version: 66.06
glider: 139
mission: 7
dive: 524
start: 6 15 110 1 3 27
data:
$ID,139
$MISSION,7
$DIVE,524
$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,-2140732
$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
$GPS1,005656,2106.790,-15755.969,98,8.6,117,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.0
$GPS2,010236,2106.768,-15756.003,36,0.9,36,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,0.019
$KALMAN_X,-268320.7,131.3,501.5,265837.5,-2393.3
$KALMAN_Y,14188.4,113.4,73.0,-14639.1,-186.5
$MHEAD_RNG_PITCHd_Wd,74.3,22678,-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,17,-1.40,-77.9,0.0,0.0,0,69,0.00,0.00,-50.33,0.000,2,0.000,0.000,426,1908,3135,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.4,-5.7,10,96,10.62,2.53,-4.70,0.000,4,0.136,0.057,2404,474,3370,0,0,0,0,0,0
$GC,126,-1.15,-77.9,17.0,-19.9,21,132,0.28,2.30,0.00,0.000,6,0.091,0.020,2460,1911,3372,0,0,0,0,0,0
$GC,330,-1.11,-77.9,45.0,-14.4,48,334,0.00,2.47,0.00,0.000,4,0.000,0.043,2460,467,3372,0,0,0,0,0,0
$GC,378,-1.02,-77.9,52.9,-15.7,52,384,0.15,2.25,0.00,0.000,6,0.100,0.019,2490,1878,3372,0,0,0,0,0,0
$GC,640,-1.06,-77.9,87.8,-11.3,77,644,0.00,2.42,0.00,0.000,4,0.000,0.043,2490,470,3374,0,0,0,0,0,0
$GC,797,-1.10,-77.9,106.2,-10.5,93,802,0.00,2.25,0.00,0.000,6,0.000,0.019,2490,1885,3374,0,0,0,0,0,0
$GC,1060,-1.25,-77.9,128.5,-7.4,118,1065,0.22,2.45,0.00,0.000,4,0.044,0.041,2421,462,3375,0,0,0,0,0,0
$GC,1179,-1.25,-77.9,140.6,-11.3,130,1183,0.00,2.22,0.00,0.000,6,0.000,0.019,2422,1874,3376,0,0,0,0,0,0
$GC,1441,-1.25,-77.9,167.3,-10.1,154,1445,0.00,2.40,0.00,0.000,4,0.000,0.042,2422,460,3377,0,0,0,0,0,0
$GC,1483,-1.25,-77.9,172.1,-10.3,158,1487,0.00,2.28,0.00,0.000,6,0.000,0.019,2422,1884,3377,0,0,0,0,0,0
$GC,1746,-1.28,-77.9,195.4,-8.4,182,1750,0.00,2.42,0.00,0.000,4,0.000,0.043,2422,469,3377,0,0,0,0,0,0
$GC,1802,-1.28,-77.9,200.8,-9.4,187,1806,0.00,2.22,0.00,0.000,6,0.000,0.020,2421,1883,3377,0,0,0,0,0,0
$GC,2117,-1.32,-77.9,228.4,-8.6,202,2121,0.00,2.40,0.00,0.000,4,0.000,0.044,2421,469,3377,0,0,0,0,0,0
$GC,2192,-1.32,-77.9,236.1,-10.8,205,2196,0.00,2.25,0.00,0.000,6,0.000,0.021,2421,1878,3377,0,0,0,0,0,0
$GC,2513,-1.37,-77.9,266.1,-8.3,221,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,1882,3377,0,0,0,0,0,0
$GC,2822,-1.43,-77.9,289.1,-7.6,236,2826,0.00,2.42,0.00,0.000,4,0.000,0.044,2422,469,3376,0,0,0,0,0,0
$GC,2849,-1.43,-77.9,291.5,-8.7,237,2854,0.00,2.28,0.00,0.000,6,0.000,0.022,2421,1883,3376,0,0,0,0,0,0
