version: 66.06
glider: 139
mission: 7
dive: 525
start: 6 15 110 4 6 30
data:
$ID,139
$MISSION,7
$DIVE,525
$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,-2140750.8
$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
$GPS1,040006,2107.134,-15756.338,88,1.6,92,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-72.5
$GPS2,040538,2107.157,-15756.428,17,1.8,17,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,0.006
$KALMAN_X,-270635.8,408.5,-244.2,267890.2,-2487.9
$KALMAN_Y,14553.6,219.2,108.9,-14428.4,-17.0
$MHEAD_RNG_PITCHd_Wd,78.5,23475,-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,-50.20,0.000,2,0.000,0.000,426,1858,3121,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.2,-5.6,10,96,10.62,2.45,-5.12,0.000,4,0.135,0.056,2404,463,3370,0,0,0,0,0,0
$GC,150,-1.16,-77.9,21.9,-19.5,26,156,0.28,2.33,0.00,0.000,6,0.094,0.020,2459,1906,3371,0,0,0,0,0,0
$GC,352,-1.12,-77.9,48.2,-11.9,49,356,0.00,2.50,0.00,0.000,4,0.000,0.043,2459,462,3372,0,0,0,0,0,0
$GC,396,-1.03,-77.9,53.9,-12.8,53,401,0.15,2.28,0.00,0.000,6,0.104,0.019,2488,1878,3372,0,0,0,0,0,0
$GC,658,-1.07,-77.9,82.9,-12.3,77,662,0.00,2.42,0.00,0.000,4,0.000,0.043,2488,463,3373,0,0,0,0,0,0
$GC,715,-1.11,-77.9,89.8,-10.6,83,719,0.00,2.28,0.00,0.000,6,0.000,0.019,2489,1880,3373,0,0,0,0,0,0
$GC,978,-1.23,-77.9,113.4,-7.2,107,983,0.20,2.40,0.00,0.000,4,0.048,0.039,2427,468,3375,0,0,0,0,0,0
$GC,1073,-1.16,-77.9,122.9,-11.4,116,1079,0.15,2.25,0.00,0.000,6,0.094,0.019,2459,1879,3374,0,0,0,0,0,0
$GC,1334,-1.24,-77.9,148.7,-10.5,141,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1883,3375,0,0,0,0,0,0
$GC,1591,-1.34,-77.9,170.0,-6.5,165,1596,0.15,2.42,0.00,0.000,4,0.057,0.043,2409,463,3376,0,0,0,0,0,0
$GC,1682,-1.34,-77.9,177.7,-7.7,174,1686,0.00,2.25,0.00,0.000,6,0.000,0.020,2409,1882,3376,0,0,0,0,0,0
$GC,1944,-1.34,-77.9,201.1,-10.6,198,1949,0.00,2.42,0.00,0.000,4,0.000,0.043,2408,463,3376,0,0,0,0,0,0
$GC,2002,-1.30,-77.9,208.7,-13.7,200,2006,0.10,2.22,0.00,0.000,6,0.108,0.020,2430,1875,3376,0,0,0,0,0,0
$GC,2319,-1.36,-77.9,242.7,-9.2,215,2324,0.00,2.40,0.00,0.000,4,0.000,0.044,2430,463,3376,0,0,0,0,0,0
$GC,2366,-1.40,-77.9,247.7,-10.3,217,2370,0.00,2.28,0.00,0.000,6,0.000,0.021,2430,1883,3376,0,0,0,0,0,0
$GC,2691,-1.49,-77.9,275.6,-8.5,233,2696,0.17,2.42,0.00,0.000,4,0.051,0.044,2376,469,3376,0,0,0,0,0,0
$GC,2739,-1.43,-77.9,280.3,-9.6,235,2744,0.12,2.25,0.00,0.000,6,0.100,0.021,2401,1882,3376,0,0,0,0,0,0
