version: 66.06
glider: 139
mission: 7
dive: 501
start: 6 12 110 4 18 1
data:
$ID,139
$MISSION,7
$DIVE,501
$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,-2139961
$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
$GPS1,040435,2101.017,-15752.817,96,2.0,111,9.8
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.1
$GPS2,041708,2101.030,-15752.875,17,2.0,17,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.122,0.138
$KALMAN_X,-242127.3,634.1,-426.4,245475.0,-530.2
$KALMAN_Y,13395.8,310.4,-450.5,-24142.6,74.4
$MHEAD_RNG_PITCHd_Wd,308.6,20855,-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,-77.9,0.0,0.0,0,71,0.00,0.00,-52.95,0.000,2,0.000,0.000,423,1879,3249,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.9,-7.4,10,96,10.62,2.40,-2.25,0.000,4,0.133,0.037,2403,3301,3371,0,0,0,0,0,0
$GC,176,-1.33,-77.9,26.1,-15.4,31,182,0.00,2.42,0.00,0.000,6,0.000,0.031,2404,1868,3372,0,0,0,0,0,0
$GC,381,-1.18,-77.9,60.9,-16.1,52,386,0.25,2.38,0.00,0.000,4,0.095,0.041,2458,470,3373,0,0,0,0,0,0
$GC,427,-1.10,-77.9,68.4,-15.4,56,434,0.00,2.33,0.00,0.000,6,0.000,0.020,2455,1904,3372,0,0,0,0,0,0
$GC,690,-1.10,-77.9,103.3,-12.1,81,695,0.00,2.45,0.00,0.000,4,0.000,0.043,2458,470,3373,0,0,0,0,0,0
$GC,727,-1.04,-77.9,108.4,-13.2,84,735,0.12,2.28,0.00,0.000,6,0.077,0.019,2486,1885,3373,0,0,0,0,0,0
$GC,990,-1.16,-77.9,132.8,-8.2,109,995,0.12,2.42,0.00,0.000,4,0.062,0.043,2443,470,3375,0,0,0,0,0,0
$GC,1046,-1.16,-77.9,138.8,-10.1,114,1052,0.00,2.25,0.00,0.000,6,0.000,0.019,2442,1875,3374,0,0,0,0,0,0
$GC,1310,-1.23,-77.9,157.3,-6.0,139,1314,0.00,2.40,0.00,0.000,4,0.000,0.041,2443,470,3375,0,0,0,0,0,0
$GC,1421,-1.26,-77.9,167.3,-9.7,150,1427,0.00,2.25,0.00,0.000,6,0.000,0.019,2443,1871,3375,0,0,0,0,0,0
$GC,1685,-1.35,-77.9,186.4,-7.2,175,1690,0.10,2.42,0.00,0.000,4,0.072,0.043,2405,466,3376,0,0,0,0,0,0
$GC,1756,-1.30,-77.9,194.0,-11.5,182,1761,0.12,2.22,0.00,0.000,6,0.097,0.020,2430,1874,3376,0,0,0,0,0,0
$GC,2024,-1.36,-77.9,218.1,-7.6,197,2029,0.00,2.40,0.00,0.000,4,0.000,0.043,2431,471,3376,0,0,0,0,0,0
$GC,2127,-1.43,-77.9,228.0,-9.1,201,2132,0.12,2.25,0.00,0.000,6,0.063,0.020,2388,1874,3376,0,0,0,0,0,0
$GC,2443,-1.43,-77.9,259.9,-9.9,216,2448,0.00,2.40,0.00,0.000,4,0.000,0.044,2388,469,3376,0,0,0,0,0,0
$GC,2516,-1.39,-77.9,266.8,-9.1,219,2521,0.12,2.28,0.00,0.000,6,0.099,0.021,2414,1880,3376,0,0,0,0,0,0
$GC,2849,-1.44,-77.9,294.4,-8.5,235,2853,0.00,2.42,0.00,0.000,4,0.000,0.045,2414,471,3375,0,0,0,0,0,0
