version: 66.06
glider: 139
mission: 7
dive: 720
start: 7 11 110 7 33 0
data:
$ID,139
$MISSION,7
$DIVE,720
$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,-2147836.8
$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
$GPS1,072200,2052.044,-15803.915,134,1.6,134,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-68.2
$GPS2,073208,2050.816,-15802.947,16,1.7,16,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.129,0.131
$KALMAN_X,-377251.8,-26.7,-761.5,364236.9,-1366.8
$KALMAN_Y,-21739.8,-3260.9,-5178.2,646.2,-9046.8
$MHEAD_RNG_PITCHd_Wd,34.7,44376,-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,-77.9,0.0,0.0,0,70,0.00,0.00,-50.38,0.000,2,0.000,0.000,426,1905,3155,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.3,-5.1,10,97,10.50,2.53,-4.30,0.000,4,0.129,0.054,2405,468,3371,0,0,0,0,0,0
$GC,123,-1.11,-77.9,16.0,-19.9,20,129,0.32,2.33,0.00,0.000,6,0.086,0.020,2472,1907,3371,0,0,0,0,0,0
$GC,328,-1.11,-77.9,42.2,-10.5,47,332,0.00,2.47,0.00,0.000,4,0.000,0.041,2472,468,3372,0,0,0,0,0,0
$GC,363,-1.08,-77.9,45.8,-10.2,50,367,0.00,2.28,0.00,0.000,6,0.000,0.019,2472,1885,3372,0,0,0,0,0,0
$GC,624,-1.08,-77.9,72.0,-9.2,74,628,0.00,2.42,0.00,0.000,4,0.000,0.041,2472,461,3373,0,0,0,0,0,0
$GC,717,-1.05,-77.9,81.1,-9.4,83,723,0.00,2.25,0.00,0.000,6,0.000,0.018,2472,1890,3373,0,0,0,0,0,0
$GC,981,-1.13,-77.9,101.4,-6.6,108,985,0.00,2.42,0.00,0.000,4,0.000,0.040,2472,460,3374,0,0,0,0,0,0
$GC,1028,-1.20,-77.9,105.0,-7.7,112,1034,0.00,2.22,0.00,0.000,6,0.000,0.018,2472,1879,3374,0,0,0,0,0,0
$GC,1292,-1.32,-77.9,124.0,-7.8,137,1297,0.20,2.22,0.00,0.000,4,0.045,0.025,2408,3250,3375,0,0,0,0,0,0
$GC,1403,-1.36,-77.9,134.6,-9.9,148,1407,0.00,2.28,0.00,0.000,6,0.000,0.025,2408,1866,3375,0,0,0,0,0,0
$GC,1666,-1.36,-77.9,158.4,-7.6,172,1670,0.00,2.33,0.00,0.000,4,0.000,0.040,2408,473,3376,0,0,0,0,0,0
$GC,1780,-1.31,-77.9,167.4,-8.2,183,1786,0.10,2.22,0.00,0.000,6,0.107,0.018,2429,1878,3376,0,0,0,0,0,0
$GC,2042,-1.36,-77.9,185.8,-7.6,208,2046,0.00,2.38,0.00,0.000,4,0.000,0.041,2429,472,3376,0,0,0,0,0,0
$GC,2112,-1.36,-77.9,192.0,-8.7,215,2116,0.00,2.22,0.00,0.000,6,0.000,0.019,2429,1877,3376,0,0,0,0,0,0
$GC,2385,-1.41,-77.9,213.6,-7.5,233,2389,0.00,2.40,0.00,0.000,4,0.000,0.041,2429,470,3376,0,0,0,0,0,0
$GC,2434,-1.41,-77.9,217.1,-7.1,235,2438,0.00,2.22,0.00,0.000,6,0.000,0.020,2430,1870,3376,0,0,0,0,0,0
$GC,2766,-1.49,-77.9,237.9,-6.6,251,2771,0.17,2.38,0.00,0.000,4,0.050,0.042,2374,475,3376,0,0,0,0,0,0
$GC,2818,-1.41,-77.9,242.6,-8.7,253,2823,0.15,2.22,0.00,0.000,6,0.091,0.021,2406,1869,3376,0,0,0,0,0,0
$GC,3141,-1.41,-77.9,263.8,-5.8,269,3145,0.00,2.28,0.00,0.000,4,0.000,0.028,2406,3257,3375,0,0,0,0,0,0
