version: 66.06
glider: 139
mission: 7
dive: 721
start: 7 11 110 10 55 55
data:
$ID,139
$MISSION,7
$DIVE,721
$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,-2147870.8
$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
$GPS1,104856,2107.984,-15759.854,67,3.6,86,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-71.5
$GPS2,105504,2107.958,-15759.846,13,5.1,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.166,-0.080
$KALMAN_X,-374584.5,-299.0,596.4,365753.0,767.9
$KALMAN_Y,-3145.8,-820.7,2930.4,2642.6,10046.6
$MHEAD_RNG_PITCHd_Wd,105.8,29516,-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,-77.9,0.0,0.0,0,69,0.00,0.00,-50.08,0.000,2,0.000,0.000,422,1859,3162,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.8,-7.0,10,96,10.52,2.47,-4.05,0.000,4,0.130,0.056,2406,461,3369,0,0,0,0,0,0
$GC,156,-1.21,-77.9,22.0,-16.9,27,162,0.20,2.35,0.00,0.000,6,0.091,0.020,2447,1908,3371,0,0,0,0,0,0
$GC,364,-1.15,-77.9,48.0,-12.1,51,368,0.00,2.50,0.00,0.000,4,0.000,0.042,2446,460,3372,0,0,0,0,0,0
$GC,399,-1.05,-77.9,52.9,-13.8,54,404,0.17,2.28,0.00,0.000,6,0.097,0.019,2481,1884,3372,0,0,0,0,0,0
$GC,664,-1.15,-77.9,76.6,-7.5,78,668,0.00,2.42,0.00,0.000,4,0.000,0.041,2481,468,3373,0,0,0,0,0,0
$GC,774,-1.22,-77.9,85.6,-8.0,89,779,0.15,2.22,0.00,0.000,6,0.054,0.019,2432,1883,3373,0,0,0,0,0,0
$GC,1040,-1.22,-77.9,109.0,-9.1,114,1045,0.00,2.42,0.00,0.000,4,0.000,0.041,2430,459,3374,0,0,0,0,0,0
$GC,1151,-1.22,-77.9,119.7,-9.1,125,1160,0.00,2.25,0.00,0.000,6,0.000,0.018,2430,1876,3375,0,0,0,0,0,0
$GC,1414,-1.22,-77.9,141.0,-8.2,150,1418,0.00,2.25,0.00,0.000,4,0.000,0.025,2430,3252,3375,0,0,0,0,0,0
$GC,1481,-1.34,-77.9,146.0,-6.9,157,1485,0.00,2.28,0.00,0.000,6,0.000,0.026,2430,1868,3376,0,0,0,0,0,0
$GC,1745,-1.39,-77.9,162.6,-6.8,181,1749,0.00,2.35,0.00,0.000,4,0.000,0.041,2430,469,3376,0,0,0,0,0,0
$GC,1847,-1.39,-77.9,170.6,-7.7,191,1853,0.00,2.22,0.00,0.000,6,0.000,0.019,2430,1875,3376,0,0,0,0,0,0
$GC,2113,-1.44,-77.9,189.5,-7.2,216,2118,0.15,2.42,0.00,0.000,4,0.055,0.041,2381,466,3376,0,0,0,0,0,0
$GC,2133,-1.39,-77.9,191.6,-8.1,217,2139,0.15,2.22,0.00,0.000,6,0.096,0.020,2412,1874,3376,0,0,0,0,0,0
$GC,2390,-1.39,-77.9,212.1,-8.3,235,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1879,3376,0,0,0,0,0,0
$GC,2700,-1.42,-77.9,233.0,-6.0,250,2705,0.00,2.38,0.00,0.000,4,0.000,0.043,2412,475,3376,0,0,0,0,0,0
$GC,2779,-1.42,-77.9,239.2,-7.8,253,2784,0.00,2.22,0.00,0.000,6,0.000,0.021,2412,1869,3376,0,0,0,0,0,0
$GC,3096,-1.46,-77.9,259.8,-6.4,268,3101,0.00,2.38,0.00,0.000,4,0.000,0.043,2412,469,3376,0,0,0,0,0,0
$GC,3130,-1.46,-77.9,262.2,-6.4,269,3134,0.00,2.25,0.00,0.000,6,0.000,0.021,2412,1870,3376,0,0,0,0,0,0
