version: 66.06
glider: 139
mission: 7
dive: 512
start: 6 13 110 13 13 13
data:
$ID,139
$MISSION,7
$DIVE,512
$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,-2140339
$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
$GPS1,130545,2109.005,-15800.078,57,3.6,76,9.8
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-71.5
$GPS2,131222,2109.038,-15800.104,15,6.5,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.018
$KALMAN_X,-251317.4,-151.5,338.6,242192.7,-2109.0
$KALMAN_Y,13444.7,-100.6,115.3,-9521.4,214.4
$MHEAD_RNG_PITCHd_Wd,85.9,30290,-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,-52.97,0.000,2,0.000,0.000,424,1893,3203,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.4,-4.8,10,96,10.57,2.50,-3.17,0.000,4,0.133,0.053,2403,463,3370,0,0,0,0,0,0
$GC,106,-0.40,-77.9,15.3,-33.7,16,113,1.02,2.38,0.00,0.000,6,0.092,0.020,2621,1919,3371,0,0,0,0,0,0
$GC,320,-0.76,-77.9,30.5,-4.2,53,325,0.30,2.47,0.00,0.000,4,0.045,0.038,2539,469,3372,0,0,0,0,0,0
$GC,399,-0.90,-77.9,36.6,-8.2,61,403,0.00,2.25,0.00,0.000,6,0.000,0.019,2539,1887,3372,0,0,0,0,0,0
$GC,663,-1.06,-77.9,55.6,-6.3,85,668,0.25,2.42,0.00,0.000,4,0.041,0.041,2460,468,3373,0,0,0,0,0,0
$GC,723,-1.06,-77.9,61.6,-9.9,91,728,0.10,2.25,0.00,0.000,6,0.107,0.019,2481,1879,3373,0,0,0,0,0,0
$GC,991,-1.11,-77.9,85.6,-9.1,116,995,0.00,2.40,0.00,0.000,4,0.000,0.042,2481,467,3374,0,0,0,0,0,0
$GC,1070,-1.17,-77.9,94.5,-11.9,124,1075,0.10,2.25,0.00,0.000,6,0.074,0.019,2444,1878,3375,0,0,0,0,0,0
$GC,1330,-1.21,-77.9,124.9,-10.0,148,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1883,3376,0,0,0,0,0,0
$GC,1585,-1.28,-77.9,150.1,-9.7,172,1590,0.00,2.40,0.00,0.000,4,0.000,0.042,2444,466,3376,0,0,0,0,0,0
$GC,1650,-1.33,-77.9,156.2,-8.3,178,1657,0.00,2.28,0.00,0.000,6,0.000,0.020,2444,1875,3377,0,0,0,0,0,0
$GC,1914,-1.41,-77.9,178.0,-8.7,203,1919,0.15,2.42,0.00,0.000,4,0.055,0.043,2395,458,3376,0,0,0,0,0,0
$GC,1951,-1.33,-77.9,182.4,-12.4,206,1959,0.10,2.28,0.00,0.000,6,0.074,0.021,2420,1873,3377,0,0,0,0,0,0
$GC,2213,-1.33,-77.9,206.0,-8.5,228,2217,0.00,2.40,0.00,0.000,4,0.000,0.042,2420,469,3377,0,0,0,0,0,0
$GC,2235,-1.33,-77.9,208.0,-9.0,229,2240,0.00,2.22,0.00,0.000,6,0.000,0.021,2420,1877,3377,0,0,0,0,0,0
$GC,2568,-1.38,-77.9,232.2,-6.5,245,2572,0.00,2.40,0.00,0.000,4,0.000,0.043,2420,463,3377,0,0,0,0,0,0
$GC,2623,-1.42,-77.9,237.4,-9.5,247,2627,0.00,2.22,0.00,0.000,6,0.000,0.021,2420,1874,3377,0,0,0,0,0,0
$GC,2939,-1.49,-77.9,263.2,-8.5,262,2940,0.12,0.00,0.00,0.000,6,0.064,0.000,2379,1880,3376,0,0,0,0,0,0
