version: 66.06
glider: 139
mission: 7
dive: 542
start: 6 17 110 9 4 13
data:
$ID,139
$MISSION,7
$DIVE,542
$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,-2141512.5
$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
$GPS1,085237,2107.753,-15755.456,55,1.6,60,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.3
$GPS2,090322,2107.806,-15755.517,13,4.1,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.182,-0.024
$KALMAN_X,-303584.9,497.1,-596.2,302668.9,-996.6
$KALMAN_Y,18407.6,173.1,9.4,-16929.6,95.3
$MHEAD_RNG_PITCHd_Wd,87.8,22079,-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,-49.78,0.000,2,0.000,0.000,429,1868,3126,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.1,-4.6,10,94,10.57,2.45,-5.05,0.000,4,0.134,0.054,2404,465,3370,0,0,0,0,0,0
$GC,106,-0.57,-77.9,13.0,-26.3,17,112,0.90,2.35,0.00,0.000,6,0.091,0.020,2585,1925,3371,0,0,0,0,0,0
$GC,315,-0.84,-77.9,28.9,-6.2,54,321,0.25,2.50,0.00,0.000,4,0.041,0.041,2506,468,3371,0,0,0,0,0,0
$GC,393,-0.92,-77.9,37.5,-11.0,63,397,0.00,2.25,0.00,0.000,6,0.000,0.019,2506,1876,3371,0,0,0,0,0,0
$GC,655,-0.99,-77.9,65.1,-10.7,87,660,0.00,2.40,0.00,0.000,4,0.000,0.042,2506,469,3372,0,0,0,0,0,0
$GC,693,-1.08,-77.9,69.3,-10.4,90,699,0.12,2.22,0.00,0.000,6,0.063,0.019,2462,1872,3373,0,0,0,0,0,0
$GC,955,-1.08,-77.9,99.0,-11.4,115,959,0.00,2.40,0.00,0.000,4,0.000,0.042,2461,463,3373,0,0,0,0,0,0
$GC,1006,-1.08,-77.9,104.7,-9.4,120,1010,0.00,2.22,0.00,0.000,6,0.000,0.019,2462,1879,3373,0,0,0,0,0,0
$GC,1269,-1.15,-77.9,125.6,-7.2,144,1274,0.00,2.40,0.00,0.000,4,0.000,0.042,2461,466,3374,0,0,0,0,0,0
$GC,1326,-1.19,-77.9,130.5,-8.5,149,1331,0.00,2.25,0.00,0.000,6,0.000,0.019,2462,1874,3375,0,0,0,0,0,0
$GC,1590,-1.29,-77.9,153.5,-10.0,174,1595,0.12,2.40,0.00,0.000,4,0.062,0.042,2416,468,3375,0,0,0,0,0,0
$GC,1670,-1.29,-77.9,164.0,-13.5,182,1674,0.00,2.22,0.00,0.000,6,0.000,0.019,2417,1881,3375,0,0,0,0,0,0
$GC,1932,-1.29,-77.9,191.4,-9.2,206,1937,0.00,2.40,0.00,0.000,4,0.000,0.042,2416,466,3376,0,0,0,0,0,0
$GC,1988,-1.29,-77.9,197.3,-9.2,211,1993,0.00,2.25,0.00,0.000,6,0.000,0.020,2416,1874,3376,0,0,0,0,0,0
$GC,2252,-1.29,-77.9,219.8,-8.2,226,2259,0.00,2.42,0.00,0.000,4,0.000,0.043,2417,460,3376,0,0,0,0,0,0
$GC,2311,-1.29,-77.9,225.6,-10.4,228,2315,0.00,2.28,0.00,0.000,6,0.000,0.020,2416,1878,3376,0,0,0,0,0,0
$GC,2631,-1.32,-77.9,256.8,-9.6,244,2635,0.00,2.42,0.00,0.000,4,0.000,0.044,2416,466,3376,0,0,0,0,0,0
$GC,2710,-1.32,-77.9,264.8,-9.2,247,2714,0.00,2.25,0.00,0.000,6,0.000,0.021,2416,1879,3375,0,0,0,0,0,0
$GC,3026,-1.35,-77.9,283.6,-5.1,262,3030,0.00,2.42,0.00,0.000,4,0.000,0.044,2416,468,3375,0,0,0,0,0,0
