version: 66.06
glider: 139
mission: 7
dive: 503
start: 6 12 110 10 15 45
data:
$ID,139
$MISSION,7
$DIVE,503
$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,-2140040.8
$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
$GPS1,100829,2102.435,-15754.700,75,3.2,94,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.9
$GPS2,101454,2102.420,-15754.720,38,1.7,54,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.057,0.175
$KALMAN_X,-243229.1,-63.4,462.8,243192.8,-1444.2
$KALMAN_Y,12188.8,-130.9,378.1,-20748.1,-1268.6
$MHEAD_RNG_PITCHd_Wd,8.4,16760,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-52.95,0.000,2,0.000,0.000,425,1850,3257,0,0,0,0,0,0
$GC,75,-1.40,-77.9,4.1,-7.4,10,93,10.77,2.45,-2.03,0.000,4,0.141,0.037,2402,3299,3370,0,0,0,0,0,0
$GC,143,-1.33,-77.9,24.5,-21.1,24,151,0.08,2.45,0.00,0.000,6,0.085,0.031,2421,1867,3372,0,0,0,0,0,0
$GC,346,-1.19,-77.9,59.4,-15.9,45,351,0.17,2.42,0.00,0.000,4,0.100,0.044,2456,467,3372,0,0,0,0,0,0
$GC,393,-1.09,-77.9,66.9,-15.5,49,399,0.00,2.33,0.00,0.000,6,0.000,0.020,2456,1901,3372,0,0,0,0,0,0
$GC,653,-1.09,-77.9,99.3,-13.9,74,658,0.10,2.45,0.00,0.000,4,0.116,0.043,2475,469,3372,0,0,0,0,0,0
$GC,713,-1.09,-77.9,107.6,-13.4,80,720,0.00,2.28,0.00,0.000,6,0.000,0.019,2476,1881,3373,0,0,0,0,0,0
$GC,977,-1.17,-77.9,134.6,-9.3,105,981,0.00,2.42,0.00,0.000,4,0.000,0.042,2475,469,3374,0,0,0,0,0,0
$GC,1058,-1.23,-77.9,142.0,-8.5,113,1063,0.15,2.22,0.00,0.000,6,0.056,0.019,2427,1885,3374,0,0,0,0,0,0
$GC,1320,-1.23,-77.9,168.6,-8.9,137,1324,0.00,2.42,0.00,0.000,4,0.000,0.042,2426,469,3375,0,0,0,0,0,0
$GC,1440,-1.23,-77.9,180.1,-10.7,149,1444,0.00,2.22,0.00,0.000,6,0.000,0.019,2427,1877,3376,0,0,0,0,0,0
$GC,1710,-1.26,-77.9,208.1,-9.2,170,1714,0.00,2.40,0.00,0.000,4,0.000,0.041,2426,459,3376,0,0,0,0,0,0
$GC,1732,-1.26,-77.9,209.7,-7.8,171,1736,0.00,2.25,0.00,0.000,6,0.000,0.020,2426,1882,3376,0,0,0,0,0,0
$GC,2064,-1.32,-77.9,231.2,-7.0,187,2068,0.00,2.40,0.00,0.000,4,0.000,0.042,2426,467,3377,0,0,0,0,0,0
$GC,2102,-1.32,-77.9,234.4,-8.0,188,2108,0.00,2.28,0.00,0.000,6,0.000,0.021,2426,1878,3377,0,0,0,0,0,0
$GC,2418,-1.40,-77.9,258.1,-7.0,204,2422,0.00,2.42,0.00,0.000,4,0.000,0.044,2426,466,3377,0,0,0,0,0,0
$GC,2456,-1.44,-77.9,261.3,-8.3,205,2461,0.12,2.25,0.00,0.000,6,0.064,0.021,2384,1882,3377,0,0,0,0,0,0
$GC,2772,-1.44,-77.9,293.8,-11.1,220,2776,0.00,2.42,0.00,0.000,4,0.000,0.046,2384,470,3376,0,0,0,0,0,0
$GC,2879,-1.39,-77.9,306.8,-12.3,224,2884,0.12,2.25,0.00,0.000,6,0.100,0.023,2410,1875,3375,0,0,0,0,0,0
