version: 66.06
glider: 139
mission: 7
dive: 547
start: 6 18 110 0 42 19
data:
$ID,139
$MISSION,7
$DIVE,547
$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,-2141704.8
$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
$GPS1,003537,2107.456,-15753.754,135,2.0,135,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-72.8
$GPS2,004128,2107.411,-15753.788,17,2.1,36,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.173,-0.062
$KALMAN_X,-310877.8,-67.6,193.9,312730.2,-955.8
$KALMAN_Y,20206.4,-89.3,-144.3,-19041.2,540.7
$MHEAD_RNG_PITCHd_Wd,99.9,19013,-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,17,-1.40,-77.9,0.0,0.0,0,73,0.00,0.00,-54.28,0.000,2,0.000,0.000,429,1910,3248,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.8,-6.4,11,97,10.60,2.50,-2.30,0.000,4,0.134,0.053,2402,464,3371,0,0,0,0,0,0
$GC,112,-0.55,-77.9,16.2,-31.2,18,119,0.95,2.35,0.00,0.000,6,0.094,0.020,2593,1924,3371,0,0,0,0,0,0
$GC,326,-0.83,-77.9,31.9,-6.1,53,331,0.25,2.50,0.00,0.000,4,0.046,0.041,2519,467,3372,0,0,0,0,0,0
$GC,374,-0.95,-77.9,36.3,-9.7,57,380,0.00,2.22,0.00,0.000,6,0.000,0.019,2519,1875,3372,0,0,0,0,0,0
$GC,637,-1.07,-77.9,57.3,-7.9,82,642,0.17,2.42,0.00,0.000,4,0.051,0.043,2462,467,3374,0,0,0,0,0,0
$GC,728,-1.03,-77.9,67.8,-11.8,91,732,0.12,2.25,0.00,0.000,6,0.097,0.019,2489,1881,3374,0,0,0,0,0,0
$GC,990,-1.13,-77.9,93.9,-9.3,115,995,0.10,2.42,0.00,0.000,4,0.074,0.042,2452,466,3375,0,0,0,0,0,0
$GC,1067,-1.13,-77.9,103.1,-11.6,122,1072,0.00,2.22,0.00,0.000,6,0.000,0.019,2453,1876,3375,0,0,0,0,0,0
$GC,1330,-1.17,-77.9,128.2,-9.2,147,1334,0.00,2.42,0.00,0.000,4,0.000,0.041,2452,460,3376,0,0,0,0,0,0
$GC,1372,-1.22,-77.9,132.7,-10.6,151,1377,0.00,2.25,0.00,0.000,6,0.000,0.019,2453,1882,3376,0,0,0,0,0,0
$GC,1635,-1.30,-77.9,157.3,-9.1,175,1640,0.10,2.42,0.00,0.000,4,0.073,0.042,2412,464,3376,0,0,0,0,0,0
$GC,1669,-1.24,-77.9,161.0,-11.3,178,1674,0.12,2.22,0.00,0.000,6,0.097,0.019,2440,1879,3376,0,0,0,0,0,0
$GC,1932,-1.32,-77.9,180.7,-6.8,202,1936,0.00,2.40,0.00,0.000,4,0.000,0.041,2439,463,3377,0,0,0,0,0,0
$GC,1997,-1.37,-77.9,186.3,-8.5,208,2003,0.12,2.22,0.00,0.000,6,0.062,0.020,2395,1873,3377,0,0,0,0,0,0
$GC,2256,-1.34,-77.9,213.6,-11.0,227,2260,0.12,2.42,0.00,0.000,4,0.099,0.044,2420,469,3377,0,0,0,0,0,0
$GC,2271,-1.30,-77.9,215.5,-11.4,227,2277,0.00,2.25,0.00,0.000,6,0.000,0.021,2421,1880,3377,0,0,0,0,0,0
$GC,2586,-1.36,-77.9,244.5,-8.8,243,2591,0.00,2.40,0.00,0.000,4,0.000,0.043,2420,469,3377,0,0,0,0,0,0
$GC,2709,-1.36,-77.9,256.3,-9.3,248,2713,0.00,2.25,0.00,0.000,6,0.000,0.021,2421,1877,3377,0,0,0,0,0,0