$GC,3049,-1.35,-77.9,285.2,-7.2,263,3053,0.00,2.28,0.00,0.000,6,0.000,0.021,2416,1882,3375,0,0,0,0,0,0
$GC,3395,-1.41,-77.9,310.9,-8.0,277,3399,0.00,2.42,0.00,0.000,4,0.000,0.045,2416,461,3374,0,0,0,0,0,0
$GC,3427,-1.41,-77.9,314.0,-8.8,277,3431,0.00,2.28,0.00,0.000,6,0.000,0.023,2415,1872,3373,0,0,0,0,0,0
$GC,3763,-1.48,-77.9,338.9,-6.8,286,3768,0.12,2.45,0.00,0.000,4,0.064,0.048,2376,468,3373,0,0,0,0,0,0
$GC,3884,-1.41,-77.9,349.3,-8.5,288,3889,0.15,2.25,0.00,0.000,6,0.096,0.023,2407,1870,3372,0,0,0,0,0,0
$GC,4222,-1.45,-77.9,368.1,-5.4,297,4226,0.00,2.45,0.00,0.000,4,0.000,0.049,2407,467,3370,0,0,0,0,0,0
$GC,4305,-1.45,-77.9,374.3,-7.6,298,4309,0.00,2.28,0.00,0.000,6,0.000,0.025,2407,1876,3369,0,0,0,0,0,0
$GC,4638,-1.51,-77.9,400.1,-7.9,306,4642,0.00,2.42,0.00,0.000,4,0.000,0.050,2407,471,3367,0,0,0,0,0,0
$GC,4748,-1.51,-77.9,409.9,-8.2,308,4753,0.00,2.28,0.00,0.000,6,0.000,0.026,2407,1874,3366,0,0,0,0,0,0
$GC,5099,-1.57,-77.9,432.9,-6.1,317,5104,0.17,2.45,0.00,0.000,4,0.057,0.052,2359,471,3364,0,0,0,0,0,0
$GC,5187,-1.50,-77.9,440.5,-9.0,318,5193,0.15,2.33,0.00,0.000,6,0.100,0.028,2389,1876,3364,0,0,0,0,0,0
$STATE,5312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5312,begin apogee
$GC,5319,-0.31,0.0,450.4,7.5,322,5386,1.20,0.00,63.92,0.874,6,0.074,0.000,2646,2038,3050,0,0,0,0,0,0
$STATE,5387,end apogee,CONTROL_FINISHED_OK
$STATE,5387,begin climb
$GC,5390,1.40,77.9,451.3,0.0,323,5464,1.62,2.42,64.55,0.854,4,0.031,0.042,2964,3382,2731,0,0,0,0,0,0
$GC,5643,1.23,125.0,446.1,4.8,328,5689,0.22,2.38,40.10,0.843,6,0.115,0.035,2984,2004,2540,0,0,0,0,0,0
$GC,6026,1.11,125.0,413.6,9.1,338,6031,0.15,2.42,0.00,0.000,4,0.119,0.040,2931,3387,2533,0,0,0,0,0,0
$GC,6112,1.09,145.1,407.6,6.6,339,6136,0.00,2.35,17.45,0.802,6,0.000,0.037,2959,2012,2457,0,0,0,0,0,0
$GC,6448,1.09,179.6,387.0,5.6,348,6485,0.00,2.58,30.85,0.825,4,0.000,0.053,2956,602,2316,0,0,0,0,0,0
$GC,6596,1.02,179.6,375.7,9.4,351,6601,0.12,2.33,0.00,0.000,6,0.123,0.029,2936,1995,2311,0,0,0,0,0,0
$GC,6911,1.06,179.6,346.5,9.7,359,6915,0.00,2.47,0.00,0.000,4,0.000,0.051,2936,601,2309,0,0,0,0,0,0
$GC,6989,1.06,179.6,338.4,10.2,360,6994,0.00,2.35,0.00,0.000,6,0.000,0.029,2937,2010,2307,0,0,0,0,0,0
$GC,7321,1.12,188.3,312.3,7.4,368,7334,0.00,2.53,7.22,0.670,4,0.000,0.052,2936,605,2282,0,0,0,0,0,0
$GC,7394,1.12,188.3,306.0,9.1,369,7399,0.00,2.38,0.00,0.000,6,0.000,0.030,2937,2014,2279,0,0,0,0,0,0
$GC,7718,1.19,188.3,279.6,8.6,383,7723,0.17,2.50,0.00,0.000,4,0.066,0.051,2979,604,2279,0,0,0,0,0,0
$GC,7794,1.09,188.3,271.3,11.5,386,7799,0.15,2.35,0.00,0.000,6,0.119,0.028,2953,2021,2277,0,0,0,0,0,0
