version: 66.06
glider: 139
mission: 7
dive: 425
start: 6 2 110 8 26 59
data:
$ID,139
$MISSION,7
$DIVE,425
$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,-2136103.2
$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
$GPS1,081606,2107.018,-15750.305,85,1.9,85,9.8
$_CALLS,2
$_XMS_NAKs,26
$_XMS_TOUTs,3
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.9
$GPS2,082607,2107.121,-15750.457,10,2.0,15,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,0.005
$KALMAN_X,-115596.8,289.4,-573.4,123611.9,-1572.2
$KALMAN_Y,21451.4,-10.9,140.3,-21192.4,-149.4
$MHEAD_RNG_PITCHd_Wd,78.6,13250,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.40,-77.9,0.0,0.0,0,73,0.00,0.00,-53.22,0.000,2,0.000,0.000,423,1870,3222,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.3,-4.7,10,97,10.65,2.40,-2.90,0.000,4,0.134,0.036,2405,3299,3370,0,0,0,0,0,0
$GC,105,-0.32,-77.9,13.1,-30.1,15,112,1.23,2.40,0.00,0.000,6,0.079,0.029,2648,1867,3371,0,0,0,0,0,0
$GC,311,-0.91,-77.9,23.1,-4.6,52,318,0.60,2.42,0.00,0.000,4,0.042,0.040,2510,466,3372,0,0,0,0,0,0
$GC,393,-1.01,-77.9,29.5,-9.3,69,398,0.00,2.33,0.00,0.000,6,0.000,0.019,2508,1913,3372,0,0,0,0,0,0
$GC,597,-1.13,-77.9,47.4,-8.5,89,602,0.17,2.50,0.00,0.000,4,0.051,0.043,2453,470,3373,0,0,0,0,0,0
$GC,616,-1.13,-77.9,49.7,-10.8,90,622,0.00,2.28,0.00,0.000,6,0.000,0.020,2450,1880,3373,0,0,0,0,0,0
$GC,877,-1.13,-77.9,80.8,-11.0,115,881,0.00,2.25,0.00,0.000,4,0.000,0.025,2453,3263,3374,0,0,0,0,0,0
$GC,923,-1.26,-77.9,85.4,-9.4,119,929,0.00,2.30,0.00,0.000,6,0.000,0.028,2449,1870,3374,0,0,0,0,0,0
$GC,1185,-1.26,-77.9,109.3,-9.8,144,1189,0.00,2.38,0.00,0.000,4,0.000,0.043,2453,466,3375,0,0,0,0,0,0
$GC,1267,-1.26,-77.9,117.6,-9.6,152,1273,0.00,2.28,0.00,0.000,6,0.000,0.019,2452,1877,3375,0,0,0,0,0,0
$GC,1530,-1.32,-77.9,143.6,-10.2,177,1535,0.12,2.42,0.00,0.000,4,0.062,0.043,2408,473,3375,0,0,0,0,0,0
$GC,1604,-1.25,-77.9,153.0,-11.9,184,1611,0.12,2.28,0.00,0.000,6,0.070,0.019,2439,1881,3376,0,0,0,0,0,0
$GC,1867,-1.31,-77.9,176.6,-8.8,209,1871,0.00,2.42,0.00,0.000,4,0.000,0.043,2440,466,3376,0,0,0,0,0,0
$GC,1894,-1.31,-77.9,179.3,-10.0,211,1900,0.00,2.22,0.00,0.000,6,0.000,0.020,2440,1877,3377,0,0,0,0,0,0
$GC,2156,-1.39,-77.9,199.9,-6.8,236,2162,0.12,2.42,0.00,0.000,4,0.063,0.044,2396,463,3377,0,0,0,0,0,0
$GC,2208,-1.35,-77.9,204.9,-10.5,239,2213,0.10,2.25,0.00,0.000,6,0.107,0.021,2417,1876,3377,0,0,0,0,0,0
$GC,2541,-1.39,-77.9,237.6,-11.0,255,2545,0.00,2.42,0.00,0.000,4,0.000,0.044,2417,463,3377,0,0,0,0,0,0
$GC,2586,-1.39,-77.9,243.5,-11.2,257,2590,0.00,2.28,0.00,0.000,6,0.000,0.021,2417,1879,3377,0,0,0,0,0,0
