version: 66.06
glider: 139
mission: 7
dive: 728
start: 7 12 110 10 29 18
data:
$ID,139
$MISSION,7
$DIVE,728
$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,-2148202.2
$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
$GPS1,102146,2106.565,-15755.165,73,5.0,92,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-70.0
$GPS2,102825,2106.508,-15755.167,45,1.3,45,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.156,-0.097
$KALMAN_X,-379475.0,-296.1,64.3,379306.8,-77.9
$KALMAN_Y,4185.5,-3107.7,-3264.0,1479.7,11907.1
$MHEAD_RNG_PITCHd_Wd,112.1,21203,-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,-77.9,0.0,0.0,0,72,0.00,0.00,-54.83,0.000,2,0.000,0.000,427,1850,3147,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.3,-5.3,11,100,10.45,2.45,-4.60,0.000,4,0.127,0.039,2408,3289,3371,0,0,0,0,0,0
$GC,106,-0.41,-77.9,11.6,-25.6,17,113,1.02,2.38,0.00,0.000,6,0.074,0.027,2623,1866,3371,0,0,0,0,0,0
$GC,317,-0.93,-77.9,23.3,-7.0,54,323,0.47,2.38,0.00,0.000,4,0.041,0.040,2498,469,3373,0,0,0,0,0,0
$GC,372,-0.98,-77.9,28.4,-10.1,65,378,0.00,2.33,0.00,0.000,6,0.000,0.020,2498,1906,3373,0,0,0,0,0,0
$GC,571,-1.05,-77.9,47.9,-9.6,85,576,0.00,2.47,0.00,0.000,4,0.000,0.041,2498,466,3373,0,0,0,0,0,0
$GC,609,-1.08,-77.9,51.8,-9.9,88,614,0.00,2.28,0.00,0.000,6,0.000,0.019,2498,1887,3373,0,0,0,0,0,0
$GC,872,-1.17,-77.9,73.7,-7.5,113,877,0.17,2.42,0.00,0.000,4,0.049,0.041,2441,472,3374,0,0,0,0,0,0
$GC,962,-1.14,-77.9,82.9,-10.0,122,967,0.12,2.25,0.00,0.000,6,0.095,0.019,2467,1881,3374,0,0,0,0,0,0
$GC,1229,-1.24,-77.9,105.8,-7.1,147,1234,0.10,2.28,0.00,0.000,4,0.073,0.025,2427,3263,3375,0,0,0,0,0,0
$GC,1338,-1.30,-77.9,115.1,-8.4,158,1344,0.00,2.33,0.00,0.000,6,0.000,0.025,2427,1863,3375,0,0,0,0,0,0
$GC,1602,-1.30,-77.9,136.9,-7.9,183,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1863,3376,0,0,0,0,0,0
$GC,1854,-1.30,-77.9,157.0,-8.9,207,1858,0.00,2.33,0.00,0.000,4,0.000,0.041,2426,475,3376,0,0,0,0,0,0
$GC,1983,-1.30,-77.9,169.7,-9.7,220,1987,0.00,2.25,0.00,0.000,6,0.000,0.019,2426,1885,3377,0,0,0,0,0,0
$GC,2246,-1.34,-77.9,191.2,-7.1,244,2250,0.00,2.40,0.00,0.000,4,0.000,0.041,2426,468,3377,0,0,0,0,0,0
$GC,2281,-1.34,-77.9,194.2,-8.6,247,2285,0.00,2.25,0.00,0.000,6,0.000,0.019,2427,1879,3377,0,0,0,0,0,0
$GC,2537,-1.40,-77.9,211.2,-6.4,263,2541,0.00,2.25,0.00,0.000,4,0.000,0.027,2427,3265,3378,0,0,0,0,0,0
$GC,2596,-1.54,-77.9,215.3,-7.5,265,2600,0.20,2.30,0.00,0.000,6,0.045,0.025,2366,1873,3378,0,0,0,0,0,0
$GC,2914,-1.48,-77.9,243.6,-9.5,280,2919,0.12,2.40,0.00,0.000,4,0.101,0.042,2392,473,3378,0,0,0,0,0,0
$GC,3008,-1.48,-77.9,253.5,-9.5,284,3012,0.00,2.25,0.00,0.000,6,0.000,0.021,2392,1875,3378,0,0,0,0,0,0
