version: 66.06
glider: 139
mission: 7
dive: 727
start: 7 12 110 7 8 43
data:
$ID,139
$MISSION,7
$DIVE,727
$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,-2148156.2
$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
$GPS1,070124,2106.834,-15755.988,91,1.6,108,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-70.2
$GPS2,070752,2106.797,-15755.955,11,7.7,30,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.177,-0.048
$KALMAN_X,-378637.1,27.2,-506.7,377332.8,132.9
$KALMAN_Y,4185.4,-4475.2,-2135.8,2112.2,4412.6
$MHEAD_RNG_PITCHd_Wd,95.5,22600,-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,-59.83,0.000,2,0.000,0.000,424,1856,3226,0,0,0,0,0,0
$GC,83,-1.40,-77.9,3.7,-6.4,12,102,10.50,2.38,-2.85,0.000,4,0.129,0.050,2403,459,3368,0,0,0,0,0,0
$GC,166,-1.21,-77.9,20.5,-13.7,29,173,0.22,2.33,0.00,0.000,6,0.094,0.019,2449,1909,3370,0,0,0,0,0,0
$GC,372,-1.15,-77.9,43.4,-10.8,55,376,0.00,2.45,0.00,0.000,4,0.000,0.039,2449,467,3370,0,0,0,0,0,0
$GC,382,-1.09,-77.9,44.7,-10.2,55,388,0.12,2.25,0.00,0.000,6,0.104,0.019,2474,1883,3370,0,0,0,0,0,0
$GC,645,-1.12,-77.9,73.1,-11.2,80,649,0.00,2.42,0.00,0.000,4,0.000,0.041,2473,468,3371,0,0,0,0,0,0
$GC,726,-1.15,-77.9,80.7,-8.7,88,730,0.00,2.25,0.00,0.000,6,0.000,0.018,2473,1877,3372,0,0,0,0,0,0
$GC,989,-1.22,-77.9,99.6,-6.6,112,994,0.12,2.42,0.00,0.000,4,0.062,0.041,2427,467,3372,0,0,0,0,0,0
$GC,1095,-1.18,-77.9,109.9,-9.9,123,1100,0.12,2.25,0.00,0.000,6,0.097,0.019,2454,1874,3372,0,0,0,0,0,0
$GC,1357,-1.24,-77.9,131.5,-7.4,147,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1878,3373,0,0,0,0,0,0
$GC,1613,-1.32,-77.9,150.3,-7.3,171,1618,0.12,2.42,0.00,0.000,4,0.061,0.041,2408,466,3374,0,0,0,0,0,0
$GC,1699,-1.26,-77.9,159.1,-9.9,180,1704,0.15,2.22,0.00,0.000,6,0.091,0.019,2441,1877,3374,0,0,0,0,0,0
$GC,1961,-1.33,-77.9,179.1,-6.6,204,1965,0.00,2.40,0.00,0.000,4,0.000,0.041,2440,468,3374,0,0,0,0,0,0
$GC,2065,-1.38,-77.9,186.7,-7.6,214,2071,0.12,2.22,0.00,0.000,6,0.061,0.019,2397,1885,3374,0,0,0,0,0,0
$GC,2325,-1.38,-77.9,209.0,-8.5,234,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1889,3375,0,0,0,0,0,0
$GC,2633,-1.38,-77.9,236.5,-9.1,249,2637,0.00,2.25,0.00,0.000,4,0.000,0.027,2396,3260,3375,0,0,0,0,0,0
$GC,2647,-1.38,-77.9,238.0,-8.9,249,2653,0.00,2.30,0.00,0.000,6,0.000,0.028,2396,1863,3375,0,0,0,0,0,0
$GC,2962,-1.38,-77.9,265.8,-8.0,265,2966,0.00,2.35,0.00,0.000,4,0.000,0.042,2396,469,3375,0,0,0,0,0,0
$GC,3053,-1.34,-77.9,271.8,-6.6,269,3058,0.12,2.25,0.00,0.000,6,0.098,0.021,2422,1876,3375,0,0,0,0,0,0
