version: 66.06
glider: 139
mission: 7
dive: 726
start: 7 12 110 3 47 3
data:
$ID,139
$MISSION,7
$DIVE,726
$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,-2148124
$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
$GPS1,033921,2106.666,-15756.699,65,2.7,84,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.3
$GPS2,034610,2106.649,-15756.754,14,2.6,33,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.169,0.073
$KALMAN_X,-379052.0,350.6,156.6,375401.3,-2325.7
$KALMAN_Y,-4218.2,-2219.7,4876.7,1044.9,-12797.3
$MHEAD_RNG_PITCHd_Wd,56.9,23956,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,67,0.00,0.00,-49.70,0.000,2,0.000,0.000,424,1875,3085,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.1,-4.4,10,94,10.50,2.38,-5.88,0.000,4,0.129,0.039,2407,3307,3371,0,0,0,0,0,0
$GC,124,-1.34,-77.9,14.2,-12.4,21,130,0.00,2.40,0.00,0.000,6,0.000,0.028,2407,1871,3372,0,0,0,0,0,0
$GC,337,-1.18,-77.9,42.4,-14.8,51,342,0.22,2.40,0.00,0.000,4,0.093,0.041,2452,465,3372,0,0,0,0,0,0
$GC,357,-1.05,-77.9,45.7,-13.9,52,363,0.15,2.30,0.00,0.000,6,0.099,0.019,2483,1909,3372,0,0,0,0,0,0
$GC,620,-1.10,-77.9,73.2,-10.7,77,624,0.00,2.47,0.00,0.000,4,0.000,0.041,2483,471,3373,0,0,0,0,0,0
$GC,704,-1.15,-77.9,82.3,-9.9,85,710,0.00,2.25,0.00,0.000,6,0.000,0.018,2483,1881,3374,0,0,0,0,0,0
$GC,968,-1.24,-77.9,101.8,-5.7,110,973,0.17,2.42,0.00,0.000,4,0.050,0.041,2426,465,3375,0,0,0,0,0,0
$GC,1095,-1.18,-77.9,113.9,-10.2,123,1100,0.15,2.25,0.00,0.000,6,0.091,0.019,2458,1874,3375,0,0,0,0,0,0
$GC,1357,-1.25,-77.9,138.5,-9.2,147,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1879,3375,0,0,0,0,0,0
$GC,1614,-1.35,-77.9,157.8,-7.1,171,1619,0.17,2.40,0.00,0.000,4,0.050,0.041,2400,468,3376,0,0,0,0,0,0
$GC,1671,-1.29,-77.9,163.4,-9.8,176,1677,0.15,2.22,0.00,0.000,6,0.091,0.019,2432,1878,3376,0,0,0,0,0,0
$GC,1932,-1.33,-77.9,186.2,-8.7,201,1936,0.00,2.40,0.00,0.000,4,0.000,0.041,2432,471,3376,0,0,0,0,0,0
$GC,2040,-1.33,-77.9,196.7,-10.1,212,2044,0.00,2.22,0.00,0.000,6,0.000,0.019,2433,1874,3377,0,0,0,0,0,0
$GC,2310,-1.38,-77.9,213.0,-4.9,227,2314,0.00,2.38,0.00,0.000,4,0.000,0.041,2432,471,3377,0,0,0,0,0,0
$GC,2349,-1.42,-77.9,215.4,-6.3,228,2355,0.12,2.25,0.00,0.000,6,0.061,0.020,2389,1880,3377,0,0,0,0,0,0
$GC,2666,-1.42,-77.9,246.2,-10.9,244,2670,0.00,2.28,0.00,0.000,4,0.000,0.027,2389,3262,3377,0,0,0,0,0,0
$GC,2694,-1.45,-77.9,249.5,-10.7,245,2698,0.00,2.33,0.00,0.000,6,0.000,0.027,2389,1864,3377,0,0,0,0,0,0
$GC,3019,-1.45,-77.9,283.5,-9.9,261,3023,0.00,2.38,0.00,0.000,4,0.000,0.043,2389,469,3377,0,0,0,0,0,0
