version: 66.06
glider: 139
mission: 7
dive: 600
start: 6 25 110 2 3 51
data:
$ID,139
$MISSION,7
$DIVE,600
$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,-2143675.2
$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
$GPS1,015526,2108.654,-15759.408,92,2.9,111,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-70.5
$GPS2,020300,2108.716,-15759.451,86,1.0,86,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.166,-0.079
$KALMAN_X,-354761.3,504.3,-253.2,346695.9,-1086.4
$KALMAN_Y,36657.8,325.7,199.5,-33837.9,743.5
$MHEAD_RNG_PITCHd_Wd,105.7,29069,-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,-50.38,0.000,2,0.000,0.000,426,1844,3144,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.4,-5.4,10,93,10.55,2.42,-4.55,0.000,4,0.131,0.054,2403,463,3370,0,0,0,0,0,0
$GC,104,-0.35,-77.9,12.7,-27.0,16,110,1.15,2.35,0.00,0.000,6,0.092,0.020,2637,1910,3371,0,0,0,0,0,0
$GC,314,-0.98,-77.9,24.4,-5.8,53,320,0.62,2.47,0.00,0.000,4,0.061,0.039,2494,463,3372,0,0,0,0,0,0
$GC,373,-0.98,-77.9,29.9,-10.3,65,379,0.00,2.28,0.00,0.000,6,0.000,0.019,2493,1885,3372,0,0,0,0,0,0
$GC,570,-0.98,-77.9,48.8,-8.8,84,574,0.00,2.42,0.00,0.000,4,0.000,0.041,2493,467,3372,0,0,0,0,0,0
$GC,616,-0.98,-77.9,53.3,-10.1,88,622,0.00,2.25,0.00,0.000,6,0.000,0.019,2493,1878,3373,0,0,0,0,0,0
$GC,879,-1.06,-77.9,74.6,-8.0,113,883,0.00,2.40,0.00,0.000,4,0.000,0.041,2493,467,3373,0,0,0,0,0,0
$GC,936,-1.16,-77.9,79.8,-9.3,119,941,0.15,2.25,0.00,0.000,6,0.055,0.018,2443,1881,3374,0,0,0,0,0,0
$GC,1196,-1.16,-77.9,109.2,-10.7,143,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1885,3375,0,0,0,0,0,0
$GC,1452,-1.16,-77.9,133.5,-10.6,167,1456,0.00,2.42,0.00,0.000,4,0.000,0.041,2443,459,3375,0,0,0,0,0,0
$GC,1494,-1.16,-77.9,138.5,-11.8,171,1498,0.00,2.25,0.00,0.000,6,0.000,0.018,2443,1876,3376,0,0,0,0,0,0
$GC,1756,-1.20,-77.9,165.1,-10.6,195,1760,0.00,2.42,0.00,0.000,4,0.000,0.041,2443,459,3376,0,0,0,0,0,0
$GC,1802,-1.20,-77.9,170.1,-10.1,199,1808,0.00,2.25,0.00,0.000,6,0.000,0.019,2444,1878,3376,0,0,0,0,0,0
$GC,2065,-1.28,-77.9,191.6,-8.6,224,2069,0.00,2.40,0.00,0.000,4,0.000,0.041,2443,459,3376,0,0,0,0,0,0
$GC,2136,-1.34,-77.9,197.8,-8.3,231,2140,0.00,2.25,0.00,0.000,6,0.000,0.019,2443,1877,3376,0,0,0,0,0,0
$GC,2401,-1.43,-77.9,218.7,-8.5,245,2406,0.17,2.42,0.00,0.000,4,0.050,0.043,2388,467,3377,0,0,0,0,0,0
$GC,2435,-1.33,-77.9,222.4,-11.8,246,2440,0.17,2.25,0.00,0.000,6,0.088,0.020,2424,1877,3376,0,0,0,0,0,0
$GC,2753,-1.38,-77.9,247.8,-6.9,261,2757,0.00,2.40,0.00,0.000,4,0.000,0.044,2423,462,3376,0,0,0,0,0,0
