version: 66.06
glider: 139
mission: 7
dive: 543
start: 6 17 110 12 18 19
data:
$ID,139
$MISSION,7
$DIVE,543
$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,-2141574
$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
$GPS1,121045,2107.893,-15754.947,104,6.2,123,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.4
$GPS2,121727,2107.874,-15754.986,40,3.0,59,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.180,-0.039
$KALMAN_X,-305333.2,208.6,318.0,304712.7,-1768.2
$KALMAN_Y,18995.3,55.0,-65.7,-17201.2,392.6
$MHEAD_RNG_PITCHd_Wd,92.5,21199,-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,16,-1.40,-77.9,0.0,0.0,0,68,0.00,0.00,-50.40,0.000,2,0.000,0.000,426,1861,3138,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.2,-5.6,10,95,10.57,2.45,-4.70,0.000,4,0.133,0.054,2406,463,3369,0,0,0,0,0,0
$GC,129,-1.13,-77.9,18.3,-20.1,22,136,0.30,2.30,0.00,0.000,6,0.091,0.020,2466,1904,3370,0,0,0,0,0,0
$GC,334,-1.13,-77.9,45.6,-14.6,49,338,0.00,2.47,0.00,0.000,4,0.000,0.043,2466,469,3371,0,0,0,0,0,0
$GC,371,-1.13,-77.9,50.4,-9.4,52,377,0.00,2.25,0.00,0.000,6,0.000,0.019,2465,1888,3371,0,0,0,0,0,0
$GC,632,-1.13,-77.9,80.5,-11.7,77,636,0.00,2.42,0.00,0.000,4,0.000,0.042,2466,466,3372,0,0,0,0,0,0
$GC,697,-1.13,-77.9,89.1,-13.3,83,702,0.00,2.28,0.00,0.000,6,0.000,0.019,2466,1885,3372,0,0,0,0,0,0
$GC,959,-1.21,-77.9,114.5,-7.0,108,963,0.00,2.45,0.00,0.000,4,0.000,0.041,2466,459,3373,0,0,0,0,0,0
$GC,979,-1.27,-77.9,116.0,-7.4,109,985,0.12,2.25,0.00,0.000,6,0.063,0.019,2422,1888,3373,0,0,0,0,0,0
$GC,1242,-1.27,-77.9,140.3,-9.3,134,1246,0.00,2.45,0.00,0.000,4,0.000,0.042,2421,463,3374,0,0,0,0,0,0
$GC,1285,-1.24,-77.9,145.2,-10.9,138,1290,0.10,2.25,0.00,0.000,6,0.109,0.019,2442,1877,3375,0,0,0,0,0,0
$GC,1546,-1.30,-77.9,168.0,-8.5,162,1550,0.00,2.40,0.00,0.000,4,0.000,0.042,2442,466,3375,0,0,0,0,0,0
$GC,1607,-1.30,-77.9,173.9,-10.1,168,1612,0.00,2.22,0.00,0.000,6,0.000,0.020,2441,1873,3375,0,0,0,0,0,0
$GC,1870,-1.37,-77.9,197.5,-8.5,192,1875,0.12,2.45,0.00,0.000,4,0.063,0.044,2399,459,3375,0,0,0,0,0,0
$GC,1962,-1.30,-77.9,206.6,-10.6,198,1967,0.15,2.25,0.00,0.000,6,0.094,0.021,2429,1876,3375,0,0,0,0,0,0
$GC,2298,-1.37,-77.9,231.7,-6.9,214,2302,0.00,2.42,0.00,0.000,4,0.000,0.044,2430,464,3375,0,0,0,0,0,0
$GC,2403,-1.40,-77.9,240.1,-8.8,218,2407,0.00,2.28,0.00,0.000,6,0.000,0.021,2430,1882,3376,0,0,0,0,0,0
$GC,2718,-1.49,-77.9,271.1,-10.8,233,2723,0.17,2.45,0.00,0.000,4,0.051,0.048,2377,467,3375,0,0,0,0,0,0
$GC,2780,-1.42,-77.9,278.3,-11.7,235,2787,0.10,2.28,0.00,0.000,6,0.075,0.021,2402,1890,3375,0,0,0,0,0,0