$GC,3179,-1.52,-77.9,266.2,-6.0,270,3183,0.00,2.30,0.00,0.000,6,0.000,0.028,2406,1875,3375,0,0,0,0,0,0
$GC,3495,-1.55,-77.9,286.1,-6.3,285,3500,0.15,2.42,0.00,0.000,4,0.057,0.044,2361,466,3374,0,0,0,0,0,0
$GC,3588,-1.45,-77.9,295.0,-9.9,289,3593,0.17,2.25,0.00,0.000,6,0.089,0.022,2397,1868,3374,0,0,0,0,0,0
$GC,3934,-1.45,-77.9,324.3,-8.4,299,3938,0.00,2.38,0.00,0.000,4,0.000,0.044,2396,474,3373,0,0,0,0,0,0
$GC,3962,-1.45,-77.9,326.9,-9.2,299,3966,0.00,2.25,0.00,0.000,6,0.000,0.023,2397,1876,3373,0,0,0,0,0,0
$GC,4299,-1.45,-77.9,352.0,-7.2,308,4303,0.00,2.30,0.00,0.000,4,0.000,0.030,2397,3264,3371,0,0,0,0,0,0
$GC,4332,-1.55,-77.9,354.7,-8.3,308,4336,0.00,2.33,0.00,0.000,6,0.000,0.031,2396,1868,3370,0,0,0,0,0,0
$GC,4671,-1.58,-77.9,383.0,-8.5,317,4675,0.12,2.42,0.00,0.000,4,0.066,0.048,2358,469,3369,0,0,0,0,0,0
$GC,4766,-1.51,-77.9,392.7,-11.0,319,4771,0.12,2.28,0.00,0.000,6,0.104,0.025,2384,1874,3368,0,0,0,0,0,0
$GC,5091,-1.51,-77.9,423.2,-9.0,327,5096,0.00,2.42,0.00,0.000,4,0.000,0.048,2384,466,3366,0,0,0,0,0,0
$GC,5147,-1.51,-77.9,428.2,-8.9,328,5151,0.00,2.30,0.00,0.000,6,0.000,0.025,2384,1873,3365,0,0,0,0,0,0
$STATE,5462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5462,begin apogee
$GC,5470,-0.31,0.0,451.5,7.2,336,5538,1.20,0.00,64.20,0.854,6,0.071,0.000,2643,2029,3050,0,0,0,0,0,0
$STATE,5538,end apogee,CONTROL_FINISHED_OK
$STATE,5538,begin climb
$GC,5541,1.40,77.9,452.2,0.0,337,5616,1.62,2.40,64.85,0.837,4,0.027,0.038,3028,3376,2731,0,0,0,0,0,0
$GC,5739,1.20,119.4,448.2,5.2,341,5780,0.28,2.35,35.53,0.821,6,0.111,0.034,2978,2001,2562,0,0,0,0,0,0
$GC,6090,1.10,128.2,422.4,7.4,350,6104,0.12,2.50,7.93,0.698,4,0.121,0.049,2956,599,2527,0,0,0,0,0,0
$GC,6143,0.99,150.8,419.0,6.5,351,6172,0.15,2.33,20.95,0.798,6,0.117,0.028,2930,1995,2435,0,0,0,0,0,0
$GC,6506,1.01,166.2,395.7,7.0,360,6526,0.00,2.53,14.07,0.771,4,0.000,0.051,2930,610,2371,0,0,0,0,0,0
$GC,6589,0.98,172.0,389.5,7.6,361,6602,0.00,2.35,6.32,0.647,6,0.000,0.029,2930,2013,2347,0,0,0,0,0,0
$GC,6933,1.03,178.9,364.9,7.5,370,6945,0.00,2.50,7.18,0.675,4,0.000,0.051,2930,607,2320,0,0,0,0,0,0
$GC,7019,1.03,178.9,357.3,8.1,371,7025,0.00,2.35,0.00,0.000,6,0.000,0.029,2930,2007,2318,0,0,0,0,0,0
$GC,7351,1.10,193.8,334.3,7.0,380,7372,0.10,2.47,14.50,0.755,4,0.087,0.038,2955,3407,2259,0,0,0,0,0,0
$GC,7467,1.13,193.8,325.1,8.3,382,7471,0.00,2.40,0.00,0.000,6,0.000,0.035,2955,2013,2258,0,0,0,0,0,0
$GC,7791,1.13,193.8,298.2,8.1,391,7796,0.00,2.47,0.00,0.000,4,0.000,0.050,2955,603,2255,0,0,0,0,0,0
$GC,7886,1.08,193.8,290.0,9.7,395,7890,0.00,2.35,0.00,0.000,6,0.000,0.028,2956,2020,2253,0,0,0,0,0,0
