version: 66.06
glider: 139
mission: 7
dive: 545
start: 6 17 110 18 30 7
data:
$ID,139
$MISSION,7
$DIVE,545
$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,-2141644.2
$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
$GPS1,182247,2107.841,-15754.657,67,2.3,86,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.6
$GPS2,182916,2107.897,-15754.731,12,2.1,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.180,-0.038
$KALMAN_X,-307853.5,-348.5,-229.8,308775.1,-1743.5
$KALMAN_Y,19825.7,-167.8,80.5,-17910.3,373.6
$MHEAD_RNG_PITCHd_Wd,92.1,20773,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,69,0.00,0.00,-50.72,0.000,2,0.000,0.000,425,1899,3138,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.0,-4.7,10,93,10.57,2.45,-4.72,0.000,4,0.133,0.052,2401,469,3369,0,0,0,0,0,0
$GC,104,-0.43,-77.9,12.7,-28.3,16,111,1.08,2.33,0.00,0.000,6,0.093,0.020,2618,1914,3370,0,0,0,0,0,0
$GC,315,-0.80,-77.9,24.7,-3.6,53,321,0.32,2.47,0.00,0.000,4,0.045,0.039,2532,469,3371,0,0,0,0,0,0
$GC,387,-0.96,-77.9,30.5,-8.5,67,393,0.12,2.22,0.00,0.000,6,0.064,0.019,2487,1877,3371,0,0,0,0,0,0
$GC,650,-1.01,-77.9,56.4,-9.5,92,654,0.00,2.42,0.00,0.000,4,0.000,0.042,2487,468,3372,0,0,0,0,0,0
$GC,692,-1.05,-77.9,61.1,-10.0,96,697,0.00,2.22,0.00,0.000,6,0.000,0.019,2486,1879,3373,0,0,0,0,0,0
$GC,955,-1.13,-77.9,84.9,-8.4,120,959,0.00,2.42,0.00,0.000,4,0.000,0.042,2486,459,3373,0,0,0,0,0,0
$GC,1048,-1.22,-77.9,92.6,-7.5,129,1054,0.17,2.25,0.00,0.000,6,0.051,0.018,2429,1876,3374,0,0,0,0,0,0
$GC,1308,-1.22,-77.9,117.5,-8.9,154,1312,0.00,2.42,0.00,0.000,4,0.000,0.042,2430,463,3375,0,0,0,0,0,0
$GC,1346,-1.18,-77.9,121.1,-9.4,157,1352,0.12,2.25,0.00,0.000,6,0.097,0.019,2457,1869,3374,0,0,0,0,0,0
$GC,1607,-1.23,-77.9,145.3,-9.8,182,1611,0.00,2.42,0.00,0.000,4,0.000,0.042,2456,468,3375,0,0,0,0,0,0
$GC,1635,-1.23,-77.9,148.4,-11.2,184,1640,0.00,2.22,0.00,0.000,6,0.000,0.019,2457,1881,3376,0,0,0,0,0,0
$GC,1897,-1.32,-77.9,174.4,-9.8,209,1902,0.15,2.42,0.00,0.000,4,0.055,0.043,2406,464,3376,0,0,0,0,0,0
$GC,1953,-1.26,-77.9,181.6,-13.0,214,1960,0.15,2.25,0.00,0.000,6,0.092,0.019,2438,1871,3376,0,0,0,0,0,0
$GC,2213,-1.32,-77.9,208.4,-9.8,235,2217,0.00,2.38,0.00,0.000,4,0.000,0.041,2437,467,3376,0,0,0,0,0,0
$GC,2233,-1.32,-77.9,210.6,-9.6,236,2237,0.00,2.25,0.00,0.000,6,0.000,0.020,2437,1899,3376,0,0,0,0,0,0
$GC,2564,-1.39,-77.9,237.8,-6.5,252,2569,0.12,2.45,0.00,0.000,4,0.062,0.043,2393,469,3376,0,0,0,0,0,0
$GC,2646,-1.34,-77.9,244.9,-7.8,255,2651,0.12,2.22,0.00,0.000,6,0.099,0.020,2419,1874,3376,0,0,0,0,0,0
$GC,2963,-1.40,-77.9,269.0,-8.7,270,2967,0.00,2.42,0.00,0.000,4,0.000,0.044,2420,463,3376,0,0,0,0,0,0
