version: 66.06
glider: 139
mission: 7
dive: 500
start: 6 12 110 1 7 28
data:
$ID,139
$MISSION,7
$DIVE,500
$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,-2139941.2
$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
$GPS1,005021,2100.341,-15751.604,110,4.5,129,9.8
$_CALLS,3
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-72.8
$GPS2,010637,2100.383,-15751.711,40,0.9,40,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.078,0.167
$KALMAN_X,-241251.4,479.5,-10.9,246345.3,-800.6
$KALMAN_Y,13852.4,221.8,-147.6,-26012.5,-492.3
$MHEAD_RNG_PITCHd_Wd,325.2,23167,-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,-77.9,0.0,0.0,0,71,0.00,0.00,-51.35,0.000,2,0.000,0.000,423,1851,3194,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.5,-6.6,10,96,10.55,2.45,-3.45,0.000,4,0.132,0.039,2400,3295,3370,0,0,0,0,0,0
$GC,224,-1.32,-77.9,31.9,-14.5,41,229,0.12,2.38,0.00,0.000,6,0.107,0.031,2425,1874,3371,0,0,0,0,0,0
$GC,489,-1.20,-77.9,70.5,-15.6,65,494,0.12,2.42,0.00,0.000,4,0.110,0.044,2449,470,3372,0,0,0,0,0,0
$GC,581,-1.16,-77.9,86.2,-15.1,74,588,0.00,2.33,0.00,0.000,6,0.000,0.019,2444,1904,3372,0,0,0,0,0,0
$GC,844,-1.16,-77.9,119.3,-11.7,99,851,0.00,2.45,0.00,0.000,4,0.000,0.044,2449,471,3372,0,0,0,0,0,0
$GC,948,-1.16,-77.9,131.0,-10.3,110,952,0.00,2.25,0.00,0.000,6,0.000,0.019,2448,1881,3373,0,0,0,0,0,0
$GC,1211,-1.20,-77.9,158.7,-10.7,134,1215,0.00,2.40,0.00,0.000,4,0.000,0.042,2449,467,3373,0,0,0,0,0,0
$GC,1312,-1.20,-77.9,168.9,-8.8,145,1317,0.00,2.25,0.00,0.000,6,0.000,0.019,2448,1883,3374,0,0,0,0,0,0
$GC,1577,-1.30,-77.9,189.4,-7.2,169,1581,0.00,2.40,0.00,0.000,4,0.000,0.041,2449,465,3374,0,0,0,0,0,0
$GC,1614,-1.37,-77.9,192.3,-6.8,172,1621,0.12,2.28,0.00,0.000,6,0.031,0.020,2399,1878,3374,0,0,0,0,0,0
$GC,1873,-1.37,-77.9,221.1,-11.8,189,1877,0.00,2.42,0.00,0.000,4,0.000,0.043,2399,462,3374,0,0,0,0,0,0
$GC,1939,-1.33,-77.9,229.2,-11.5,192,1944,0.12,2.25,0.00,0.000,6,0.097,0.021,2425,1881,3374,0,0,0,0,0,0
$GC,2271,-1.39,-77.9,257.6,-7.8,208,2275,0.00,2.42,0.00,0.000,4,0.000,0.044,2426,464,3374,0,0,0,0,0,0
$GC,2321,-1.45,-77.9,261.8,-7.9,210,2326,0.12,2.28,0.00,0.000,6,0.063,0.021,2383,1880,3374,0,0,0,0,0,0
$GC,2641,-1.45,-77.9,287.5,-9.5,226,2646,0.00,2.42,0.00,0.000,4,0.000,0.044,2383,468,3373,0,0,0,0,0,0
$GC,2656,-1.40,-77.9,289.0,-9.9,226,2663,0.08,2.30,0.00,0.000,6,0.076,0.023,2404,1877,3373,0,0,0,0,0,0
$GC,2969,-1.40,-77.9,313.9,-7.7,238,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1881,3372,0,0,0,0,0,0
