version: 66.06
glider: 139
mission: 7
dive: 723
start: 7 11 110 17 49 47
data:
$ID,139
$MISSION,7
$DIVE,723
$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,-2147983
$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
$GPS1,173853,2107.428,-15759.370,42,4.2,61,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-68.5
$GPS2,174854,2107.359,-15759.299,33,1.2,43,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.182,-0.027
$KALMAN_X,-375773.8,-467.9,-909.4,369595.7,952.6
$KALMAN_Y,-2044.5,4224.6,-3765.0,2329.2,9.5
$MHEAD_RNG_PITCHd_Wd,88.6,28448,-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,-54.88,0.000,2,0.000,0.000,429,1914,3148,0,0,0,0,0,0
$GC,77,-1.40,-77.9,3.3,-5.4,11,100,10.48,2.55,-4.57,0.000,4,0.129,0.051,2406,461,3369,0,0,0,0,0,0
$GC,141,-1.19,-77.9,16.2,-14.1,24,147,0.22,2.33,0.00,0.000,6,0.092,0.019,2452,1914,3370,0,0,0,0,0,0
$GC,351,-1.16,-77.9,41.9,-13.6,54,356,0.00,2.47,0.00,0.000,4,0.000,0.041,2452,466,3371,0,0,0,0,0,0
$GC,396,-1.08,-77.9,47.7,-13.4,58,401,0.12,2.25,0.00,0.000,6,0.104,0.019,2477,1882,3372,0,0,0,0,0,0
$GC,658,-1.08,-77.9,75.9,-8.8,82,662,0.00,2.42,0.00,0.000,4,0.000,0.041,2476,461,3372,0,0,0,0,0,0
$GC,714,-1.08,-77.9,81.8,-10.2,87,719,0.00,2.25,0.00,0.000,6,0.000,0.019,2477,1885,3373,0,0,0,0,0,0
$GC,977,-1.14,-77.9,105.5,-9.5,112,981,0.00,2.42,0.00,0.000,4,0.000,0.041,2477,465,3374,0,0,0,0,0,0
$GC,1101,-1.20,-77.9,118.4,-10.5,125,1106,0.12,2.25,0.00,0.000,6,0.062,0.019,2433,1879,3373,0,0,0,0,0,0
$GC,1368,-1.24,-77.9,143.4,-7.0,150,1372,0.00,2.40,0.00,0.000,4,0.000,0.040,2432,460,3374,0,0,0,0,0,0
$GC,1471,-1.24,-77.9,150.2,-5.6,160,1476,0.00,2.25,0.00,0.000,6,0.000,0.018,2432,1875,3374,0,0,0,0,0,0
$GC,1734,-1.27,-77.9,170.2,-8.9,185,1738,0.00,2.38,0.00,0.000,4,0.000,0.040,2432,467,3375,0,0,0,0,0,0
$GC,1835,-1.27,-77.9,178.9,-7.7,195,1839,0.00,2.22,0.00,0.000,6,0.000,0.019,2432,1882,3375,0,0,0,0,0,0
$GC,2101,-1.32,-77.9,200.9,-9.4,219,2105,0.00,2.40,0.00,0.000,4,0.000,0.041,2432,460,3375,0,0,0,0,0,0
$GC,2121,-1.32,-77.9,203.3,-9.7,220,2125,0.00,2.22,0.00,0.000,6,0.000,0.019,2432,1872,3375,0,0,0,0,0,0
$GC,2453,-1.39,-77.9,227.5,-6.3,236,2457,0.00,2.40,0.00,0.000,4,0.000,0.041,2432,467,3375,0,0,0,0,0,0
$GC,2515,-1.42,-77.9,231.8,-6.5,238,2519,0.12,2.22,0.00,0.000,6,0.061,0.019,2389,1877,3375,0,0,0,0,0,0
$GC,2830,-1.42,-77.9,257.1,-8.6,253,2834,0.00,2.28,0.00,0.000,4,0.000,0.027,2389,3262,3375,0,0,0,0,0,0
$GC,2882,-1.47,-77.9,261.4,-7.8,255,2886,0.00,2.30,0.00,0.000,6,0.000,0.028,2389,1867,3375,0,0,0,0,0,0
$GC,3203,-1.47,-77.9,283.7,-7.2,271,3207,0.00,2.38,0.00,0.000,4,0.000,0.043,2389,472,3375,0,0,0,0,0,0
