version: 66.06
glider: 139
mission: 7
dive: 645
start: 7 1 110 1 38 30
data:
$ID,139
$MISSION,7
$DIVE,645
$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,-2145061
$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
$GPS1,012906,2105.519,-15758.422,116,1.9,116,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.3
$GPS2,013737,2105.468,-15758.474,35,1.5,45,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.127,0.133
$KALMAN_X,-342717.2,76.2,583.5,335938.3,2.8
$KALMAN_Y,39508.3,-85.5,96.2,-42185.1,-279.0
$MHEAD_RNG_PITCHd_Wd,306.6,8163,-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,12,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,67,0.00,0.00,-50.12,0.000,2,0.000,0.000,424,1852,3067,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.3,-6.2,10,95,10.55,2.42,-6.15,0.000,4,0.132,0.038,2403,3298,3371,0,0,0,0,0,0
$GC,106,-0.63,-77.9,13.2,-25.3,17,112,0.82,2.42,0.00,0.000,6,0.078,0.028,2576,1862,3371,0,0,0,0,0,0
$GC,315,-0.86,-77.9,28.8,-5.9,54,321,0.22,2.40,0.00,0.000,4,0.041,0.041,2506,465,3372,0,0,0,0,0,0
$GC,393,-0.93,-77.9,35.0,-8.0,64,397,0.00,2.30,0.00,0.000,6,0.000,0.019,2507,1909,3372,0,0,0,0,0,0
$GC,657,-1.02,-77.9,55.1,-8.5,88,661,0.00,2.47,0.00,0.000,4,0.000,0.041,2506,471,3373,0,0,0,0,0,0
$GC,709,-1.11,-77.9,60.1,-8.4,93,714,0.15,2.25,0.00,0.000,6,0.055,0.019,2455,1880,3373,0,0,0,0,0,0
$GC,972,-1.11,-77.9,87.3,-10.5,117,976,0.00,2.42,0.00,0.000,4,0.000,0.041,2455,466,3374,0,0,0,0,0,0
$GC,997,-1.06,-77.9,90.2,-10.9,119,1002,0.12,2.25,0.00,0.000,6,0.096,0.019,2482,1877,3374,0,0,0,0,0,0
$GC,1258,-1.14,-77.9,111.0,-7.4,143,1262,0.00,2.42,0.00,0.000,4,0.000,0.041,2481,461,3375,0,0,0,0,0,0
$GC,1339,-1.21,-77.9,116.8,-7.6,151,1343,0.15,2.25,0.00,0.000,6,0.055,0.019,2431,1875,3375,0,0,0,0,0,0
$GC,1599,-1.21,-77.9,141.3,-10.4,175,1603,0.00,2.22,0.00,0.000,4,0.000,0.025,2431,3257,3376,0,0,0,0,0,0
$GC,1618,-1.25,-77.9,143.4,-10.3,176,1624,0.00,2.30,0.00,0.000,6,0.000,0.027,2431,1873,3376,0,0,0,0,0,0
$GC,1882,-1.25,-77.9,165.6,-7.9,201,1886,0.00,2.38,0.00,0.000,4,0.000,0.041,2430,472,3376,0,0,0,0,0,0
$GC,1954,-1.25,-77.9,172.2,-9.3,208,1958,0.00,2.25,0.00,0.000,6,0.000,0.018,2431,1884,3376,0,0,0,0,0,0
$GC,2219,-1.29,-77.9,194.1,-7.7,232,2223,0.00,2.42,0.00,0.000,4,0.000,0.041,2430,466,3376,0,0,0,0,0,0
$GC,2293,-1.29,-77.9,200.9,-8.5,239,2297,0.00,2.22,0.00,0.000,6,0.000,0.019,2431,1880,3376,0,0,0,0,0,0
$GC,2614,-1.36,-77.9,226.3,-8.4,255,2618,0.00,2.40,0.00,0.000,4,0.000,0.042,2430,473,3376,0,0,0,0,0,0
$GC,2697,-1.41,-77.9,233.7,-8.3,258,2703,0.12,2.25,0.00,0.000,6,0.062,0.020,2386,1881,3376,0,0,0,0,0,0
$GC,3014,-1.41,-77.9,261.3,-8.7,274,3018,0.00,2.40,0.00,0.000,4,0.000,0.042,2385,472,3376,0,0,0,0,0,0