$GC,2832,-1.38,-77.9,254.8,-8.8,264,2836,0.00,2.28,0.00,0.000,6,0.000,0.021,2422,1881,3376,0,0,0,0,0,0
$GC,3150,-1.42,-77.9,280.7,-8.9,279,3154,0.00,2.42,0.00,0.000,4,0.000,0.044,2424,467,3375,0,0,0,0,0,0
$GC,3163,-1.42,-77.9,282.3,-8.8,279,3169,0.00,2.28,0.00,0.000,6,0.000,0.021,2422,1885,3376,0,0,0,0,0,0
$GC,3478,-1.50,-77.9,309.4,-7.8,292,3483,0.17,2.45,0.00,0.000,4,0.051,0.045,2372,469,3375,0,0,0,0,0,0
$GC,3535,-1.44,-77.9,314.5,-9.1,293,3540,0.12,2.22,0.00,0.000,6,0.100,0.022,2397,1870,3374,0,0,0,0,0,0
$GC,3850,-1.48,-77.9,339.2,-8.2,301,3854,0.00,2.40,0.00,0.000,4,0.000,0.046,2398,466,3373,0,0,0,0,0,0
$GC,3923,-1.48,-77.9,347.0,-10.2,302,3928,0.00,2.30,0.00,0.000,6,0.000,0.024,2397,1881,3373,0,0,0,0,0,0
$GC,4260,-1.51,-77.9,376.0,-8.6,311,4264,0.00,2.45,0.00,0.000,4,0.000,0.048,2398,467,3371,0,0,0,0,0,0
$GC,4343,-1.51,-77.9,384.8,-10.4,312,4349,0.00,2.28,0.00,0.000,6,0.000,0.025,2398,1872,3370,0,0,0,0,0,0
$STATE,4550,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4550,begin apogee
$GC,4557,-0.31,0.0,403.5,8.9,318,4625,1.15,0.00,64.38,0.818,6,0.071,0.000,2645,2043,3050,0,0,0,0,0,0
$STATE,4625,end apogee,CONTROL_FINISHED_OK
$STATE,4625,begin climb
$GC,4628,1.40,77.9,405.1,0.0,319,4703,1.62,2.40,63.97,0.797,4,0.031,0.037,2998,3394,2732,0,0,0,0,0,0
$GC,4761,1.22,134.3,404.9,4.1,322,4815,0.22,2.35,47.53,0.788,6,0.112,0.031,2986,2004,2502,0,0,0,0,0,0
$GC,5138,1.09,134.3,370.3,9.7,332,5143,0.17,2.35,0.00,0.000,4,0.113,0.035,2952,3377,2495,0,0,0,0,0,0
$GC,5158,1.02,134.3,368.6,8.8,332,5163,0.00,2.33,0.00,0.000,6,0.000,0.034,2955,2004,2494,0,0,0,0,0,0
$GC,5504,0.99,134.8,341.4,8.0,341,5509,0.12,2.42,0.00,0.000,4,0.117,0.049,2933,599,2492,0,0,0,0,0,0
$GC,5552,0.95,143.3,337.8,7.4,342,5564,0.00,2.33,7.15,0.648,6,0.000,0.027,2932,1998,2465,0,0,0,0,0,0
$GC,5878,1.01,184.7,320.2,5.2,350,5921,0.00,2.50,36.80,0.775,4,0.000,0.049,2933,607,2295,0,0,0,0,0,0
$GC,6028,1.01,184.7,309.0,8.8,353,6032,0.00,2.33,0.00,0.000,6,0.000,0.028,2933,2007,2288,0,0,0,0,0,0
$GC,6344,1.11,198.8,284.8,7.1,365,6365,0.00,2.50,12.32,0.700,4,0.000,0.048,2933,600,2237,0,0,0,0,0,0
$GC,6424,1.15,201.3,278.7,7.8,368,6429,0.15,2.35,0.00,0.000,6,0.067,0.028,2972,2013,2235,0,0,0,0,0,0
$GC,6745,1.15,201.3,251.2,9.2,384,6749,0.00,2.47,0.00,0.000,4,0.000,0.049,2972,604,2234,0,0,0,0,0,0
$GC,6826,1.09,201.3,242.3,13.1,387,6830,0.00,2.33,0.00,0.000,6,0.000,0.027,2972,2013,2232,0,0,0,0,0,0
$GC,7141,1.09,201.3,211.1,8.9,402,7145,0.00,2.45,0.00,0.000,4,0.000,0.048,2972,598,2231,0,0,0,0,0,0
