version: 66.06
glider: 139
mission: 7
dive: 672
start: 7 4 110 17 29 41
data:
$ID,139
$MISSION,7
$DIVE,672
$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,-2146156
$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
$GPS1,172230,2104.360,-15747.800,106,1.4,111,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.7
$GPS2,172849,2104.331,-15747.843,9,1.4,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.147,0.111
$KALMAN_X,-362945.7,-144.7,189.9,375148.7,-1611.1
$KALMAN_Y,29513.9,-100.7,62.2,-34246.7,-1231.8
$MHEAD_RNG_PITCHd_Wd,43.1,8941,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.40,-77.9,0.0,0.0,0,75,0.00,0.00,-55.47,0.000,2,0.000,0.000,426,1864,3172,0,0,0,0,0,0
$GC,79,-1.40,-77.9,3.7,-6.3,11,99,10.55,2.45,-3.88,0.000,4,0.132,0.053,2404,467,3370,0,0,0,0,0,0
$GC,172,-1.21,-77.9,23.8,-15.0,30,178,0.22,2.35,0.00,0.000,6,0.088,0.020,2451,1912,3372,0,0,0,0,0,0
$GC,380,-1.15,-77.9,50.1,-11.9,53,384,0.00,2.47,0.00,0.000,4,0.000,0.041,2451,463,3372,0,0,0,0,0,0
$GC,405,-1.03,-77.9,53.4,-12.5,55,410,0.17,2.25,0.00,0.000,6,0.097,0.019,2486,1880,3372,0,0,0,0,0,0
$GC,668,-1.03,-77.9,77.7,-8.2,79,672,0.00,2.42,0.00,0.000,4,0.000,0.041,2486,458,3373,0,0,0,0,0,0
$GC,705,-1.03,-77.9,81.3,-8.9,82,711,0.00,2.28,0.00,0.000,6,0.000,0.019,2486,1883,3373,0,0,0,0,0,0
$GC,968,-1.13,-77.9,101.3,-6.5,107,972,0.00,2.28,0.00,0.000,4,0.000,0.024,2486,3264,3374,0,0,0,0,0,0
$GC,995,-1.27,-77.9,103.0,-6.0,109,1000,0.22,2.33,0.00,0.000,6,0.043,0.025,2417,1867,3374,0,0,0,0,0,0
$GC,1257,-1.24,-77.9,127.7,-9.1,133,1261,0.12,2.40,0.00,0.000,4,0.098,0.041,2443,466,3375,0,0,0,0,0,0
$GC,1328,-1.24,-77.9,134.1,-8.2,140,1332,0.00,2.25,0.00,0.000,6,0.000,0.018,2443,1884,3375,0,0,0,0,0,0
$GC,1596,-1.29,-77.9,153.1,-7.3,165,1600,0.00,2.22,0.00,0.000,4,0.000,0.025,2443,3258,3375,0,0,0,0,0,0
$GC,1630,-1.42,-77.9,155.7,-7.4,168,1636,0.17,2.28,0.00,0.000,6,0.049,0.026,2388,1870,3375,0,0,0,0,0,0
$GC,1891,-1.36,-77.9,183.1,-11.0,193,1896,0.15,2.38,0.00,0.000,4,0.093,0.041,2419,469,3376,0,0,0,0,0,0
$GC,1922,-1.33,-77.9,186.4,-10.9,195,1927,0.00,2.25,0.00,0.000,6,0.000,0.019,2418,1883,3377,0,0,0,0,0,0
$GC,2190,-1.33,-77.9,212.0,-9.1,215,2194,0.00,2.40,0.00,0.000,4,0.000,0.041,2418,466,3376,0,0,0,0,0,0
$GC,2245,-1.33,-77.9,217.6,-9.6,217,2249,0.00,2.25,0.00,0.000,6,0.000,0.019,2419,1877,3376,0,0,0,0,0,0
$GC,2564,-1.37,-77.9,243.4,-7.5,232,2568,0.00,2.38,0.00,0.000,4,0.000,0.042,2418,475,3376,0,0,0,0,0,0
$GC,2605,-1.37,-77.9,247.1,-8.2,233,2611,0.00,2.25,0.00,0.000,6,0.000,0.020,2418,1882,3376,0,0,0,0,0,0
$GC,2922,-1.43,-77.9,268.8,-6.7,249,2926,0.00,2.40,0.00,0.000,4,0.000,0.043,2418,474,3376,0,0,0,0,0,0