$GC,3094,-1.42,-77.9,307.7,-8.9,249,3098,0.00,2.45,0.00,0.000,4,0.000,0.046,2402,468,3374,0,0,0,0,0,0
$GC,3145,-1.42,-77.9,313.0,-10.3,250,3149,0.00,2.28,0.00,0.000,6,0.000,0.022,2402,1875,3374,0,0,0,0,0,0
$GC,3463,-1.45,-77.9,338.3,-8.0,258,3468,0.00,2.42,0.00,0.000,4,0.000,0.048,2402,464,3373,0,0,0,0,0,0
$GC,3523,-1.45,-77.9,343.9,-9.2,259,3527,0.00,2.28,0.00,0.000,6,0.000,0.024,2402,1874,3373,0,0,0,0,0,0
$GC,3875,-1.49,-77.9,374.4,-8.9,268,3879,0.00,2.42,0.00,0.000,4,0.000,0.048,2403,466,3371,0,0,0,0,0,0
$GC,3935,-1.49,-77.9,380.6,-9.5,269,3939,0.00,2.30,0.00,0.000,6,0.000,0.025,2403,1871,3371,0,0,0,0,0,0
$GC,4287,-1.54,-77.9,408.2,-7.8,278,4292,0.12,2.47,0.00,0.000,4,0.067,0.051,2365,464,3368,0,0,0,0,0,0
$GC,4371,-1.47,-77.9,416.9,-10.0,279,4377,0.12,2.33,0.00,0.000,6,0.104,0.026,2390,1878,3367,0,0,0,0,0,0
$GC,4703,-1.47,-77.9,444.3,-8.4,288,4707,0.00,2.45,0.00,0.000,4,0.000,0.052,2390,467,3365,0,0,0,0,0,0
$GC,4722,-1.47,-77.9,446.1,-8.5,288,4726,0.00,2.30,0.00,0.000,6,0.000,0.028,2390,1875,3365,0,0,0,0,0,0
$STATE,4780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4780,begin apogee
$GC,4786,-0.31,0.0,451.1,8.3,290,4854,1.20,0.00,64.40,0.872,6,0.074,0.000,2647,2027,3049,0,0,0,0,0,0
$STATE,4854,end apogee,CONTROL_FINISHED_OK
$STATE,4855,begin climb
$GC,4857,1.40,77.9,452.2,0.0,291,4932,1.62,2.45,64.75,0.850,4,0.033,0.041,2995,3389,2732,0,0,0,0,0,0
$GC,5040,1.23,126.9,449.7,4.7,295,5089,0.22,2.38,41.97,0.842,6,0.113,0.035,2984,2004,2531,0,0,0,0,0,0
$GC,5409,1.14,141.4,423.4,7.0,304,5429,0.12,2.42,12.70,0.781,4,0.120,0.038,2934,3388,2473,0,0,0,0,0,0
$GC,5464,1.14,178.3,419.9,5.5,305,5505,0.00,2.40,33.30,0.829,6,0.000,0.037,2963,2007,2323,0,0,0,0,0,0
$GC,5828,1.11,180.2,392.3,7.9,314,5833,0.00,2.47,0.00,0.000,4,0.000,0.053,2962,599,2316,0,0,0,0,0,0
$GC,5982,1.02,180.2,375.4,11.2,317,5987,0.15,2.33,0.00,0.000,6,0.120,0.030,2936,1992,2312,0,0,0,0,0,0
$GC,6332,1.05,180.2,346.5,8.3,326,6336,0.00,2.45,0.00,0.000,4,0.000,0.052,2936,596,2311,0,0,0,0,0,0
$GC,6383,1.05,180.2,341.4,9.9,327,6388,0.00,2.40,0.00,0.000,6,0.000,0.031,2936,2017,2309,0,0,0,0,0,0
$GC,6701,1.09,180.2,314.9,8.1,335,6706,0.00,2.50,0.00,0.000,4,0.000,0.051,2936,598,2309,0,0,0,0,0,0
$GC,6808,1.09,180.2,304.2,10.5,337,6812,0.00,2.38,0.00,0.000,6,0.000,0.030,2936,2021,2307,0,0,0,0,0,0
$GC,7141,1.15,180.2,275.5,9.1,352,7146,0.12,2.50,0.00,0.000,4,0.078,0.051,2966,600,2307,0,0,0,0,0,0
$GC,7212,1.06,180.2,268.7,9.3,355,7217,0.00,2.35,0.00,0.000,6,0.000,0.029,2967,2012,2306,0,0,0,0,0,0