$GC,2995,-1.40,-77.9,272.1,-9.3,271,2999,0.00,2.28,0.00,0.000,6,0.000,0.021,2419,1883,3376,0,0,0,0,0,0
$GC,3311,-1.48,-77.9,298.5,-8.5,286,3316,0.12,2.45,0.00,0.000,4,0.063,0.045,2379,460,3376,0,0,0,0,0,0
$GC,3428,-1.41,-77.9,310.4,-10.1,289,3433,0.15,2.25,0.00,0.000,6,0.093,0.021,2410,1872,3376,0,0,0,0,0,0
$GC,3770,-1.47,-77.9,340.5,-9.0,298,3774,0.00,2.40,0.00,0.000,4,0.000,0.047,2410,470,3374,0,0,0,0,0,0
$GC,3826,-1.51,-77.9,345.9,-9.1,299,3831,0.12,2.28,0.00,0.000,6,0.064,0.023,2370,1872,3374,0,0,0,0,0,0
$GC,4140,-1.51,-77.9,378.8,-10.6,307,4144,0.00,2.42,0.00,0.000,4,0.000,0.048,2369,470,3373,0,0,0,0,0,0
$GC,4173,-1.43,-77.9,382.7,-11.3,307,4178,0.15,2.28,0.00,0.000,6,0.094,0.025,2400,1871,3373,0,0,0,0,0,0
$GC,4505,-1.48,-77.9,412.4,-8.4,315,4509,0.00,2.42,0.00,0.000,4,0.000,0.050,2400,470,3370,0,0,0,0,0,0
$GC,4574,-1.48,-77.9,418.6,-8.4,316,4578,0.00,2.28,0.00,0.000,6,0.000,0.026,2400,1873,3370,0,0,0,0,0,0
$GC,4916,-1.53,-77.9,440.9,-6.0,325,4920,0.00,2.47,0.00,0.000,4,0.000,0.053,2400,464,3367,0,0,0,0,0,0
$GC,4953,-1.53,-77.9,443.7,-7.2,325,4958,0.00,2.30,0.00,0.000,6,0.000,0.028,2400,1871,3367,0,0,0,0,0,0
$STATE,5037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5038,begin apogee
$GC,5043,-0.31,0.0,450.0,7.3,328,5112,1.12,0.00,64.72,0.871,6,0.072,0.000,2643,2034,3050,0,0,0,0,0,0
$STATE,5112,end apogee,CONTROL_FINISHED_OK
$STATE,5113,begin climb
$GC,5115,1.40,77.9,451.0,0.0,329,5190,1.62,2.42,64.65,0.851,4,0.031,0.041,3019,3384,2732,0,0,0,0,0,0
$GC,5386,1.25,140.2,446.1,3.7,335,5447,0.20,2.35,53.00,0.850,6,0.115,0.035,2987,2009,2478,0,0,0,0,0,0
$GC,5758,1.15,149.5,422.5,7.4,344,5769,0.12,0.00,8.32,0.723,6,0.123,0.000,2966,2009,2440,0,0,0,0,0,0
$GC,6083,1.10,149.5,396.3,8.2,352,6087,0.00,2.35,0.00,0.000,4,0.000,0.038,2956,3381,2436,0,0,0,0,0,0
$GC,6116,1.06,149.5,393.2,8.7,352,6121,0.10,2.35,0.00,0.000,6,0.128,0.038,2948,2007,2436,0,0,0,0,0,0
$GC,6446,1.06,149.5,365.9,8.2,360,6451,0.00,2.45,0.00,0.000,4,0.000,0.052,2947,604,2433,0,0,0,0,0,0
$GC,6544,0.98,149.5,357.5,9.7,362,6549,0.00,2.33,0.00,0.000,6,0.000,0.030,2945,1998,2432,0,0,0,0,0,0
$GC,6862,0.99,156.9,332.9,7.5,370,6874,0.00,2.47,6.38,0.664,4,0.000,0.039,2947,3405,2410,0,0,0,0,0,0
$GC,6932,0.99,156.9,327.6,8.1,371,6937,0.00,2.42,0.00,0.000,6,0.000,0.037,2948,2005,2410,0,0,0,0,0,0
$GC,7277,0.99,163.2,301.9,7.6,380,7289,0.00,2.53,6.82,0.666,4,0.000,0.054,2948,608,2384,0,0,0,0,0,0
$GC,7424,0.95,163.2,289.3,8.3,385,7429,0.12,2.38,0.00,0.000,6,0.120,0.030,2926,2018,2381,0,0,0,0,0,0
$GC,7747,1.08,192.1,269.7,6.0,401,7780,0.10,2.60,26.23,0.768,4,0.085,0.051,2949,599,2266,0,0,0,0,0,0
