,0,0,0,0
$GC,10783,1.44,326.0,17.8,11.5,644,10789,0.10,2.30,0.00,0.000,6,0.114,0.021,3030,2015,1714,0,0,0,0,0,0
$STATE,10938,end climb,SURFACE_DEPTH_REACHED
$STATE,10938,begin surface coast
$FINISH,0.6,1.023255
$STATE,10979,end surface coast,CONTROL_FINISHED_OK
$STATE,10979,begin surface
$SM_CCo,11061,0.00,0.000,0,0,1708,329.19
$SM_GC,1.32,11.18,0.00,0.00,0.025,0.000,0.000,427,1870,1708,-10.44,-0.14,329.19
$IRIDIUM_FIX,2059.45,-15756.04,061099,101038
$TT8_MAMPS,0.029146
$HUMID,55.39
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.50
$XPDR_PINGS,2
$24V_AH,23.3,65.431
$10V_AH,10.0,55.398
$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,26.750,124.050,351.450,0.000,0.000,23.960,33.982,164.394,5.000,0.000,19.543,1320.880,7505.359,398.281,1679.874,506.924,33.374,1315.565,0.000,1631.205,0.000,29.246,0.000
$DEVICE_MAMPS,129.623,55.991,855.205,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,456.356,448.270,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,34906,679
$CAP_FILE_SIZE,127341,0
$CFSIZE,260165632,215449600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4
$GPS,120710,170256,2105.004,-15755.259,56,4.0,75,9.8