$GC,3031,-1.41,-77.9,282.0,-8.0,264,3035,0.00,2.40,0.00,0.000,4,0.000,0.044,2421,467,3376,0,0,0,0,0,0
$GC,3045,-1.41,-77.9,283.4,-8.1,264,3050,0.00,2.25,0.00,0.000,6,0.000,0.022,2420,1879,3376,0,0,0,0,0,0
$GC,3380,-1.47,-77.9,305.9,-6.5,279,3385,0.12,2.45,0.00,0.000,4,0.064,0.046,2381,470,3374,0,0,0,0,0,0
$GC,3424,-1.38,-77.9,309.8,-9.6,280,3428,0.15,2.28,0.00,0.000,6,0.097,0.023,2411,1873,3374,0,0,0,0,0,0
$GC,3754,-1.42,-77.9,335.7,-7.8,288,3758,0.00,2.42,0.00,0.000,4,0.000,0.047,2411,462,3372,0,0,0,0,0,0
$GC,3860,-1.42,-77.9,346.7,-10.4,290,3864,0.00,2.28,0.00,0.000,6,0.000,0.024,2411,1881,3372,0,0,0,0,0,0
$GC,4210,-1.47,-77.9,382.6,-10.4,299,4215,0.00,2.42,0.00,0.000,4,0.000,0.048,2411,470,3370,0,0,0,0,0,0
$GC,4349,-1.51,-77.9,395.7,-10.1,302,4354,0.12,2.28,0.00,0.000,6,0.066,0.025,2373,1875,3369,0,0,0,0,0,0
$GC,4679,-1.51,-77.9,425.6,-9.0,310,4683,0.00,2.45,0.00,0.000,4,0.000,0.051,2372,471,3367,0,0,0,0,0,0
$GC,4716,-1.46,-77.9,429.2,-9.9,310,4722,0.10,2.30,0.00,0.000,6,0.112,0.026,2393,1880,3366,0,0,0,0,0,0
$GC,5048,-1.49,-77.9,448.5,-5.0,319,5052,0.00,2.45,0.00,0.000,4,0.000,0.051,2393,467,3364,0,0,0,0,0,0
$STATE,5073,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5073,begin apogee
$GC,5081,-0.31,0.0,450.1,5.9,319,5149,1.15,0.00,64.28,0.873,6,0.079,0.000,2640,2007,3050,0,0,0,0,0,0
$STATE,5150,end apogee,CONTROL_FINISHED_OK
$STATE,5150,begin climb
$GC,5153,1.40,77.9,449.6,0.0,321,5228,1.65,2.50,64.75,0.852,4,0.032,0.040,3025,3408,2731,0,0,0,0,0,0
$GC,5393,1.19,89.8,439.9,7.2,326,5410,0.28,2.40,11.10,0.762,6,0.108,0.035,2974,2004,2683,0,0,0,0,0,0
$GC,5752,1.15,147.9,424.3,4.0,335,5809,0.00,2.53,49.58,0.851,4,0.000,0.039,2933,3407,2447,0,0,0,0,0,0
$GC,5850,1.08,147.9,417.7,8.9,337,5855,0.15,2.42,0.00,0.000,6,0.115,0.036,2949,2013,2446,0,0,0,0,0,0
$GC,6164,1.08,147.9,390.3,9.7,345,6169,0.00,2.50,0.00,0.000,4,0.000,0.051,2948,596,2439,0,0,0,0,0,0
$GC,6234,1.00,147.9,381.6,13.1,346,6239,0.00,2.38,0.00,0.000,6,0.000,0.030,2948,2019,2437,0,0,0,0,0,0
$GC,6575,1.04,177.7,354.7,6.0,355,6607,0.00,2.60,25.65,0.812,4,0.000,0.051,2948,607,2324,0,0,0,0,0,0
$GC,6647,1.02,209.4,351.0,5.8,356,6684,0.00,2.38,29.52,0.804,6,0.000,0.029,2948,2023,2195,0,0,0,0,0,0
$GC,6993,1.05,237.8,330.3,6.1,365,7025,0.00,2.60,25.48,0.791,4,0.000,0.052,2948,609,2079,0,0,0,0,0,0
$GC,7140,1.05,237.8,315.3,11.0,368,7145,0.00,2.38,0.00,0.000,6,0.000,0.030,2948,2010,2074,0,0,0,0,0,0
$GC,7456,1.10,237.8,283.2,9.3,380,7461,0.00,2.47,0.00,0.000,4,0.000,0.051,2948,604,2072,0,0,0,0,0,0