$GC,3066,-1.47,-77.9,303.3,-7.4,250,3070,0.00,2.45,0.00,0.000,4,0.000,0.047,2402,464,3376,0,0,0,0,0,0
$GC,3117,-1.47,-77.9,307.8,-8.6,251,3121,0.00,2.28,0.00,0.000,6,0.000,0.023,2401,1872,3375,0,0,0,0,0,0
$GC,3437,-1.52,-77.9,334.9,-9.1,259,3441,0.00,2.42,0.00,0.000,4,0.000,0.047,2402,470,3374,0,0,0,0,0,0
$GC,3460,-1.52,-77.9,337.4,-9.9,259,3464,0.00,2.28,0.00,0.000,6,0.000,0.024,2402,1883,3374,0,0,0,0,0,0
$GC,3802,-1.57,-77.9,370.1,-9.6,268,3807,0.12,2.45,0.00,0.000,4,0.067,0.050,2364,472,3371,0,0,0,0,0,0
$GC,3897,-1.47,-77.9,381.9,-12.7,270,3901,0.15,2.28,0.00,0.000,6,0.099,0.025,2394,1879,3371,0,0,0,0,0,0
$GC,4220,-1.47,-77.9,417.9,-11.6,278,4224,0.00,2.45,0.00,0.000,4,0.000,0.051,2394,463,3369,0,0,0,0,0,0
$GC,4257,-1.47,-77.9,422.3,-12.2,278,4262,0.00,2.30,0.00,0.000,6,0.000,0.027,2394,1868,3368,0,0,0,0,0,0
$STATE,4504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4504,begin apogee
$GC,4510,-0.31,0.0,452.4,12.2,285,4578,1.17,0.00,65.00,0.868,6,0.074,0.000,2645,2032,3050,0,0,0,0,0,0
$STATE,4579,end apogee,CONTROL_FINISHED_OK
$STATE,4579,begin climb
$GC,4582,1.40,77.9,454.7,0.0,286,4651,1.62,0.00,64.68,0.848,6,0.031,0.000,3027,2032,2732,0,0,0,0,0,0
$GC,4994,1.24,128.4,444.0,4.5,297,5040,0.22,0.00,43.03,0.845,6,0.114,0.000,2986,2032,2525,0,0,0,0,0,0
$GC,5365,1.15,141.5,421.7,7.1,306,5383,0.12,2.38,11.73,0.769,4,0.124,0.042,2962,3387,2473,0,0,0,0,0,0
$GC,5480,1.09,141.5,411.7,8.3,308,5484,0.00,2.40,0.00,0.000,6,0.000,0.037,2964,2003,2472,0,0,0,0,0,0
$GC,5821,1.05,148.0,383.9,7.6,317,5834,0.12,2.53,6.57,0.676,4,0.121,0.052,2941,604,2446,0,0,0,0,0,0
$GC,5858,0.99,168.6,381.4,6.6,317,5883,0.00,2.33,19.60,0.801,6,0.000,0.029,2941,1995,2361,0,0,0,0,0,0
$GC,6194,1.03,199.2,361.0,5.9,326,6227,0.00,2.53,27.85,0.809,4,0.000,0.052,2942,604,2237,0,0,0,0,0,0
$GC,6361,0.99,199.2,346.8,8.9,329,6366,0.00,2.38,0.00,0.000,6,0.000,0.029,2942,2009,2230,0,0,0,0,0,0
$GC,6692,1.03,199.2,318.5,8.6,337,6697,0.00,2.50,0.00,0.000,4,0.000,0.051,2942,600,2229,0,0,0,0,0,0
$GC,6784,1.03,199.2,309.6,9.9,339,6789,0.00,2.35,0.00,0.000,6,0.000,0.029,2942,2010,2227,0,0,0,0,0,0
$GC,7110,1.08,199.2,279.2,9.0,352,7114,0.00,2.38,0.00,0.000,4,0.000,0.038,2942,3404,2227,0,0,0,0,0,0
$GC,7178,1.17,199.2,273.5,9.0,355,7183,0.12,2.42,0.00,0.000,6,0.072,0.038,2976,2002,2227,0,0,0,0,0,0
$GC,7508,1.17,199.2,245.6,8.1,371,7512,0.00,2.45,0.00,0.000,4,0.000,0.051,2975,603,2225,0,0,0,0,0,0
