version: 66.06
glider: 139
mission: 7
dive: 555
start: 6 19 110 1 37 22
data:
$ID,139
$MISSION,7
$DIVE,555
$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,-2141955.5
$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
$GPS1,012643,2106.495,-15751.022,81,1.4,87,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.7
$GPS2,013631,2106.414,-15751.021,22,1.4,39,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,0.001
$KALMAN_X,-322841.9,231.8,285.0,329081.6,-1125.2
$KALMAN_Y,18936.1,71.9,-107.9,-19818.0,-81.5
$MHEAD_RNG_PITCHd_Wd,80.0,14044,-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,-77.9,0.0,0.0,0,73,0.00,0.00,-55.35,0.000,2,0.000,0.000,430,1898,3290,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.7,-6.2,11,96,10.60,2.45,-1.55,0.000,4,0.135,0.048,2406,460,3370,0,0,0,0,0,0
$GC,112,-0.53,-77.9,15.9,-31.6,18,119,0.93,2.33,0.00,0.000,6,0.087,0.020,2594,1914,3371,0,0,0,0,0,0
$GC,321,-0.82,-77.9,28.3,-4.9,55,328,0.25,2.50,0.00,0.000,4,0.047,0.041,2521,459,3372,0,0,0,0,0,0
$GC,403,-0.93,-77.9,34.8,-8.2,66,409,0.00,2.28,0.00,0.000,6,0.000,0.019,2522,1890,3372,0,0,0,0,0,0
$GC,665,-1.06,-77.9,54.3,-8.5,91,670,0.17,2.47,0.00,0.000,4,0.052,0.042,2467,464,3373,0,0,0,0,0,0
$GC,789,-1.09,-77.9,69.0,-11.7,103,794,0.00,2.22,0.00,0.000,6,0.000,0.019,2466,1876,3374,0,0,0,0,0,0
$GC,1052,-1.17,-77.9,95.7,-10.0,128,1056,0.00,2.40,0.00,0.000,4,0.000,0.041,2467,461,3374,0,0,0,0,0,0
$GC,1164,-1.20,-77.9,108.2,-10.4,139,1170,0.00,2.25,0.00,0.000,6,0.000,0.019,2466,1876,3375,0,0,0,0,0,0
$GC,1427,-1.30,-77.9,124.8,-6.5,164,1432,0.17,2.42,0.00,0.000,4,0.051,0.042,2409,457,3376,0,0,0,0,0,0
$GC,1471,-1.23,-77.9,129.1,-10.5,168,1476,0.17,2.28,0.00,0.000,6,0.087,0.019,2446,1880,3376,0,0,0,0,0,0
$GC,1732,-1.29,-77.9,152.3,-8.6,192,1736,0.00,2.40,0.00,0.000,4,0.000,0.041,2447,464,3376,0,0,0,0,0,0
$GC,1765,-1.29,-77.9,155.4,-9.0,195,1770,0.00,2.25,0.00,0.000,6,0.000,0.020,2446,1887,3376,0,0,0,0,0,0
$GC,2029,-1.37,-77.9,176.5,-6.8,219,2034,0.15,2.42,0.00,0.000,4,0.054,0.043,2396,468,3377,0,0,0,0,0,0
$GC,2111,-1.31,-77.9,184.2,-9.6,227,2116,0.15,2.22,0.00,0.000,6,0.093,0.020,2427,1877,3377,0,0,0,0,0,0
$GC,2373,-1.36,-77.9,204.5,-8.6,249,2377,0.00,2.40,0.00,0.000,4,0.000,0.043,2426,463,3377,0,0,0,0,0,0
$GC,2456,-1.39,-77.9,213.7,-10.2,252,2462,0.00,2.25,0.00,0.000,6,0.000,0.021,2427,1882,3377,0,0,0,0,0,0
$GC,2772,-1.46,-77.9,239.4,-7.9,268,2777,0.15,2.45,0.00,0.000,4,0.056,0.044,2378,466,3377,0,0,0,0,0,0
$GC,2793,-1.42,-77.9,241.3,-8.9,269,2798,0.12,2.25,0.00,0.000,6,0.101,0.021,2404,1881,3377,0,0,0,0,0,0
$GC,3125,-1.45,-77.9,270.1,-9.0,285,3129,0.00,2.40,0.00,0.000,4,0.000,0.044,2404,470,3375,0,0,0,0,0,0