$GC,2913,-1.44,-77.9,274.1,-8.0,273,2917,0.00,2.40,0.00,0.000,4,0.000,0.045,2416,473,3376,0,0,0,0,0,0
$GC,2959,-1.44,-77.9,278.4,-9.0,275,2963,0.00,2.25,0.00,0.000,6,0.000,0.022,2417,1880,3376,0,0,0,0,0,0
$GC,3283,-1.50,-77.9,307.6,-8.1,289,3287,0.12,2.42,0.00,0.000,4,0.064,0.047,2375,473,3375,0,0,0,0,0,0
$GC,3357,-1.44,-77.9,315.8,-11.0,290,3362,0.12,2.25,0.00,0.000,6,0.099,0.023,2401,1871,3375,0,0,0,0,0,0
$GC,3698,-1.48,-77.9,347.5,-9.6,299,3703,0.00,2.40,0.00,0.000,4,0.000,0.048,2401,474,3373,0,0,0,0,0,0
$GC,3781,-1.48,-77.9,357.1,-11.5,300,3787,0.00,2.28,0.00,0.000,6,0.000,0.025,2401,1881,3373,0,0,0,0,0,0
$GC,4113,-1.52,-77.9,388.8,-9.1,309,4117,0.00,2.45,0.00,0.000,4,0.000,0.050,2401,474,3371,0,0,0,0,0,0
$GC,4218,-1.52,-77.9,398.7,-8.9,311,4222,0.00,2.28,0.00,0.000,6,0.000,0.026,2401,1880,3370,0,0,0,0,0,0
$GC,4567,-1.58,-77.9,429.8,-9.5,320,4572,0.15,2.45,0.00,0.000,4,0.061,0.052,2359,474,3367,0,0,0,0,0,0
$GC,4658,-1.50,-77.9,440.8,-13.0,322,4663,0.12,2.30,0.00,0.000,6,0.106,0.028,2383,1880,3367,0,0,0,0,0,0
$STATE,4740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4740,begin apogee
$GC,4746,-0.31,0.0,450.1,10.4,324,4815,1.23,0.00,65.00,0.871,6,0.074,0.000,2646,2031,3050,0,0,0,0,0,0
$STATE,4815,end apogee,CONTROL_FINISHED_OK
$STATE,4815,begin climb
$GC,4817,1.40,77.9,451.7,0.0,325,4892,1.62,2.45,64.88,0.851,4,0.032,0.044,3024,3386,2732,0,0,0,0,0,0
$GC,5155,1.24,127.9,446.7,4.6,332,5204,0.22,2.38,42.58,0.848,6,0.111,0.035,2984,2004,2528,0,0,0,0,0,0
$GC,5545,1.13,127.9,414.7,8.8,342,5550,0.12,2.40,0.00,0.000,4,0.122,0.041,2961,3384,2521,0,0,0,0,0,0
$GC,5675,1.08,127.9,403.1,8.8,344,5680,0.00,2.38,0.00,0.000,6,0.000,0.037,2962,2005,2521,0,0,0,0,0,0
$GC,6007,1.03,135.2,376.7,7.5,353,6015,0.12,0.00,6.05,0.663,6,0.123,0.000,2941,2005,2498,0,0,0,0,0,0
$GC,6331,1.05,146.4,353.7,7.2,361,6347,0.00,2.55,10.82,0.756,4,0.000,0.054,2936,602,2452,0,0,0,0,0,0
$GC,6477,1.00,146.4,341.5,8.3,364,6481,0.00,2.33,0.00,0.000,6,0.000,0.030,2939,1995,2450,0,0,0,0,0,0
$GC,6795,1.05,183.6,323.4,5.5,372,6837,0.00,2.55,33.50,0.805,4,0.000,0.051,2939,610,2300,0,0,0,0,0,0
$GC,6971,1.01,183.6,308.3,9.9,375,6977,0.00,2.38,0.00,0.000,6,0.000,0.030,2940,2016,2294,0,0,0,0,0,0
$GC,7285,1.05,183.6,280.6,8.1,388,7289,0.00,2.50,0.00,0.000,4,0.000,0.052,2940,604,2293,0,0,0,0,0,0
$GC,7422,1.05,183.6,269.4,8.2,394,7426,0.00,2.35,0.00,0.000,6,0.000,0.029,2940,2016,2290,0,0,0,0,0,0
$GC,7747,1.13,193.4,248.0,7.3,410,7762,0.00,2.50,8.45,0.661,4,0.000,0.050,2940,602,2260,0,0,0,0,0,0