$GC,3065,-1.35,-77.9,266.3,-10.0,276,3070,0.17,2.25,0.00,0.000,6,0.089,0.021,2422,1874,3377,0,0,0,0,0,0
$GC,3389,-1.42,-77.9,288.5,-6.9,292,3393,0.00,2.40,0.00,0.000,4,0.000,0.044,2421,474,3376,0,0,0,0,0,0
$GC,3454,-1.45,-77.9,294.4,-9.0,294,3460,0.12,2.25,0.00,0.000,6,0.063,0.022,2380,1871,3376,0,0,0,0,0,0
$GC,3765,-1.45,-77.9,324.1,-9.4,304,3770,0.00,2.40,0.00,0.000,4,0.000,0.044,2380,474,3375,0,0,0,0,0,0
$GC,3785,-1.41,-77.9,325.9,-9.0,304,3790,0.12,2.28,0.00,0.000,6,0.102,0.023,2405,1880,3374,0,0,0,0,0,0
$GC,4131,-1.45,-77.9,351.7,-7.3,313,4135,0.00,2.42,0.00,0.000,4,0.000,0.046,2405,474,3372,0,0,0,0,0,0
$GC,4159,-1.45,-77.9,354.3,-8.6,313,4163,0.00,2.28,0.00,0.000,6,0.000,0.024,2405,1874,3373,0,0,0,0,0,0
$GC,4495,-1.50,-77.9,384.7,-9.2,322,4500,0.00,2.40,0.00,0.000,4,0.000,0.048,2405,474,3370,0,0,0,0,0,0
$GC,4528,-1.50,-77.9,388.2,-10.3,322,4532,0.00,2.28,0.00,0.000,6,0.000,0.025,2405,1879,3370,0,0,0,0,0,0
$GC,4860,-1.56,-77.9,413.9,-7.4,330,4865,0.15,2.45,0.00,0.000,4,0.059,0.050,2361,468,3368,0,0,0,0,0,0
$GC,5009,-1.48,-77.9,429.3,-10.1,333,5014,0.15,2.30,0.00,0.000,6,0.096,0.026,2393,1880,3367,0,0,0,0,0,0
$STATE,5280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5280,begin apogee
$GC,5287,-0.31,0.0,451.9,7.9,340,5355,1.17,0.00,64.20,0.865,6,0.071,0.000,2646,2034,3050,0,0,0,0,0,0
$STATE,5356,end apogee,CONTROL_FINISHED_OK
$STATE,5356,begin climb
$GC,5358,1.40,77.9,452.8,0.0,341,5434,1.62,2.40,64.50,0.844,4,0.028,0.038,3021,3380,2732,0,0,0,0,0,0
$GC,5560,1.21,122.0,450.3,5.0,345,5606,0.10,2.35,37.58,0.831,6,0.129,0.033,2992,2012,2552,0,0,0,0,0,0
$GC,5952,1.04,122.0,414.5,9.8,355,5956,0.28,2.35,0.00,0.000,4,0.107,0.036,2944,3380,2546,0,0,0,0,0,0
$GC,5998,0.99,122.0,410.8,8.2,356,6003,0.12,2.33,0.00,0.000,6,0.115,0.034,2931,2012,2545,0,0,0,0,0,0
$GC,6327,1.00,133.1,386.3,7.3,364,6344,0.00,2.47,9.20,0.732,4,0.000,0.049,2926,604,2506,0,0,0,0,0,0
$GC,6483,0.96,137.5,374.9,7.7,367,6496,0.00,2.33,5.03,0.604,6,0.000,0.028,2931,1994,2489,0,0,0,0,0,0
$GC,6837,1.00,171.8,353.2,5.7,376,6874,0.00,2.53,30.80,0.814,4,0.000,0.051,2930,611,2348,0,0,0,0,0,0
$GC,6889,1.02,192.1,349.8,6.6,377,6913,0.00,2.38,19.33,0.772,6,0.000,0.030,2931,2007,2266,0,0,0,0,0,0
$GC,7252,1.11,214.1,325.6,6.5,386,7278,0.10,2.55,19.80,0.770,4,0.084,0.051,2956,597,2177,0,0,0,0,0,0
$GC,7347,1.07,214.1,316.5,10.2,388,7352,0.00,2.40,0.00,0.000,6,0.000,0.030,2957,2011,2172,0,0,0,0,0,0
$GC,7668,1.10,214.1,289.2,8.6,399,7673,0.00,2.50,0.00,0.000,4,0.000,0.051,2956,599,2171,0,0,0,0,0,0
$GC,7777,1.10,214.1,279.0,9.2,403,7783,0.00,2.40,0.00,0.000,6,0.000,0.029,2957,2018,2167,0,0,0,0,0,0