$GC,8116,1.14,193.3,243.5,7.7,402,8128,0.00,2.53,5.22,0.567,4,0.000,0.048,2952,595,2261,0,0,0,0,0,0
$GC,8186,1.14,193.3,237.8,8.3,405,8190,0.00,2.38,0.00,0.000,6,0.000,0.028,2952,2014,2260,0,0,0,0,0,0
$GC,8515,1.19,196.7,212.1,7.8,421,8527,0.00,2.47,4.60,0.513,4,0.000,0.048,2953,601,2248,0,0,0,0,0,0
$GC,8661,1.19,196.7,199.4,8.2,427,8666,0.00,2.35,0.00,0.000,6,0.000,0.026,2953,2021,2246,0,0,0,0,0,0
$GC,8990,1.25,196.7,173.7,8.8,458,8995,0.15,2.50,0.00,0.000,4,0.067,0.046,2992,597,2245,0,0,0,0,0,0
$GC,9061,1.17,196.7,165.9,10.8,465,9066,0.12,2.33,0.00,0.000,6,0.117,0.025,2969,2016,2245,0,0,0,0,0,0
$GC,9322,1.18,204.2,142.8,7.5,489,9335,0.00,2.50,8.15,0.572,4,0.000,0.046,2969,601,2217,0,0,0,0,0,0
$GC,9412,1.15,204.2,135.8,8.3,498,9417,0.00,2.33,0.00,0.000,6,0.000,0.024,2969,2012,2215,0,0,0,0,0,0
$GC,9676,1.22,223.2,118.5,6.7,522,9702,0.00,2.53,18.20,0.610,4,0.000,0.044,2969,604,2138,0,0,0,0,0,0
$GC,9731,1.22,223.2,113.9,9.9,528,9735,0.00,2.30,0.00,0.000,6,0.000,0.023,2969,2011,2135,0,0,0,0,0,0
$GC,9994,1.34,239.6,92.5,6.9,552,10016,0.15,2.50,15.30,0.573,4,0.062,0.044,3011,601,2072,0,0,0,0,0,0
$GC,10116,1.32,266.9,83.6,6.1,565,10149,0.00,2.30,24.83,0.578,6,0.000,0.022,3011,2024,1961,0,0,0,0,0,0
$GC,10404,1.37,266.9,58.2,10.6,593,10408,0.00,2.45,0.00,0.000,4,0.000,0.043,3011,595,1959,0,0,0,0,0,0
$GC,10512,1.37,266.9,46.2,11.6,604,10516,0.00,2.28,0.00,0.000,6,0.000,0.021,3011,2004,1956,0,0,0,0,0,0
$GC,10778,1.39,287.6,23.0,6.6,638,10805,0.00,2.50,18.65,0.518,4,0.000,0.041,3011,595,1876,0,0,0,0,0,0
$GC,10904,1.39,287.6,7.7,11.4,665,10910,0.00,2.28,0.00,0.000,6,0.000,0.021,3011,2011,1872,0,0,0,0,0,0
$STATE,10959,end climb,SURFACE_DEPTH_REACHED
$STATE,10959,begin surface coast
$FINISH,0.7,1.019824
$STATE,11001,end surface coast,CONTROL_FINISHED_OK
$STATE,11001,begin surface
$SM_CCo,11022,8.00,0.449,0,0,1827,300.00
$SM_GC,2.40,0.00,0.00,8.00,0.000,0.000,0.449,426,1862,1827,-10.52,-0.37,300.00
$IRIDIUM_FIX,2059.45,-15756.04,110999,090912
$TT8_MAMPS,0.029146
$HUMID,51.77
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,23.4,48.069
$10V_AH,10.1,44.587
$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,27.750,138.400,319.050,8.000,0.000,52.778,57.575,327.132,4.500,0.000,33.661,1331.917,7591.100,397.099,1658.443,695.674,33.381,1307.907,0.000,1605.950,0.000,29.265,0.000
$DEVICE_MAMPS,134.225,53.690,873.613,449.462,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,458.246,451.620,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34913,682
$CAP_FILE_SIZE,137195,0
$CFSIZE,260165632,226926592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170610,121045,2107.893,-15754.947,104,6.2,123,9.8