$GC,3385,-1.42,-77.9,290.3,-7.0,285,3389,0.00,2.40,0.00,0.000,4,0.000,0.044,2422,466,3374,0,0,0,0,0,0
$GC,3460,-1.47,-77.9,296.8,-8.1,288,3465,0.12,2.25,0.00,0.000,6,0.062,0.021,2381,1878,3374,0,0,0,0,0,0
$GC,3781,-1.47,-77.9,324.8,-8.4,297,3785,0.00,2.28,0.00,0.000,4,0.000,0.029,2380,3262,3373,0,0,0,0,0,0
$GC,3797,-1.47,-77.9,326.0,-7.6,297,3801,0.00,2.30,0.00,0.000,6,0.000,0.029,2380,1875,3372,0,0,0,0,0,0
$GC,4110,-1.47,-77.9,353.0,-9.2,305,4114,0.00,2.42,0.00,0.000,4,0.000,0.046,2380,465,3371,0,0,0,0,0,0
$GC,4147,-1.41,-77.9,357.1,-10.7,305,4154,0.12,2.28,0.00,0.000,6,0.100,0.024,2406,1877,3371,0,0,0,0,0,0
$GC,4481,-1.47,-77.9,381.3,-6.6,314,4485,0.00,2.42,0.00,0.000,4,0.000,0.047,2406,465,3369,0,0,0,0,0,0
$GC,4528,-1.47,-77.9,384.6,-6.6,315,4532,0.00,2.30,0.00,0.000,6,0.000,0.025,2406,1876,3369,0,0,0,0,0,0
$GC,4853,-1.52,-77.9,403.0,-5.8,323,4857,0.00,2.45,0.00,0.000,4,0.000,0.048,2405,467,3366,0,0,0,0,0,0
$GC,4900,-1.52,-77.9,406.5,-6.9,324,4904,0.00,2.30,0.00,0.000,6,0.000,0.025,2405,1878,3366,0,0,0,0,0,0
$GC,5223,-1.57,-77.9,426.8,-6.5,332,5228,0.15,2.47,0.00,0.000,4,0.060,0.049,2362,466,3364,0,0,0,0,0,0
$GC,5300,-1.49,-77.9,433.5,-9.7,333,5305,0.12,2.33,0.00,0.000,6,0.102,0.026,2387,1879,3364,0,0,0,0,0,0
$STATE,5512,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5512,begin apogee
$GC,5518,-0.31,0.0,451.0,8.2,339,5586,1.20,0.00,63.85,0.867,6,0.072,0.000,2644,2032,3049,0,0,0,0,0,0
$STATE,5587,end apogee,CONTROL_FINISHED_OK
$STATE,5587,begin climb
$GC,5590,1.40,77.9,452.3,0.0,340,5665,1.62,2.40,64.75,0.848,4,0.028,0.038,3030,3377,2732,0,0,0,0,0,0
$GC,5784,1.24,144.7,454.3,3.4,344,5848,0.25,2.35,56.92,0.840,6,0.107,0.033,2984,2010,2460,0,0,0,0,0,0
$GC,6182,1.13,146.2,422.6,7.9,354,6187,0.12,2.50,0.00,0.000,4,0.196,0.050,2964,600,2452,0,0,0,0,0,0
$GC,6245,1.03,171.4,418.6,6.3,355,6274,0.12,2.33,23.12,0.806,6,0.126,0.027,2942,1991,2351,0,0,0,0,0,0
$GC,6603,1.05,182.1,396.6,7.3,364,6619,0.00,2.50,10.30,0.739,4,0.000,0.051,2942,613,2307,0,0,0,0,0,0
$GC,6671,0.99,182.1,390.4,9.9,365,6675,0.00,2.35,0.00,0.000,6,0.000,0.029,2942,2005,2304,0,0,0,0,0,0
$GC,7020,0.99,182.1,358.5,9.7,374,7025,0.00,2.50,0.00,0.000,4,0.000,0.050,2942,606,2302,0,0,0,0,0,0
$GC,7087,0.95,182.1,351.9,10.0,375,7091,0.12,2.38,0.00,0.000,6,0.121,0.028,2920,2020,2300,0,0,0,0,0,0
$GC,7433,1.03,189.6,323.9,7.5,384,7445,0.00,2.53,7.00,0.660,4,0.000,0.050,2920,606,2275,0,0,0,0,0,0
$GC,7507,1.05,200.5,318.3,7.3,385,7525,0.00,2.35,11.30,0.722,6,0.000,0.028,2920,2017,2231,0,0,0,0,0,0
