version: 66.06
glider: 139
mission: 7
dive: 604
start: 6 25 110 15 1 1
data:
$ID,139
$MISSION,7
$DIVE,604
$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,-2143809.8
$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
$GPS1,144957,2108.222,-15756.940,88,2.2,107,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.0
$GPS2,150010,2108.284,-15757.037,16,3.2,35,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.155,-0.099
$KALMAN_X,-356945.9,-359.2,-421.4,354085.6,-657.1
$KALMAN_Y,40355.8,-379.4,36.4,-37462.8,914.1
$MHEAD_RNG_PITCHd_Wd,113.0,24821,-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,-77.9,0.0,0.0,0,79,0.00,0.00,-60.47,0.000,2,0.000,0.000,425,1860,3283,0,0,0,0,0,0
$GC,83,-1.40,-77.9,3.9,-7.3,12,102,10.55,2.40,-1.65,0.000,4,0.133,0.051,2404,463,3370,0,0,0,0,0,0
$GC,118,-0.53,-77.9,16.9,-34.5,19,125,0.95,2.35,0.00,0.000,6,0.089,0.019,2597,1916,3371,0,0,0,0,0,0
$GC,329,-0.83,-77.9,30.0,-6.2,56,335,0.28,2.47,0.00,0.000,4,0.041,0.038,2516,467,3371,0,0,0,0,0,0
$GC,415,-0.94,-77.9,38.1,-9.3,66,420,0.00,2.25,0.00,0.000,6,0.000,0.019,2516,1890,3371,0,0,0,0,0,0
$GC,678,-1.02,-77.9,60.3,-9.6,90,683,0.12,2.45,0.00,0.000,4,0.063,0.041,2472,465,3372,0,0,0,0,0,0
$GC,753,-1.02,-77.9,69.7,-13.1,97,759,0.00,2.25,0.00,0.000,6,0.000,0.018,2472,1878,3372,0,0,0,0,0,0
$GC,1016,-1.09,-77.9,97.7,-9.9,122,1020,0.00,2.40,0.00,0.000,4,0.000,0.041,2471,463,3373,0,0,0,0,0,0
$GC,1086,-1.14,-77.9,105.1,-10.7,129,1090,0.00,2.25,0.00,0.000,6,0.000,0.018,2473,1872,3373,0,0,0,0,0,0
$GC,1350,-1.23,-77.9,126.7,-7.4,153,1355,0.12,2.42,0.00,0.000,4,0.062,0.041,2426,466,3374,0,0,0,0,0,0
$GC,1394,-1.20,-77.9,130.7,-9.1,157,1399,0.12,2.25,0.00,0.000,6,0.099,0.018,2452,1881,3374,0,0,0,0,0,0
$GC,1655,-1.27,-77.9,152.6,-9.2,181,1659,0.00,2.42,0.00,0.000,4,0.000,0.041,2452,463,3375,0,0,0,0,0,0
$GC,1716,-1.32,-77.9,158.5,-9.4,187,1721,0.12,2.25,0.00,0.000,6,0.061,0.019,2407,1876,3375,0,0,0,0,0,0
$GC,1977,-1.32,-77.9,186.2,-9.7,211,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,1881,3375,0,0,0,0,0,0
$GC,2240,-1.32,-77.9,209.1,-8.2,231,2244,0.00,2.40,0.00,0.000,4,0.000,0.042,2406,459,3375,0,0,0,0,0,0
$GC,2315,-1.28,-77.9,216.1,-9.1,234,2319,0.12,2.25,0.00,0.000,6,0.097,0.019,2432,1876,3375,0,0,0,0,0,0
$GC,2637,-1.36,-77.9,238.6,-7.3,250,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,1880,3375,0,0,0,0,0,0
$GC,2945,-1.44,-77.9,264.9,-9.0,265,2950,0.15,2.42,0.00,0.000,4,0.055,0.044,2382,460,3375,0,0,0,0,0,0
$GC,2989,-1.36,-77.9,269.6,-10.8,267,2994,0.17,2.28,0.00,0.000,6,0.091,0.021,2418,1874,3375,0,0,0,0,0,0