$GC,3249,-1.49,-77.9,294.3,-9.1,277,3253,0.00,2.42,0.00,0.000,4,0.000,0.046,2379,468,3376,0,0,0,0,0,0
$GC,3323,-1.42,-77.9,301.7,-9.9,280,3328,0.12,2.25,0.00,0.000,6,0.100,0.022,2404,1877,3376,0,0,0,0,0,0
$GC,3659,-1.47,-77.9,327.0,-7.2,289,3664,0.00,2.42,0.00,0.000,4,0.000,0.047,2404,463,3374,0,0,0,0,0,0
$GC,3743,-1.47,-77.9,335.1,-9.3,290,3748,0.00,2.28,0.00,0.000,6,0.000,0.025,2404,1877,3374,0,0,0,0,0,0
$GC,4074,-1.51,-77.9,366.5,-9.9,299,4078,0.00,2.42,0.00,0.000,4,0.000,0.048,2404,466,3371,0,0,0,0,0,0
$GC,4087,-1.51,-77.9,368.0,-9.4,299,4091,0.00,2.30,0.00,0.000,6,0.000,0.025,2404,1881,3372,0,0,0,0,0,0
$GC,4402,-1.55,-77.9,397.9,-9.4,307,4407,0.12,2.47,0.00,0.000,4,0.067,0.051,2367,471,3370,0,0,0,0,0,0
$GC,4440,-1.47,-77.9,402.7,-12.6,307,4447,0.12,2.28,0.00,0.000,6,0.102,0.026,2392,1870,3369,0,0,0,0,0,0
$GC,4772,-1.50,-77.9,432.1,-8.2,316,4776,0.00,2.47,0.00,0.000,4,0.000,0.052,2392,470,3367,0,0,0,0,0,0
$GC,4850,-1.50,-77.9,439.6,-9.2,317,4854,0.00,2.30,0.00,0.000,6,0.000,0.027,2392,1879,3366,0,0,0,0,0,0
$STATE,5016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5016,begin apogee
$GC,5022,-0.31,0.0,452.0,7.3,321,5091,1.17,0.00,64.65,0.875,6,0.073,0.000,2644,2032,3050,0,0,0,0,0,0
$STATE,5091,end apogee,CONTROL_FINISHED_OK
$STATE,5091,begin climb
$GC,5094,1.40,77.9,452.4,0.0,322,5168,1.62,2.42,64.95,0.852,4,0.033,0.042,3019,3382,2731,0,0,0,0,0,0
$GC,5432,1.17,77.9,431.7,8.8,329,5437,0.28,2.38,0.00,0.000,6,0.111,0.035,2971,2004,2728,0,0,0,0,0,0
$GC,5778,1.12,126.9,407.0,4.7,338,5827,0.00,2.42,41.12,0.837,4,0.000,0.038,2967,3387,2531,0,0,0,0,0,0
$GC,6013,1.07,134.5,387.8,7.5,343,6026,0.12,2.38,7.38,0.690,6,0.125,0.036,2950,2011,2501,0,0,0,0,0,0
$GC,6372,1.11,166.6,367.4,5.8,352,6408,0.00,2.42,28.75,0.814,4,0.000,0.038,2937,3388,2370,0,0,0,0,0,0
$GC,6447,1.12,178.2,362.7,7.2,353,6464,0.00,2.40,11.70,0.743,6,0.000,0.037,2951,2007,2323,0,0,0,0,0,0
$GC,6788,1.13,186.5,337.0,7.4,362,6801,0.00,2.53,7.95,0.693,4,0.000,0.053,2949,601,2289,0,0,0,0,0,0
$GC,6834,1.08,186.5,332.8,9.6,363,6839,0.00,2.33,0.00,0.000,6,0.000,0.029,2950,1989,2286,0,0,0,0,0,0
$GC,7157,1.08,186.5,303.2,9.8,371,7161,0.00,2.45,0.00,0.000,4,0.000,0.051,2950,603,2285,0,0,0,0,0,0
$GC,7264,1.05,186.5,291.7,11.0,374,7270,0.00,2.40,0.00,0.000,6,0.000,0.030,2950,2012,2282,0,0,0,0,0,0
$GC,7580,1.08,186.5,262.9,8.5,390,7581,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2017,2282,0,0,0,0,0,0
$GC,7890,1.12,186.5,236.3,8.2,405,7894,0.00,2.38,0.00,0.000,4,0.000,0.037,2950,3411,2282,0,0,0,0,0,0
