version: 66.06
glider: 139
mission: 7
dive: 540
start: 6 17 110 2 43 25
data:
$ID,139
$MISSION,7
$DIVE,540
$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,-2141436.8
$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
$GPS1,023220,2107.611,-15755.319,119,8.6,138,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-69.4
$GPS2,024234,2107.582,-15755.396,45,4.6,64,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.181,-0.030
$KALMAN_X,-300237.9,166.1,692.4,298575.4,-2447.5
$KALMAN_Y,17523.7,151.1,18.8,-16449.2,400.1
$MHEAD_RNG_PITCHd_Wd,89.6,21807,-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,12,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,-50.00,0.000,2,0.000,0.000,424,1865,3127,0,0,0,0,0,0
$GC,70,-1.40,-77.9,3.2,-5.5,10,94,10.57,2.42,-5.00,0.000,4,0.132,0.037,2407,3301,3370,0,0,0,0,0,0
$GC,115,-1.02,-77.9,14.3,-20.0,19,121,0.40,2.40,0.00,0.000,6,0.082,0.030,2490,1872,3371,0,0,0,0,0,0
$GC,320,-1.05,-77.9,39.5,-12.6,49,324,0.00,2.40,0.00,0.000,4,0.000,0.044,2490,466,3372,0,0,0,0,0,0
$GC,442,-1.09,-77.9,56.0,-11.2,61,448,0.00,2.30,0.00,0.000,6,0.000,0.019,2488,1920,3373,0,0,0,0,0,0
$GC,705,-1.19,-77.9,80.7,-10.4,86,710,0.17,2.50,0.00,0.000,4,0.051,0.042,2435,470,3374,0,0,0,0,0,0
$GC,834,-1.16,-77.9,97.7,-14.1,99,838,0.12,2.22,0.00,0.000,6,0.097,0.019,2459,1873,3374,0,0,0,0,0,0
$GC,1095,-1.24,-77.9,121.5,-6.8,123,1099,0.00,2.42,0.00,0.000,4,0.000,0.041,2461,461,3374,0,0,0,0,0,0
$GC,1149,-1.28,-77.9,125.2,-7.4,128,1153,0.00,2.25,0.00,0.000,6,0.000,0.019,2458,1883,3375,0,0,0,0,0,0
$GC,1413,-1.37,-77.9,144.2,-8.2,152,1418,0.20,2.42,0.00,0.000,4,0.047,0.041,2400,462,3375,0,0,0,0,0,0
$GC,1451,-1.28,-77.9,148.4,-10.8,155,1458,0.17,2.25,0.00,0.000,6,0.088,0.019,2435,1883,3375,0,0,0,0,0,0
$GC,1713,-1.34,-77.9,171.5,-7.5,180,1717,0.00,2.40,0.00,0.000,4,0.000,0.043,2437,470,3376,0,0,0,0,0,0
$GC,1793,-1.38,-77.9,178.3,-8.6,188,1797,0.10,2.22,0.00,0.000,6,0.074,0.020,2400,1881,3376,0,0,0,0,0,0
$GC,2062,-1.38,-77.9,204.4,-9.8,211,2067,0.00,2.42,0.00,0.000,4,0.000,0.043,2400,469,3376,0,0,0,0,0,0
$GC,2095,-1.32,-77.9,208.0,-11.1,212,2100,0.12,2.22,0.00,0.000,6,0.098,0.020,2424,1874,3376,0,0,0,0,0,0
$GC,2412,-1.37,-77.9,238.7,-9.3,227,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1878,3376,0,0,0,0,0,0
$GC,2720,-1.45,-77.9,262.8,-7.6,242,2725,0.12,2.42,0.00,0.000,4,0.064,0.045,2383,464,3376,0,0,0,0,0,0
$GC,2820,-1.38,-77.9,272.0,-9.7,246,2825,0.15,2.28,0.00,0.000,6,0.094,0.021,2415,1879,3376,0,0,0,0,0,0
