version: 66.06
glider: 139
mission: 7
dive: 719
start: 7 11 110 4 9 39
data:
$ID,139
$MISSION,7
$DIVE,719
$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,-2147819.8
$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
$GPS1,040156,2107.993,-15801.440,51,3.4,70,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-71.6
$GPS2,040846,2107.986,-15801.428,14,3.6,33,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.179,0.042
$KALMAN_X,-373930.4,778.9,-358.7,362284.4,543.7
$KALMAN_Y,1331.7,358.4,-217.4,520.9,-788.5
$MHEAD_RNG_PITCHd_Wd,67.1,32233,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-54.75,0.000,2,0.000,0.000,426,1869,3179,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.6,-6.5,11,96,10.52,2.38,-3.83,0.000,4,0.131,0.033,2406,3304,3367,0,0,0,0,0,0
$GC,144,-1.40,-77.9,18.7,-15.8,25,149,0.00,2.42,0.00,0.000,6,0.000,0.028,2405,1865,3369,0,0,0,0,0,0
$GC,352,-1.23,-77.9,48.6,-12.1,50,357,0.20,2.38,0.00,0.000,4,0.097,0.041,2446,471,3370,0,0,0,0,0,0
$GC,382,-1.10,-77.9,53.1,-15.7,52,388,0.15,2.30,0.00,0.000,6,0.101,0.019,2475,1930,3370,0,0,0,0,0,0
$GC,645,-1.10,-77.9,80.2,-11.5,77,649,0.00,2.47,0.00,0.000,4,0.000,0.041,2475,471,3371,0,0,0,0,0,0
$GC,708,-1.10,-77.9,87.7,-12.0,83,712,0.00,2.30,0.00,0.000,6,0.000,0.019,2476,1916,3371,0,0,0,0,0,0
$GC,972,-1.15,-77.9,116.0,-10.0,107,977,0.00,2.45,0.00,0.000,4,0.000,0.040,2476,471,3372,0,0,0,0,0,0
$GC,1017,-1.21,-77.9,120.4,-9.7,111,1022,0.12,2.22,0.00,0.000,6,0.062,0.018,2431,1882,3371,0,0,0,0,0,0
$GC,1278,-1.21,-77.9,143.1,-7.7,135,1282,0.00,2.40,0.00,0.000,4,0.000,0.041,2430,465,3373,0,0,0,0,0,0
$GC,1353,-1.21,-77.9,149.8,-9.2,142,1358,0.00,2.25,0.00,0.000,6,0.000,0.018,2431,1876,3373,0,0,0,0,0,0
$GC,1616,-1.25,-77.9,170.3,-8.5,167,1620,0.00,2.25,0.00,0.000,4,0.000,0.025,2431,3265,3374,0,0,0,0,0,0
$GC,1641,-1.32,-77.9,172.7,-8.8,169,1645,0.00,2.33,0.00,0.000,6,0.000,0.025,2431,1863,3373,0,0,0,0,0,0
$GC,1904,-1.38,-77.9,196.2,-8.4,193,1908,0.00,2.33,0.00,0.000,4,0.000,0.041,2431,474,3374,0,0,0,0,0,0
$GC,2027,-1.42,-77.9,206.8,-8.2,200,2032,0.12,2.22,0.00,0.000,6,0.061,0.018,2387,1887,3375,0,0,0,0,0,0
$GC,2350,-1.42,-77.9,232.6,-7.7,216,2354,0.00,2.40,0.00,0.000,4,0.000,0.041,2386,469,3375,0,0,0,0,0,0
$GC,2411,-1.35,-77.9,237.9,-8.3,218,2417,0.15,2.22,0.00,0.000,6,0.091,0.020,2418,1875,3374,0,0,0,0,0,0
$GC,2729,-1.40,-77.9,258.2,-7.1,234,2733,0.00,2.40,0.00,0.000,4,0.000,0.042,2417,472,3375,0,0,0,0,0,0
$GC,2757,-1.40,-77.9,260.8,-8.5,235,2761,0.00,2.22,0.00,0.000,6,0.000,0.020,2417,1880,3375,0,0,0,0,0,0