$GC,3217,-1.45,-77.9,279.6,-10.0,289,3224,0.00,2.25,0.00,0.000,6,0.000,0.021,2403,1881,3375,0,0,0,0,0,0
$GC,3548,-1.45,-77.9,308.7,-9.0,303,3552,0.00,2.45,0.00,0.000,4,0.000,0.046,2404,461,3374,0,0,0,0,0,0
$GC,3599,-1.45,-77.9,313.4,-8.8,304,3603,0.00,2.28,0.00,0.000,6,0.000,0.023,2404,1876,3374,0,0,0,0,0,0
$GC,3922,-1.49,-77.9,336.7,-6.8,312,3926,0.00,2.42,0.00,0.000,4,0.000,0.048,2404,463,3372,0,0,0,0,0,0
$GC,3970,-1.49,-77.9,340.1,-7.2,313,3974,0.00,2.28,0.00,0.000,6,0.000,0.025,2404,1877,3372,0,0,0,0,0,0
$GC,4292,-1.53,-77.9,366.3,-8.8,321,4297,0.12,2.47,0.00,0.000,4,0.067,0.049,2366,460,3370,0,0,0,0,0,0
$GC,4321,-1.43,-77.9,369.4,-11.6,321,4326,0.17,2.30,0.00,0.000,6,0.091,0.025,2402,1881,3370,0,0,0,0,0,0
$GC,4658,-1.47,-77.9,399.6,-8.8,330,4665,0.00,2.45,0.00,0.000,4,0.000,0.050,2402,469,3367,0,0,0,0,0,0
$GC,4730,-1.47,-77.9,407.0,-9.8,331,4734,0.00,2.30,0.00,0.000,6,0.000,0.025,2402,1878,3366,0,0,0,0,0,0
$GC,5076,-1.52,-77.9,435.6,-8.3,340,5080,0.00,2.47,0.00,0.000,4,0.000,0.051,2402,462,3364,0,0,0,0,0,0
$GC,5202,-1.55,-77.9,447.7,-9.4,342,5207,0.12,2.30,0.00,0.000,6,0.067,0.027,2364,1870,3364,0,0,0,0,0,0
$STATE,5246,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5246,begin apogee
$GC,5252,-0.31,0.0,452.1,9.5,343,5320,1.33,0.00,63.88,0.874,6,0.077,0.000,2646,2035,3050,0,0,0,0,0,0
$STATE,5321,end apogee,CONTROL_FINISHED_OK
$STATE,5321,begin climb
$GC,5323,1.40,77.9,453.5,0.0,344,5399,1.62,2.42,64.88,0.854,4,0.030,0.041,3025,3386,2731,0,0,0,0,0,0
$GC,5457,1.23,136.4,454.2,4.0,347,5514,0.22,2.38,50.28,0.843,6,0.115,0.035,2986,2003,2492,0,0,0,0,0,0
$GC,5834,1.12,136.4,421.0,8.9,357,5839,0.15,2.45,0.00,0.000,4,0.117,0.051,2957,604,2485,0,0,0,0,0,0
$GC,5926,1.01,136.4,413.6,8.1,359,5931,0.15,2.33,0.00,0.000,6,0.121,0.028,2933,1996,2482,0,0,0,0,0,0
$GC,6254,1.04,167.9,393.4,5.9,367,6286,0.00,2.55,26.48,0.821,4,0.000,0.051,2932,607,2365,0,0,0,0,0,0
$GC,6365,1.04,167.9,384.6,9.0,369,6369,0.00,2.38,0.00,0.000,6,0.000,0.029,2933,2012,2360,0,0,0,0,0,0
$GC,6710,1.08,172.3,357.9,7.7,378,6722,0.00,2.53,4.35,0.555,4,0.000,0.050,2932,598,2346,0,0,0,0,0,0
$GC,6773,1.08,172.3,352.6,8.3,379,6777,0.00,2.38,0.00,0.000,6,0.000,0.030,2932,2012,2345,0,0,0,0,0,0
$GC,7122,1.14,179.3,326.9,7.5,388,7136,0.12,2.50,7.62,0.685,4,0.077,0.051,2962,605,2318,0,0,0,0,0,0
$GC,7300,1.07,179.3,309.1,10.3,391,7306,0.00,2.38,0.00,0.000,6,0.000,0.029,2963,2018,2315,0,0,0,0,0,0
$GC,7614,1.09,194.3,283.5,7.0,404,7636,0.00,2.58,14.40,0.739,4,0.000,0.050,2963,604,2256,0,0,0,0,0,0
$GC,7674,1.02,194.3,278.8,8.5,406,7679,0.15,2.35,0.00,0.000,6,0.120,0.028,2937,2011,2254,0,0,0,0,0,0
$GC,7990,1.08,194.3,255.8,8.3,421,7995,0.00,2.47,0.00,0.000,4,0.000,0.050,2936,605,2253,0,0,0,0,0,0