$GC,3143,-1.43,-77.9,293.9,-6.9,262,3147,0.00,2.40,0.00,0.000,4,0.000,0.045,2415,471,3375,0,0,0,0,0,0
$GC,3179,-1.43,-77.9,297.0,-8.3,263,3185,0.00,2.28,0.00,0.000,6,0.000,0.023,2414,1880,3375,0,0,0,0,0,0
$GC,3511,-1.47,-77.9,324.9,-9.3,273,3515,0.00,2.42,0.00,0.000,4,0.000,0.046,2415,472,3373,0,0,0,0,0,0
$GC,3580,-1.47,-77.9,331.9,-9.5,274,3584,0.00,2.25,0.00,0.000,6,0.000,0.024,2415,1873,3373,0,0,0,0,0,0
$GC,3926,-1.54,-77.9,359.3,-7.3,283,3931,0.17,2.45,0.00,0.000,4,0.054,0.048,2365,473,3371,0,0,0,0,0,0
$GC,3969,-1.45,-77.9,363.7,-10.3,284,3974,0.15,2.28,0.00,0.000,6,0.096,0.025,2395,1870,3371,0,0,0,0,0,0
$GC,4300,-1.48,-77.9,390.0,-7.4,292,4304,0.00,2.45,0.00,0.000,4,0.000,0.049,2396,464,3369,0,0,0,0,0,0
$GC,4369,-1.48,-77.9,395.6,-7.7,293,4373,0.00,2.30,0.00,0.000,6,0.000,0.025,2395,1882,3368,0,0,0,0,0,0
$GC,4710,-1.52,-77.9,420.0,-7.3,302,4715,0.00,2.45,0.00,0.000,4,0.000,0.051,2395,473,3366,0,0,0,0,0,0
$GC,4813,-1.52,-77.9,429.2,-9.2,304,4817,0.00,2.28,0.00,0.000,6,0.000,0.027,2395,1875,3365,0,0,0,0,0,0
$STATE,5087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5087,begin apogee
$GC,5093,-0.31,0.0,450.8,7.5,311,5161,1.17,0.00,64.12,0.874,6,0.074,0.000,2647,2039,3050,0,0,0,0,0,0
$STATE,5162,end apogee,CONTROL_FINISHED_OK
$STATE,5162,begin climb
$GC,5165,1.40,77.9,451.4,0.0,312,5240,1.60,2.40,64.80,0.852,4,0.031,0.041,3021,3377,2732,0,0,0,0,0,0
$GC,5503,1.20,103.1,437.2,6.3,319,5532,0.25,2.35,21.98,0.822,6,0.108,0.035,2976,2002,2628,0,0,0,0,0,0
$GC,5856,1.11,117.4,411.5,7.0,328,5875,0.00,2.42,12.75,0.782,4,0.000,0.038,2689,3380,2570,0,0,0,0,0,0
$GC,5942,1.02,130.9,405.6,7.1,329,5963,0.20,2.35,12.70,0.775,6,0.108,0.036,2940,2002,2516,0,0,0,0,0,0
$GC,6280,1.07,170.7,387.1,5.3,338,6322,0.00,2.53,35.33,0.831,4,0.000,0.053,2940,605,2353,0,0,0,0,0,0
$GC,6431,1.03,170.7,374.9,8.7,341,6436,0.00,2.35,0.00,0.000,6,0.000,0.029,2940,1993,2347,0,0,0,0,0,0
$GC,6745,1.03,170.7,347.8,8.7,349,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,1997,2345,0,0,0,0,0,0
$GC,7069,1.03,170.7,316.0,9.9,357,7074,0.00,2.45,0.00,0.000,4,0.000,0.052,2940,607,2344,0,0,0,0,0,0
$GC,7130,1.03,170.7,309.9,10.0,358,7134,0.00,2.35,0.00,0.000,6,0.000,0.030,2940,2015,2341,0,0,0,0,0,0
$GC,7462,1.08,176.1,286.1,7.6,371,7471,0.00,2.53,4.05,0.499,4,0.000,0.051,2940,599,2332,0,0,0,0,0,0
$GC,7606,1.08,176.1,273.4,9.4,377,7610,0.00,2.38,0.00,0.000,6,0.000,0.029,2940,2015,2329,0,0,0,0,0,0
$GC,7926,1.18,209.8,252.4,5.7,393,7963,0.12,2.55,31.15,0.752,4,0.076,0.051,2972,607,2194,0,0,0,0,0,0