$GC,2997,-1.46,-77.9,274.9,-7.9,252,3001,0.10,2.25,0.00,0.000,6,0.071,0.021,2382,1877,3376,0,0,0,0,0,0
$GC,3317,-1.46,-77.9,306.2,-10.4,267,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1881,3375,0,0,0,0,0,0
$GC,3641,-1.46,-77.9,338.7,-10.2,275,3646,0.00,2.42,0.00,0.000,4,0.000,0.046,2381,473,3374,0,0,0,0,0,0
$GC,3741,-1.42,-77.9,348.1,-9.2,277,3745,0.12,2.25,0.00,0.000,6,0.099,0.023,2407,1872,3374,0,0,0,0,0,0
$GC,4064,-1.47,-77.9,362.2,-3.0,285,4068,0.00,2.40,0.00,0.000,4,0.000,0.046,2407,470,3373,0,0,0,0,0,0
$GC,4107,-1.47,-77.9,364.0,-4.2,286,4111,0.00,2.30,0.00,0.000,6,0.000,0.024,2407,1881,3372,0,0,0,0,0,0
$GC,4436,-1.52,-77.9,378.8,-5.2,294,4440,0.12,2.45,0.00,0.000,4,0.064,0.048,2368,478,3370,0,0,0,0,0,0
$GC,4480,-1.45,-77.9,382.6,-9.0,295,4485,0.15,2.30,0.00,0.000,6,0.094,0.025,2399,1882,3370,0,0,0,0,0,0
$GC,4811,-1.48,-77.9,413.4,-9.5,303,4815,0.00,2.42,0.00,0.000,4,0.000,0.049,2398,474,3368,0,0,0,0,0,0
$GC,4887,-1.48,-77.9,420.3,-9.0,304,4891,0.00,2.30,0.00,0.000,6,0.000,0.026,2399,1876,3367,0,0,0,0,0,0
$GC,5224,-1.53,-77.9,446.5,-7.8,313,5228,0.00,2.45,0.00,0.000,4,0.000,0.051,2398,472,3364,0,0,0,0,0,0
$STATE,5268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5268,begin apogee
$GC,5276,-0.31,0.0,450.2,7.3,314,5344,1.12,0.00,63.80,0.861,6,0.072,0.000,2643,2016,3050,0,0,0,0,0,0
$STATE,5345,end apogee,CONTROL_FINISHED_OK
$STATE,5345,begin climb
$GC,5348,1.40,77.9,450.9,0.0,315,5424,1.62,2.47,64.78,0.843,4,0.028,0.038,3027,3407,2732,0,0,0,0,0,0
$GC,5620,1.17,84.5,438.4,7.6,321,5633,0.30,2.38,6.75,0.669,6,0.107,0.033,2973,2012,2704,0,0,0,0,0,0
$GC,5954,1.14,149.4,422.9,3.6,329,6015,0.00,2.55,55.20,0.840,4,0.000,0.051,2972,610,2441,0,0,0,0,0,0
$GC,6028,1.04,174.3,419.7,6.3,330,6057,0.17,2.40,22.92,0.798,6,0.118,0.028,2941,2029,2339,0,0,0,0,0,0
$GC,6371,1.04,174.3,391.0,8.0,339,6375,0.00,2.50,0.00,0.000,4,0.000,0.051,2942,605,2331,0,0,0,0,0,0
$GC,6479,0.98,174.3,381.9,9.1,341,6483,0.00,2.35,0.00,0.000,6,0.000,0.028,2942,2013,2327,0,0,0,0,0,0
$GC,6828,0.98,174.3,354.6,8.1,350,6833,0.00,2.50,0.00,0.000,4,0.000,0.051,2942,601,2327,0,0,0,0,0,0
$GC,6847,0.98,174.3,352.8,9.6,350,6851,0.00,2.38,0.00,0.000,6,0.000,0.029,2942,2023,2325,0,0,0,0,0,0
$GC,7193,1.00,186.0,326.0,7.2,359,7209,0.00,2.53,9.40,0.716,4,0.000,0.049,2942,600,2290,0,0,0,0,0,0
$GC,7286,1.01,193.9,319.2,7.5,361,7300,0.00,2.35,8.27,0.689,6,0.000,0.029,2942,2015,2259,0,0,0,0,0,0
$GC,7618,1.06,193.9,293.3,9.0,370,7623,0.00,2.47,0.00,0.000,4,0.000,0.051,2942,598,2256,0,0,0,0,0,0
$GC,7652,1.06,193.9,289.4,10.6,371,7656,0.00,2.35,0.00,0.000,6,0.000,0.029,2942,2010,2254,0,0,0,0,0,0
