version: 66.06
glider: 139
mission: 7
dive: 730
start: 7 12 110 17 9 43
data:
$ID,139
$MISSION,7
$DIVE,730
$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,-2148261.8
$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
$GPS1,170256,2105.004,-15755.259,56,4.0,75,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.8
$GPS2,170852,2105.000,-15755.243,18,4.0,37,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.179,0.041
$KALMAN_X,-382192.1,-494.0,-473.4,382624.9,-423.6
$KALMAN_Y,-4970.4,1797.6,811.1,-1160.9,-3442.4
$MHEAD_RNG_PITCHd_Wd,67.4,21349,-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,-77.9,0.0,0.0,0,72,0.00,0.00,-54.53,0.000,2,0.000,0.000,427,1870,3126,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.3,-5.3,11,99,10.50,2.42,-4.97,0.000,4,0.130,0.038,2406,3294,3370,0,0,0,0,0,0
$GC,111,-0.65,-77.9,12.8,-24.5,18,117,0.77,2.42,0.00,0.000,6,0.073,0.030,2569,1864,3371,0,0,0,0,0,0
$GC,321,-0.88,-77.9,27.0,-8.1,55,327,0.20,2.40,0.00,0.000,4,0.047,0.041,2506,467,3372,0,0,0,0,0,0
$GC,408,-0.98,-77.9,36.2,-11.0,67,413,0.00,2.30,0.00,0.000,6,0.000,0.019,2506,1909,3372,0,0,0,0,0,0
$GC,672,-1.07,-77.9,60.5,-8.0,91,676,0.12,2.47,0.00,0.000,4,0.063,0.041,2462,466,3373,0,0,0,0,0,0
$GC,756,-1.07,-77.9,69.3,-11.3,99,762,0.00,2.22,0.00,0.000,6,0.000,0.019,2462,1877,3373,0,0,0,0,0,0
$GC,1019,-1.10,-77.9,96.1,-10.2,124,1023,0.00,2.42,0.00,0.000,4,0.000,0.041,2461,462,3374,0,0,0,0,0,0
$GC,1038,-1.10,-77.9,98.5,-11.0,125,1044,0.00,2.28,0.00,0.000,6,0.000,0.019,2462,1889,3374,0,0,0,0,0,0
$GC,1302,-1.18,-77.9,121.2,-7.6,150,1306,0.00,2.42,0.00,0.000,4,0.000,0.039,2461,468,3375,0,0,0,0,0,0
$GC,1405,-1.25,-77.9,130.7,-9.6,160,1410,0.00,2.20,0.00,0.000,6,0.000,0.018,2461,1876,3375,0,0,0,0,0,0
$GC,1668,-1.34,-77.9,150.8,-6.9,185,1673,0.17,2.40,0.00,0.000,4,0.048,0.041,2405,469,3376,0,0,0,0,0,0
$GC,1722,-1.30,-77.9,155.8,-9.1,190,1727,0.12,2.22,0.00,0.000,6,0.097,0.019,2431,1880,3376,0,0,0,0,0,0
$GC,1983,-1.35,-77.9,176.9,-8.1,214,1988,0.00,2.40,0.00,0.000,4,0.000,0.041,2431,462,3376,0,0,0,0,0,0
$GC,2018,-1.35,-77.9,180.1,-9.4,217,2023,0.00,2.25,0.00,0.000,6,0.000,0.019,2431,1884,3376,0,0,0,0,0,0
$GC,2284,-1.40,-77.9,200.4,-7.1,241,2289,0.10,2.42,0.00,0.000,4,0.072,0.041,2392,461,3376,0,0,0,0,0,0
$GC,2341,-1.32,-77.9,206.1,-10.0,243,2346,0.15,2.25,0.00,0.000,6,0.092,0.020,2424,1878,3376,0,0,0,0,0,0
$GC,2662,-1.37,-77.9,233.7,-8.4,259,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,1882,3376,0,0,0,0,0,0
$GC,2973,-1.42,-77.9,255.6,-7.4,274,2977,0.00,2.42,0.00,0.000,4,0.000,0.043,2424,463,3377,0,0,0,0,0,0