$GC,7820,1.09,201.3,264.7,7.4,404,7838,0.00,2.40,9.73,0.683,6,0.000,0.029,2949,2022,2228,0,0,0,0,0,0
$GC,8149,1.16,204.1,240.1,7.8,420,8153,0.00,2.47,0.00,0.000,4,0.000,0.049,2949,602,2225,0,0,0,0,0,0
$GC,8377,1.16,204.1,217.8,10.7,430,8381,0.00,2.33,0.00,0.000,6,0.000,0.028,2950,2011,2221,0,0,0,0,0,0
$GC,8701,1.24,219.4,193.2,7.0,450,8723,0.15,2.50,16.35,0.676,4,0.068,0.046,2988,598,2154,0,0,0,0,0,0
$GC,8854,1.19,219.4,179.3,9.6,466,8858,0.00,2.35,0.00,0.000,6,0.000,0.025,2988,2019,2150,0,0,0,0,0,0
$GC,9120,1.19,219.4,156.1,9.2,491,9125,0.00,2.47,0.00,0.000,4,0.000,0.046,2988,601,2150,0,0,0,0,0,0
$GC,9145,1.14,219.4,153.8,9.5,493,9150,0.12,2.33,0.00,0.000,6,0.116,0.025,2966,2020,2149,0,0,0,0,0,0
$GC,9406,1.28,274.2,138.2,4.3,517,9461,0.12,2.55,48.47,0.645,4,0.071,0.046,3000,594,1932,0,0,0,0,0,0
$GC,9523,1.28,274.2,128.7,11.1,529,9529,0.00,2.35,0.00,0.000,6,0.000,0.023,3000,2012,1926,0,0,0,0,0,0
$GC,9786,1.33,274.2,104.9,9.2,554,9790,0.00,2.47,0.00,0.000,4,0.000,0.044,3000,595,1925,0,0,0,0,0,0
$GC,9838,1.33,274.2,98.9,10.6,559,9842,0.00,2.30,0.00,0.000,6,0.000,0.022,3000,2010,1923,0,0,0,0,0,0
$GC,10100,1.37,274.2,69.6,12.0,583,10104,0.00,2.45,0.00,0.000,4,0.000,0.044,3000,595,1923,0,0,0,0,0,0
$GC,10231,1.37,274.2,54.0,11.7,596,10237,0.00,2.33,0.00,0.000,6,0.000,0.021,3000,2025,1923,0,0,0,0,0,0
$GC,10494,1.47,291.6,33.7,6.8,621,10515,0.15,2.53,15.18,0.518,4,0.058,0.042,3044,584,1860,0,0,0,0,0,0
$GC,10550,1.38,291.6,28.2,10.7,628,10556,0.15,2.30,0.00,0.000,6,0.102,0.021,3015,2012,1858,0,0,0,0,0,0
$GC,10759,1.43,291.6,8.7,9.3,665,10765,0.00,2.42,0.00,0.000,4,0.000,0.041,3015,591,1858,0,0,0,0,0,0
$STATE,10806,end climb,SURFACE_DEPTH_REACHED
$STATE,10806,begin surface coast
$FINISH,0.6,1.023242
$STATE,10830,end surface coast,CONTROL_FINISHED_OK
$STATE,10830,begin surface
$SM_CCo,10852,6.22,0.420,0,0,1826,300.00
$SM_GC,2.53,0.00,0.00,6.22,0.000,0.000,0.420,427,1907,1826,-10.52,0.90,300.00
$IRIDIUM_FIX,2059.45,-15758.18,110999,151524
$TT8_MAMPS,0.029146
$HUMID,50.90
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,48.328
$10V_AH,10.0,44.753
$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,28.750,137.850,319.850,6.225,0.000,27.140,30.120,174.023,4.500,0.000,32.613,1319.095,7424.732,400.953,1609.986,491.148,33.387,1280.291,0.000,1552.279,0.000,29.244,0.000
$DEVICE_MAMPS,133.458,53.690,871.312,419.549,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,456.778,446.047,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34959,680
$CAP_FILE_SIZE,130584,0
$CFSIZE,260165632,226750464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170610,213306,2107.734,-15754.487,83,1.9,83,9.8