$GC,7794,1.13,193.4,244.1,8.7,412,7798,0.00,2.38,0.00,0.000,6,0.000,0.028,2940,2018,2258,0,0,0,0,0,0
$GC,8124,1.23,219.8,219.4,6.2,428,8154,0.17,2.53,24.50,0.716,4,0.063,0.049,2985,604,2153,0,0,0,0,0,0
$GC,8166,1.18,219.8,215.7,9.3,430,8170,0.00,2.35,0.00,0.000,6,0.000,0.028,2984,2012,2151,0,0,0,0,0,0
$GC,8489,1.18,219.8,187.1,9.5,452,8493,0.00,2.45,0.00,0.000,4,0.000,0.048,2984,604,2148,0,0,0,0,0,0
$GC,8646,1.11,219.8,170.1,10.5,469,8651,0.15,2.33,0.00,0.000,6,0.111,0.025,2957,2022,2145,0,0,0,0,0,0
$GC,8907,1.18,219.8,147.7,8.3,493,8912,0.00,2.47,0.00,0.000,4,0.000,0.046,2957,601,2145,0,0,0,0,0,0
$GC,9060,1.18,219.8,132.9,10.4,509,9065,0.00,2.30,0.00,0.000,6,0.000,0.024,2957,2015,2144,0,0,0,0,0,0
$GC,9325,1.29,251.5,112.9,5.8,533,9363,0.17,2.55,27.88,0.614,4,0.058,0.045,3005,598,2023,0,0,0,0,0,0
$GC,9440,1.22,251.5,99.5,11.4,545,9446,0.12,2.30,0.00,0.000,6,0.110,0.022,2982,2014,2019,0,0,0,0,0,0
$GC,9705,1.27,251.5,76.5,8.6,570,9709,0.00,2.42,0.00,0.000,4,0.000,0.043,2982,599,2018,0,0,0,0,0,0
$GC,9729,1.27,251.5,73.9,9.8,572,9734,0.00,2.28,0.00,0.000,6,0.000,0.022,2981,2013,2018,0,0,0,0,0,0
$GC,9993,1.33,251.5,48.2,10.5,596,9998,0.10,2.42,0.00,0.000,4,0.077,0.042,3014,601,2018,0,0,0,0,0,0
$GC,10019,1.29,251.5,45.0,12.8,598,10023,0.00,2.28,0.00,0.000,6,0.000,0.021,3014,2011,2018,0,0,0,0,0,0
$GC,10288,1.30,256.7,17.6,7.7,635,10300,0.00,2.30,5.32,0.413,4,0.000,0.027,3014,3392,2002,0,0,0,0,0,0
$GC,10406,1.36,256.7,7.0,9.2,660,10412,0.00,2.35,0.00,0.000,6,0.000,0.030,3013,2011,2002,0,0,0,0,0,0
$STATE,10446,end climb,SURFACE_DEPTH_REACHED
$STATE,10446,begin surface coast
$FINISH,0.5,1.022515
$STATE,10480,end surface coast,CONTROL_FINISHED_OK
$STATE,10480,begin surface
$SM_CCo,10500,23.33,0.507,0,0,1826,300.00
$SM_GC,0.98,0.00,0.00,23.33,0.000,0.000,0.507,427,1854,1826,-10.52,-0.62,300.00
$IRIDIUM_FIX,2059.45,-15753.90,270899,080839
$TT8_MAMPS,0.029146
$HUMID,49.25
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,37.629
$10V_AH,10.0,35.662
$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,28.800,128.575,288.975,23.325,0.000,56.029,60.332,308.921,4.500,0.000,16.180,1316.903,6724.857,383.046,2045.629,654.442,33.371,1285.276,0.000,2023.150,0.000,29.260,0.000
$DEVICE_MAMPS,134.225,53.690,871.312,506.987,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.627,433.280,837.870,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,38079,673
$CAP_FILE_SIZE,130709,0
$CFSIZE,260165632,233967616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020610,112428,2107.069,-15750.189,88,1.3,89,9.8