version: 66.06
glider: 139
mission: 7
dive: 651
start: 7 1 110 20 57 49
data:
$ID,139
$MISSION,7
$DIVE,651
$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,-2145292
$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
$GPS1,204655,2107.932,-15800.255,93,1.7,93,9.8
$_CALLS,1
$_XMS_NAKs,34
$_XMS_TOUTs,1
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-68.5
$GPS2,205658,2107.938,-15800.300,45,2.8,64,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.180,-0.035
$KALMAN_X,-341538.2,-552.2,-591.8,333413.8,1056.3
$KALMAN_Y,39303.8,-2.0,28.1,-37426.9,-6.5
$MHEAD_RNG_PITCHd_Wd,91.3,30289,-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,-50.47,0.000,2,0.000,0.000,426,1915,3167,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.5,-6.1,10,91,10.57,2.35,-4.07,0.000,4,0.133,0.036,2406,3303,3369,0,0,0,0,0,0
$GC,149,-1.40,-77.9,18.7,-12.8,26,155,0.00,2.40,0.00,0.000,6,0.000,0.029,2407,1871,3371,0,0,0,0,0,0
$GC,358,-1.22,-77.9,49.2,-15.1,52,363,0.20,2.38,0.00,0.000,4,0.097,0.040,2446,471,3372,0,0,0,0,0,0
$GC,403,-1.10,-77.9,55.9,-14.3,56,408,0.12,2.30,0.00,0.000,6,0.105,0.018,2471,1920,3372,0,0,0,0,0,0
$GC,665,-1.10,-77.9,83.3,-10.3,80,669,0.00,2.47,0.00,0.000,4,0.000,0.041,2471,466,3372,0,0,0,0,0,0
$GC,708,-1.10,-77.9,88.4,-12.0,84,712,0.00,2.22,0.00,0.000,6,0.000,0.019,2472,1877,3372,0,0,0,0,0,0
$GC,971,-1.15,-77.9,115.3,-9.5,108,975,0.00,2.42,0.00,0.000,4,0.000,0.041,2471,460,3373,0,0,0,0,0,0
$GC,999,-1.15,-77.9,118.3,-9.3,110,1004,0.00,2.22,0.00,0.000,6,0.000,0.018,2471,1878,3373,0,0,0,0,0,0
$GC,1262,-1.23,-77.9,139.7,-8.0,135,1267,0.12,2.38,0.00,0.000,4,0.062,0.041,2426,475,3373,0,0,0,0,0,0
$GC,1363,-1.23,-77.9,149.4,-9.3,145,1368,0.00,2.20,0.00,0.000,6,0.000,0.018,2427,1874,3374,0,0,0,0,0,0
$GC,1625,-1.23,-77.9,172.9,-9.2,170,1629,0.00,2.38,0.00,0.000,4,0.000,0.041,2426,469,3374,0,0,0,0,0,0
$GC,1671,-1.23,-77.9,177.7,-10.0,174,1677,0.00,2.25,0.00,0.000,6,0.000,0.018,2426,1884,3374,0,0,0,0,0,0
$GC,1945,-1.26,-77.9,201.8,-7.5,199,1949,0.00,2.42,0.00,0.000,4,0.000,0.041,2426,465,3375,0,0,0,0,0,0
$GC,2006,-1.26,-77.9,207.7,-9.6,201,2011,0.00,2.22,0.00,0.000,6,0.000,0.019,2426,1877,3375,0,0,0,0,0,0
$GC,2322,-1.30,-77.9,235.5,-9.0,217,2326,0.00,2.38,0.00,0.000,4,0.000,0.041,2426,471,3375,0,0,0,0,0,0
$GC,2355,-1.30,-77.9,239.0,-10.1,218,2359,0.00,2.20,0.00,0.000,6,0.000,0.020,2426,1874,3375,0,0,0,0,0,0
$GC,2673,-1.37,-77.9,264.1,-7.2,233,2677,0.00,2.40,0.00,0.000,4,0.000,0.043,2426,470,3375,0,0,0,0,0,0