$GC,3453,-1.51,-77.9,280.2,-5.9,285,3458,0.12,2.42,0.00,0.000,4,0.064,0.044,2372,472,3375,0,0,0,0,0,0
$GC,3558,-1.42,-77.9,291.0,-10.5,289,3563,0.15,2.28,0.00,0.000,6,0.094,0.022,2403,1876,3375,0,0,0,0,0,0
$GC,3872,-1.46,-77.9,318.3,-8.0,299,3876,0.00,2.40,0.00,0.000,4,0.000,0.045,2403,476,3373,0,0,0,0,0,0
$GC,3895,-1.46,-77.9,320.5,-8.4,299,3899,0.00,2.28,0.00,0.000,6,0.000,0.023,2402,1879,3373,0,0,0,0,0,0
$GC,4236,-1.50,-77.9,348.6,-8.4,308,4240,0.00,2.40,0.00,0.000,4,0.000,0.045,2403,476,3372,0,0,0,0,0,0
$GC,4260,-1.50,-77.9,350.6,-8.4,308,4264,0.00,2.28,0.00,0.000,6,0.000,0.024,2402,1876,3372,0,0,0,0,0,0
$GC,4600,-1.54,-77.9,374.2,-6.3,317,4605,0.12,2.42,0.00,0.000,4,0.064,0.048,2364,476,3370,0,0,0,0,0,0
$GC,4687,-1.46,-77.9,382.6,-10.4,318,4693,0.15,2.28,0.00,0.000,6,0.094,0.025,2395,1870,3369,0,0,0,0,0,0
$GC,5018,-1.46,-77.9,411.2,-8.2,327,5022,0.00,2.42,0.00,0.000,4,0.000,0.049,2395,477,3367,0,0,0,0,0,0
$GC,5080,-1.46,-77.9,417.8,-10.7,328,5084,0.00,2.30,0.00,0.000,6,0.000,0.025,2395,1880,3367,0,0,0,0,0,0
$GC,5431,-1.49,-77.9,437.0,-4.6,337,5435,0.00,2.42,0.00,0.000,4,0.000,0.048,2395,470,3365,0,0,0,0,0,0
$GC,5555,-1.49,-77.9,445.0,-8.0,339,5559,0.00,2.30,0.00,0.000,6,0.000,0.026,2395,1875,3364,0,0,0,0,0,0
$STATE,5644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5644,begin apogee
$GC,5651,-0.31,0.0,453.3,8.8,342,5719,1.15,0.00,64.32,0.865,6,0.072,0.000,2643,2031,3050,0,0,0,0,0,0
$STATE,5720,end apogee,CONTROL_FINISHED_OK
$STATE,5720,begin climb
$GC,5722,1.40,77.9,455.2,0.0,343,5798,1.62,2.40,64.97,0.847,4,0.028,0.039,3027,3374,2732,0,0,0,0,0,0
$GC,5977,1.18,95.3,454.8,6.8,348,5999,0.30,2.33,15.70,0.792,6,0.105,0.035,2972,2014,2661,0,0,0,0,0,0
$GC,6327,1.13,152.9,442.0,4.1,357,6379,0.00,0.00,49.90,0.846,6,0.000,0.000,2972,2013,2426,0,0,0,0,0,0
$GC,6697,1.07,165.1,413.8,7.2,366,6710,0.12,0.00,11.10,0.755,6,0.121,0.000,2950,2014,2376,0,0,0,0,0,0
$GC,7020,1.08,168.6,389.6,7.8,374,7029,0.00,2.53,3.92,0.518,4,0.000,0.052,2950,597,2362,0,0,0,0,0,0
$GC,7044,1.02,171.2,387.6,7.8,374,7049,0.00,2.35,0.00,0.000,6,0.000,0.029,2950,1988,2360,0,0,0,0,0,0
$GC,7385,1.02,171.5,358.5,8.0,383,7394,0.00,2.47,3.85,0.510,4,0.000,0.051,2950,604,2350,0,0,0,0,0,0
$GC,7494,0.96,171.5,349.6,9.3,385,7499,0.15,2.38,0.00,0.000,6,0.115,0.028,2923,2018,2348,0,0,0,0,0,0
$GC,7846,1.03,178.8,323.2,7.5,394,7859,0.00,2.53,7.85,0.687,4,0.000,0.051,2923,607,2320,0,0,0,0,0,0
$GC,7896,1.03,178.8,318.7,9.1,395,7901,0.00,2.35,0.00,0.000,6,0.000,0.029,2923,2012,2318,0,0,0,0,0,0
$GC,8218,1.13,201.2,296.0,6.5,404,8247,0.17,2.55,21.45,0.765,4,0.065,0.051,2965,598,2227,0,0,0,0,0,0