$GC,3006,-1.47,-77.9,258.5,-7.9,275,3011,0.12,2.25,0.00,0.000,6,0.061,0.021,2380,1882,3376,0,0,0,0,0,0
$GC,3322,-1.47,-77.9,286.6,-9.6,290,3326,0.00,2.40,0.00,0.000,4,0.000,0.044,2380,472,3377,0,0,0,0,0,0
$GC,3392,-1.40,-77.9,293.5,-9.1,293,3397,0.12,2.25,0.00,0.000,6,0.099,0.021,2406,1880,3376,0,0,0,0,0,0
$GC,3738,-1.44,-77.9,316.5,-6.5,304,3742,0.00,2.42,0.00,0.000,4,0.000,0.044,2406,471,3375,0,0,0,0,0,0
$GC,3781,-1.44,-77.9,319.7,-7.1,305,3788,0.00,2.28,0.00,0.000,6,0.000,0.022,2407,1879,3375,0,0,0,0,0,0
$GC,4116,-1.48,-77.9,345.5,-8.2,313,4120,0.00,2.42,0.00,0.000,4,0.000,0.045,2406,472,3374,0,0,0,0,0,0
$GC,4136,-1.48,-77.9,347.2,-8.2,313,4140,0.00,2.25,0.00,0.000,6,0.000,0.023,2407,1874,3374,0,0,0,0,0,0
$GC,4481,-1.54,-77.9,373.5,-7.2,322,4486,0.12,2.42,0.00,0.000,4,0.064,0.048,2366,469,3372,0,0,0,0,0,0
$GC,4534,-1.47,-77.9,377.3,-6.6,323,4539,0.12,2.28,0.00,0.000,6,0.097,0.024,2392,1872,3372,0,0,0,0,0,0
$GC,4854,-1.47,-77.9,398.1,-6.9,331,4858,0.00,2.42,0.00,0.000,4,0.000,0.048,2391,465,3370,0,0,0,0,0,0
$GC,4910,-1.47,-77.9,402.7,-8.2,332,4914,0.00,2.28,0.00,0.000,6,0.000,0.025,2392,1873,3370,0,0,0,0,0,0
$GC,5224,-1.47,-77.9,426.0,-7.8,340,5228,0.00,2.42,0.00,0.000,4,0.000,0.049,2392,469,3368,0,0,0,0,0,0
$GC,5280,-1.47,-77.9,431.1,-9.0,341,5284,0.00,2.28,0.00,0.000,6,0.000,0.025,2392,1874,3367,0,0,0,0,0,0
$STATE,5556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5556,begin apogee
$GC,5563,-0.31,0.0,452.7,7.7,348,5632,1.17,0.00,64.93,0.854,6,0.070,0.000,2646,2031,3050,0,0,0,0,0,0
$STATE,5633,end apogee,CONTROL_FINISHED_OK
$STATE,5633,begin climb
$GC,5635,1.40,77.9,453.8,0.0,349,5711,1.60,2.40,65.00,0.838,4,0.028,0.038,3025,3377,2732,0,0,0,0,0,0
$GC,5974,1.20,116.3,446.2,5.4,356,6015,0.25,2.35,32.85,0.823,6,0.111,0.034,2979,2009,2575,0,0,0,0,0,0
$GC,6325,1.12,138.9,423.0,6.5,365,6350,0.00,2.40,20.10,0.800,4,0.000,0.036,2977,3384,2482,0,0,0,0,0,0
$GC,6374,1.03,153.5,419.6,7.0,366,6395,0.22,2.35,14.10,0.768,6,0.107,0.035,2938,2013,2423,0,0,0,0,0,0
$GC,6739,1.03,156.2,392.0,7.8,375,6743,0.00,2.47,0.00,0.000,4,0.000,0.051,2938,597,2417,0,0,0,0,0,0
$GC,6795,0.97,156.2,387.1,8.6,376,6799,0.00,2.35,0.00,0.000,6,0.000,0.028,2938,1991,2415,0,0,0,0,0,0
$GC,7114,0.97,157.1,361.6,8.0,384,7118,0.00,2.45,0.00,0.000,4,0.000,0.051,2938,603,2414,0,0,0,0,0,0
$GC,7170,0.93,157.1,357.3,8.5,385,7175,0.12,2.38,0.00,0.000,6,0.117,0.029,2917,2015,2413,0,0,0,0,0,0
$GC,7486,1.07,220.3,344.3,3.7,393,7551,0.15,2.60,58.35,0.810,4,0.069,0.051,2952,602,2151,0,0,0,0,0,0
$GC,7667,1.03,220.3,330.1,9.6,397,7671,0.00,2.40,0.00,0.000,6,0.000,0.029,2953,2015,2143,0,0,0,0,0,0
