version: 66.06
glider: 139
mission: 7
dive: 541
start: 6 17 110 5 55 53
data:
$ID,139
$MISSION,7
$DIVE,541
$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,-2141478
$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
$GPS1,054828,2107.707,-15755.545,125,2.3,144,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.2
$GPS2,055500,2107.761,-15755.690,36,1.3,40,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.013
$KALMAN_X,-302141.5,453.2,-232.0,300609.8,-2270.3
$KALMAN_Y,18013.1,214.8,133.7,-16786.2,178.4
$MHEAD_RNG_PITCHd_Wd,84.2,22362,-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,-50.10,0.000,2,0.000,0.000,425,1904,3133,0,0,0,0,0,0
$GC,70,-1.40,-77.9,3.3,-5.5,10,94,10.80,2.53,-4.70,0.000,4,0.143,0.054,2403,466,3370,0,0,0,0,0,0
$GC,124,-1.10,-77.9,18.2,-23.0,21,130,0.35,2.33,0.00,0.000,6,0.102,0.020,2471,1910,3371,0,0,0,0,0,0
$GC,333,-1.10,-77.9,44.3,-12.1,48,337,0.00,2.47,0.00,0.000,4,0.000,0.044,2472,468,3372,0,0,0,0,0,0
$GC,391,-1.10,-77.9,51.5,-12.9,53,396,0.00,2.22,0.00,0.000,6,0.000,0.019,2471,1873,3372,0,0,0,0,0,0
$GC,653,-1.14,-77.9,76.8,-8.8,78,657,0.00,2.42,0.00,0.000,4,0.000,0.043,2471,465,3374,0,0,0,0,0,0
$GC,713,-1.14,-77.9,82.5,-9.0,84,718,0.00,2.25,0.00,0.000,6,0.000,0.019,2470,1886,3374,0,0,0,0,0,0
$GC,975,-1.21,-77.9,108.1,-9.9,109,979,0.00,2.45,0.00,0.000,4,0.000,0.041,2471,460,3375,0,0,0,0,0,0
$GC,1009,-1.27,-77.9,111.5,-9.7,112,1014,0.15,2.25,0.00,0.000,6,0.054,0.019,2418,1882,3375,0,0,0,0,0,0
$GC,1270,-1.27,-77.9,139.0,-10.1,136,1274,0.00,2.40,0.00,0.000,4,0.000,0.042,2418,468,3376,0,0,0,0,0,0
$GC,1289,-1.22,-77.9,141.3,-11.3,137,1295,0.12,2.22,0.00,0.000,6,0.107,0.019,2444,1881,3376,0,0,0,0,0,0
$GC,1550,-1.29,-77.9,166.4,-8.8,162,1554,0.00,2.40,0.00,0.000,4,0.000,0.042,2445,467,3377,0,0,0,0,0,0
$GC,1602,-1.32,-77.9,171.1,-8.9,167,1606,0.00,2.22,0.00,0.000,6,0.000,0.020,2444,1877,3377,0,0,0,0,0,0
$GC,1865,-1.39,-77.9,192.6,-8.5,191,1870,0.15,2.42,0.00,0.000,4,0.054,0.043,2393,460,3377,0,0,0,0,0,0
$GC,1918,-1.27,-77.9,199.1,-12.6,196,1923,0.22,2.25,0.00,0.000,6,0.097,0.020,2437,1874,3377,0,0,0,0,0,0
$GC,2184,-1.35,-77.9,225.2,-10.4,209,2188,0.00,2.42,0.00,0.000,4,0.000,0.043,2439,460,3377,0,0,0,0,0,0
$GC,2253,-1.41,-77.9,233.0,-10.6,212,2258,0.15,2.25,0.00,0.000,6,0.054,0.020,2387,1881,3376,0,0,0,0,0,0
$GC,2581,-1.41,-77.9,264.3,-7.1,228,2585,0.00,2.25,0.00,0.000,4,0.000,0.027,2384,3267,3377,0,0,0,0,0,0
$GC,2604,-1.41,-77.9,266.1,-7.4,229,2609,0.10,2.33,0.00,0.000,6,0.116,0.029,2406,1863,3376,0,0,0,0,0,0
