version: 66.06
glider: 139
mission: 7
dive: 724
start: 7 11 110 21 10 29
data:
$ID,139
$MISSION,7
$DIVE,724
$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,-2148012
$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
$GPS1,210325,2107.322,-15757.920,70,1.8,70,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-69.2
$GPS2,210936,2107.276,-15757.938,28,1.7,28,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.160,-0.091
$KALMAN_X,-376247.5,205.8,-768.7,371621.8,2000.3
$KALMAN_Y,-224.2,5813.5,-6943.3,2031.6,10893.0
$MHEAD_RNG_PITCHd_Wd,109.8,26094,-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,-77.9,0.0,0.0,0,68,0.00,0.00,-50.55,0.000,2,0.000,0.000,425,1878,3139,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.2,-5.1,10,95,10.57,2.47,-4.80,0.000,4,0.132,0.055,2406,471,3371,0,0,0,0,0,0
$GC,112,-0.79,-77.9,13.4,-21.5,18,118,0.65,2.33,0.00,0.000,6,0.085,0.020,2539,1908,3372,0,0,0,0,0,0
$GC,320,-0.94,-77.9,32.9,-8.2,52,324,0.15,2.50,0.00,0.000,4,0.054,0.041,2489,468,3372,0,0,0,0,0,0
$GC,373,-0.99,-77.9,38.4,-10.4,57,378,0.00,2.28,0.00,0.000,6,0.000,0.019,2489,1880,3373,0,0,0,0,0,0
$GC,637,-1.02,-77.9,64.7,-10.1,81,641,0.00,2.40,0.00,0.000,4,0.000,0.041,2489,468,3374,0,0,0,0,0,0
$GC,665,-1.02,-77.9,68.1,-11.0,83,670,0.00,2.25,0.00,0.000,6,0.000,0.019,2489,1878,3373,0,0,0,0,0,0
$GC,928,-1.11,-77.9,93.7,-9.1,108,932,0.00,2.40,0.00,0.000,4,0.000,0.041,2489,465,3374,0,0,0,0,0,0
$GC,1017,-1.22,-77.9,101.7,-9.0,117,1022,0.17,2.25,0.00,0.000,6,0.049,0.019,2433,1880,3375,0,0,0,0,0,0
$GC,1278,-1.22,-77.9,125.7,-8.9,141,1283,0.00,2.42,0.00,0.000,4,0.000,0.041,2432,464,3376,0,0,0,0,0,0
$GC,1344,-1.22,-77.9,131.9,-9.9,147,1349,0.00,2.25,0.00,0.000,6,0.000,0.018,2433,1881,3376,0,0,0,0,0,0
$GC,1607,-1.22,-77.9,154.5,-7.8,172,1611,0.00,2.40,0.00,0.000,4,0.000,0.040,2432,460,3376,0,0,0,0,0,0
$GC,1690,-1.22,-77.9,162.0,-8.7,180,1696,0.00,2.25,0.00,0.000,6,0.000,0.019,2433,1875,3376,0,0,0,0,0,0
$GC,1954,-1.26,-77.9,179.5,-6.1,205,1958,0.00,2.28,0.00,0.000,4,0.000,0.026,2433,3264,3377,0,0,0,0,0,0
$GC,1974,-1.33,-77.9,180.8,-5.9,206,1979,0.00,2.30,0.00,0.000,6,0.000,0.026,2433,1859,3377,0,0,0,0,0,0
$GC,2237,-1.41,-77.9,196.7,-5.3,231,2242,0.12,2.35,0.00,0.000,4,0.062,0.041,2388,471,3377,0,0,0,0,0,0
$GC,2330,-1.32,-77.9,203.6,-7.9,238,2335,0.17,2.25,0.00,0.000,6,0.089,0.019,2425,1882,3377,0,0,0,0,0,0
$GC,2662,-1.39,-77.9,226.6,-8.1,254,2666,0.00,2.40,0.00,0.000,4,0.000,0.041,2425,473,3378,0,0,0,0,0,0
$GC,2715,-1.43,-77.9,231.0,-8.6,256,2719,0.00,2.25,0.00,0.000,6,0.000,0.020,2425,1883,3378,0,0,0,0,0,0