$GC,3321,-1.41,-77.9,295.6,-6.9,283,3325,0.00,2.42,0.00,0.000,4,0.000,0.044,2418,463,3374,0,0,0,0,0,0
$GC,3382,-1.45,-77.9,300.9,-8.4,285,3388,0.00,2.28,0.00,0.000,6,0.000,0.022,2417,1870,3374,0,0,0,0,0,0
$GC,3713,-1.52,-77.9,329.9,-9.3,294,3718,0.15,2.45,0.00,0.000,4,0.056,0.047,2371,460,3372,0,0,0,0,0,0
$GC,3798,-1.45,-77.9,339.5,-10.8,295,3805,0.10,2.30,0.00,0.000,6,0.074,0.023,2397,1887,3372,0,0,0,0,0,0
$GC,4131,-1.45,-77.9,367.4,-8.1,304,4135,0.00,2.42,0.00,0.000,4,0.000,0.048,2397,470,3370,0,0,0,0,0,0
$GC,4247,-1.45,-77.9,377.8,-8.4,306,4251,0.00,2.30,0.00,0.000,6,0.000,0.024,2397,1881,3369,0,0,0,0,0,0
$GC,4588,-1.48,-77.9,404.5,-7.9,315,4592,0.00,2.45,0.00,0.000,4,0.000,0.048,2397,470,3367,0,0,0,0,0,0
$GC,4644,-1.48,-77.9,409.2,-7.9,316,4648,0.00,2.30,0.00,0.000,6,0.000,0.025,2397,1878,3366,0,0,0,0,0,0
$GC,4963,-1.53,-77.9,430.7,-6.4,324,4967,0.00,2.45,0.00,0.000,4,0.000,0.050,2396,470,3364,0,0,0,0,0,0
$GC,5028,-1.53,-77.9,435.1,-6.8,325,5032,0.00,2.30,0.00,0.000,6,0.000,0.026,2397,1871,3364,0,0,0,0,0,0
$STATE,5289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5289,begin apogee
$GC,5296,-0.31,0.0,450.2,5.8,332,5363,1.15,0.00,63.88,0.866,6,0.073,0.000,2643,2037,3050,0,0,0,0,0,0
$STATE,5364,end apogee,CONTROL_FINISHED_OK
$STATE,5364,begin climb
$GC,5366,1.40,77.9,450.6,0.0,333,5442,1.62,2.40,64.82,0.846,4,0.031,0.039,2934,3381,2732,0,0,0,0,0,0
$GC,5706,1.23,127.7,440.0,4.6,340,5755,0.20,2.35,42.47,0.842,6,0.115,0.035,2986,2007,2528,0,0,0,0,0,0
$GC,6096,1.12,130.6,410.2,7.8,350,6101,0.15,2.40,0.00,0.000,4,0.117,0.038,2956,3388,2521,0,0,0,0,0,0
$GC,6207,1.07,137.9,401.1,7.5,352,6222,0.00,2.38,8.88,0.731,6,0.000,0.037,2961,2013,2487,0,0,0,0,0,0
$GC,6559,1.02,137.9,371.5,8.0,361,6564,0.12,2.50,0.00,0.000,4,0.120,0.051,2937,601,2484,0,0,0,0,0,0
$GC,6607,0.98,148.0,367.9,7.3,362,6623,0.00,2.33,9.45,0.736,6,0.000,0.029,2937,1990,2447,0,0,0,0,0,0
$GC,6933,1.01,172.4,346.3,6.3,370,6961,0.00,2.55,22.30,0.797,4,0.000,0.053,2938,602,2347,0,0,0,0,0,0
$GC,7006,0.98,172.4,340.9,8.4,371,7010,0.00,2.38,0.00,0.000,6,0.000,0.029,2938,2007,2343,0,0,0,0,0,0
$GC,7351,1.09,229.5,321.9,4.1,380,7407,0.00,2.58,50.83,0.800,4,0.000,0.048,2938,585,2113,0,0,0,0,0,0
$GC,7444,1.09,229.5,315.3,9.3,382,7449,0.00,2.42,0.00,0.000,6,0.000,0.030,2938,2011,2109,0,0,0,0,0,0
$GC,7764,1.16,229.5,285.2,9.6,393,7769,0.12,2.50,0.00,0.000,4,0.077,0.052,2970,604,2105,0,0,0,0,0,0
$GC,7959,1.11,229.5,262.1,10.2,401,7964,0.00,2.38,0.00,0.000,6,0.000,0.028,2970,2024,2101,0,0,0,0,0,0