$GC,2743,-1.42,-77.9,269.2,-6.3,236,2747,0.00,2.25,0.00,0.000,6,0.000,0.020,2426,1880,3375,0,0,0,0,0,0
$GC,3073,-1.51,-77.9,291.0,-8.3,252,3078,0.17,2.42,0.00,0.000,4,0.051,0.044,2372,471,3375,0,0,0,0,0,0
$GC,3140,-1.43,-77.9,297.3,-9.1,255,3145,0.12,2.25,0.00,0.000,6,0.098,0.021,2399,1872,3375,0,0,0,0,0,0
$GC,3467,-1.47,-77.9,319.4,-6.5,264,3468,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1878,3374,0,0,0,0,0,0
$GC,3792,-1.51,-77.9,344.1,-7.7,272,3796,0.00,2.42,0.00,0.000,4,0.000,0.046,2399,467,3373,0,0,0,0,0,0
$GC,3885,-1.51,-77.9,352.1,-8.7,274,3889,0.00,2.28,0.00,0.000,6,0.000,0.023,2399,1870,3373,0,0,0,0,0,0
$GC,4209,-1.56,-77.9,375.8,-7.2,282,4214,0.12,2.45,0.00,0.000,4,0.065,0.048,2360,465,3371,0,0,0,0,0,0
$GC,4325,-1.47,-77.9,386.9,-9.3,284,4330,0.15,2.30,0.00,0.000,6,0.094,0.025,2392,1876,3369,0,0,0,0,0,0
$GC,4667,-1.50,-77.9,413.4,-8.4,293,4670,0.00,2.45,0.00,0.000,4,0.000,0.049,2391,466,3367,0,0,0,0,0,0
$GC,4768,-1.50,-77.9,423.0,-8.8,295,4772,0.00,2.30,0.00,0.000,6,0.000,0.026,2392,1871,3366,0,0,0,0,0,0
$GC,5087,-1.54,-77.9,447.2,-7.4,303,5092,0.00,2.42,0.00,0.000,4,0.000,0.049,2389,466,3363,0,0,0,0,0,0
$GC,5106,-1.54,-77.9,448.7,-7.1,303,5111,0.00,2.30,0.00,0.000,6,0.000,0.027,2392,1878,3364,0,0,0,0,0,0
$STATE,5164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5164,begin apogee
$GC,5171,-0.31,0.0,452.6,6.6,305,5238,1.17,0.00,63.75,0.864,6,0.070,0.000,2645,2030,3050,0,0,0,0,0,0
$STATE,5239,end apogee,CONTROL_FINISHED_OK
$STATE,5239,begin climb
$GC,5242,1.40,77.9,453.3,0.0,306,5317,1.60,2.40,64.45,0.844,4,0.028,0.038,3024,3382,2732,0,0,0,0,0,0
$GC,5323,1.30,192.1,455.2,0.2,308,5431,0.15,2.38,97.40,0.838,6,0.117,0.032,2999,2004,2266,0,0,0,0,0,0
$GC,5745,1.17,192.1,409.5,11.4,319,5750,0.15,2.35,0.00,0.000,4,0.120,0.036,2974,3380,2255,0,0,0,0,0,0
$GC,5761,1.08,192.1,407.7,11.4,319,5766,0.12,2.33,0.00,0.000,6,0.114,0.035,2951,2014,2255,0,0,0,0,0,0
$GC,6111,1.08,192.1,376.2,8.8,328,6116,0.00,2.47,0.00,0.000,4,0.000,0.051,2946,603,2252,0,0,0,0,0,0
$GC,6265,1.01,192.1,362.4,9.4,331,6269,0.00,2.30,0.00,0.000,6,0.000,0.028,2950,1987,2248,0,0,0,0,0,0
$GC,6614,1.01,192.1,332.5,8.9,340,6618,0.00,2.45,0.00,0.000,4,0.000,0.051,2949,595,2247,0,0,0,0,0,0
$GC,6796,0.97,192.1,314.9,9.9,344,6801,0.12,2.35,0.00,0.000,6,0.120,0.030,2929,2008,2244,0,0,0,0,0,0
$GC,7128,1.07,203.4,291.4,7.2,354,7137,0.00,0.00,7.22,0.657,6,0.000,0.000,2929,2013,2220,0,0,0,0,0,0
$GC,7436,1.14,203.4,267.2,8.4,369,7441,0.15,2.50,0.00,0.000,4,0.069,0.051,2964,603,2219,0,0,0,0,0,0