$GC,3240,-1.43,-77.9,286.9,-9.1,272,3246,0.00,2.25,0.00,0.000,6,0.000,0.021,2389,1871,3375,0,0,0,0,0,0
$GC,3575,-1.43,-77.9,313.5,-8.0,285,3579,0.00,2.38,0.00,0.000,4,0.000,0.044,2388,473,3374,0,0,0,0,0,0
$GC,3649,-1.43,-77.9,319.5,-7.3,286,3653,0.00,2.25,0.00,0.000,6,0.000,0.022,2389,1880,3374,0,0,0,0,0,0
$GC,3985,-1.43,-77.9,349.4,-9.6,295,3989,0.00,2.42,0.00,0.000,4,0.000,0.045,2389,473,3372,0,0,0,0,0,0
$GC,4029,-1.39,-77.9,353.7,-11.2,296,4034,0.10,2.28,0.00,0.000,6,0.109,0.023,2409,1873,3372,0,0,0,0,0,0
$GC,4360,-1.45,-77.9,378.7,-6.9,304,4364,0.00,2.42,0.00,0.000,4,0.000,0.048,2408,475,3370,0,0,0,0,0,0
$GC,4452,-1.49,-77.9,385.1,-6.4,306,4456,0.00,2.28,0.00,0.000,6,0.000,0.025,2409,1883,3369,0,0,0,0,0,0
$GC,4781,-1.55,-77.9,406.1,-6.3,314,4786,0.15,2.47,0.00,0.000,4,0.058,0.048,2364,469,3367,0,0,0,0,0,0
$GC,4867,-1.47,-77.9,413.9,-9.3,315,4873,0.12,2.28,0.00,0.000,6,0.100,0.025,2390,1877,3366,0,0,0,0,0,0
$GC,5198,-1.47,-77.9,438.8,-7.2,324,5202,0.00,2.45,0.00,0.000,4,0.000,0.049,2389,468,3364,0,0,0,0,0,0
$GC,5259,-1.47,-77.9,443.8,-8.4,325,5263,0.00,2.30,0.00,0.000,6,0.000,0.026,2390,1880,3364,0,0,0,0,0,0
$STATE,5362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5362,begin apogee
$GC,5369,-0.31,0.0,452.4,8.1,328,5437,1.17,0.00,64.32,0.857,6,0.071,0.000,2644,2034,3050,0,0,0,0,0,0
$STATE,5438,end apogee,CONTROL_FINISHED_OK
$STATE,5438,begin climb
$GC,5440,1.40,77.9,453.8,0.0,329,5516,1.62,2.40,65.18,0.838,4,0.030,0.039,3024,3381,2732,0,0,0,0,0,0
$GC,5781,1.26,147.0,453.6,3.3,337,5851,0.20,2.35,59.03,0.841,6,0.110,0.034,2989,2002,2450,0,0,0,0,0,0
$GC,6173,1.14,147.0,421.0,9.3,347,6178,0.12,2.35,0.00,0.000,4,0.124,0.038,2911,3377,2442,0,0,0,0,0,0
$GC,6245,1.09,147.0,414.7,8.4,348,6250,0.00,2.35,0.00,0.000,6,0.000,0.036,2966,2005,2442,0,0,0,0,0,0
$GC,6586,1.04,147.0,386.2,8.8,357,6591,0.12,2.47,0.00,0.000,4,0.121,0.050,2943,598,2439,0,0,0,0,0,0
$GC,6639,0.96,147.0,381.3,8.5,358,6643,0.00,2.30,0.00,0.000,6,0.000,0.028,2943,1986,2438,0,0,0,0,0,0
$GC,6957,0.96,147.0,354.2,8.5,366,6961,0.00,2.45,0.00,0.000,4,0.000,0.049,2943,595,2437,0,0,0,0,0,0
$GC,7060,0.89,147.0,344.9,9.3,368,7065,0.17,2.35,0.00,0.000,6,0.111,0.029,2911,2010,2436,0,0,0,0,0,0
$GC,7375,0.97,156.4,321.3,7.4,376,7387,0.00,2.53,6.65,0.652,4,0.000,0.050,2911,609,2412,0,0,0,0,0,0
$GC,7440,0.98,162.5,316.3,7.6,377,7452,0.00,2.38,7.10,0.659,6,0.000,0.029,2911,2023,2386,0,0,0,0,0,0
$GC,7774,1.12,199.9,296.9,5.4,386,7816,0.20,2.60,34.15,0.776,4,0.061,0.051,2959,603,2234,0,0,0,0,0,0
$GC,7971,1.07,199.9,280.9,9.5,394,7975,0.00,2.35,0.00,0.000,6,0.000,0.028,2959,2010,2228,0,0,0,0,0,0
