version: 66.06
glider: 139
mission: 7
dive: 725
start: 7 12 110 0 26 58
data:
$ID,139
$MISSION,7
$DIVE,725
$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,-2148088.8
$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
$GPS1,001857,2106.883,-15757.039,101,3.1,120,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.8
$GPS2,002607,2106.851,-15757.045,75,1.2,75,9.8
$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,-377968.4,272.4,705.4,373359.6,-1104.6
$KALMAN_Y,-5814.6,1026.9,4020.5,751.0,-4575.2
$MHEAD_RNG_PITCHd_Wd,74.5,24484,-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,-77.9,0.0,0.0,0,74,0.00,0.00,-54.80,0.000,2,0.000,0.000,423,1901,3260,0,0,0,0,0,0
$GC,78,-1.40,-77.9,3.9,-7.2,11,94,10.57,0.00,-2.10,0.000,6,0.131,0.000,2403,1901,3370,0,0,0,0,0,0
$GC,293,-1.23,-77.9,41.0,-14.1,43,298,0.20,2.47,0.00,0.000,4,0.098,0.041,2443,466,3373,0,0,0,0,0,0
$GC,355,-1.11,-77.9,50.2,-13.9,49,360,0.15,2.33,0.00,0.000,6,0.101,0.019,2472,1911,3373,0,0,0,0,0,0
$GC,619,-1.15,-77.9,76.3,-9.1,73,623,0.00,2.50,0.00,0.000,4,0.000,0.041,2472,459,3374,0,0,0,0,0,0
$GC,693,-1.21,-77.9,83.8,-9.6,80,699,0.00,2.25,0.00,0.000,6,0.000,0.019,2472,1882,3374,0,0,0,0,0,0
$GC,957,-1.32,-77.9,105.2,-6.9,105,962,0.20,2.42,0.00,0.000,4,0.046,0.040,2410,458,3375,0,0,0,0,0,0
$GC,996,-1.24,-77.9,109.1,-9.6,108,1002,0.15,2.25,0.00,0.000,6,0.091,0.019,2442,1885,3375,0,0,0,0,0,0
$GC,1257,-1.28,-77.9,131.6,-8.0,133,1261,0.00,2.40,0.00,0.000,4,0.000,0.040,2441,467,3376,0,0,0,0,0,0
$GC,1309,-1.32,-77.9,136.4,-9.5,138,1313,0.00,2.25,0.00,0.000,6,0.000,0.019,2442,1878,3376,0,0,0,0,0,0
$GC,1579,-1.37,-77.9,156.6,-6.5,163,1584,0.12,2.28,0.00,0.000,4,0.061,0.026,2399,3267,3377,0,0,0,0,0,0
$GC,1662,-1.42,-77.9,162.9,-7.9,171,1667,0.00,2.35,0.00,0.000,6,0.000,0.028,2399,1862,3377,0,0,0,0,0,0
$GC,1925,-1.42,-77.9,181.3,-6.6,195,1930,0.00,2.35,0.00,0.000,4,0.000,0.041,2398,463,3377,0,0,0,0,0,0
$GC,1991,-1.38,-77.9,186.8,-8.5,201,1997,0.00,2.22,0.00,0.000,6,0.000,0.019,2398,1879,3378,0,0,0,0,0,0
$GC,2260,-1.38,-77.9,209.6,-8.9,222,2264,0.00,2.40,0.00,0.000,4,0.000,0.041,2398,471,3378,0,0,0,0,0,0
$GC,2293,-1.33,-77.9,212.9,-10.2,223,2298,0.12,2.22,0.00,0.000,6,0.097,0.020,2425,1873,3378,0,0,0,0,0,0
$GC,2612,-1.39,-77.9,238.8,-7.9,238,2616,0.00,2.40,0.00,0.000,4,0.000,0.042,2425,471,3378,0,0,0,0,0,0
$GC,2655,-1.43,-77.9,242.7,-8.3,240,2659,0.00,2.25,0.00,0.000,6,0.000,0.021,2425,1882,3378,0,0,0,0,0,0
$GC,2992,-1.49,-77.9,266.5,-6.3,256,2997,0.15,2.42,0.00,0.000,4,0.056,0.044,2377,469,3377,0,0,0,0,0,0