$GC,3193,-1.43,-77.9,337.7,-9.5,232,3198,0.00,2.42,0.00,0.000,4,0.000,0.048,2410,469,3374,0,0,0,0,0,0
$GC,3267,-1.43,-77.9,345.0,-8.9,233,3271,0.00,2.28,0.00,0.000,6,0.000,0.024,2410,1883,3373,0,0,0,0,0,0
$GC,3604,-1.49,-77.9,368.4,-6.4,242,3608,0.00,2.45,0.00,0.000,4,0.000,0.049,2410,471,3372,0,0,0,0,0,0
$GC,3682,-1.49,-77.9,374.2,-7.1,243,3686,0.00,2.28,0.00,0.000,6,0.000,0.025,2410,1876,3371,0,0,0,0,0,0
$GC,4014,-1.55,-77.9,396.5,-6.6,251,4019,0.15,2.47,0.00,0.000,4,0.061,0.051,2367,470,3369,0,0,0,0,0,0
$GC,4113,-1.48,-77.9,406.2,-10.0,253,4118,0.10,2.28,0.00,0.000,6,0.112,0.027,2387,1872,3368,0,0,0,0,0,0
$GC,4434,-1.48,-77.9,432.8,-8.1,261,4438,0.00,2.42,0.00,0.000,4,0.000,0.052,2387,472,3366,0,0,0,0,0,0
$GC,4448,-1.48,-77.9,434.2,-8.2,261,4452,0.00,2.30,0.00,0.000,6,0.000,0.028,2387,1881,3366,0,0,0,0,0,0
$STATE,4632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4632,begin apogee
$GC,4637,-0.31,0.0,450.1,8.5,266,4706,1.20,0.00,64.50,0.879,6,0.074,0.000,2643,2028,3050,0,0,0,0,0,0
$STATE,4706,end apogee,CONTROL_FINISHED_OK
$STATE,4706,begin climb
$GC,4709,1.40,77.9,451.2,0.0,267,4784,1.62,2.42,65.15,0.858,4,0.033,0.044,3020,3376,2731,0,0,0,0,0,0
$GC,4892,1.25,145.0,450.6,3.4,271,4957,0.17,2.38,57.58,0.854,6,0.115,0.036,2991,2001,2457,0,0,0,0,0,0
$GC,5299,1.14,148.1,419.0,7.8,281,5304,0.15,2.42,0.00,0.000,4,0.120,0.041,2962,3383,2449,0,0,0,0,0,0
$GC,5352,1.10,162.3,415.2,7.0,282,5372,0.00,2.38,14.93,0.795,6,0.000,0.038,2966,2005,2387,0,0,0,0,0,0
$GC,5714,1.06,162.3,383.7,9.3,291,5719,0.00,2.47,0.00,0.000,4,0.000,0.054,2964,603,2381,0,0,0,0,0,0
$GC,5743,0.93,162.3,380.5,11.2,291,5748,0.25,2.35,0.00,0.000,6,0.107,0.030,2917,1997,2380,0,0,0,0,0,0
$GC,6079,0.99,162.3,353.1,8.0,300,6083,0.00,2.47,0.00,0.000,4,0.000,0.052,2918,598,2379,0,0,0,0,0,0
$GC,6144,0.99,162.3,346.9,9.5,301,6148,0.00,2.38,0.00,0.000,6,0.000,0.031,2918,2015,2377,0,0,0,0,0,0
$GC,6489,1.06,164.9,319.1,7.8,310,6494,0.12,2.53,0.00,0.000,4,0.077,0.052,2949,596,2376,0,0,0,0,0,0
$GC,6731,1.00,164.9,295.9,9.5,315,6735,0.00,2.38,0.00,0.000,6,0.000,0.030,2949,2012,2374,0,0,0,0,0,0
$GC,7046,1.03,185.2,272.8,6.6,330,7070,0.00,2.60,19.05,0.761,4,0.000,0.051,2949,598,2293,0,0,0,0,0,0
$GC,7183,1.03,185.2,262.0,9.1,335,7188,0.00,2.35,0.00,0.000,6,0.000,0.030,2949,2012,2289,0,0,0,0,0,0
$GC,7499,1.06,185.2,235.4,9.5,351,7503,0.00,2.47,0.00,0.000,4,0.000,0.050,2949,604,2289,0,0,0,0,0,0
$GC,7582,1.06,185.2,226.3,11.1,354,7589,0.00,2.38,0.00,0.000,6,0.000,0.029,2949,2008,2287,0,0,0,0,0,0