$GC,7905,1.19,197.3,235.0,7.3,405,7922,0.10,2.40,9.82,0.670,6,0.082,0.035,2977,2007,2245,0,0,0,0,0,0
$GC,8243,1.22,217.6,211.8,6.6,422,8268,0.00,2.50,19.02,0.699,4,0.000,0.035,2975,3423,2163,0,0,0,0,0,0
$GC,8307,1.27,227.4,207.2,7.3,424,8324,0.00,2.47,10.57,0.644,6,0.000,0.035,2978,2003,2122,0,0,0,0,0,0
$GC,8651,1.27,227.4,180.2,8.1,452,8655,0.00,2.45,0.00,0.000,4,0.000,0.048,2977,596,2117,0,0,0,0,0,0
$GC,8805,1.22,227.4,165.1,11.0,468,8812,0.00,2.38,0.00,0.000,6,0.000,0.025,2977,2035,2114,0,0,0,0,0,0
$GC,9069,1.25,246.0,145.1,6.7,493,9091,0.00,2.58,16.48,0.624,4,0.000,0.046,2977,601,2047,0,0,0,0,0,0
$GC,9171,1.25,246.0,135.1,10.9,504,9175,0.00,2.30,0.00,0.000,6,0.000,0.024,2977,2007,2043,0,0,0,0,0,0
$GC,9434,1.31,246.0,112.2,8.6,528,9438,0.00,2.42,0.00,0.000,4,0.000,0.044,2977,598,2043,0,0,0,0,0,0
$GC,9458,1.31,246.0,109.7,9.6,530,9462,0.00,2.30,0.00,0.000,6,0.000,0.023,2978,2017,2042,0,0,0,0,0,0
$GC,9720,1.41,250.8,88.1,7.7,554,9731,0.20,2.45,5.38,0.458,4,0.053,0.042,3031,601,2026,0,0,0,0,0,0
$GC,9887,1.34,250.8,70.9,10.5,572,9892,0.12,2.28,0.00,0.000,6,0.110,0.021,3008,2011,2024,0,0,0,0,0,0
$GC,10150,1.39,265.0,51.3,7.0,596,10171,0.00,2.45,14.15,0.531,4,0.000,0.041,3007,601,1968,0,0,0,0,0,0
$GC,10220,1.39,266.9,45.5,7.9,603,10227,0.00,2.33,0.00,0.000,6,0.000,0.021,3008,2017,1966,0,0,0,0,0,0
$GC,10484,1.45,278.0,30.4,7.3,628,10506,0.10,2.50,12.38,0.499,4,0.075,0.040,3040,596,1915,0,0,0,0,0,0
$GC,10591,1.35,278.0,20.1,11.4,649,10597,0.15,2.30,0.00,0.000,6,0.099,0.020,3010,2017,1913,0,0,0,0,0,0
$STATE,10784,end climb,SURFACE_DEPTH_REACHED
$STATE,10784,begin surface coast
$FINISH,0.5,1.010538
$STATE,10814,end surface coast,CONTROL_FINISHED_OK
$STATE,10814,begin surface
$SM_CCo,10835,13.70,0.482,0,0,1826,300.00
$SM_GC,2.21,0.00,0.00,13.70,0.000,0.000,0.482,429,1867,1826,-10.51,-0.23,300.00
$IRIDIUM_FIX,2101.76,-15803.33,070999,101007
$TT8_MAMPS,0.029146
$HUMID,49.68
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,45.463
$10V_AH,10.0,42.935
$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,28.025,124.200,314.300,13.700,0.000,29.260,29.941,204.006,4.750,0.000,35.039,1334.439,6966.740,380.420,2071.393,492.258,33.373,1277.304,0.000,2020.660,0.000,32.132,0.000
$DEVICE_MAMPS,132.691,55.991,875.147,481.676,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,464.290,446.096,901.685,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,38044,689
$CAP_FILE_SIZE,127867,0
$CFSIZE,260165632,228728832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130610,161608,2109.113,-15800.031,81,1.7,88,9.8