$GC,2904,-1.44,-77.9,299.9,-9.9,237,2911,0.00,2.28,0.00,0.000,6,0.000,0.023,2414,1880,3375,0,0,0,0,0,0
$GC,3244,-1.49,-77.9,333.1,-10.2,246,3249,0.12,2.45,0.00,0.000,4,0.065,0.048,2375,472,3373,0,0,0,0,0,0
$GC,3301,-1.45,-77.9,340.0,-11.7,247,3306,0.10,2.25,0.00,0.000,6,0.108,0.024,2395,1870,3372,0,0,0,0,0,0
$GC,3620,-1.45,-77.9,370.4,-9.3,255,3624,0.00,2.42,0.00,0.000,4,0.000,0.049,2395,473,3371,0,0,0,0,0,0
$GC,3648,-1.45,-77.9,373.1,-9.9,255,3652,0.00,2.30,0.00,0.000,6,0.000,0.025,2395,1881,3371,0,0,0,0,0,0
$GC,3988,-1.48,-77.9,405.4,-9.7,264,3992,0.00,2.45,0.00,0.000,4,0.000,0.050,2395,473,3368,0,0,0,0,0,0
$GC,4048,-1.48,-77.9,410.5,-8.0,265,4052,0.00,2.30,0.00,0.000,6,0.000,0.026,2395,1871,3368,0,0,0,0,0,0
$GC,4398,-1.52,-77.9,440.4,-9.2,274,4402,0.00,2.45,0.00,0.000,4,0.000,0.052,2395,473,3365,0,0,0,0,0,0
$GC,4460,-1.52,-77.9,446.7,-10.4,275,4464,0.00,2.33,0.00,0.000,6,0.000,0.028,2395,1877,3365,0,0,0,0,0,0
$STATE,4523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4523,begin apogee
$GC,4529,-0.31,0.0,452.6,8.9,277,4597,1.17,0.00,64.50,0.873,6,0.075,0.000,2646,2042,3050,0,0,0,0,0,0
$STATE,4597,end apogee,CONTROL_FINISHED_OK
$STATE,4598,begin climb
$GC,4600,1.40,77.9,453.8,0.0,278,4675,1.62,2.40,64.93,0.851,4,0.031,0.044,3021,3373,2732,0,0,0,0,0,0
$GC,4939,1.21,113.6,443.1,5.6,285,4976,0.25,2.35,30.62,0.836,6,0.110,0.035,2979,2006,2586,0,0,0,0,0,0
$GC,5290,1.10,113.6,414.3,9.0,294,5295,0.15,2.47,0.00,0.000,4,0.121,0.051,2953,598,2581,0,0,0,0,0,0
$GC,5338,0.97,113.6,409.9,9.3,295,5343,0.15,2.30,0.00,0.000,6,0.123,0.029,2927,1987,2580,0,0,0,0,0,0
$GC,5661,1.03,164.4,391.1,4.5,303,5710,0.00,2.50,43.58,0.838,4,0.000,0.040,2924,3401,2379,0,0,0,0,0,0
$GC,5741,1.09,167.7,386.6,7.8,304,5751,0.10,2.42,4.38,0.550,6,0.081,0.038,2954,2011,2366,0,0,0,0,0,0
$GC,6075,1.09,167.7,356.1,9.1,313,6080,0.00,2.47,0.00,0.000,4,0.000,0.052,2953,594,2360,0,0,0,0,0,0
$GC,6126,1.01,167.7,351.4,9.6,314,6130,0.00,2.40,0.00,0.000,6,0.000,0.030,2954,2015,2359,0,0,0,0,0,0
$GC,6444,1.02,173.3,327.0,7.6,322,6456,0.00,2.50,5.15,0.603,4,0.000,0.051,2953,604,2342,0,0,0,0,0,0
$GC,6491,0.96,173.3,322.8,9.5,323,6495,0.15,2.38,0.00,0.000,6,0.121,0.030,2927,2010,2340,0,0,0,0,0,0
$GC,6819,1.04,182.7,298.7,7.4,331,6835,0.00,2.55,9.65,0.712,4,0.000,0.051,2927,605,2303,0,0,0,0,0,0
$GC,6866,1.04,186.7,295.2,7.7,333,6878,0.00,2.35,4.93,0.573,6,0.000,0.030,2927,2015,2288,0,0,0,0,0,0
$GC,7201,1.14,211.0,272.5,6.4,349,7230,0.17,2.55,22.92,0.757,4,0.065,0.051,2970,604,2189,0,0,0,0,0,0