$GC,7897,1.12,231.5,206.1,4.8,370,7940,0.00,0.00,41.33,0.725,6,0.000,0.000,2949,2012,2106,0,0,0,0,0,0
$GC,8256,1.21,231.5,174.5,8.4,399,8261,0.12,2.50,0.00,0.000,4,0.074,0.049,2982,601,2100,0,0,0,0,0,0
$GC,8321,1.17,231.5,168.1,9.8,405,8326,0.00,2.35,0.00,0.000,6,0.000,0.027,2982,2022,2098,0,0,0,0,0,0
$GC,8583,1.21,231.5,148.6,8.4,430,8588,0.00,2.47,0.00,0.000,4,0.000,0.047,2982,596,2098,0,0,0,0,0,0
$GC,8770,1.21,231.5,131.4,8.4,450,8774,0.00,2.33,0.00,0.000,6,0.000,0.025,2982,2020,2096,0,0,0,0,0,0
$GC,9033,1.26,234.7,112.8,7.8,474,9037,0.00,2.47,0.00,0.000,4,0.000,0.044,2982,590,2096,0,0,0,0,0,0
$GC,9074,1.26,234.7,108.8,9.4,478,9078,0.00,2.33,0.00,0.000,6,0.000,0.024,2982,2022,2095,0,0,0,0,0,0
$GC,9337,1.35,243.4,90.3,7.4,502,9357,0.10,2.47,10.62,0.548,4,0.078,0.041,3013,601,2055,0,0,0,0,0,0
$GC,9425,1.31,243.4,82.2,10.2,511,9429,0.00,2.33,0.00,0.000,6,0.000,0.022,3013,2022,2053,0,0,0,0,0,0
$GC,9689,1.31,246.4,61.5,7.8,535,9693,0.00,2.42,0.00,0.000,4,0.000,0.042,3013,601,2053,0,0,0,0,0,0
$GC,9731,1.28,246.4,56.3,11.6,539,9736,0.00,2.28,0.00,0.000,6,0.000,0.021,3013,2021,2053,0,0,0,0,0,0
$GC,9995,1.28,246.4,33.3,9.2,563,9999,0.00,2.42,0.00,0.000,4,0.000,0.042,3013,597,2053,0,0,0,0,0,0
$GC,10020,1.24,246.4,31.0,8.3,565,10025,0.15,2.25,0.00,0.000,6,0.104,0.021,2984,2007,2053,0,0,0,0,0,0
$GC,10293,1.36,278.8,8.3,5.8,612,10334,0.12,2.53,31.62,0.515,4,0.065,0.044,3024,602,1912,0,0,0,0,0,0
$STATE,10348,end climb,SURFACE_DEPTH_REACHED
$STATE,10348,begin surface coast
$FINISH,0.5,1.023277
$STATE,10369,end surface coast,CONTROL_FINISHED_OK
$STATE,10369,begin surface
$SM_CCo,10392,12.18,0.472,0,0,1827,300.00
$SM_GC,2.04,0.00,0.00,12.18,0.000,0.000,0.472,430,1877,1827,-10.51,0.06,300.00
$IRIDIUM_FIX,2052.52,-15752.63,060999,070726
$TT8_MAMPS,0.029146
$HUMID,50.15
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.4,44.701
$10V_AH,10.0,42.208
$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,27.025,128.650,304.775,12.175,0.000,24.787,27.418,177.974,4.500,0.000,54.769,1232.298,6800.533,378.113,1923.301,454.250,33.386,1218.994,0.000,1855.802,0.000,29.254,0.000
$DEVICE_MAMPS,141.128,54.457,878.982,471.705,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,422.768,400.802,777.825,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,34970,627
$CAP_FILE_SIZE,120286,0
$CFSIZE,260165632,229265408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120610,131104,2103.047,-15755.256,57,4.8,76,9.8