$GC,7214,1.04,201.3,204.2,9.2,405,7219,0.15,2.33,0.00,0.000,6,0.113,0.026,2944,2014,2230,0,0,0,0,0,0
$GC,7549,1.18,240.4,183.7,5.3,434,7595,0.12,2.53,36.55,0.673,4,0.074,0.046,2977,602,2069,0,0,0,0,0,0
$GC,7621,1.14,240.4,178.6,8.7,441,7626,0.00,2.35,0.00,0.000,6,0.000,0.025,2977,2017,2065,0,0,0,0,0,0
$GC,7884,1.19,240.4,155.7,9.1,466,7888,0.00,2.45,0.00,0.000,4,0.000,0.046,2976,604,2064,0,0,0,0,0,0
$GC,7973,1.19,240.4,146.2,10.7,475,7978,0.00,2.33,0.00,0.000,6,0.000,0.025,2977,2013,2061,0,0,0,0,0,0
$GC,8236,1.24,240.4,122.5,8.7,499,8240,0.00,2.45,0.00,0.000,4,0.000,0.045,2977,604,2061,0,0,0,0,0,0
$GC,8316,1.24,240.4,114.9,10.2,507,8321,0.00,2.30,0.00,0.000,6,0.000,0.024,2977,2017,2060,0,0,0,0,0,0
$GC,8579,1.33,248.9,94.7,7.4,531,8592,0.12,2.50,7.40,0.506,4,0.068,0.044,3014,596,2035,0,0,0,0,0,0
$GC,8685,1.27,248.9,84.7,10.0,542,8691,0.12,2.30,0.00,0.000,6,0.107,0.023,2990,2011,2032,0,0,0,0,0,0
$GC,8950,1.39,275.9,63.0,6.2,567,8984,0.12,2.47,24.92,0.557,4,0.066,0.041,3028,604,1923,0,0,0,0,0,0
$GC,9016,1.35,275.9,57.8,9.3,574,9020,0.00,2.30,0.00,0.000,6,0.000,0.021,3028,2023,1920,0,0,0,0,0,0
$GC,9279,1.38,275.9,32.5,9.2,598,9283,0.00,2.42,0.00,0.000,4,0.000,0.041,3028,603,1920,0,0,0,0,0,0
$GC,9369,1.31,275.9,24.9,8.8,613,9375,0.15,2.28,0.00,0.000,6,0.099,0.021,2999,2020,1917,0,0,0,0,0,0
$GC,9580,1.39,275.9,6.3,9.0,650,9585,0.00,2.42,0.00,0.000,4,0.000,0.041,2998,597,1917,0,0,0,0,0,0
$STATE,9617,end climb,SURFACE_DEPTH_REACHED
$STATE,9617,begin surface coast
$FINISH,0.7,1.002531
$STATE,9655,end surface coast,CONTROL_FINISHED_OK
$STATE,9655,begin surface
$SM_CCo,9677,13.95,0.482,0,0,1826,300.00
$SM_GC,2.18,0.00,0.00,13.95,0.000,0.000,0.482,429,1893,1826,-10.52,0.51,300.00
$IRIDIUM_FIX,2059.45,-15758.18,180999,232353
$TT8_MAMPS,0.029146
$HUMID,53.50
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,23.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,362.1,69.8
$24V_AH,23.4,53.624
$10V_AH,10.0,47.931
$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,28.475,127.800,301.025,13.950,0.000,31.311,31.743,197.529,3.750,0.000,86.231,1251.460,6502.796,394.110,1496.977,497.923,33.372,1191.934,0.000,1394.157,0.000,26.021,0.000
$DEVICE_MAMPS,131.157,53.690,817.622,481.676,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,446.665,456.344,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,34897,666
$CAP_FILE_SIZE,119021,0
$CFSIZE,260165632,223391744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250610,044722,2108.803,-15758.724,61,3.2,80,9.8