$GC,3042,-1.50,-77.9,256.0,-7.4,272,3047,0.17,2.28,0.00,0.000,4,0.050,0.028,2372,3257,3378,0,0,0,0,0,0
$GC,3086,-1.50,-77.9,259.9,-9.1,274,3091,0.00,2.30,0.00,0.000,6,0.000,0.028,2372,1875,3378,0,0,0,0,0,0
$GC,3423,-1.45,-77.9,289.2,-8.7,290,3427,0.12,2.42,0.00,0.000,4,0.100,0.044,2397,466,3377,0,0,0,0,0,0
$GC,3465,-1.45,-77.9,293.0,-7.9,291,3471,0.00,2.28,0.00,0.000,6,0.000,0.021,2397,1879,3377,0,0,0,0,0,0
$GC,3778,-1.45,-77.9,313.0,-6.0,302,3783,0.00,2.40,0.00,0.000,4,0.000,0.044,2397,471,3376,0,0,0,0,0,0
$GC,3863,-1.45,-77.9,318.5,-6.1,303,3868,0.00,2.28,0.00,0.000,6,0.000,0.022,2397,1876,3375,0,0,0,0,0,0
$GC,4195,-1.48,-77.9,338.9,-6.6,312,4199,0.00,2.42,0.00,0.000,4,0.000,0.046,2397,471,3374,0,0,0,0,0,0
$GC,4238,-1.48,-77.9,342.4,-8.0,313,4243,0.00,2.28,0.00,0.000,6,0.000,0.024,2397,1873,3374,0,0,0,0,0,0
$GC,4567,-1.52,-77.9,369.1,-8.5,321,4571,0.00,2.42,0.00,0.000,4,0.000,0.047,2397,472,3372,0,0,0,0,0,0
$GC,4655,-1.52,-77.9,377.6,-9.7,322,4660,0.00,2.28,0.00,0.000,6,0.000,0.025,2398,1869,3372,0,0,0,0,0,0
$GC,4986,-1.55,-77.9,407.1,-9.2,331,4990,0.00,2.40,0.00,0.000,4,0.000,0.049,2397,475,3369,0,0,0,0,0,0
$GC,5066,-1.55,-77.9,414.6,-7.8,332,5070,0.00,2.30,0.00,0.000,6,0.000,0.025,2397,1879,3369,0,0,0,0,0,0
$GC,5398,-1.59,-77.9,437.1,-7.4,340,5403,0.15,2.47,0.00,0.000,4,0.060,0.050,2355,471,3366,0,0,0,0,0,0
$GC,5446,-1.50,-77.9,441.5,-9.3,341,5451,0.15,2.30,0.00,0.000,6,0.098,0.026,2385,1880,3366,0,0,0,0,0,0
$STATE,5564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5564,begin apogee
$GC,5571,-0.31,0.0,450.1,6.8,344,5639,1.20,0.00,64.93,0.861,6,0.074,0.000,2643,2031,3050,0,0,0,0,0,0
$STATE,5640,end apogee,CONTROL_FINISHED_OK
$STATE,5640,begin climb
$GC,5643,1.40,77.9,450.8,0.0,345,5719,1.62,2.40,64.88,0.842,4,0.029,0.038,3027,3374,2732,0,0,0,0,0,0
$GC,5739,1.29,183.9,453.0,0.7,347,5839,0.17,2.33,90.93,0.839,6,0.116,0.032,2995,2012,2300,0,0,0,0,0,0
$GC,6185,1.19,183.9,410.1,10.7,358,6190,0.12,2.47,0.00,0.000,4,0.121,0.051,2973,599,2289,0,0,0,0,0,0
$GC,6252,1.06,183.9,402.8,11.4,359,6257,0.15,2.35,0.00,0.000,6,0.117,0.028,2947,1995,2286,0,0,0,0,0,0
$GC,6598,1.06,183.9,372.6,8.2,368,6602,0.00,2.47,0.00,0.000,4,0.000,0.051,2946,599,2284,0,0,0,0,0,0
$GC,6803,1.00,183.9,355.0,8.7,372,6807,0.00,2.35,0.00,0.000,6,0.000,0.029,2946,2010,2281,0,0,0,0,0,0
$GC,7147,1.00,183.9,328.4,8.2,381,7151,0.00,2.45,0.00,0.000,4,0.000,0.051,2946,608,2281,0,0,0,0,0,0
$GC,7279,1.00,183.9,314.1,12.0,383,7285,0.00,2.35,0.00,0.000,6,0.000,0.029,2947,2020,2279,0,0,0,0,0,0
$GC,7593,1.01,193.7,286.3,7.3,395,7605,0.00,2.55,6.07,0.616,4,0.000,0.051,2946,605,2259,0,0,0,0,0,0