$GC,8210,1.08,193.8,262.7,8.1,411,8215,0.00,2.50,0.00,0.000,4,0.000,0.050,2955,602,2252,0,0,0,0,0,0
$GC,8334,1.05,197.9,252.9,7.7,416,8338,0.00,2.35,0.00,0.000,6,0.000,0.028,2955,2017,2250,0,0,0,0,0,0
$GC,8654,1.12,220.0,230.6,6.5,432,8683,0.00,2.42,23.12,0.718,4,0.000,0.035,2955,3414,2153,0,0,0,0,0,0
$GC,8725,1.21,234.1,225.9,7.1,435,8747,0.10,2.40,14.43,0.679,6,0.081,0.033,2982,2009,2094,0,0,0,0,0,0
$GC,9058,1.23,249.8,201.8,6.9,451,9080,0.00,2.55,14.40,0.664,4,0.000,0.049,2982,600,2030,0,0,0,0,0,0
$GC,9254,1.20,249.8,184.3,10.0,469,9259,0.00,2.38,0.00,0.000,6,0.000,0.027,2982,2016,2026,0,0,0,0,0,0
$GC,9518,1.23,249.8,162.9,8.1,493,9522,0.00,2.47,0.00,0.000,4,0.000,0.048,2982,603,2026,0,0,0,0,0,0
$GC,9701,1.20,249.8,146.6,8.3,512,9705,0.00,2.35,0.00,0.000,6,0.000,0.025,2982,2021,2024,0,0,0,0,0,0
$GC,9964,1.26,256.7,128.6,7.6,536,9977,0.00,2.53,6.53,0.519,4,0.000,0.046,2982,603,2003,0,0,0,0,0,0
$GC,10034,1.26,256.7,122.3,8.5,543,10039,0.00,2.33,0.00,0.000,6,0.000,0.025,2982,2020,2001,0,0,0,0,0,0
$GC,10297,1.35,275.7,104.0,6.7,568,10324,0.12,2.55,18.25,0.587,4,0.068,0.045,3019,602,1925,0,0,0,0,0,0
$GC,10539,1.31,275.7,82.2,8.7,594,10543,0.00,2.30,0.00,0.000,6,0.000,0.023,3019,2015,1922,0,0,0,0,0,0
$GC,10804,1.36,289.0,61.5,7.1,618,10822,0.00,2.47,12.93,0.529,4,0.000,0.042,3019,595,1870,0,0,0,0,0,0
$GC,11017,1.36,289.0,44.8,8.1,641,11022,0.00,2.30,0.00,0.000,6,0.000,0.021,3019,2023,1866,0,0,0,0,0,0
$GC,11281,1.41,292.1,25.8,7.8,669,11286,0.00,2.45,0.00,0.000,4,0.000,0.042,3019,601,1866,0,0,0,0,0,0
$GC,11431,1.41,292.1,11.3,10.1,701,11436,0.00,2.28,0.00,0.000,6,0.000,0.020,3019,2015,1866,0,0,0,0,0,0
$STATE,11558,end climb,SURFACE_DEPTH_REACHED
$STATE,11558,begin surface coast
$FINISH,0.6,1.006698
$STATE,11599,end surface coast,CONTROL_FINISHED_OK
$STATE,11599,begin surface
$SM_CCo,11621,8.73,0.451,0,0,1826,300.00
$SM_GC,2.12,0.00,0.00,8.73,0.000,0.000,0.451,422,1859,1826,-10.54,-0.42,300.00
$IRIDIUM_FIX,2059.45,-15759.05,051099,070741
$TT8_MAMPS,0.029146
$HUMID,55.31
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.3,64.609
$10V_AH,10.0,54.864
$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,26.825,137.775,325.175,8.725,0.000,45.253,55.702,310.805,4.500,0.000,16.351,1425.893,7944.611,399.179,1753.794,711.451,33.372,1353.438,0.000,1707.064,0.000,29.256,0.000
$DEVICE_MAMPS,128.856,54.457,854.438,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,492.200,483.105,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,38066,731
$CAP_FILE_SIZE,140702,0
$CFSIZE,260165632,215998464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110710,104856,2107.984,-15759.854,67,3.6,86,9.8