$GC,8028,1.13,209.8,242.8,10.4,397,8032,0.00,2.38,0.00,0.000,6,0.000,0.028,2972,2014,2189,0,0,0,0,0,0
$GC,8343,1.13,210.4,215.2,8.0,412,8347,0.00,2.47,0.00,0.000,4,0.000,0.049,2972,605,2188,0,0,0,0,0,0
$GC,8391,1.09,210.4,210.6,10.4,414,8395,0.00,2.35,0.00,0.000,6,0.000,0.028,2972,2014,2186,0,0,0,0,0,0
$GC,8722,1.13,214.4,181.1,7.7,440,8732,0.00,2.47,4.32,0.478,4,0.000,0.047,2972,600,2174,0,0,0,0,0,0
$GC,8873,1.10,214.7,169.2,8.0,456,8877,0.00,2.33,0.00,0.000,6,0.000,0.026,2972,2014,2172,0,0,0,0,0,0
$GC,9135,1.14,214.7,145.3,10.9,480,9139,0.00,2.45,0.00,0.000,4,0.000,0.046,2972,596,2172,0,0,0,0,0,0
$GC,9228,1.14,214.7,134.2,10.8,489,9234,0.00,2.33,0.00,0.000,6,0.000,0.025,2972,2014,2171,0,0,0,0,0,0
$GC,9491,1.19,221.0,113.7,7.6,514,9500,0.00,0.00,6.97,0.525,6,0.000,0.000,2972,2018,2149,0,0,0,0,0,0
$GC,9756,1.30,242.9,93.9,6.5,539,9783,0.10,2.47,20.95,0.588,4,0.079,0.044,3002,604,2059,0,0,0,0,0,0
$GC,9807,1.26,242.9,89.8,8.8,544,9813,0.00,2.30,0.00,0.000,6,0.000,0.023,3002,2014,2056,0,0,0,0,0,0
$GC,10070,1.33,264.2,71.9,6.6,569,10097,0.00,2.50,19.70,0.561,4,0.000,0.044,3002,600,1972,0,0,0,0,0,0
$GC,10256,1.33,264.2,56.4,9.1,589,10260,0.00,2.30,0.00,0.000,6,0.000,0.021,3002,2011,1967,0,0,0,0,0,0
$GC,10518,1.40,264.2,33.6,9.7,613,10522,0.00,2.42,0.00,0.000,4,0.000,0.043,3002,602,1967,0,0,0,0,0,0
$GC,10555,1.40,264.2,29.9,8.7,616,10561,0.00,2.28,0.00,0.000,6,0.000,0.021,3001,2016,1967,0,0,0,0,0,0
$GC,10831,1.46,264.2,6.8,9.5,665,10837,0.12,2.45,0.00,0.000,4,0.066,0.041,3040,598,1967,0,0,0,0,0,0
$STATE,10864,end climb,SURFACE_DEPTH_REACHED
$STATE,10864,begin surface coast
$FINISH,1.2,1.023252
$STATE,10879,end surface coast,CONTROL_FINISHED_OK
$STATE,10879,begin surface
$SM_CCo,10902,18.77,0.495,0,0,1826,300.00
$SM_GC,1.69,0.00,0.00,18.77,0.000,0.000,0.495,426,1905,1826,-10.53,0.85,300.00
$IRIDIUM_FIX,2059.45,-15756.04,110999,020256
$TT8_MAMPS,0.029146
$HUMID,51.53
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,47.888
$10V_AH,10.0,44.474
$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,27.250,123.575,298.825,18.775,0.000,55.433,62.119,256.120,4.500,0.000,65.261,1316.701,7535.649,389.788,1673.644,615.638,33.388,1267.439,0.000,1582.219,0.000,29.259,0.000
$DEVICE_MAMPS,131.924,52.923,874.380,495.482,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,454.249,440.473,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34918,675
$CAP_FILE_SIZE,130394,0
$CFSIZE,260165632,227057664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,170610,054828,2107.707,-15755.545,125,2.3,144,9.8