$GC,3078,-1.46,-77.9,283.1,-6.5,251,3083,0.10,2.42,0.00,0.000,4,0.072,0.044,2381,476,3374,0,0,0,0,0,0
$GC,3093,-1.46,-77.9,284.5,-7.3,251,3099,0.00,2.22,0.00,0.000,6,0.000,0.021,2381,1873,3374,0,0,0,0,0,0
$GC,3428,-1.46,-77.9,310.1,-7.5,265,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1878,3373,0,0,0,0,0,0
$GC,3752,-1.46,-77.9,336.3,-7.8,273,3757,0.00,2.38,0.00,0.000,4,0.000,0.044,2381,476,3373,0,0,0,0,0,0
$GC,3796,-1.43,-77.9,340.1,-9.2,274,3801,0.10,2.25,0.00,0.000,6,0.110,0.023,2401,1870,3373,0,0,0,0,0,0
$GC,4128,-1.47,-77.9,363.7,-7.0,282,4132,0.00,2.45,0.00,0.000,4,0.000,0.048,2401,469,3371,0,0,0,0,0,0
$GC,4188,-1.47,-77.9,368.8,-7.5,283,4192,0.00,2.25,0.00,0.000,6,0.000,0.024,2401,1869,3370,0,0,0,0,0,0
$GC,4541,-1.52,-77.9,393.2,-6.5,292,4545,0.00,2.40,0.00,0.000,4,0.000,0.048,2401,472,3368,0,0,0,0,0,0
$GC,4610,-1.52,-77.9,398.2,-6.6,293,4615,0.00,2.28,0.00,0.000,6,0.000,0.025,2401,1877,3368,0,0,0,0,0,0
$GC,4954,-1.57,-77.9,420.9,-6.7,302,4959,0.12,2.42,0.00,0.000,4,0.065,0.049,2362,478,3365,0,0,0,0,0,0
$GC,5025,-1.49,-77.9,426.9,-8.8,303,5030,0.12,2.28,0.00,0.000,6,0.101,0.026,2388,1881,3365,0,0,0,0,0,0
$GC,5367,-1.49,-77.9,447.9,-6.2,312,5371,0.00,2.45,0.00,0.000,4,0.000,0.050,2387,475,3363,0,0,0,0,0,0
$STATE,5393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5393,begin apogee
$GC,5401,-0.31,0.0,450.2,8.1,312,5469,1.17,0.00,63.70,0.857,6,0.074,0.000,2642,2010,3050,0,0,0,0,0,0
$STATE,5470,end apogee,CONTROL_FINISHED_OK
$STATE,5470,begin climb
$GC,5472,1.40,77.9,451.7,0.0,314,5548,1.62,2.47,64.90,0.835,4,0.028,0.038,3028,3400,2732,0,0,0,0,0,0
$GC,5753,1.23,133.6,449.1,4.2,320,5807,0.22,2.38,47.42,0.835,6,0.111,0.034,2987,2006,2505,0,0,0,0,0,0
$GC,6155,1.11,133.6,416.3,9.3,330,6160,0.15,2.47,0.00,0.000,4,0.116,0.051,2958,607,2498,0,0,0,0,0,0
$GC,6189,0.98,133.6,412.9,9.6,330,6194,0.15,2.38,0.00,0.000,6,0.119,0.028,2931,2020,2496,0,0,0,0,0,0
$GC,6520,0.98,133.6,384.9,8.1,338,6521,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2024,2494,0,0,0,0,0,0
$GC,6845,1.02,162.5,363.5,6.0,346,6875,0.00,2.53,24.10,0.802,4,0.000,0.050,2932,608,2386,0,0,0,0,0,0
$GC,6890,1.04,177.0,360.5,7.0,347,6911,0.00,2.38,14.15,0.753,6,0.000,0.029,2931,2013,2327,0,0,0,0,0,0
$GC,7259,1.12,209.0,336.3,5.8,356,7295,0.12,2.53,29.23,0.791,4,0.076,0.050,2962,609,2196,0,0,0,0,0,0
$GC,7515,1.06,209.0,314.2,9.1,361,7520,0.00,2.38,0.00,0.000,6,0.000,0.029,2962,2013,2188,0,0,0,0,0,0
$GC,7838,1.06,212.3,287.8,7.8,373,7843,0.00,2.50,0.00,0.000,4,0.000,0.051,2962,602,2187,0,0,0,0,0,0
$GC,7931,1.02,212.3,280.0,8.1,377,7936,0.12,2.35,0.00,0.000,6,0.123,0.028,2940,2011,2184,0,0,0,0,0,0
