version: 66.06
glider: 139
mission: 7
dive: 415
start: 6 1 110 2 10 15
data:
$ID,139
$MISSION,7
$DIVE,415
$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,-2135715.2
$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
$GPS1,020255,2106.343,-15749.464,162,1.5,162,9.8
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.0
$GPS2,020923,2106.264,-15749.570,38,2.0,47,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.176,0.053
$KALMAN_X,-95729.7,393.9,497.6,104101.4,-3405.8
$KALMAN_Y,26005.9,-13.3,-183.8,-27004.3,-493.9
$MHEAD_RNG_PITCHd_Wd,63.4,11524,-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,-77.9,0.0,0.0,0,71,0.00,0.00,-53.22,0.000,2,0.000,0.000,426,1847,3246,0,0,0,0,0,0
$GC,74,-1.40,-77.9,4.0,-6.7,10,95,10.65,2.42,-2.33,0.000,4,0.137,0.054,2402,468,3371,0,0,0,0,0,0
$GC,106,-0.39,-77.9,15.9,-34.8,16,113,1.05,2.35,0.00,0.000,6,0.097,0.021,2624,1914,3372,0,0,0,0,0,0
$GC,314,-0.76,-77.9,28.1,-5.1,53,321,0.32,2.42,0.00,0.000,4,0.044,0.041,2539,469,3373,0,0,0,0,0,0
$GC,373,-0.92,-77.9,32.9,-7.7,62,377,0.12,2.22,0.00,0.000,6,0.063,0.019,2494,1875,3373,0,0,0,0,0,0
$GC,636,-1.03,-77.9,56.3,-8.2,86,640,0.00,2.40,0.00,0.000,4,0.000,0.044,2494,469,3374,0,0,0,0,0,0
$GC,724,-1.13,-77.9,64.0,-8.4,95,729,0.12,2.22,0.00,0.000,6,0.063,0.019,2452,1873,3375,0,0,0,0,0,0
$GC,987,-1.16,-77.9,92.4,-11.5,119,991,0.00,2.40,0.00,0.000,4,0.000,0.043,2452,467,3376,0,0,0,0,0,0
$GC,1030,-1.16,-77.9,98.0,-12.7,123,1034,0.00,2.22,0.00,0.000,6,0.000,0.019,2453,1873,3376,0,0,0,0,0,0
$GC,1292,-1.22,-77.9,128.2,-11.5,147,1296,0.00,2.42,0.00,0.000,4,0.000,0.044,2451,464,3376,0,0,0,0,0,0
$GC,1329,-1.25,-77.9,132.8,-11.8,150,1335,0.00,2.28,0.00,0.000,6,0.000,0.020,2452,1874,3377,0,0,0,0,0,0
$GC,1592,-1.35,-77.9,157.8,-8.4,175,1597,0.15,2.42,0.00,0.000,4,0.056,0.044,2401,460,3377,0,0,0,0,0,0
$GC,1676,-1.27,-77.9,167.6,-11.7,183,1682,0.17,2.28,0.00,0.000,6,0.091,0.020,2438,1880,3377,0,0,0,0,0,0
$GC,1936,-1.35,-77.9,195.8,-9.8,208,1940,0.00,2.40,0.00,0.000,4,0.000,0.044,2438,468,3377,0,0,0,0,0,0
$GC,1994,-1.38,-77.9,202.5,-11.8,213,1999,0.12,2.25,0.00,0.000,6,0.063,0.021,2395,1885,3377,0,0,0,0,0,0
$GC,2309,-1.38,-77.9,233.6,-8.9,228,2314,0.00,2.42,0.00,0.000,4,0.000,0.044,2394,464,3377,0,0,0,0,0,0
$GC,2369,-1.33,-77.9,239.3,-9.3,230,2376,0.10,2.28,0.00,0.000,6,0.073,0.021,2420,1870,3377,0,0,0,0,0,0
$GC,2686,-1.39,-77.9,266.8,-9.7,246,2690,0.00,2.40,0.00,0.000,4,0.000,0.045,2420,464,3377,0,0,0,0,0,0