$GC,8287,1.07,201.3,254.5,7.9,409,8291,0.00,2.50,0.00,0.000,4,0.000,0.050,2959,596,2227,0,0,0,0,0,0
$GC,8415,1.03,207.8,244.0,7.6,414,8427,0.00,2.38,7.07,0.620,6,0.000,0.028,2959,2016,2201,0,0,0,0,0,0
$GC,8759,1.10,224.7,222.1,6.9,431,8778,0.00,0.00,16.67,0.696,6,0.000,0.000,2959,2015,2133,0,0,0,0,0,0
$GC,9088,1.18,229.9,198.4,7.7,447,9098,0.00,2.55,5.65,0.548,4,0.000,0.049,2959,605,2112,0,0,0,0,0,0
$GC,9168,1.21,229.9,191.0,8.7,455,9174,0.00,2.35,0.00,0.000,6,0.000,0.027,2959,2009,2109,0,0,0,0,0,0
$GC,9433,1.33,252.9,171.9,6.4,480,9462,0.20,2.45,21.75,0.662,4,0.057,0.032,3009,3400,2018,0,0,0,0,0,0
$GC,9478,1.33,252.9,168.1,8.7,485,9482,0.00,2.40,0.00,0.000,6,0.000,0.032,3010,2006,2018,0,0,0,0,0,0
$GC,9741,1.33,252.9,145.3,9.7,509,9746,0.00,2.42,0.00,0.000,4,0.000,0.046,3010,598,2014,0,0,0,0,0,0
$GC,9926,1.25,252.9,126.2,9.2,528,9933,0.12,2.33,0.00,0.000,6,0.107,0.025,2987,2016,2011,0,0,0,0,0,0
$GC,10188,1.37,278.7,107.3,6.2,553,10217,0.12,2.53,23.40,0.600,4,0.067,0.045,3023,602,1912,0,0,0,0,0,0
$GC,10345,1.33,278.7,93.8,9.5,570,10349,0.00,2.33,0.00,0.000,6,0.000,0.023,3024,2017,1907,0,0,0,0,0,0
$GC,10614,1.37,283.6,71.3,7.7,595,10624,0.00,2.47,5.05,0.430,4,0.000,0.042,3024,603,1892,0,0,0,0,0,0
$GC,10774,1.38,286.9,57.7,7.8,612,10784,0.00,2.30,4.20,0.383,6,0.000,0.021,3024,2029,1880,0,0,0,0,0,0
$GC,11039,1.42,286.9,36.6,8.2,637,11043,0.00,2.42,0.00,0.000,4,0.000,0.042,3023,602,1879,0,0,0,0,0,0
$GC,11207,1.42,286.9,21.7,9.5,663,11213,0.00,2.25,0.00,0.000,6,0.000,0.021,3023,2006,1878,0,0,0,0,0,0
$GC,11417,1.42,287.2,4.9,8.0,700,11422,0.00,2.42,0.00,0.000,4,0.000,0.041,3023,594,1879,0,0,0,0,0,0
$STATE,11436,end climb,SURFACE_DEPTH_REACHED
$STATE,11436,begin surface coast
$FINISH,0.5,1.009397
$STATE,11473,end surface coast,CONTROL_FINISHED_OK
$STATE,11473,begin surface
$SM_CCo,11497,11.32,0.472,0,0,1826,300.00
$SM_GC,1.95,0.00,0.00,11.32,0.000,0.000,0.472,425,1877,1826,-10.53,0.06,300.00
$IRIDIUM_FIX,2101.76,-15758.18,051099,171735
$TT8_MAMPS,0.029146
$HUMID,55.19
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,23.3,64.898
$10V_AH,10.0,55.046
$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,26.675,137.425,320.225,11.325,0.000,45.764,56.786,257.774,4.750,0.000,45.365,1392.104,7858.762,406.763,1766.055,683.440,33.370,1350.146,0.000,1699.196,0.000,29.257,0.000
$DEVICE_MAMPS,128.856,52.923,856.739,471.705,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,478.423,468.759,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,38169,712
$CAP_FILE_SIZE,138042,0
$CFSIZE,260165632,215814144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110710,210325,2107.322,-15757.920,70,1.8,70,9.8