$GC,3333,-1.48,-77.9,279.1,-7.3,300,3337,0.00,2.38,0.00,0.000,4,0.000,0.043,2392,476,3377,0,0,0,0,0,0
$GC,3394,-1.48,-77.9,284.0,-7.6,302,3399,0.00,2.25,0.00,0.000,6,0.000,0.021,2392,1872,3377,0,0,0,0,0,0
$GC,3730,-1.48,-77.9,307.2,-7.6,317,3734,0.00,2.38,0.00,0.000,4,0.000,0.044,2392,476,3376,0,0,0,0,0,0
$GC,3768,-1.45,-77.9,310.5,-8.4,317,3773,0.00,2.25,0.00,0.000,6,0.000,0.022,2392,1869,3376,0,0,0,0,0,0
$GC,4100,-1.45,-77.9,336.2,-7.5,326,4104,0.00,2.40,0.00,0.000,4,0.000,0.046,2392,476,3375,0,0,0,0,0,0
$GC,4115,-1.45,-77.9,337.5,-7.6,326,4119,0.00,2.28,0.00,0.000,6,0.000,0.023,2392,1874,3375,0,0,0,0,0,0
$GC,4464,-1.45,-77.9,364.2,-7.6,335,4468,0.00,2.40,0.00,0.000,4,0.000,0.047,2392,476,3373,0,0,0,0,0,0
$GC,4498,-1.41,-77.9,367.2,-9.2,335,4502,0.00,2.28,0.00,0.000,6,0.000,0.024,2392,1870,3372,0,0,0,0,0,0
$GC,4829,-1.41,-77.9,390.2,-6.2,343,4834,0.00,2.40,0.00,0.000,4,0.000,0.048,2392,475,3370,0,0,0,0,0,0
$GC,4848,-1.41,-77.9,391.5,-6.5,343,4853,0.00,2.30,0.00,0.000,6,0.000,0.025,2392,1878,3370,0,0,0,0,0,0
$GC,5195,-1.41,-77.9,414.4,-6.8,352,5199,0.00,2.45,0.00,0.000,4,0.000,0.049,2391,472,3368,0,0,0,0,0,0
$GC,5275,-1.41,-77.9,420.9,-8.4,353,5279,0.00,2.30,0.00,0.000,6,0.000,0.026,2392,1870,3367,0,0,0,0,0,0
$GC,5608,-1.41,-77.9,444.3,-7.2,361,5612,0.00,2.45,0.00,0.000,4,0.000,0.051,2392,479,3365,0,0,0,0,0,0
$STATE,5675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5676,begin apogee
$GC,5685,-0.31,0.0,450.3,8.7,362,5754,1.15,0.00,64.62,0.861,6,0.073,0.000,2642,2010,3050,0,0,0,0,0,0
$STATE,5754,end apogee,CONTROL_FINISHED_OK
$STATE,5754,begin climb
$GC,5757,1.40,77.9,452.4,0.0,364,5829,1.62,0.00,65.20,0.842,6,0.029,0.000,3026,2010,2732,0,0,0,0,0,0
$GC,6168,1.29,170.6,452.9,1.6,374,6257,0.17,2.55,79.38,0.854,4,0.116,0.054,2994,605,2353,0,0,0,0,0,0
$GC,6319,1.10,170.6,443.4,9.7,377,6324,0.20,2.35,0.00,0.000,6,0.109,0.027,2958,2011,2347,0,0,0,0,0,0
$GC,6665,1.06,170.6,416.1,8.5,386,6669,0.00,2.47,0.00,0.000,4,0.000,0.050,2958,606,2343,0,0,0,0,0,0
$GC,6759,0.96,170.6,407.1,10.0,388,6764,0.17,2.38,0.00,0.000,6,0.113,0.028,2926,2014,2339,0,0,0,0,0,0
$GC,7082,1.01,170.6,379.7,8.4,396,7087,0.00,2.47,0.00,0.000,4,0.000,0.051,2926,606,2339,0,0,0,0,0,0
$GC,7150,1.01,170.6,373.3,10.4,397,7154,0.00,2.35,0.00,0.000,6,0.000,0.029,2926,2015,2338,0,0,0,0,0,0
$GC,7495,1.06,170.8,344.8,8.0,406,7500,0.00,2.47,0.00,0.000,4,0.000,0.051,2926,604,2337,0,0,0,0,0,0
$GC,7607,1.06,170.8,335.4,8.2,408,7612,0.00,2.38,0.00,0.000,6,0.000,0.029,2926,2018,2335,0,0,0,0,0,0
$GC,7954,1.14,193.0,311.8,6.5,417,7979,0.17,2.58,17.62,0.765,4,0.066,0.051,2967,614,2262,0,0,0,0,0,0
$GC,8015,1.07,193.0,307.1,9.3,418,8019,0.00,2.35,0.00,0.000,6,0.000,0.029,2968,2013,2259,0,0,0,0,0,0