$GC,7582,1.10,199.2,239.2,9.2,374,7586,0.00,2.35,0.00,0.000,6,0.000,0.028,2974,2016,2223,0,0,0,0,0,0
$GC,7906,1.11,199.4,213.7,8.0,390,7911,0.00,2.47,0.00,0.000,4,0.000,0.049,2975,602,2223,0,0,0,0,0,0
$GC,7926,1.07,199.4,211.7,9.8,391,7931,0.15,2.33,0.00,0.000,6,0.120,0.028,2950,2016,2222,0,0,0,0,0,0
$GC,8252,1.15,208.9,185.1,7.4,415,8265,0.00,2.53,7.32,0.594,4,0.000,0.048,2949,593,2198,0,0,0,0,0,0
$GC,8359,1.15,208.9,176.5,8.1,426,8364,0.00,2.35,0.00,0.000,6,0.000,0.026,2949,2011,2195,0,0,0,0,0,0
$GC,8622,1.26,237.2,162.6,6.1,451,8657,0.17,2.55,26.10,0.658,4,0.061,0.046,2996,601,2082,0,0,0,0,0,0
$GC,8773,1.21,237.2,146.3,13.0,467,8778,0.00,2.35,0.00,0.000,6,0.000,0.024,2995,2021,2078,0,0,0,0,0,0
$GC,9036,1.24,237.2,119.7,9.3,492,9040,0.00,2.47,0.00,0.000,4,0.000,0.046,2996,601,2077,0,0,0,0,0,0
$GC,9115,1.21,237.2,111.1,9.9,500,9120,0.00,2.30,0.00,0.000,6,0.000,0.023,2996,2013,2077,0,0,0,0,0,0
$GC,9379,1.26,250.2,90.7,7.1,524,9393,0.00,0.00,12.30,0.555,6,0.000,0.000,2997,2018,2029,0,0,0,0,0,0
$GC,9645,1.37,288.4,74.6,5.4,549,9688,0.00,2.53,34.08,0.573,4,0.000,0.043,2996,602,1873,0,0,0,0,0,0
$GC,9694,1.45,306.1,71.6,6.8,554,9717,0.15,2.33,16.65,0.539,6,0.059,0.021,3039,2028,1802,0,0,0,0,0,0
$GC,9972,1.45,306.1,44.3,10.4,581,9976,0.00,2.45,0.00,0.000,4,0.000,0.043,3039,597,1799,0,0,0,0,0,0
$GC,10082,1.37,306.1,30.3,14.5,592,10087,0.12,2.28,0.00,0.000,6,0.106,0.020,3015,2015,1795,0,0,0,0,0,0
$STATE,10315,end climb,SURFACE_DEPTH_REACHED
$STATE,10315,begin surface coast
$FINISH,0.4,1.010033
$STATE,10345,end surface coast,CONTROL_FINISHED_OK
$STATE,10345,begin surface
$SM_CCo,10425,0.00,0.000,0,0,1790,308.83
$SM_GC,1.39,11.15,0.00,0.00,0.027,0.000,0.000,430,1861,1790,-10.43,-0.37,308.83
$IRIDIUM_FIX,2057.14,-15756.04,090999,010127
$TT8_MAMPS,0.029146
$HUMID,50.55
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,46.575
$10V_AH,10.0,43.647
$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,27.375,114.825,334.900,0.000,0.000,25.555,27.869,163.067,4.500,0.000,17.909,1228.649,7254.313,393.487,1449.513,429.012,33.382,1193.007,0.000,1409.606,0.000,29.237,0.000
$DEVICE_MAMPS,134.992,55.991,868.244,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,428.770,415.261,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34847,638
$CAP_FILE_SIZE,118552,0
$CFSIZE,260165632,227966976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150610,070200,2107.126,-15756.519,67,1.9,71,9.8