$GC,7831,1.16,214.4,296.0,7.1,394,7854,0.20,2.55,13.88,0.729,4,0.060,0.050,2969,612,2174,0,0,0,0,0,0
$GC,7949,1.11,214.4,285.4,10.0,399,7953,0.00,2.35,0.00,0.000,6,0.000,0.029,2969,2011,2170,0,0,0,0,0,0
$GC,8283,1.11,214.4,254.4,10.4,415,8287,0.00,2.47,0.00,0.000,4,0.000,0.050,2969,607,2170,0,0,0,0,0,0
$GC,8551,1.07,214.4,228.5,8.5,426,8556,0.12,2.38,0.00,0.000,6,0.120,0.028,2948,2025,2167,0,0,0,0,0,0
$GC,8869,1.21,253.0,212.5,5.4,441,8912,0.15,2.58,34.38,0.709,4,0.067,0.048,2987,611,2017,0,0,0,0,0,0
$GC,9163,1.18,253.0,185.4,10.1,463,9168,0.00,2.33,0.00,0.000,6,0.000,0.026,2987,2013,2010,0,0,0,0,0,0
$GC,9427,1.24,270.7,164.1,6.8,487,9448,0.00,2.53,16.17,0.637,4,0.000,0.053,2987,608,1946,0,0,0,0,0,0
$GC,9579,1.24,270.7,148.9,8.8,503,9583,0.00,2.35,0.00,0.000,6,0.000,0.025,2986,2017,1941,0,0,0,0,0,0
$GC,9848,1.32,284.5,128.5,7.1,528,9867,0.00,2.53,13.20,0.592,4,0.000,0.045,2987,599,1889,0,0,0,0,0,0
$GC,10132,1.32,284.5,101.3,9.8,558,10137,0.00,2.35,0.00,0.000,6,0.000,0.024,2987,2017,1884,0,0,0,0,0,0
$GC,10395,1.41,291.4,81.5,7.6,583,10409,0.15,2.50,6.72,0.486,4,0.061,0.044,3029,611,1862,0,0,0,0,0,0
$GC,10620,1.37,291.4,59.7,9.1,607,10624,0.00,2.28,0.00,0.000,6,0.000,0.022,3029,2013,1860,0,0,0,0,0,0
$GC,10884,1.44,323.3,42.8,5.8,631,10919,0.00,2.50,29.30,0.545,4,0.000,0.042,3029,600,1731,0,0,0,0,0,0
$GC,11125,1.44,323.3,19.9,9.0,668,11130,0.00,2.30,0.00,0.000,6,0.000,0.021,3029,2016,1726,0,0,0,0,0,0
$STATE,11330,end climb,SURFACE_DEPTH_REACHED
$STATE,11331,begin surface coast
$FINISH,0.6,1.023223
$STATE,11371,end surface coast,CONTROL_FINISHED_OK
$STATE,11371,begin surface
$SM_CCo,11454,0.00,0.000,0,0,1721,326.00
$SM_GC,1.43,11.25,0.00,0.00,0.028,0.000,0.000,428,1850,1721,-10.44,-0.71,326.00
$IRIDIUM_FIX,2059.45,-15756.04,061099,030308
$TT8_MAMPS,0.029146
$HUMID,55.51
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,23.3,65.254
$10V_AH,10.0,55.281
$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,27.475,123.950,350.900,0.000,0.000,23.393,29.450,188.218,4.750,0.000,31.573,1376.839,7755.677,400.321,1766.482,534.444,33.373,1350.621,0.000,1706.341,0.000,29.258,0.000
$DEVICE_MAMPS,196.352,52.923,866.710,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,478.800,469.435,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,38093,712
$CAP_FILE_SIZE,132515,0
$CFSIZE,260165632,215568384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120710,102146,2106.565,-15755.165,73,5.0,92,9.8