$GC,7996,1.07,220.3,298.8,10.1,405,8000,0.00,2.53,0.00,0.000,4,0.000,0.051,2952,598,2142,0,0,0,0,0,0
$GC,8110,1.07,220.3,285.6,11.8,410,8114,0.00,2.40,0.00,0.000,6,0.000,0.029,2953,2021,2138,0,0,0,0,0,0
$GC,8441,1.11,222.1,254.9,7.9,426,8445,0.00,2.50,0.00,0.000,4,0.000,0.050,2952,604,2138,0,0,0,0,0,0
$GC,8547,1.11,222.1,246.6,8.1,430,8553,0.00,2.35,0.00,0.000,6,0.000,0.028,2952,2013,2136,0,0,0,0,0,0
$GC,8864,1.22,257.1,229.2,5.6,446,8902,0.12,2.55,31.75,0.721,4,0.073,0.050,2987,604,2000,0,0,0,0,0,0
$GC,8973,1.18,257.1,219.0,9.8,450,8978,0.00,2.38,0.00,0.000,6,0.000,0.028,2987,2015,1995,0,0,0,0,0,0
$GC,9300,1.19,262.8,189.1,7.6,471,9310,0.00,2.58,5.53,0.528,4,0.000,0.048,2987,597,1977,0,0,0,0,0,0
$GC,9478,1.19,262.8,172.2,9.3,490,9482,0.00,2.35,0.00,0.000,6,0.000,0.026,2986,2015,1975,0,0,0,0,0,0
$GC,9742,1.25,276.3,151.4,7.1,514,9760,0.00,2.53,13.35,0.612,4,0.000,0.045,2987,599,1922,0,0,0,0,0,0
$GC,9859,1.25,276.3,141.9,9.2,526,9863,0.00,2.38,0.00,0.000,6,0.000,0.025,2987,2026,1920,0,0,0,0,0,0
$GC,10122,1.32,280.8,121.5,7.7,550,10132,0.00,2.50,4.93,0.457,4,0.000,0.044,2987,603,1905,0,0,0,0,0,0
$GC,10398,1.32,280.8,97.1,8.7,579,10403,0.00,2.33,0.00,0.000,6,0.000,0.023,2987,2015,1903,0,0,0,0,0,0
$GC,10662,1.45,302.6,78.0,6.5,604,10689,0.17,2.50,20.83,0.561,4,0.054,0.041,3038,599,1815,0,0,0,0,0,0
$GC,10812,1.39,302.6,63.4,10.5,620,10817,0.12,2.30,0.00,0.000,6,0.105,0.021,3015,2023,1812,0,0,0,0,0,0
$GC,11073,1.46,302.6,41.0,8.4,644,11078,0.00,2.47,0.00,0.000,4,0.000,0.042,3014,591,1811,0,0,0,0,0,0
$GC,11316,1.46,302.6,17.9,9.6,683,11322,0.00,2.30,0.00,0.000,6,0.000,0.021,3014,2010,1811,0,0,0,0,0,0
$STATE,11500,end climb,SURFACE_DEPTH_REACHED
$STATE,11500,begin surface coast
$FINISH,0.5,1.011308
$STATE,11546,end surface coast,CONTROL_FINISHED_OK
$STATE,11546,begin surface
$SM_CCo,11628,0.00,0.000,0,0,1808,304.66
$SM_GC,1.50,11.12,0.00,0.00,0.026,0.000,0.000,426,1849,1808,-10.44,-0.71,304.66
$IRIDIUM_FIX,2059.45,-15753.90,061099,141443
$TT8_MAMPS,0.029146
$HUMID,54.96
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.3,65.516
$10V_AH,10.0,55.457
$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,27.725,133.825,331.700,0.000,0.000,26.221,31.184,147.558,4.750,0.000,38.488,1408.937,7896.785,393.743,1791.005,485.652,33.376,1350.481,0.000,1722.187,0.000,29.255,0.000
$DEVICE_MAMPS,129.623,52.923,854.438,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,487.139,472.113,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,38091,724
$CAP_FILE_SIZE,134311,0
$CFSIZE,260165632,215379968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120710,202524,2105.190,-15754.115,60,1.9,77,9.8