$GC,3053,-1.40,-77.9,271.5,-8.2,258,3060,0.15,2.28,0.00,0.000,6,0.093,0.021,2409,1881,3377,0,0,0,0,0,0
$GC,3372,-1.44,-77.9,294.1,-8.6,274,3376,0.00,2.40,0.00,0.000,4,0.000,0.044,2409,473,3376,0,0,0,0,0,0
$GC,3473,-1.44,-77.9,303.7,-9.7,278,3478,0.00,2.25,0.00,0.000,6,0.000,0.022,2409,1874,3376,0,0,0,0,0,0
$GC,3788,-1.48,-77.9,326.3,-6.7,286,3792,0.00,2.42,0.00,0.000,4,0.000,0.045,2409,468,3374,0,0,0,0,0,0
$GC,3840,-1.48,-77.9,330.6,-8.0,287,3844,0.00,2.28,0.00,0.000,6,0.000,0.023,2408,1885,3375,0,0,0,0,0,0
$GC,4159,-1.52,-77.9,352.1,-7.5,295,4161,0.12,0.00,0.00,0.000,6,0.064,0.000,2369,1889,3373,0,0,0,0,0,0
$GC,4484,-1.49,-77.9,380.1,-9.9,303,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1889,3372,0,0,0,0,0,0
$GC,4808,-1.49,-77.9,412.2,-9.3,311,4812,0.00,2.42,0.00,0.000,4,0.000,0.048,2369,473,3370,0,0,0,0,0,0
$GC,4869,-1.44,-77.9,417.8,-8.4,312,4874,0.15,2.30,0.00,0.000,6,0.092,0.025,2400,1879,3369,0,0,0,0,0,0
$GC,5223,-1.50,-77.9,442.7,-6.9,321,5227,0.00,2.45,0.00,0.000,4,0.000,0.050,2400,475,3367,0,0,0,0,0,0
$STATE,5313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5313,begin apogee
$GC,5323,-0.31,0.0,450.3,7.5,323,5391,1.12,0.00,64.72,0.851,6,0.074,0.000,2644,2011,3050,0,0,0,0,0,0
$STATE,5392,end apogee,CONTROL_FINISHED_OK
$STATE,5392,begin climb
$GC,5395,1.40,77.9,451.5,0.0,324,5471,1.62,2.47,65.00,0.834,4,0.028,0.038,3027,3401,2732,0,0,0,0,0,0
$GC,5541,1.23,141.5,452.9,3.7,327,5602,0.25,2.38,54.60,0.828,6,0.110,0.032,2981,2003,2472,0,0,0,0,0,0
$GC,5941,1.11,141.5,420.4,8.9,337,5946,0.12,2.42,0.00,0.000,4,0.128,0.048,2959,606,2464,0,0,0,0,0,0
$GC,5957,0.99,141.5,419.0,8.4,337,5962,0.15,2.38,0.00,0.000,6,0.123,0.027,2932,2024,2463,0,0,0,0,0,0
$GC,6307,1.01,151.8,395.4,7.3,346,6323,0.00,2.53,8.30,0.707,4,0.000,0.048,2933,607,2430,0,0,0,0,0,0
$GC,6366,0.97,163.2,391.2,7.2,347,6383,0.00,2.35,11.55,0.747,6,0.000,0.028,2933,2018,2384,0,0,0,0,0,0
$GC,6719,1.00,163.2,362.8,8.7,356,6724,0.00,2.47,0.00,0.000,4,0.000,0.048,2933,607,2380,0,0,0,0,0,0
$GC,6795,0.97,163.2,356.8,8.5,357,6799,0.00,2.33,0.00,0.000,6,0.000,0.028,2933,2007,2378,0,0,0,0,0,0
$GC,7131,1.05,191.6,334.7,6.1,366,7163,0.00,2.50,25.52,0.785,4,0.000,0.036,2933,3410,2267,0,0,0,0,0,0
$GC,7232,1.14,191.6,326.9,8.8,368,7237,0.12,2.40,0.00,0.000,6,0.071,0.035,2966,2014,2267,0,0,0,0,0,0
$GC,7551,1.15,203.7,302.8,7.2,376,7568,0.00,2.53,11.57,0.713,4,0.000,0.051,2965,603,2218,0,0,0,0,0,0
$GC,7668,1.10,203.9,293.0,8.0,380,7673,0.00,2.35,0.00,0.000,6,0.000,0.028,2966,2011,2215,0,0,0,0,0,0
$GC,7997,1.10,203.9,264.7,8.6,396,8002,0.00,2.47,0.00,0.000,4,0.000,0.049,2966,605,2213,0,0,0,0,0,0