$GC,3133,-1.42,-77.9,295.2,-9.8,266,3138,0.00,2.22,0.00,0.000,6,0.000,0.021,2389,1873,3377,0,0,0,0,0,0
$GC,3480,-1.42,-77.9,318.7,-5.9,276,3484,0.00,2.40,0.00,0.000,4,0.000,0.044,2389,463,3376,0,0,0,0,0,0
$GC,3518,-1.38,-77.9,321.7,-8.3,276,3524,0.10,2.28,0.00,0.000,6,0.108,0.021,2410,1878,3375,0,0,0,0,0,0
$GC,3850,-1.43,-77.9,344.7,-7.1,285,3854,0.00,2.40,0.00,0.000,4,0.000,0.045,2410,471,3375,0,0,0,0,0,0
$GC,3888,-1.43,-77.9,347.2,-7.0,285,3893,0.00,2.25,0.00,0.000,6,0.000,0.023,2410,1870,3375,0,0,0,0,0,0
$GC,4219,-1.47,-77.9,365.9,-5.5,294,4224,0.00,2.40,0.00,0.000,4,0.000,0.046,2410,469,3373,0,0,0,0,0,0
$GC,4267,-1.47,-77.9,368.8,-6.0,295,4271,0.00,2.28,0.00,0.000,6,0.000,0.024,2410,1881,3373,0,0,0,0,0,0
$GC,4592,-1.52,-77.9,386.6,-6.0,303,4597,0.12,2.47,0.00,0.000,4,0.064,0.048,2370,465,3371,0,0,0,0,0,0
$GC,4655,-1.45,-77.9,391.4,-7.6,304,4659,0.12,2.30,0.00,0.000,6,0.097,0.025,2396,1872,3370,0,0,0,0,0,0
$GC,5005,-1.48,-77.9,417.9,-8.3,313,5007,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1877,3369,0,0,0,0,0,0
$GC,5332,-1.53,-77.9,443.4,-7.5,321,5336,0.00,2.45,0.00,0.000,4,0.000,0.051,2395,469,3366,0,0,0,0,0,0
$STATE,5399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5399,begin apogee
$GC,5409,-0.31,0.0,450.5,10.6,322,5478,1.15,0.00,64.78,0.851,6,0.078,0.000,2641,2008,3050,0,0,0,0,0,0
$STATE,5478,end apogee,CONTROL_FINISHED_OK
$STATE,5478,begin climb
$GC,5481,1.40,77.9,453.6,0.0,324,5551,1.67,0.00,64.85,0.834,6,0.038,0.000,3024,2009,2732,0,0,0,0,0,0
$GC,5890,1.23,132.6,446.3,4.3,334,5943,0.22,2.55,46.38,0.834,4,0.114,0.049,2982,609,2508,0,0,0,0,0,0
$GC,6107,1.05,132.6,428.8,9.2,338,6112,0.20,2.33,0.00,0.000,6,0.116,0.027,2947,2010,2503,0,0,0,0,0,0
$GC,6438,1.08,153.2,406.0,6.6,346,6462,0.00,2.47,17.95,0.789,4,0.000,0.038,2945,3403,2425,0,0,0,0,0,0
$GC,6510,1.10,174.1,401.2,6.6,347,6536,0.10,2.40,19.70,0.788,6,0.080,0.036,2955,2014,2339,0,0,0,0,0,0
$GC,6855,1.05,174.1,370.2,8.4,356,6859,0.00,2.47,0.00,0.000,4,0.000,0.051,2973,604,2334,0,0,0,0,0,0
$GC,6959,0.94,174.1,360.7,9.5,358,6964,0.28,2.35,0.00,0.000,6,0.107,0.028,2923,2015,2331,0,0,0,0,0,0
$GC,7275,1.02,180.1,337.2,7.6,366,7287,0.00,2.53,5.40,0.604,4,0.000,0.050,2922,597,2314,0,0,0,0,0,0
$GC,7338,1.02,180.1,331.7,8.2,367,7342,0.00,2.40,0.00,0.000,6,0.000,0.029,2922,2021,2312,0,0,0,0,0,0
$GC,7652,1.13,207.8,311.4,6.1,375,7685,0.17,2.60,25.95,0.772,4,0.062,0.051,2966,604,2201,0,0,0,0,0,0