$GC,3167,-1.52,-77.9,316.0,-7.6,248,3172,0.17,2.45,0.00,0.000,4,0.053,0.047,2370,462,3375,0,0,0,0,0,0
$GC,3223,-1.47,-77.9,321.2,-8.4,249,3228,0.12,2.28,0.00,0.000,6,0.100,0.023,2395,1867,3375,0,0,0,0,0,0
$GC,3539,-1.50,-77.9,345.8,-8.0,257,3543,0.00,2.40,0.00,0.000,4,0.000,0.048,2395,470,3373,0,0,0,0,0,0
$GC,3586,-1.50,-77.9,350.1,-9.5,258,3590,0.00,2.28,0.00,0.000,6,0.000,0.025,2395,1881,3373,0,0,0,0,0,0
$GC,3908,-1.53,-77.9,377.7,-8.3,266,3913,0.00,2.45,0.00,0.000,4,0.000,0.050,2395,469,3371,0,0,0,0,0,0
$GC,3978,-1.53,-77.9,384.0,-9.5,267,3982,0.00,2.30,0.00,0.000,6,0.000,0.026,2395,1871,3370,0,0,0,0,0,0
$GC,4318,-1.57,-77.9,415.9,-10.3,276,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1876,3368,0,0,0,0,0,0
$GC,4643,-1.60,-77.9,448.6,-9.8,284,4648,0.15,2.45,0.00,0.000,4,0.063,0.054,2353,471,3366,0,0,0,0,0,0
$STATE,4656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4656,begin apogee
$GC,4664,-0.31,0.0,450.3,10.2,284,4733,1.35,0.00,64.45,0.878,6,0.081,0.000,2641,2011,3050,0,0,0,0,0,0
$STATE,4734,end apogee,CONTROL_FINISHED_OK
$STATE,4734,begin climb
$GC,4736,1.40,77.9,453.0,0.0,286,4811,1.65,2.50,64.82,0.857,4,0.032,0.042,3024,3401,2732,0,0,0,0,0,0
$GC,4985,1.24,136.0,449.3,4.0,291,5042,0.20,2.40,49.40,0.854,6,0.113,0.036,2987,2003,2495,0,0,0,0,0,0
$GC,5373,1.12,136.0,416.6,9.1,301,5378,0.15,2.45,0.00,0.000,4,0.120,0.041,2962,3412,2488,0,0,0,0,0,0
$GC,5458,1.07,136.0,409.1,8.4,302,5464,0.00,2.45,0.00,0.000,6,0.000,0.038,2962,2002,2488,0,0,0,0,0,0
$GC,5789,1.02,136.0,379.4,9.0,311,5794,0.15,2.45,0.00,0.000,4,0.118,0.042,2935,3412,2484,0,0,0,0,0,0
$GC,5957,1.02,137.2,365.6,7.9,314,5961,0.00,2.42,0.00,0.000,6,0.000,0.038,2935,2011,2484,0,0,0,0,0,0
$GC,6292,1.03,148.5,340.1,7.2,323,6308,0.00,2.50,9.82,0.743,4,0.000,0.051,2935,600,2443,0,0,0,0,0,0
$GC,6416,0.99,148.5,328.0,9.6,325,6420,0.00,2.40,0.00,0.000,6,0.000,0.030,2935,2025,2440,0,0,0,0,0,0
$GC,6756,1.02,172.8,305.2,6.4,334,6784,0.00,2.60,21.92,0.785,4,0.000,0.051,2935,608,2344,0,0,0,0,0,0
$GC,6956,1.03,181.3,289.1,7.4,340,6970,0.00,2.35,8.60,0.689,6,0.000,0.030,2935,2015,2310,0,0,0,0,0,0
$GC,7292,1.14,216.6,270.5,5.6,357,7334,0.12,2.42,32.25,0.769,4,0.077,0.038,2966,3404,2166,0,0,0,0,0,0
$GC,7345,1.15,218.9,266.3,7.9,359,7354,0.00,2.42,3.80,0.467,6,0.000,0.035,2966,2010,2157,0,0,0,0,0,0
$GC,7664,1.15,218.9,232.8,10.8,374,7668,0.00,2.50,0.00,0.000,4,0.000,0.051,2966,603,2151,0,0,0,0,0,0
$GC,7688,1.11,218.9,230.3,10.8,375,7693,0.00,2.38,0.00,0.000,6,0.000,0.028,2966,2009,2149,0,0,0,0,0,0