$GC,8275,1.15,229.5,235.5,8.2,416,8279,0.00,2.50,0.00,0.000,4,0.000,0.049,2970,604,2101,0,0,0,0,0,0
$GC,8420,1.12,229.5,220.4,10.8,422,8424,0.00,2.35,0.00,0.000,6,0.000,0.028,2970,2013,2098,0,0,0,0,0,0
$GC,8745,1.18,244.4,193.6,7.0,442,8763,0.00,2.55,11.88,0.645,4,0.000,0.048,2970,603,2052,0,0,0,0,0,0
$GC,8788,1.18,244.4,189.9,8.5,447,8792,0.00,2.35,0.00,0.000,6,0.000,0.027,2970,2018,2051,0,0,0,0,0,0
$GC,9050,1.24,244.4,167.4,8.3,471,9054,0.00,2.47,0.00,0.000,4,0.000,0.048,2970,603,2050,0,0,0,0,0,0
$GC,9075,1.24,244.4,165.3,9.0,473,9079,0.00,2.33,0.00,0.000,6,0.000,0.025,2970,2020,2048,0,0,0,0,0,0
$GC,9338,1.31,244.4,143.2,9.4,497,9343,0.12,2.50,0.00,0.000,4,0.070,0.047,3005,599,2048,0,0,0,0,0,0
$GC,9502,1.25,244.4,124.1,9.1,514,9506,0.00,2.33,0.00,0.000,6,0.000,0.024,3006,2013,2047,0,0,0,0,0,0
$GC,9770,1.30,282.3,106.7,5.4,539,9813,0.00,2.50,33.67,0.604,4,0.000,0.044,3006,602,1898,0,0,0,0,0,0
$GC,9863,1.30,282.3,99.0,9.8,549,9868,0.00,2.33,0.00,0.000,6,0.000,0.023,3007,2011,1894,0,0,0,0,0,0
$GC,10127,1.37,289.2,76.9,7.5,573,10140,0.00,2.53,6.50,0.469,4,0.000,0.045,3006,597,1871,0,0,0,0,0,0
$GC,10311,1.37,289.2,59.2,9.4,593,10315,0.00,2.30,0.00,0.000,6,0.000,0.021,3006,2019,1868,0,0,0,0,0,0
$GC,10579,1.43,289.2,36.8,8.8,618,10583,0.00,2.42,0.00,0.000,4,0.000,0.043,3006,601,1868,0,0,0,0,0,0
$GC,10707,1.43,289.2,26.2,10.5,635,10713,0.00,2.28,0.00,0.000,6,0.000,0.021,3006,2020,1867,0,0,0,0,0,0
$GC,10918,1.48,289.2,8.2,8.5,672,10924,0.15,2.45,0.00,0.000,4,0.058,0.041,3051,600,1867,0,0,0,0,0,0
$STATE,10960,end climb,SURFACE_DEPTH_REACHED
$STATE,10960,begin surface coast
$FINISH,0.6,1.000475
$STATE,10984,end surface coast,CONTROL_FINISHED_OK
$STATE,10984,begin surface
$SM_CCo,11007,8.75,0.452,0,0,1826,300.00
$SM_GC,2.52,0.00,0.00,8.75,0.000,0.000,0.452,425,1898,1826,-10.53,0.68,300.00
$IRIDIUM_FIX,2059.45,-15753.03,190999,151536
$TT8_MAMPS,0.029146
$HUMID,53.22
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,23.4,54.060
$10V_AH,10.1,48.175
$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,27.825,128.800,314.675,8.750,0.000,54.251,66.782,281.965,4.750,0.000,36.604,1340.832,7541.603,389.211,1683.688,672.231,33.370,1299.162,0.000,1624.171,0.000,29.270,0.000
$DEVICE_MAMPS,132.691,52.923,865.943,451.763,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,461.434,455.615,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,34870,686
$CAP_FILE_SIZE,133626,0
$CFSIZE,260165632,223133696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250610,180656,2108.040,-15756.285,81,4.2,100,9.8