$GC,8331,1.07,193.0,282.5,8.8,431,8336,0.12,2.50,0.00,0.000,4,0.117,0.051,2945,611,2258,0,0,0,0,0,0
$GC,8355,1.07,193.0,280.3,8.8,432,8359,0.00,2.35,0.00,0.000,6,0.000,0.030,2946,2016,2257,0,0,0,0,0,0
$GC,8681,1.15,212.0,256.5,6.7,448,8706,0.00,2.60,17.73,0.731,4,0.000,0.051,2946,607,2184,0,0,0,0,0,0
$GC,8948,1.16,213.0,236.0,8.0,459,8952,0.00,2.38,0.00,0.000,6,0.000,0.028,2946,2021,2179,0,0,0,0,0,0
$GC,9269,1.27,236.6,214.7,6.4,475,9298,0.20,2.58,22.55,0.704,4,0.061,0.048,2996,613,2085,0,0,0,0,0,0
$GC,9349,1.21,236.6,208.2,9.2,478,9353,0.00,2.38,0.00,0.000,6,0.000,0.028,2996,2017,2081,0,0,0,0,0,0
$GC,9677,1.24,259.6,185.1,6.4,504,9704,0.00,2.50,21.45,0.671,4,0.000,0.047,2996,612,1990,0,0,0,0,0,0
$GC,9855,1.19,259.6,167.4,11.8,523,9860,0.12,2.35,0.00,0.000,6,0.113,0.026,2973,2017,1986,0,0,0,0,0,0
$GC,10117,1.26,267.3,144.7,7.5,547,10129,0.00,2.50,7.43,0.553,4,0.000,0.047,2973,610,1960,0,0,0,0,0,0
$GC,10315,1.26,267.3,127.3,9.8,568,10320,0.00,2.33,0.00,0.000,6,0.000,0.025,2973,2012,1957,0,0,0,0,0,0
$GC,10579,1.35,271.4,106.0,7.7,593,10586,0.15,0.00,4.97,0.453,6,0.062,0.000,3015,2017,1943,0,0,0,0,0,0
$GC,10844,1.41,285.2,86.4,7.1,618,10865,0.00,2.53,13.80,0.559,4,0.000,0.044,3015,610,1887,0,0,0,0,0,0
$GC,11124,1.42,292.4,65.7,7.5,648,11136,0.00,2.30,7.43,0.485,6,0.000,0.022,3015,2028,1857,0,0,0,0,0,0
$GC,11398,1.49,296.8,45.6,7.7,674,11409,0.10,2.53,5.45,0.427,4,0.077,0.042,3049,604,1839,0,0,0,0,0,0
$GC,11546,1.41,296.8,31.2,9.5,689,11552,0.15,2.30,0.00,0.000,6,0.099,0.021,3019,2020,1838,0,0,0,0,0,0
$GC,11821,1.45,296.8,6.4,8.3,737,11827,0.00,2.42,0.00,0.000,4,0.000,0.041,3019,609,1837,0,0,0,0,0,0
$STATE,11854,end climb,SURFACE_DEPTH_REACHED
$STATE,11854,begin surface coast
$FINISH,0.5,0.999428
$STATE,11887,end surface coast,CONTROL_FINISHED_OK
$STATE,11887,begin surface
$SM_CCo,11912,2.75,0.242,0,0,1826,300.00
$SM_GC,2.26,0.00,0.00,2.75,0.000,0.000,0.242,424,1901,1826,-10.53,0.74,300.00
$IRIDIUM_FIX,2059.45,-15753.90,061099,070707
$TT8_MAMPS,0.029146
$HUMID,55.51
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.50
$XPDR_PINGS,2
$24V_AH,23.3,65.341
$10V_AH,10.0,55.342
$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,28.175,138.000,327.625,2.750,0.000,25.206,35.336,179.117,5.000,0.000,45.365,1441.610,8154.242,392.148,1780.809,541.706,33.402,1350.975,0.000,1711.748,0.000,29.248,0.000
$DEVICE_MAMPS,127.322,53.690,861.341,242.372,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,505.241,498.398,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,38087,751
$CAP_FILE_SIZE,137022,0
$CFSIZE,260165632,215502848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120710,134954,2105.754,-15755.111,83,1.8,83,9.8