$GC,7783,1.05,222.1,273.4,6.1,403,7816,0.00,2.35,26.83,0.752,6,0.000,0.028,2946,2021,2144,0,0,0,0,0,0
$GC,8132,1.11,222.1,248.3,8.7,420,8136,0.00,2.50,0.00,0.000,4,0.000,0.050,2947,603,2139,0,0,0,0,0,0
$GC,8170,1.11,222.1,244.8,9.3,421,8176,0.00,2.38,0.00,0.000,6,0.000,0.028,2947,2013,2136,0,0,0,0,0,0
$GC,8486,1.23,256.9,222.6,5.6,437,8524,0.15,2.55,31.33,0.715,4,0.067,0.051,2986,605,2002,0,0,0,0,0,0
$GC,8788,1.18,256.9,196.4,9.8,451,8794,0.00,2.35,0.00,0.000,6,0.000,0.026,2986,2015,1994,0,0,0,0,0,0
$GC,9052,1.21,256.9,174.5,9.5,476,9056,0.00,2.45,0.00,0.000,4,0.000,0.048,2986,607,1994,0,0,0,0,0,0
$GC,9117,1.21,256.9,167.0,11.4,482,9123,0.00,2.33,0.00,0.000,6,0.000,0.026,2986,2007,1993,0,0,0,0,0,0
$GC,9381,1.26,256.9,143.4,8.5,507,9385,0.00,2.35,0.00,0.000,4,0.000,0.031,2984,3408,1993,0,0,0,0,0,0
$GC,9405,1.35,256.9,140.8,9.7,509,9411,0.10,2.38,0.00,0.000,6,0.079,0.031,3016,2010,1993,0,0,0,0,0,0
$GC,9668,1.35,256.9,116.7,10.2,534,9673,0.00,2.42,0.00,0.000,4,0.000,0.044,3015,605,1993,0,0,0,0,0,0
$GC,9831,1.29,256.9,98.0,10.3,551,9835,0.00,2.30,0.00,0.000,6,0.000,0.024,3016,2016,1992,0,0,0,0,0,0
$GC,10095,1.34,296.5,79.7,5.3,575,10138,0.00,2.55,34.25,0.583,4,0.000,0.044,3016,603,1840,0,0,0,0,0,0
$GC,10190,1.34,296.5,72.9,8.2,585,10194,0.00,2.33,0.00,0.000,6,0.000,0.023,3016,2013,1837,0,0,0,0,0,0
$GC,10454,1.41,301.4,51.3,7.7,609,10464,0.00,2.47,5.32,0.412,4,0.000,0.041,3016,597,1820,0,0,0,0,0,0
$GC,10586,1.41,301.4,39.4,8.3,623,10590,0.00,2.33,0.00,0.000,6,0.000,0.021,3016,2018,1817,0,0,0,0,0,0
$GC,10857,1.47,301.4,18.0,8.2,660,10863,0.00,2.45,0.00,0.000,4,0.000,0.041,3016,599,1817,0,0,0,0,0,0
$STATE,11026,end climb,SURFACE_DEPTH_REACHED
$STATE,11026,begin surface coast
$FINISH,0.7,1.023155
$STATE,11067,end surface coast,CONTROL_FINISHED_OK
$STATE,11067,begin surface
$SM_CCo,11151,0.00,0.000,0,0,1813,303.19
$SM_GC,1.54,11.10,0.00,0.00,0.024,0.000,0.000,423,1901,1813,-10.45,0.76,303.19
$IRIDIUM_FIX,2059.45,-15801.19,051099,171744
$TT8_MAMPS,0.029146
$HUMID,55.63
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.3,64.984
$10V_AH,10.0,55.103
$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,27.075,137.325,324.525,0.000,0.000,23.623,28.923,174.896,4.500,0.000,28.201,1365.031,7516.483,394.769,1711.356,527.664,33.369,1326.224,0.000,1658.651,0.000,29.253,0.000
$DEVICE_MAMPS,131.924,55.224,860.574,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,474.019,472.137,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,38105,705
$CAP_FILE_SIZE,130488,0
$CFSIZE,260165632,215756800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120710,001857,2106.883,-15757.039,101,3.1,120,9.8