$GC,7340,1.09,211.0,259.3,10.0,355,7344,0.00,2.38,0.00,0.000,6,0.000,0.029,2969,2015,2184,0,0,0,0,0,0
$GC,7670,1.09,211.0,226.0,12.0,371,7674,0.00,2.50,0.00,0.000,4,0.000,0.050,2970,597,2183,0,0,0,0,0,0
$GC,7865,1.04,211.0,203.8,10.5,379,7870,0.15,2.38,0.00,0.000,6,0.119,0.028,2943,2018,2180,0,0,0,0,0,0
$GC,8190,1.13,218.6,178.8,7.5,407,8202,0.00,2.55,6.47,0.570,4,0.000,0.049,2943,597,2159,0,0,0,0,0,0
$GC,8464,1.20,236.5,155.9,6.8,437,8487,0.15,2.35,17.55,0.648,6,0.067,0.025,2981,2020,2085,0,0,0,0,0,0
$GC,8744,1.25,236.5,134.1,8.7,463,8748,0.00,2.47,0.00,0.000,4,0.000,0.046,2981,600,2082,0,0,0,0,0,0
$GC,8989,1.26,241.3,111.1,7.7,489,8999,0.00,2.33,4.75,0.455,6,0.000,0.024,2981,2017,2066,0,0,0,0,0,0
$GC,9254,1.32,241.3,88.0,10.2,514,9258,0.00,2.42,0.00,0.000,4,0.000,0.044,2981,601,2066,0,0,0,0,0,0
$GC,9342,1.32,241.3,79.5,9.6,523,9346,0.00,2.30,0.00,0.000,6,0.000,0.022,2981,2015,2065,0,0,0,0,0,0
$GC,9607,1.44,261.9,62.3,6.6,547,9637,0.20,2.33,20.00,0.561,4,0.051,0.027,3037,3394,1981,0,0,0,0,0,0
$GC,9651,1.44,261.9,58.3,8.5,551,9658,0.00,2.38,0.00,0.000,6,0.000,0.029,3036,2006,1981,0,0,0,0,0,0
$GC,9913,1.44,261.9,35.4,10.0,576,9917,0.00,2.40,0.00,0.000,4,0.000,0.043,3036,604,1980,0,0,0,0,0,0
$GC,9987,1.37,261.9,28.2,9.4,585,9993,0.12,2.30,0.00,0.000,6,0.104,0.021,3013,2019,1977,0,0,0,0,0,0
$GC,10190,1.41,261.9,8.6,10.5,622,10197,0.00,2.45,0.00,0.000,4,0.000,0.043,3013,611,1976,0,0,0,0,0,0
$GC,10235,1.41,261.9,3.8,10.6,631,10241,0.00,2.28,0.00,0.000,6,0.000,0.021,3012,2026,1977,0,0,0,0,0,0
$STATE,10246,end climb,SURFACE_DEPTH_REACHED
$STATE,10246,begin surface coast
$FINISH,0.8,1.023390
$STATE,10274,end surface coast,CONTROL_FINISHED_OK
$STATE,10274,begin surface
$SM_CCo,10295,19.58,0.500,0,0,1826,300.00
$SM_GC,1.08,0.00,0.00,19.58,0.000,0.000,0.500,432,1843,1826,-10.50,-0.90,300.00
$IRIDIUM_FIX,2052.52,-15751.76,060999,040417
$TT8_MAMPS,0.028379
$HUMID,49.72
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,44.535
$10V_AH,10.0,42.050
$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,27.400,129.100,299.425,19.575,0.000,79.232,90.066,327.652,4.750,0.000,19.081,1272.919,6646.756,380.479,2012.850,755.021,33.386,1280.009,0.000,1984.201,0.000,32.170,0.000
$DEVICE_MAMPS,133.458,52.156,872.846,500.084,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.173,411.633,792.832,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34877,638
$CAP_FILE_SIZE,133797,0
$CFSIZE,260165632,229367808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120610,071149,2101.774,-15753.890,76,1.9,76,9.8