$GC,8093,1.14,214.1,253.0,8.6,419,8098,0.00,2.47,0.00,0.000,4,0.000,0.050,2956,603,2167,0,0,0,0,0,0
$GC,8167,1.14,214.1,245.6,9.2,422,8172,0.00,2.38,0.00,0.000,6,0.000,0.028,2957,2018,2166,0,0,0,0,0,0
$GC,8489,1.21,223.5,219.4,7.4,438,8502,0.00,2.53,8.02,0.626,4,0.000,0.050,2956,602,2138,0,0,0,0,0,0
$GC,8652,1.21,223.5,204.8,9.6,445,8656,0.00,2.38,0.00,0.000,6,0.000,0.027,2957,2020,2135,0,0,0,0,0,0
$GC,8985,1.29,236.2,175.9,7.1,474,9004,0.17,2.53,12.80,0.640,4,0.060,0.046,3003,601,2085,0,0,0,0,0,0
$GC,9103,1.19,236.2,164.8,9.0,486,9109,0.15,2.38,0.00,0.000,6,0.109,0.025,2976,2023,2082,0,0,0,0,0,0
$GC,9367,1.24,240.7,145.1,7.7,511,9378,0.00,2.47,4.90,0.479,4,0.000,0.044,2976,603,2067,0,0,0,0,0,0
$GC,9494,1.25,241.5,133.6,8.0,524,9499,0.00,2.35,0.00,0.000,6,0.000,0.024,2976,2020,2066,0,0,0,0,0,0
$GC,9757,1.32,245.1,114.8,7.8,549,9765,0.12,0.00,5.47,0.482,6,0.068,0.000,3013,2026,2050,0,0,0,0,0,0
$GC,10022,1.34,263.3,94.7,6.8,574,10048,0.00,2.53,17.83,0.578,4,0.000,0.044,3013,610,1974,0,0,0,0,0,0
$GC,10199,1.31,263.8,80.5,8.0,593,10203,0.00,2.33,0.00,0.000,6,0.000,0.022,3013,2022,1971,0,0,0,0,0,0
$GC,10462,1.38,286.5,63.5,6.5,617,10488,0.00,2.47,21.12,0.551,4,0.000,0.042,3013,602,1880,0,0,0,0,0,0
$GC,10551,1.38,286.5,56.8,9.0,626,10557,0.00,2.33,0.00,0.000,6,0.000,0.021,3014,2018,1877,0,0,0,0,0,0
$GC,10814,1.42,286.5,35.9,8.2,651,10819,0.00,2.45,0.00,0.000,4,0.000,0.041,3013,600,1877,0,0,0,0,0,0
$GC,10904,1.42,286.5,27.3,9.8,662,10910,0.00,2.30,0.00,0.000,6,0.000,0.021,3013,2018,1875,0,0,0,0,0,0
$GC,11115,1.58,376.8,11.8,1.8,699,11199,0.20,2.50,75.72,0.518,4,0.049,0.044,3071,596,1512,0,0,0,0,0,0
$STATE,11203,end climb,SURFACE_DEPTH_REACHED
$STATE,11203,begin surface coast
$FINISH,0.5,1.009645
$STATE,11227,end surface coast,CONTROL_FINISHED_OK
$STATE,11227,begin surface
$SM_CCo,11311,0.00,0.000,0,0,1501,379.97
$SM_GC,1.36,11.38,0.00,0.00,0.021,0.000,0.000,421,1865,1501,-10.45,-0.25,379.97
$IRIDIUM_FIX,2057.14,-15756.91,240999,222226
$TT8_MAMPS,0.029146
$HUMID,53.62
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,23.3,57.709
$10V_AH,10.0,50.475
$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,28.300,137.800,396.300,0.000,0.000,25.488,35.763,294.027,4.500,0.000,47.671,1373.309,7663.944,441.910,1701.047,637.638,33.371,1378.569,0.000,1636.373,0.000,29.251,0.000
$DEVICE_MAMPS,131.924,52.923,865.176,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,484.628,484.660,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355804
$DATA_FILE_SIZE,38089,724
$CAP_FILE_SIZE,136221,0
$CFSIZE,260165632,220618752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010710,044930,2106.208,-15759.271,114,1.6,114,9.8