$GC,8261,1.14,239.6,258.9,6.1,393,8294,0.10,2.58,26.38,0.740,4,0.085,0.051,2966,609,2073,0,0,0,0,0,0
$GC,8461,1.14,239.6,239.7,10.0,401,8466,0.00,2.38,0.00,0.000,6,0.000,0.028,2966,2021,2066,0,0,0,0,0,0
$GC,8777,1.19,239.6,211.6,8.6,417,8781,0.00,2.50,0.00,0.000,4,0.000,0.048,2966,601,2066,0,0,0,0,0,0
$GC,8951,1.19,239.6,195.5,8.4,427,8955,0.00,2.35,0.00,0.000,6,0.000,0.027,2966,2013,2063,0,0,0,0,0,0
$GC,9214,1.26,239.6,172.6,8.3,451,9219,0.10,2.45,0.00,0.000,4,0.081,0.048,2994,606,2064,0,0,0,0,0,0
$GC,9320,1.21,248.1,163.7,7.4,461,9336,0.00,2.33,7.50,0.565,6,0.000,0.025,2994,2020,2038,0,0,0,0,0,0
$GC,9590,1.24,248.2,144.6,8.0,487,9594,0.00,2.47,0.00,0.000,4,0.000,0.046,2995,598,2037,0,0,0,0,0,0
$GC,9661,1.24,248.2,137.4,11.3,494,9665,0.00,2.30,0.00,0.000,6,0.000,0.025,2995,2006,2035,0,0,0,0,0,0
$GC,9926,1.28,248.2,114.8,8.0,518,9930,0.00,2.40,0.00,0.000,4,0.000,0.044,2995,606,2035,0,0,0,0,0,0
$GC,10120,1.28,249.3,98.2,7.9,538,10126,0.00,2.30,0.00,0.000,6,0.000,0.023,2995,2016,2035,0,0,0,0,0,0
$GC,10384,1.40,296.3,83.5,4.8,563,10435,0.10,2.53,42.95,0.583,4,0.078,0.043,3027,606,1841,0,0,0,0,0,0
$GC,10497,1.37,296.3,75.1,8.3,575,10502,0.00,2.30,0.00,0.000,6,0.000,0.021,3027,2012,1837,0,0,0,0,0,0
$GC,10761,1.41,296.3,51.2,10.3,600,10765,0.00,2.42,0.00,0.000,4,0.000,0.044,3026,605,1837,0,0,0,0,0,0
$GC,10933,1.41,296.3,33.2,10.0,618,10938,0.00,2.28,0.00,0.000,6,0.000,0.021,3027,2014,1835,0,0,0,0,0,0
$GC,11207,1.46,296.3,11.0,10.7,663,11213,0.00,2.42,0.00,0.000,4,0.000,0.041,3027,603,1835,0,0,0,0,0,0
$STATE,11304,end climb,SURFACE_DEPTH_REACHED
$STATE,11305,begin surface coast
$FINISH,0.6,1.023307
$STATE,11343,end surface coast,CONTROL_FINISHED_OK
$STATE,11343,begin surface
$SM_CCo,11366,1.92,0.069,0,0,1828,300.00
$SM_GC,2.16,0.00,0.00,1.92,0.000,0.000,0.069,427,1903,1828,-10.52,0.90,300.00
$IRIDIUM_FIX,2101.76,-15800.33,051099,010148
$TT8_MAMPS,0.029146
$HUMID,54.44
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.3,64.513
$10V_AH,10.0,54.801
$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,26.725,132.775,320.325,1.925,0.000,32.775,41.677,187.363,4.500,0.000,34.584,1349.964,7802.528,385.417,1699.476,538.907,33.403,1302.980,0.000,1635.187,0.000,31.052,0.000
$DEVICE_MAMPS,131.157,50.622,856.739,69.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,465.377,451.068,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34895,692
$CAP_FILE_SIZE,130996,0
$CFSIZE,260165632,216076288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110710,072200,2052.044,-15803.915,134,1.6,134,9.8