$GC,2931,-1.44,-77.9,292.1,-9.8,245,2935,0.00,2.35,0.00,0.000,4,0.000,0.044,2407,471,3376,0,0,0,0,0,0
$GC,2977,-1.44,-77.9,297.9,-12.4,247,2981,0.00,2.25,0.00,0.000,6,0.000,0.021,2407,1871,3376,0,0,0,0,0,0
$GC,3299,-1.49,-77.9,335.6,-11.8,256,3303,0.00,2.42,0.00,0.000,4,0.000,0.046,2407,467,3375,0,0,0,0,0,0
$GC,3331,-1.49,-77.9,339.6,-10.9,256,3336,0.00,2.28,0.00,0.000,6,0.000,0.023,2406,1882,3375,0,0,0,0,0,0
$GC,3670,-1.55,-77.9,368.1,-7.6,265,3675,0.15,2.45,0.00,0.000,4,0.058,0.048,2360,467,3373,0,0,0,0,0,0
$GC,3722,-1.47,-77.9,373.0,-9.3,266,3727,0.15,2.28,0.00,0.000,6,0.107,0.024,2389,1878,3373,0,0,0,0,0,0
$GC,4041,-1.47,-77.9,394.6,-6.3,274,4045,0.00,2.42,0.00,0.000,4,0.000,0.049,2389,471,3371,0,0,0,0,0,0
$GC,4103,-1.47,-77.9,398.6,-6.6,275,4108,0.00,2.30,0.00,0.000,6,0.000,0.025,2389,1872,3371,0,0,0,0,0,0
$GC,4452,-1.47,-77.9,425.2,-8.5,284,4457,0.00,2.45,0.00,0.000,4,0.000,0.051,2389,474,3368,0,0,0,0,0,0
$GC,4514,-1.47,-77.9,430.8,-9.0,285,4518,0.00,2.33,0.00,0.000,6,0.000,0.027,2389,1881,3367,0,0,0,0,0,0
$STATE,4781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4781,begin apogee
$GC,4788,-0.31,0.0,453.6,8.4,292,4856,1.23,0.00,64.32,0.872,6,0.085,0.000,2644,2030,3050,0,0,0,0,0,0
$STATE,4856,end apogee,CONTROL_FINISHED_OK
$STATE,4856,begin climb
$GC,4859,1.40,77.9,455.0,0.0,293,4934,1.65,2.42,64.47,0.852,4,0.040,0.041,3018,3381,2732,0,0,0,0,0,0
$GC,5198,1.25,135.3,446.8,4.1,300,5255,0.17,2.35,48.55,0.851,6,0.117,0.035,2987,2011,2498,0,0,0,0,0,0
$GC,5588,1.14,135.3,411.0,10.2,310,5590,0.15,0.00,0.00,0.000,6,0.123,0.000,2961,2010,2491,0,0,0,0,0,0
$GC,5914,1.09,136.8,383.7,7.9,318,5918,0.00,2.45,0.00,0.000,4,0.000,0.051,2961,605,2489,0,0,0,0,0,0
$GC,5939,0.97,136.8,381.5,8.3,318,5944,0.20,2.33,0.00,0.000,6,0.117,0.029,2926,1999,2488,0,0,0,0,0,0
$GC,6280,1.05,170.6,361.1,5.7,327,6317,0.00,2.55,29.70,0.818,4,0.000,0.051,2926,612,2353,0,0,0,0,0,0
$GC,6479,1.05,170.6,343.0,8.7,331,6483,0.00,2.38,0.00,0.000,6,0.000,0.030,2926,2021,2347,0,0,0,0,0,0
$GC,6829,1.15,198.1,319.0,6.1,340,6861,0.17,2.55,24.80,0.785,4,0.064,0.051,2968,604,2240,0,0,0,0,0,0
$GC,7047,1.10,198.1,295.8,12.9,344,7051,0.00,2.35,0.00,0.000,6,0.000,0.029,2968,2008,2234,0,0,0,0,0,0
$GC,7363,1.10,198.1,263.0,8.5,359,7367,0.00,2.45,0.00,0.000,4,0.000,0.049,2968,605,2233,0,0,0,0,0,0
$GC,7429,1.07,224.7,258.6,6.2,362,7458,0.10,2.38,23.65,0.739,6,0.137,0.028,2952,2027,2133,0,0,0,0,0,0
$GC,7779,1.15,230.1,234.5,7.6,379,7792,0.00,2.55,5.57,0.565,4,0.000,0.050,2951,611,2111,0,0,0,0,0,0