$GC,8279,1.07,201.2,291.3,9.0,406,8283,0.00,2.38,0.00,0.000,6,0.000,0.029,2965,2015,2224,0,0,0,0,0,0
$GC,8594,1.09,218.1,268.0,6.9,421,8616,0.00,2.55,15.77,0.726,4,0.000,0.051,2965,606,2159,0,0,0,0,0,0
$GC,8757,1.04,218.1,253.6,10.2,428,8762,0.12,2.38,0.00,0.000,6,0.120,0.028,2943,2015,2154,0,0,0,0,0,0
$GC,9090,1.15,227.4,229.2,7.4,444,9106,0.00,2.50,9.07,0.647,4,0.000,0.048,2943,606,2121,0,0,0,0,0,0
$GC,9187,1.18,247.6,221.6,6.6,448,9212,0.12,2.35,19.25,0.700,6,0.075,0.027,2975,2027,2040,0,0,0,0,0,0
$GC,9529,1.25,260.7,196.3,7.1,466,9547,0.00,2.55,12.75,0.650,4,0.000,0.047,2975,599,1986,0,0,0,0,0,0
$GC,9634,1.25,260.7,186.9,10.1,477,9638,0.00,2.35,0.00,0.000,6,0.000,0.026,2975,2010,1982,0,0,0,0,0,0
$GC,9902,1.30,266.8,165.3,7.6,502,9915,0.10,2.53,6.18,0.542,4,0.081,0.047,3003,605,1962,0,0,0,0,0,0
$GC,10075,1.24,266.8,148.2,9.8,520,10080,0.00,2.35,0.00,0.000,6,0.000,0.025,3002,2014,1959,0,0,0,0,0,0
$GC,10337,1.24,266.8,124.1,9.5,545,10342,0.00,2.45,0.00,0.000,4,0.000,0.046,3003,600,1959,0,0,0,0,0,0
$GC,10413,1.21,266.8,116.5,9.8,552,10419,0.12,2.33,0.00,0.000,6,0.106,0.025,2979,2019,1959,0,0,0,0,0,0
$GC,10676,1.35,317.4,101.8,4.5,577,10729,0.12,2.38,45.17,0.607,4,0.068,0.030,3016,3401,1755,0,0,0,0,0,0
$GC,10844,1.43,317.4,87.1,9.3,595,10848,0.00,2.38,0.00,0.000,6,0.000,0.030,3016,2006,1754,0,0,0,0,0,0
$GC,11108,1.52,317.4,60.7,9.0,619,11112,0.12,2.42,0.00,0.000,4,0.067,0.044,3054,603,1752,0,0,0,0,0,0
$GC,11274,1.44,317.4,43.8,10.3,636,11280,0.15,2.30,0.00,0.000,6,0.101,0.021,3025,2028,1749,0,0,0,0,0,0
$GC,11542,1.50,317.4,18.4,10.7,671,11547,0.00,2.45,0.00,0.000,4,0.000,0.041,3025,603,1748,0,0,0,0,0,0
$STATE,11691,end climb,SURFACE_DEPTH_REACHED
$STATE,11691,begin surface coast
$FINISH,0.5,1.010398
$STATE,11724,end surface coast,CONTROL_FINISHED_OK
$STATE,11724,begin surface
$SM_CCo,11807,0.00,0.000,0,0,1743,320.61
$SM_GC,1.41,11.18,0.00,0.00,0.026,0.000,0.000,428,1895,1743,-10.44,0.59,320.61
$IRIDIUM_FIX,2101.76,-15758.18,051099,070733
$TT8_MAMPS,0.029146
$HUMID,55.98
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,22.30
$XPDR_PINGS,1
$24V_AH,23.3,64.699
$10V_AH,10.0,54.922
$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,27.475,132.850,351.275,0.000,0.000,24.073,30.674,167.719,4.750,0.000,33.165,1380.955,8165.501,413.243,1692.907,514.248,33.378,1333.396,0.000,1632.609,0.000,29.260,0.000
$DEVICE_MAMPS,130.390,55.991,865.176,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,477.972,463.569,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,38050,710
$CAP_FILE_SIZE,133917,0
$CFSIZE,260165632,215941120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110710,141507,2107.577,-15759.979,109,2.0,109,9.8