$GC,7571,1.14,203.4,253.5,9.6,375,7576,0.00,2.35,0.00,0.000,6,0.000,0.028,2966,2018,2216,0,0,0,0,0,0
$GC,7902,1.20,213.6,231.4,7.3,391,7918,0.00,2.55,10.02,0.663,4,0.000,0.050,2965,606,2179,0,0,0,0,0,0
$GC,8118,1.21,222.1,212.4,7.4,400,8132,0.00,2.35,8.68,0.627,6,0.000,0.027,2966,2023,2144,0,0,0,0,0,0
$GC,8446,1.27,222.1,187.5,8.4,423,8451,0.10,2.50,0.00,0.000,4,0.081,0.048,2994,601,2143,0,0,0,0,0,0
$GC,8598,1.19,222.5,174.0,8.0,438,8604,0.12,2.33,0.00,0.000,6,0.116,0.025,2974,2009,2140,0,0,0,0,0,0
$GC,8861,1.28,249.7,155.4,6.2,463,8892,0.00,2.53,25.35,0.644,4,0.000,0.047,2973,595,2031,0,0,0,0,0,0
$GC,9027,1.29,260.3,143.6,7.3,480,9043,0.00,2.35,10.65,0.578,6,0.000,0.025,2973,2014,1987,0,0,0,0,0,0
$GC,9305,1.40,271.8,125.5,7.2,507,9324,0.20,2.50,11.38,0.566,4,0.052,0.045,3028,599,1941,0,0,0,0,0,0
$GC,9578,1.34,271.8,92.6,9.8,536,9583,0.12,2.30,0.00,0.000,6,0.105,0.022,3005,2014,1936,0,0,0,0,0,0
$GC,9842,1.41,271.8,71.7,8.3,560,9846,0.00,2.45,0.00,0.000,4,0.000,0.043,3004,600,1936,0,0,0,0,0,0
$GC,9949,1.41,271.8,61.9,9.1,571,9953,0.00,2.28,0.00,0.000,6,0.000,0.021,3005,2014,1936,0,0,0,0,0,0
$GC,10214,1.49,273.5,41.5,7.9,595,10219,0.15,2.45,0.00,0.000,4,0.058,0.043,3050,591,1936,0,0,0,0,0,0
$GC,10360,1.40,273.5,25.8,11.6,614,10366,0.15,2.28,0.00,0.000,6,0.100,0.021,3020,2013,1935,0,0,0,0,0,0
$GC,10571,1.44,273.5,5.5,9.9,651,10576,0.00,2.45,0.00,0.000,4,0.000,0.044,3019,592,1936,0,0,0,0,0,0
$STATE,10589,end climb,SURFACE_DEPTH_REACHED
$STATE,10590,begin surface coast
$FINISH,0.6,1.007384
$STATE,10622,end surface coast,CONTROL_FINISHED_OK
$STATE,10622,begin surface
$SM_CCo,10646,23.08,0.501,0,0,1826,300.00
$SM_GC,1.18,0.00,0.00,23.08,0.000,0.000,0.501,427,1895,1826,-10.52,0.57,300.00
$IRIDIUM_FIX,2101.76,-15828.22,250999,171713
$TT8_MAMPS,0.029146
$HUMID,53.70
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.3,58.246
$10V_AH,10.0,50.817
$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,27.050,122.900,298.900,23.075,0.000,24.865,28.307,376.061,4.750,0.000,65.869,1299.451,7211.961,386.621,1687.383,683.929,33.374,1271.166,0.000,1592.408,0.000,29.271,0.000
$DEVICE_MAMPS,132.691,53.690,863.642,500.851,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,444.973,432.968,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355828
$DATA_FILE_SIZE,34910,662
$CAP_FILE_SIZE,129091,0
$CFSIZE,260165632,220266496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010710,235757,2107.659,-15759.025,80,2.7,99,9.8