$GC,7872,1.15,230.1,226.2,9.7,383,7877,0.00,2.35,0.00,0.000,6,0.000,0.028,2952,2012,2109,0,0,0,0,0,0
$GC,8202,1.23,230.1,200.5,8.1,399,8207,0.15,2.47,0.00,0.000,4,0.064,0.048,2991,598,2108,0,0,0,0,0,0
$GC,8306,1.16,230.1,189.1,11.4,409,8312,0.12,2.33,0.00,0.000,6,0.120,0.025,2970,2015,2106,0,0,0,0,0,0
$GC,8569,1.20,230.1,164.9,8.9,434,8573,0.00,2.47,0.00,0.000,4,0.000,0.046,2970,597,2106,0,0,0,0,0,0
$GC,8615,1.20,230.1,160.1,10.4,438,8620,0.00,2.35,0.00,0.000,6,0.000,0.025,2970,2018,2106,0,0,0,0,0,0
$GC,8878,1.29,257.2,140.8,6.2,463,8908,0.12,2.53,24.58,0.632,4,0.068,0.045,3006,601,2001,0,0,0,0,0,0
$GC,9039,1.23,257.2,128.1,9.6,480,9046,0.12,2.30,0.00,0.000,6,0.114,0.023,2984,2012,1996,0,0,0,0,0,0
$GC,9302,1.29,257.2,103.5,10.4,505,9306,0.00,2.30,0.00,0.000,4,0.000,0.028,2983,3404,1996,0,0,0,0,0,0
$GC,9316,1.37,257.2,101.7,11.1,506,9322,0.12,2.38,0.00,0.000,6,0.067,0.029,3021,2000,1996,0,0,0,0,0,0
$GC,9578,1.37,257.2,76.1,9.1,531,9582,0.00,2.38,0.00,0.000,4,0.000,0.043,3021,602,1996,0,0,0,0,0,0
$GC,9607,1.31,257.2,73.4,8.8,533,9613,0.12,2.30,0.00,0.000,6,0.114,0.021,2998,2014,1995,0,0,0,0,0,0
$GC,9871,1.40,278.6,55.6,6.6,558,9897,0.00,2.50,19.27,0.544,4,0.000,0.044,2998,600,1913,0,0,0,0,0,0
$GC,9940,1.40,278.6,50.4,8.8,565,9945,0.00,2.28,0.00,0.000,6,0.000,0.021,2997,2011,1910,0,0,0,0,0,0
$GC,10202,1.49,283.9,31.8,7.7,590,10215,0.17,2.50,5.88,0.426,4,0.052,0.043,3052,598,1892,0,0,0,0,0,0
$GC,10324,1.38,283.9,14.9,14.4,614,10330,0.20,2.30,0.00,0.000,6,0.097,0.020,3014,2023,1890,0,0,0,0,0,0
$STATE,10441,end climb,SURFACE_DEPTH_REACHED
$STATE,10443,begin surface coast
$FINISH,0.5,1.011358
$STATE,10476,end surface coast,CONTROL_FINISHED_OK
$STATE,10476,begin surface
$SM_CCo,10496,9.45,0.459,0,0,1827,300.00
$SM_GC,2.25,0.00,0.00,9.45,0.000,0.000,0.459,430,1867,1827,-10.51,-0.23,300.00
$IRIDIUM_FIX,2059.45,-15756.04,110999,020218
$TT8_MAMPS,0.029146
$HUMID,50.90
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,47.974
$10V_AH,10.0,44.529
$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,28.300,128.525,310.800,9.450,0.000,29.591,30.465,189.689,4.500,0.000,40.459,1258.261,7240.081,387.552,1533.203,478.947,33.377,1232.567,0.000,1474.114,0.000,30.672,0.000
$DEVICE_MAMPS,142.662,55.224,872.079,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.967,421.180,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34976,641
$CAP_FILE_SIZE,124543,0
$CFSIZE,260165632,227000320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170610,085237,2107.753,-15755.456,55,1.6,60,9.8