$GC,7751,1.06,207.8,303.1,9.1,377,7755,0.00,2.38,0.00,0.000,6,0.000,0.028,2966,2012,2197,0,0,0,0,0,0
$GC,8073,1.07,217.6,278.8,7.3,391,8089,0.00,2.53,9.30,0.675,4,0.000,0.050,2966,605,2162,0,0,0,0,0,0
$GC,8186,1.03,217.6,268.8,8.9,395,8192,0.15,2.35,0.00,0.000,6,0.119,0.028,2940,2011,2158,0,0,0,0,0,0
$GC,8502,1.13,230.8,245.6,7.1,411,8524,0.00,2.50,12.70,0.685,4,0.000,0.048,2940,604,2108,0,0,0,0,0,0
$GC,8705,1.20,258.6,232.7,6.1,419,8739,0.17,2.38,26.05,0.709,6,0.062,0.027,2985,2025,1994,0,0,0,0,0,0
$GC,9064,1.23,258.6,203.4,9.1,437,9068,0.00,2.47,0.00,0.000,4,0.000,0.048,2985,603,1990,0,0,0,0,0,0
$GC,9251,1.20,258.6,185.4,10.1,454,9256,0.00,2.33,0.00,0.000,6,0.000,0.026,2985,2011,1987,0,0,0,0,0,0
$GC,9514,1.23,258.6,161.1,9.1,479,9518,0.00,2.45,0.00,0.000,4,0.000,0.047,2985,602,1987,0,0,0,0,0,0
$GC,9637,1.25,270.7,150.9,7.2,491,9654,0.00,2.33,10.75,0.593,6,0.000,0.025,2984,2025,1946,0,0,0,0,0,0
$GC,9916,1.33,283.6,131.9,7.1,518,9934,0.00,2.53,13.12,0.587,4,0.000,0.045,2984,598,1892,0,0,0,0,0,0
$GC,10186,1.36,283.6,107.8,8.7,547,10191,0.12,2.33,0.00,0.000,6,0.067,0.023,3023,2012,1888,0,0,0,0,0,0
$GC,10447,1.39,306.0,88.4,6.5,571,10474,0.00,2.50,20.33,0.569,4,0.000,0.044,3023,602,1801,0,0,0,0,0,0
$GC,10740,1.39,306.0,65.5,8.6,602,10746,0.00,2.33,0.00,0.000,6,0.000,0.021,3022,2024,1797,0,0,0,0,0,0
$GC,11006,1.45,312.6,43.2,7.6,627,11019,0.00,2.33,6.82,0.452,4,0.000,0.028,3023,3390,1775,0,0,0,0,0,0
$GC,11136,1.57,336.0,33.1,6.4,641,11166,0.15,2.35,21.62,0.518,6,0.057,0.031,3071,2000,1680,0,0,0,0,0,0
$STATE,11406,end climb,SURFACE_DEPTH_REACHED
$STATE,11406,begin surface coast
$FINISH,0.6,1.023209
$STATE,11435,end surface coast,CONTROL_FINISHED_OK
$STATE,11435,begin surface
$SM_CCo,11517,0.00,0.000,0,0,1671,338.02
$SM_GC,1.40,11.35,0.00,0.00,0.024,0.000,0.000,425,1857,1671,-10.45,-0.51,338.02
$IRIDIUM_FIX,2057.14,-15759.05,061099,000052
$TT8_MAMPS,0.029146
$HUMID,55.63
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,23.3,65.164
$10V_AH,10.0,55.222
$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,27.750,124.100,365.700,0.000,0.000,25.535,32.880,200.178,5.000,0.000,34.458,1352.954,7858.851,405.494,1752.406,551.253,33.375,1354.714,0.000,1688.224,0.000,32.150,0.000
$DEVICE_MAMPS,128.856,55.224,851.370,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,464.666,448.971,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,34890,692
$CAP_FILE_SIZE,132314,0
$CFSIZE,260165632,215633920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120710,070124,2106.834,-15755.988,91,1.6,108,9.8