$GC,8171,1.04,203.9,249.7,8.2,403,8176,0.12,2.35,0.00,0.000,6,0.126,0.028,2944,2017,2211,0,0,0,0,0,0
$GC,8489,1.13,221.4,229.0,6.8,418,8511,0.00,2.55,16.00,0.693,4,0.000,0.050,2944,601,2146,0,0,0,0,0,0
$GC,8666,1.18,223.7,214.1,7.9,425,8671,0.12,2.33,0.00,0.000,6,0.074,0.027,2976,2012,2142,0,0,0,0,0,0
$GC,8987,1.18,223.7,188.6,8.2,446,8991,0.00,2.47,0.00,0.000,4,0.000,0.048,2976,600,2142,0,0,0,0,0,0
$GC,9135,1.21,252.7,176.9,6.0,461,9169,0.00,2.35,28.62,0.667,6,0.000,0.025,2976,2018,2018,0,0,0,0,0,0
$GC,9431,1.29,258.8,156.9,7.6,490,9444,0.00,2.53,6.18,0.525,4,0.000,0.046,2976,605,1994,0,0,0,0,0,0
$GC,9488,1.29,258.8,151.6,10.0,496,9492,0.00,2.33,0.00,0.000,6,0.000,0.025,2976,2006,1992,0,0,0,0,0,0
$GC,9756,1.39,285.7,133.8,6.2,521,9787,0.17,2.38,24.92,0.617,4,0.058,0.031,3023,3400,1885,0,0,0,0,0,0
$GC,9949,1.39,285.7,115.6,10.9,541,9954,0.00,2.35,0.00,0.000,6,0.000,0.030,3023,2001,1884,0,0,0,0,0,0
$GC,10213,1.39,288.1,93.9,7.9,566,10217,0.00,2.42,0.00,0.000,4,0.000,0.044,3023,597,1882,0,0,0,0,0,0
$GC,10323,1.34,289.7,85.5,7.9,577,10333,0.00,2.33,4.45,0.409,6,0.000,0.022,3023,2021,1867,0,0,0,0,0,0
$GC,10588,1.35,302.2,65.9,7.2,602,10606,0.00,2.30,12.95,0.527,4,0.000,0.026,3023,3395,1816,0,0,0,0,0,0
$GC,10713,1.44,305.3,56.3,7.8,615,10722,0.00,2.35,4.05,0.367,6,0.000,0.028,3023,2000,1805,0,0,0,0,0,0
$GC,10979,1.49,305.3,35.5,8.2,640,10983,0.00,2.40,0.00,0.000,4,0.000,0.043,3023,602,1804,0,0,0,0,0,0
$GC,11208,1.49,305.3,13.2,10.0,682,11213,0.00,2.25,0.00,0.000,6,0.000,0.020,3023,2013,1801,0,0,0,0,0,0
$STATE,11307,end climb,SURFACE_DEPTH_REACHED
$STATE,11307,begin surface coast
$FINISH,0.6,1.023139
$STATE,11340,end surface coast,CONTROL_FINISHED_OK
$STATE,11340,begin surface
$SM_CCo,11423,0.00,0.000,0,0,1798,306.87
$SM_GC,1.38,11.18,0.00,0.00,0.026,0.000,0.000,425,1876,1798,-10.45,0.06,306.87
$IRIDIUM_FIX,2101.76,-15801.19,051099,212110
$TT8_MAMPS,0.029146
$HUMID,55.63
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.3,65.071
$10V_AH,10.0,55.163
$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,27.100,128.625,338.450,0.000,0.000,29.825,37.743,166.124,4.750,0.000,76.072,1363.900,7832.551,377.172,1742.176,528.696,33.373,1303.735,0.000,1636.425,0.000,29.244,0.000
$DEVICE_MAMPS,131.157,56.758,850.603,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,474.695,464.635,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,38124,705
$CAP_FILE_SIZE,131949,0
$CFSIZE,260165632,215691264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120710,033921,2106.666,-15756.699,65,2.7,84,9.8