$GC,7537,1.07,182.0,243.8,7.9,371,7541,0.00,2.47,0.00,0.000,4,0.000,0.051,2967,604,2306,0,0,0,0,0,0
$GC,7756,1.05,212.2,228.7,5.9,380,7790,0.12,2.35,28.02,0.732,6,0.125,0.028,2945,2026,2184,0,0,0,0,0,0
$GC,8116,1.13,216.0,204.2,7.8,398,8125,0.00,2.50,4.07,0.471,4,0.000,0.047,2945,601,2169,0,0,0,0,0,0
$GC,8282,1.17,216.0,188.0,9.7,412,8288,0.10,2.33,0.00,0.000,6,0.084,0.027,2971,2011,2166,0,0,0,0,0,0
$GC,8545,1.22,234.7,166.9,6.7,437,8571,0.00,2.55,17.80,0.655,4,0.000,0.047,2971,601,2092,0,0,0,0,0,0
$GC,8650,1.22,234.7,158.1,8.4,448,8656,0.00,2.35,0.00,0.000,6,0.000,0.025,2971,2012,2089,0,0,0,0,0,0
$GC,8913,1.30,256.2,137.9,6.5,473,8940,0.10,2.53,19.95,0.629,4,0.081,0.047,2999,598,2005,0,0,0,0,0,0
$GC,9035,1.25,263.1,128.2,7.5,486,9048,0.00,2.33,7.32,0.536,6,0.000,0.025,3000,2019,1977,0,0,0,0,0,0
$GC,9308,1.25,263.1,103.2,11.4,512,9313,0.00,2.47,0.00,0.000,4,0.000,0.045,2999,598,1976,0,0,0,0,0,0
$GC,9342,1.25,263.1,98.6,15.1,515,9347,0.00,2.30,0.00,0.000,6,0.000,0.023,3000,2010,1974,0,0,0,0,0,0
$GC,9605,1.30,263.1,72.2,8.5,539,9609,0.00,2.45,0.00,0.000,4,0.000,0.044,3000,599,1974,0,0,0,0,0,0
$GC,9694,1.30,263.1,63.7,9.5,548,9699,0.00,2.30,0.00,0.000,6,0.000,0.022,3000,2014,1973,0,0,0,0,0,0
$GC,9957,1.39,271.0,45.8,7.5,572,9967,0.00,0.00,8.10,0.486,6,0.000,0.000,2999,2018,1945,0,0,0,0,0,0
$GC,10223,1.46,271.0,23.2,9.3,603,10230,0.15,2.47,0.00,0.000,4,0.058,0.044,3044,591,1945,0,0,0,0,0,0
$GC,10325,1.36,271.0,10.9,13.3,624,10332,0.17,2.28,0.00,0.000,6,0.098,0.021,3009,2017,1943,0,0,0,0,0,0
$STATE,10408,end climb,SURFACE_DEPTH_REACHED
$STATE,10409,begin surface coast
$FINISH,0.5,1.023351
$STATE,10437,end surface coast,CONTROL_FINISHED_OK
$STATE,10438,begin surface
$SM_CCo,10458,15.93,0.491,0,0,1827,300.00
$SM_GC,1.07,0.00,0.00,15.93,0.000,0.000,0.491,426,1859,1827,-10.53,-0.45,300.00
$IRIDIUM_FIX,2101.76,-15758.18,110999,090933
$TT8_MAMPS,0.029146
$HUMID,52.08
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,23.4,48.153
$10V_AH,10.0,44.643
$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,27.200,129.150,302.400,15.925,0.000,29.353,29.483,180.977,4.500,0.000,60.777,1273.118,7114.724,390.235,1619.793,476.293,33.378,1257.198,0.000,1537.327,0.000,29.242,0.000
$DEVICE_MAMPS,133.458,54.457,872.079,490.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.131,425.858,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34871,644
$CAP_FILE_SIZE,126067,0
$CFSIZE,260165632,226877440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170610,151458,2107.729,-15754.507,67,3.2,86,9.8