$GC,7600,1.10,237.8,267.9,11.0,386,7604,0.00,2.35,0.00,0.000,6,0.000,0.028,2948,2012,2070,0,0,0,0,0,0
$GC,7920,1.16,237.8,238.0,8.5,402,7925,0.00,2.47,0.00,0.000,4,0.000,0.051,2948,598,2070,0,0,0,0,0,0
$GC,8042,1.16,240.9,228.3,7.8,407,8047,0.00,2.38,0.00,0.000,6,0.000,0.028,2949,2017,2068,0,0,0,0,0,0
$GC,8362,1.24,240.9,201.0,9.8,423,8367,0.15,2.50,0.00,0.000,4,0.068,0.050,2986,593,2068,0,0,0,0,0,0
$GC,8467,1.19,240.9,187.0,14.7,433,8473,0.00,2.38,0.00,0.000,6,0.000,0.027,2987,2018,2066,0,0,0,0,0,0
$GC,8728,1.19,240.9,157.0,9.1,458,8732,0.00,2.45,0.00,0.000,4,0.000,0.048,2987,602,2066,0,0,0,0,0,0
$GC,8827,1.15,240.9,146.6,10.7,468,8832,0.12,2.35,0.00,0.000,6,0.116,0.025,2965,2018,2065,0,0,0,0,0,0
$GC,9088,1.23,240.9,124.5,8.4,492,9093,0.00,2.45,0.00,0.000,4,0.000,0.047,2965,602,2065,0,0,0,0,0,0
$GC,9144,1.23,240.9,119.4,8.8,497,9149,0.00,2.35,0.00,0.000,6,0.000,0.025,2964,2024,2065,0,0,0,0,0,0
$GC,9406,1.39,286.0,102.2,4.9,522,9457,0.22,2.53,40.90,0.621,4,0.052,0.044,3023,602,1882,0,0,0,0,0,0
$GC,9541,1.32,286.0,89.6,10.4,537,9546,0.12,2.33,0.00,0.000,6,0.110,0.023,3000,2017,1878,0,0,0,0,0,0
$GC,9802,1.39,286.0,64.7,10.0,561,9807,0.00,2.45,0.00,0.000,4,0.000,0.044,3000,597,1877,0,0,0,0,0,0
$GC,9913,1.39,286.0,52.5,10.2,572,9919,0.00,2.30,0.00,0.000,6,0.000,0.021,3000,2016,1875,0,0,0,0,0,0
$GC,10178,1.46,286.0,30.8,8.7,597,10183,0.15,2.45,0.00,0.000,4,0.059,0.044,3045,596,1875,0,0,0,0,0,0
$GC,10314,1.37,286.0,14.3,12.4,624,10320,0.15,2.28,0.00,0.000,6,0.098,0.021,3014,2011,1875,0,0,0,0,0,0
$STATE,10430,end climb,SURFACE_DEPTH_REACHED
$STATE,10430,begin surface coast
$FINISH,0.5,1.007141
$STATE,10454,end surface coast,CONTROL_FINISHED_OK
$STATE,10454,begin surface
$SM_CCo,10475,9.77,0.475,0,0,1827,300.00
$SM_GC,2.25,0.00,0.00,9.77,0.000,0.000,0.475,424,1859,1827,-10.53,-0.45,300.00
$IRIDIUM_FIX,2101.76,-15753.03,110999,212137
$TT8_MAMPS,0.029146
$HUMID,52.44
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,23.4,48.501
$10V_AH,10.0,44.861
$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,28.500,134.150,311.250,9.775,0.000,35.324,27.058,152.110,4.500,0.000,37.476,1282.778,7104.307,390.135,1610.721,448.218,33.381,1266.795,0.000,1546.463,0.000,29.246,0.000
$DEVICE_MAMPS,134.225,54.457,872.846,474.773,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,436.691,420.879,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34963,649
$CAP_FILE_SIZE,127157,0
$CFSIZE,260165632,226631680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180610,033904,2106.994,-15753.084,62,2.1,81,9.8