$GC,7968,1.14,203.8,263.0,7.3,386,7984,0.00,2.53,9.57,0.677,4,0.000,0.049,2942,611,2219,0,0,0,0,0,0
$GC,8085,1.16,220.9,254.8,6.8,391,8108,0.10,2.35,16.70,0.721,6,0.085,0.028,2968,2016,2148,0,0,0,0,0,0
$GC,8418,1.21,229.6,230.4,7.4,407,8434,0.00,2.50,8.98,0.644,4,0.000,0.048,2968,604,2112,0,0,0,0,0,0
$GC,8532,1.21,229.6,219.3,11.1,412,8536,0.00,2.35,0.00,0.000,6,0.000,0.028,2968,2014,2109,0,0,0,0,0,0
$GC,8861,1.26,229.6,188.2,8.6,433,8866,0.00,2.47,0.00,0.000,4,0.000,0.048,2968,604,2108,0,0,0,0,0,0
$GC,8978,1.26,229.6,178.2,8.3,445,8983,0.00,2.35,0.00,0.000,6,0.000,0.026,2968,2017,2106,0,0,0,0,0,0
$GC,9242,1.33,240.9,160.2,7.2,469,9261,0.15,2.53,10.60,0.604,4,0.064,0.047,3008,610,2067,0,0,0,0,0,0
$GC,9321,1.26,240.9,152.2,10.0,477,9325,0.00,2.35,0.00,0.000,6,0.000,0.025,3008,2024,2065,0,0,0,0,0,0
$GC,9586,1.27,250.2,131.2,7.4,501,9604,0.00,2.50,9.57,0.568,4,0.000,0.044,3007,596,2029,0,0,0,0,0,0
$GC,9793,1.22,250.2,112.4,9.4,523,9798,0.15,2.35,0.00,0.000,6,0.104,0.024,2980,2018,2026,0,0,0,0,0,0
$GC,10055,1.38,305.8,96.9,4.2,547,10114,0.15,2.53,49.62,0.598,4,0.061,0.043,3022,598,1801,0,0,0,0,0,0
$GC,10229,1.38,305.8,84.8,8.7,566,10233,0.00,2.30,0.00,0.000,6,0.000,0.022,3022,2012,1796,0,0,0,0,0,0
$GC,10492,1.44,305.8,62.6,8.4,590,10497,0.00,2.45,0.00,0.000,4,0.000,0.043,3022,601,1796,0,0,0,0,0,0
$GC,10638,1.44,305.8,48.5,9.4,605,10642,0.00,2.30,0.00,0.000,6,0.000,0.021,3022,2011,1794,0,0,0,0,0,0
$GC,10902,1.49,305.8,25.0,8.9,634,10907,0.00,2.42,0.00,0.000,4,0.000,0.043,3022,602,1794,0,0,0,0,0,0
$GC,11090,1.45,305.8,4.6,12.8,674,11096,0.00,2.28,0.00,0.000,6,0.000,0.020,3022,2025,1794,0,0,0,0,0,0
$STATE,11105,end climb,SURFACE_DEPTH_REACHED
$STATE,11106,begin surface coast
$FINISH,0.5,1.023420
$STATE,11135,end surface coast,CONTROL_FINISHED_OK
$STATE,11135,begin surface
$SM_CCo,11217,0.00,0.000,0,0,1790,309.08
$SM_GC,1.37,11.15,0.00,0.00,0.026,0.000,0.000,428,1868,1790,-10.44,-0.20,309.08
$IRIDIUM_FIX,2057.14,-15746.61,280999,141453
$TT8_MAMPS,0.029146
$HUMID,54.56
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,23.3,60.188
$10V_AH,10.0,52.046
$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,27.050,138.450,336.175,0.000,0.000,30.291,54.917,169.040,4.750,0.000,14.678,1334.558,7686.956,387.021,1645.121,537.095,33.377,1308.508,0.000,1603.776,0.000,29.248,0.000
$DEVICE_MAMPS,131.924,52.923,860.574,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,458.490,444.124,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,34891,682
$CAP_FILE_SIZE,131407,0
$CFSIZE,260165632,218976256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040710,203827,2104.211,-15747.647,53,4.2,72,9.8