$GC,8013,1.16,225.5,200.5,7.6,391,8025,0.00,2.53,6.05,0.574,4,0.000,0.049,2966,607,2130,0,0,0,0,0,0
$GC,8126,1.16,225.5,190.6,9.5,402,8130,0.00,2.38,0.00,0.000,6,0.000,0.028,2967,2024,2127,0,0,0,0,0,0
$GC,8389,1.21,225.5,167.2,9.3,426,8394,0.00,2.47,0.00,0.000,4,0.000,0.047,2966,598,2127,0,0,0,0,0,0
$GC,8469,1.21,225.5,158.9,9.9,434,8474,0.00,2.33,0.00,0.000,6,0.000,0.026,2966,2013,2125,0,0,0,0,0,0
$GC,8732,1.28,228.2,138.2,7.8,458,8737,0.12,2.47,0.00,0.000,4,0.071,0.047,3000,594,2125,0,0,0,0,0,0
$GC,8807,1.22,228.2,131.0,8.5,465,8813,0.00,2.33,0.00,0.000,6,0.000,0.025,3000,2016,2125,0,0,0,0,0,0
$GC,9069,1.24,241.9,113.0,7.1,490,9090,0.00,2.47,15.43,0.598,4,0.000,0.045,3000,601,2062,0,0,0,0,0,0
$GC,9182,1.19,241.9,102.7,9.4,502,9188,0.15,2.33,0.00,0.000,6,0.104,0.023,2972,2016,2059,0,0,0,0,0,0
$GC,9446,1.29,254.1,83.9,7.2,527,9465,0.10,2.47,11.62,0.550,4,0.079,0.044,3002,601,2014,0,0,0,0,0,0
$GC,9591,1.30,263.6,72.5,7.4,542,9605,0.00,2.28,9.75,0.523,6,0.000,0.021,3002,2017,1975,0,0,0,0,0,0
$GC,9860,1.40,290.9,54.9,6.2,568,9894,0.00,2.33,24.90,0.552,4,0.000,0.026,3002,3398,1864,0,0,0,0,0,0
$GC,9938,1.52,298.5,49.3,7.5,576,9953,0.15,2.35,8.32,0.482,6,0.035,0.028,3051,2002,1832,0,0,0,0,0,0
$GC,10211,1.52,298.5,22.4,11.0,608,10217,0.00,2.40,0.00,0.000,4,0.000,0.042,3053,602,1830,0,0,0,0,0,0
$GC,10306,1.42,298.5,10.6,14.1,628,10312,0.15,2.28,0.00,0.000,6,0.101,0.020,3023,2015,1827,0,0,0,0,0,0
$STATE,10367,end climb,SURFACE_DEPTH_REACHED
$STATE,10367,begin surface coast
$FINISH,0.9,1.023222
$STATE,10393,end surface coast,CONTROL_FINISHED_OK
$STATE,10393,begin surface
$SM_CCo,10473,0.00,0.000,0,0,1821,301.47
$SM_GC,1.47,11.23,0.00,0.00,0.028,0.000,0.000,426,1858,1821,-10.45,-0.48,301.47
$IRIDIUM_FIX,2057.14,-15756.04,080999,222201
$TT8_MAMPS,0.028379
$HUMID,51.14
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,46.489
$10V_AH,10.0,43.596
$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,27.250,124.675,331.150,0.000,0.000,27.671,26.787,151.938,4.500,0.000,36.286,1240.563,7209.597,382.130,1553.929,422.664,33.379,1238.041,0.000,1494.500,0.000,29.237,0.000
$DEVICE_MAMPS,135.759,56.758,878.215,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,432.029,420.668,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34964,643
$CAP_FILE_SIZE,121931,0
$CFSIZE,260165632,228024320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150610,040006,2107.134,-15756.338,88,1.6,92,9.8