$GC,3296,-1.45,-77.9,340.5,-8.5,246,3300,0.00,2.45,0.00,0.000,4,0.000,0.048,2404,464,3370,0,0,0,0,0,0
$GC,3334,-1.45,-77.9,344.1,-9.1,246,3339,0.00,2.30,0.00,0.000,6,0.000,0.025,2404,1875,3370,0,0,0,0,0,0
$GC,3666,-1.50,-77.9,372.8,-9.2,255,3670,0.00,2.45,0.00,0.000,4,0.000,0.050,2404,470,3367,0,0,0,0,0,0
$GC,3717,-1.50,-77.9,378.7,-10.9,256,3722,0.00,2.30,0.00,0.000,6,0.000,0.026,2404,1871,3367,0,0,0,0,0,0
$GC,4035,-1.55,-77.9,408.0,-8.8,264,4040,0.12,2.47,0.00,0.000,4,0.068,0.052,2368,468,3364,0,0,0,0,0,0
$GC,4098,-1.48,-77.9,414.5,-10.6,265,4103,0.10,2.30,0.00,0.000,6,0.108,0.027,2389,1872,3364,0,0,0,0,0,0
$GC,4449,-1.48,-77.9,440.3,-6.8,274,4453,0.00,2.47,0.00,0.000,4,0.000,0.054,2388,465,3361,0,0,0,0,0,0
$GC,4486,-1.48,-77.9,443.2,-7.7,274,4492,0.00,2.35,0.00,0.000,6,0.000,0.028,2388,1883,3361,0,0,0,0,0,0
$STATE,4612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4612,begin apogee
$GC,4618,-0.31,0.0,451.7,6.7,278,4685,1.20,0.00,63.65,0.877,6,0.074,0.000,2644,2031,3050,0,0,0,0,0,0
$STATE,4686,end apogee,CONTROL_FINISHED_OK
$STATE,4686,begin climb
$GC,4688,1.40,77.9,452.3,0.0,279,4763,1.62,2.45,65.20,0.854,4,0.031,0.044,3026,3387,2731,0,0,0,0,0,0
$GC,5027,1.20,101.1,439.7,6.4,286,5053,0.25,2.38,19.88,0.819,6,0.111,0.036,2976,2007,2638,0,0,0,0,0,0
$GC,5376,1.10,117.7,414.8,6.9,295,5397,0.12,2.47,14.75,0.800,4,0.128,0.041,2939,3385,2570,0,0,0,0,0,0
$GC,5523,1.06,143.1,404.5,6.3,298,5552,0.00,2.38,23.23,0.823,6,0.000,0.037,2959,2009,2466,0,0,0,0,0,0
$GC,5884,1.01,143.1,376.3,8.4,307,5889,0.12,2.50,0.00,0.000,4,0.123,0.054,2936,604,2460,0,0,0,0,0,0
$GC,5969,0.95,143.1,368.1,9.7,308,5974,0.00,2.35,0.00,0.000,6,0.000,0.030,2935,1998,2459,0,0,0,0,0,0
$GC,6299,0.95,143.1,339.5,8.6,317,6304,0.00,2.45,0.00,0.000,4,0.000,0.051,2936,600,2457,0,0,0,0,0,0
$GC,6318,0.95,143.1,337.9,8.4,317,6322,0.00,2.38,0.00,0.000,6,0.000,0.031,2936,2015,2456,0,0,0,0,0,0
$GC,6663,0.99,171.1,315.2,6.1,326,6690,0.00,0.00,23.90,0.795,6,0.000,0.000,2936,2019,2351,0,0,0,0,0,0
$GC,7017,1.03,176.9,289.4,7.6,337,7029,0.00,2.55,5.85,0.622,4,0.000,0.052,2936,608,2328,0,0,0,0,0,0
$GC,7057,1.03,176.9,285.6,8.9,338,7064,0.00,2.40,0.00,0.000,6,0.000,0.031,2936,2012,2326,0,0,0,0,0,0
$GC,7373,1.11,192.4,261.5,7.0,354,7393,0.00,0.00,15.30,0.737,6,0.000,0.000,2936,2017,2264,0,0,0,0,0,0
$GC,7702,1.19,202.3,237.8,7.3,370,7719,0.17,2.55,9.60,0.677,4,0.066,0.051,2979,605,2225,0,0,0,0,0,0