$GC,8121,1.11,194.3,243.5,9.4,426,8127,0.00,2.35,0.00,0.000,6,0.000,0.028,2937,2013,2250,0,0,0,0,0,0
$GC,8438,1.19,195.4,219.5,7.9,442,8443,0.17,2.50,0.00,0.000,4,0.064,0.049,2980,600,2250,0,0,0,0,0,0
$GC,8468,1.10,195.4,216.6,9.6,443,8473,0.15,2.35,0.00,0.000,6,0.117,0.028,2954,2012,2249,0,0,0,0,0,0
$GC,8792,1.21,239.3,195.9,5.0,462,8840,0.10,2.58,39.75,0.706,4,0.084,0.048,2980,601,2074,0,0,0,0,0,0
$GC,9062,1.17,239.3,169.7,12.1,491,9068,0.00,2.33,0.00,0.000,6,0.000,0.026,2980,2012,2067,0,0,0,0,0,0
$GC,9324,1.17,239.3,143.6,9.7,516,9329,0.00,2.47,0.00,0.000,4,0.000,0.048,2980,599,2067,0,0,0,0,0,0
$GC,9367,1.17,239.3,138.8,11.8,520,9371,0.00,2.33,0.00,0.000,6,0.000,0.025,2980,2016,2065,0,0,0,0,0,0
$GC,9630,1.21,239.3,116.1,8.5,544,9634,0.00,2.33,0.00,0.000,4,0.000,0.031,2980,3408,2065,0,0,0,0,0,0
$GC,9674,1.27,243.8,112.5,7.7,548,9682,0.00,2.35,3.83,0.397,6,0.000,0.030,2974,2007,2056,0,0,0,0,0,0
$GC,9944,1.35,254.8,94.7,7.3,574,9962,0.12,2.47,11.52,0.563,4,0.068,0.044,3016,597,2010,0,0,0,0,0,0
$GC,10030,1.30,254.8,86.0,10.5,583,10035,0.00,2.33,0.00,0.000,6,0.000,0.023,3016,2015,2008,0,0,0,0,0,0
$GC,10293,1.30,254.8,63.7,8.0,607,10297,0.00,2.42,0.00,0.000,4,0.000,0.044,3016,602,2008,0,0,0,0,0,0
$GC,10313,1.30,254.8,61.8,9.3,608,10318,0.00,2.30,0.00,0.000,6,0.000,0.022,3016,2023,2007,0,0,0,0,0,0
$GC,10576,1.32,268.9,42.1,7.1,633,10596,0.00,2.53,13.75,0.519,4,0.000,0.042,3016,603,1952,0,0,0,0,0,0
$GC,10773,1.32,268.9,22.9,10.1,662,10779,0.00,2.28,0.00,0.000,6,0.000,0.021,3016,2021,1949,0,0,0,0,0,0
$GC,10982,1.32,268.9,4.3,9.0,699,10987,0.00,2.45,0.00,0.000,4,0.000,0.044,3016,603,1948,0,0,0,0,0,0
$STATE,11000,end climb,SURFACE_DEPTH_REACHED
$STATE,11000,begin surface coast
$FINISH,0.5,1.023460
$STATE,11042,end surface coast,CONTROL_FINISHED_OK
$STATE,11042,begin surface
$SM_CCo,11066,16.33,0.492,0,0,1826,300.00
$SM_GC,1.89,0.00,0.00,16.33,0.000,0.000,0.492,425,1896,1826,-10.53,0.65,300.00
$IRIDIUM_FIX,2057.14,-15751.76,130999,010127
$TT8_MAMPS,0.029146
$HUMID,52.16
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,23.4,49.211
$10V_AH,10.0,45.305
$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,28.725,142.925,300.725,16.325,0.000,58.001,65.866,255.604,4.750,0.000,39.803,1380.236,7549.014,402.499,1704.664,633.281,33.385,1328.153,0.000,1640.598,0.000,29.266,0.000
$DEVICE_MAMPS,134.992,51.389,874.380,492.414,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,478.704,472.425,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,38011,712
$CAP_FILE_SIZE,137824,0
$CFSIZE,260165632,226127872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,190610,044338,2106.464,-15750.172,56,2.0,56,9.8