$GC,2732,-1.42,-77.9,271.6,-9.7,248,2736,0.00,2.25,0.00,0.000,6,0.000,0.022,2420,1879,3377,0,0,0,0,0,0
$GC,3082,-1.50,-77.9,304.2,-8.7,264,3087,0.15,2.42,0.00,0.000,4,0.058,0.047,2375,470,3375,0,0,0,0,0,0
$GC,3150,-1.43,-77.9,311.1,-10.9,265,3155,0.12,2.25,0.00,0.000,6,0.100,0.023,2400,1877,3375,0,0,0,0,0,0
$GC,3495,-1.43,-77.9,338.3,-7.3,274,3499,0.00,2.42,0.00,0.000,4,0.000,0.048,2399,466,3374,0,0,0,0,0,0
$GC,3518,-1.43,-77.9,340.5,-9.8,274,3522,0.00,2.30,0.00,0.000,6,0.000,0.025,2400,1881,3374,0,0,0,0,0,0
$GC,3858,-1.47,-77.9,371.2,-9.6,283,3862,0.00,2.47,0.00,0.000,4,0.000,0.051,2400,461,3372,0,0,0,0,0,0
$GC,3980,-1.47,-77.9,385.7,-10.7,285,3984,0.00,2.30,0.00,0.000,6,0.000,0.025,2400,1881,3371,0,0,0,0,0,0
$GC,4315,-1.51,-77.9,414.4,-8.0,294,4320,0.00,2.47,0.00,0.000,4,0.000,0.052,2398,469,3369,0,0,0,0,0,0
$GC,4395,-1.51,-77.9,421.0,-7.9,295,4400,0.00,2.30,0.00,0.000,6,0.000,0.027,2400,1873,3369,0,0,0,0,0,0
$GC,4729,-1.55,-77.9,444.8,-7.4,303,4733,0.12,2.47,0.00,0.000,4,0.069,0.054,2363,463,3366,0,0,0,0,0,0
$STATE,4778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4778,begin apogee
$GC,4786,-0.31,0.0,450.1,10.0,304,4854,1.30,0.00,64.55,0.873,6,0.084,0.000,2638,2007,3050,0,0,0,0,0,0
$STATE,4855,end apogee,CONTROL_FINISHED_OK
$STATE,4855,begin climb
$GC,4858,1.40,77.9,451.2,0.0,305,4932,1.67,2.50,64.90,0.851,4,0.035,0.043,3026,3401,2731,0,0,0,0,0,0
$GC,4980,1.26,157.0,450.7,2.6,307,5055,0.17,2.40,67.57,0.848,6,0.118,0.035,2993,2007,2410,0,0,0,0,0,0
$GC,5395,1.16,157.0,411.7,9.9,318,5400,0.15,2.45,0.00,0.000,4,0.117,0.052,2965,604,2400,0,0,0,0,0,0
$GC,5462,1.03,157.0,404.8,10.1,319,5467,0.15,2.35,0.00,0.000,6,0.125,0.029,2940,2013,2398,0,0,0,0,0,0
$GC,5807,1.03,157.0,374.3,9.0,328,5811,0.00,2.50,0.00,0.000,4,0.000,0.052,2941,603,2396,0,0,0,0,0,0
$GC,5933,0.97,157.0,361.6,9.6,330,5937,0.00,2.35,0.00,0.000,6,0.000,0.029,2941,2014,2395,0,0,0,0,0,0
$GC,6267,0.97,157.0,331.6,8.5,339,6272,0.00,2.50,0.00,0.000,4,0.000,0.051,2941,598,2394,0,0,0,0,0,0
$GC,6365,0.93,157.0,321.9,10.1,341,6370,0.12,2.38,0.00,0.000,6,0.123,0.030,2920,2013,2392,0,0,0,0,0,0
$GC,6684,1.01,165.3,297.5,7.4,349,6696,0.00,2.50,5.25,0.597,4,0.000,0.049,2919,605,2375,0,0,0,0,0,0
$GC,6720,1.02,172.8,294.8,7.5,350,6734,0.00,2.38,8.32,0.686,6,0.000,0.029,2919,2021,2344,0,0,0,0,0,0
$GC,7065,1.11,172.8,268.7,8.5,367,7070,0.17,2.50,0.00,0.000,4,0.065,0.051,2962,607,2342,0,0,0,0,0,0
$GC,7183,1.06,172.8,257.7,8.9,372,7187,0.00,2.35,0.00,0.000,6,0.000,0.028,2962,2014,2341,0,0,0,0,0,0