$GC,7797,1.10,202.3,228.4,10.1,374,7802,0.12,2.38,0.00,0.000,6,0.123,0.029,2958,2018,2222,0,0,0,0,0,0
$GC,8125,1.16,219.9,201.8,6.8,390,8148,0.00,2.53,16.77,0.695,4,0.000,0.049,2957,604,2152,0,0,0,0,0,0
$GC,8239,1.16,219.9,191.2,10.5,399,8245,0.00,2.35,0.00,0.000,6,0.000,0.028,2957,2012,2148,0,0,0,0,0,0
$GC,8502,1.24,236.9,168.8,6.9,424,8524,0.12,2.55,15.88,0.657,4,0.072,0.048,2990,604,2083,0,0,0,0,0,0
$GC,8739,1.21,236.9,146.1,10.2,450,8744,0.00,2.35,0.00,0.000,6,0.000,0.025,2990,2018,2078,0,0,0,0,0,0
$GC,9002,1.25,236.9,125.0,8.1,474,9006,0.00,2.47,0.00,0.000,4,0.000,0.046,2990,598,2078,0,0,0,0,0,0
$GC,9092,1.25,236.9,116.5,8.9,483,9098,0.00,2.33,0.00,0.000,6,0.000,0.024,2990,2016,2077,0,0,0,0,0,0
$GC,9355,1.34,250.2,99.3,7.1,508,9374,0.00,2.53,12.20,0.570,4,0.000,0.044,2991,599,2029,0,0,0,0,0,0
$GC,9407,1.34,250.2,95.0,8.5,513,9412,0.00,2.33,0.00,0.000,6,0.000,0.023,2991,2018,2027,0,0,0,0,0,0
$GC,9670,1.41,250.2,73.1,9.0,538,9675,0.12,2.47,0.00,0.000,4,0.066,0.044,3028,597,2027,0,0,0,0,0,0
$GC,9867,1.34,250.2,52.7,10.1,559,9872,0.12,2.28,0.00,0.000,6,0.105,0.021,3004,2019,2026,0,0,0,0,0,0
$GC,10130,1.39,261.7,32.0,7.2,583,10151,0.00,2.50,11.60,0.502,4,0.000,0.041,3004,601,1982,0,0,0,0,0,0
$GC,10171,1.40,270.3,28.8,7.4,588,10190,0.00,2.30,9.10,0.477,6,0.000,0.021,3003,2007,1947,0,0,0,0,0,0
$GC,10390,1.45,270.3,7.5,10.0,627,10396,0.12,2.45,0.00,0.000,4,0.065,0.042,3044,591,1946,0,0,0,0,0,0
$STATE,10422,end climb,SURFACE_DEPTH_REACHED
$STATE,10422,begin surface coast
$FINISH,0.6,1.023228
$STATE,10441,end surface coast,CONTROL_FINISHED_OK
$STATE,10441,begin surface
$SM_CCo,10463,15.27,0.489,0,0,1826,300.00
$SM_GC,2.29,0.00,0.00,15.27,0.000,0.000,0.489,424,1878,1826,-10.53,0.08,300.00
$IRIDIUM_FIX,2054.83,-15751.76,060999,010138
$TT8_MAMPS,0.029146
$HUMID,50.43
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.4,44.438
$10V_AH,10.0,41.963
$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,26.775,119.725,306.900,15.275,0.000,84.720,94.173,522.003,4.500,0.000,40.597,1243.850,6969.099,385.056,1918.143,937.701,33.388,1231.650,0.000,1865.831,0.000,29.268,0.000
$DEVICE_MAMPS,131.924,54.457,876.681,489.346,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,429.987,407.709,782.487,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,34953,638
$CAP_FILE_SIZE,131594,0
$CFSIZE,260165632,229429248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120610,040435,2101.017,-15752.817,96,2.0,111,9.8