$GC,7507,1.06,172.8,228.8,9.4,388,7508,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2018,2340,0,0,0,0,0,0
$GC,7817,1.10,203.6,206.3,5.9,403,7847,0.00,0.00,27.85,0.713,6,0.000,0.000,2962,2018,2219,0,0,0,0,0,0
$GC,8156,1.14,203.6,181.9,8.0,430,8160,0.00,2.47,0.00,0.000,4,0.000,0.048,2962,601,2214,0,0,0,0,0,0
$GC,8252,1.14,203.6,172.8,9.8,440,8256,0.00,2.35,0.00,0.000,6,0.000,0.025,2962,2019,2212,0,0,0,0,0,0
$GC,8514,1.18,203.9,150.0,8.0,464,8518,0.00,2.45,0.00,0.000,4,0.000,0.045,2962,604,2212,0,0,0,0,0,0
$GC,8584,1.18,203.9,143.8,8.6,471,8589,0.00,2.33,0.00,0.000,6,0.000,0.025,2961,2014,2211,0,0,0,0,0,0
$GC,8848,1.25,215.9,125.5,7.2,495,8868,0.10,2.38,10.77,0.586,4,0.081,0.031,2989,3402,2169,0,0,0,0,0,0
$GC,8883,1.25,215.9,122.4,8.4,498,8890,0.00,2.40,0.00,0.000,6,0.000,0.030,2990,2002,2169,0,0,0,0,0,0
$GC,9146,1.25,215.9,99.2,8.5,523,9150,0.00,2.40,0.00,0.000,4,0.000,0.044,2990,604,2169,0,0,0,0,0,0
$GC,9363,1.21,215.9,78.4,9.5,546,9367,0.00,2.30,0.00,0.000,6,0.000,0.021,2991,2017,2167,0,0,0,0,0,0
$GC,9628,1.23,230.0,58.8,7.0,570,9648,0.00,2.45,13.98,0.542,4,0.000,0.041,2991,604,2111,0,0,0,0,0,0
$GC,9713,1.23,230.0,51.2,9.5,579,9717,0.00,2.30,0.00,0.000,6,0.000,0.021,2991,2016,2108,0,0,0,0,0,0
$GC,9976,1.30,240.2,31.5,7.3,603,9991,0.00,2.45,10.12,0.494,4,0.000,0.041,2991,604,2070,0,0,0,0,0,0
$GC,10146,1.34,273.2,18.7,5.7,637,10181,0.00,2.25,29.48,0.526,6,0.000,0.021,2990,2014,1935,0,0,0,0,0,0
$STATE,10331,end climb,SURFACE_DEPTH_REACHED
$STATE,10331,begin surface coast
$FINISH,0.5,1.023540
$STATE,10358,end surface coast,CONTROL_FINISHED_OK
$STATE,10358,begin surface
$SM_CCo,10378,15.55,0.489,0,0,1827,300.00
$SM_GC,1.29,0.00,0.00,15.55,0.000,0.000,0.489,427,1865,1827,-10.52,-0.31,300.00
$IRIDIUM_FIX,2057.14,-15748.75,250899,232320
$TT8_MAMPS,0.029146
$HUMID,48.30
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,36.762
$10V_AH,10.0,34.837
$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,28.175,124.000,302.800,15.550,0.000,23.671,27.954,193.037,4.750,0.000,48.270,1292.398,6667.975,360.893,2002.620,457.363,33.370,1224.907,0.000,1946.245,0.000,32.153,0.000
$DEVICE_MAMPS,136.526,55.224,872.846,488.579,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,455.857,439.174,875.001,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,38075,676
$CAP_FILE_SIZE,122700,0
$CFSIZE,260165632,234561536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010610,050637,2106.181,-15749.974,152,1.9,152,9.8