version: 66.06
glider: 139
mission: 7
dive: 652
start: 7 2 110 0 6 23
data:
$ID,139
$MISSION,7
$DIVE,652
$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,-2145372
$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
$GPS1,235757,2107.659,-15759.025,80,2.7,99,9.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-70.0
$GPS2,000531,2107.603,-15759.095,57,3.8,76,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.181,-0.032
$KALMAN_X,-342351.4,-496.8,237.4,335427.5,149.9
$KALMAN_Y,39232.4,6.7,-127.5,-37825.9,101.9
$MHEAD_RNG_PITCHd_Wd,90.3,28146,-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,-50.40,0.000,2,0.000,0.000,426,1895,3160,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.5,-5.9,10,92,10.60,0.00,-4.15,0.000,6,0.133,0.000,2402,1896,3369,0,0,0,0,0,0
$GC,297,-1.20,-77.9,42.2,-15.8,44,302,0.25,2.45,0.00,0.000,4,0.097,0.042,2456,465,3370,0,0,0,0,0,0
$GC,322,-1.05,-77.9,45.7,-13.2,46,327,0.12,2.33,0.00,0.000,6,0.104,0.020,2482,1908,3371,0,0,0,0,0,0
$GC,585,-1.05,-77.9,73.7,-10.6,70,589,0.00,2.47,0.00,0.000,4,0.000,0.042,2482,459,3371,0,0,0,0,0,0
$GC,613,-1.05,-77.9,76.8,-10.9,72,618,0.00,2.28,0.00,0.000,6,0.000,0.019,2482,1887,3371,0,0,0,0,0,0
$GC,876,-1.11,-77.9,101.5,-9.1,97,880,0.00,2.42,0.00,0.000,4,0.000,0.041,2481,461,3372,0,0,0,0,0,0
$GC,928,-1.18,-77.9,106.5,-9.0,102,933,0.12,2.25,0.00,0.000,6,0.062,0.019,2437,1882,3372,0,0,0,0,0,0
$GC,1189,-1.18,-77.9,132.0,-9.0,126,1193,0.00,2.40,0.00,0.000,4,0.000,0.041,2437,466,3373,0,0,0,0,0,0
$GC,1272,-1.18,-77.9,139.9,-9.9,134,1281,0.00,2.25,0.00,0.000,6,0.000,0.019,2437,1884,3373,0,0,0,0,0,0
$GC,1535,-1.22,-77.9,163.5,-9.9,159,1540,0.00,2.42,0.00,0.000,4,0.000,0.041,2437,464,3374,0,0,0,0,0,0
$GC,1578,-1.22,-77.9,168.3,-10.6,163,1583,0.00,2.22,0.00,0.000,6,0.000,0.019,2437,1882,3374,0,0,0,0,0,0
$GC,1843,-1.26,-77.9,192.5,-8.5,187,1848,0.00,2.40,0.00,0.000,4,0.000,0.042,2437,464,3374,0,0,0,0,0,0
$GC,1919,-1.26,-77.9,199.7,-8.9,194,1925,0.00,2.22,0.00,0.000,6,0.000,0.019,2438,1880,3374,0,0,0,0,0,0
$GC,2174,-1.33,-77.9,217.5,-6.3,207,2178,0.00,2.40,0.00,0.000,4,0.000,0.042,2437,461,3375,0,0,0,0,0,0
$GC,2194,-1.37,-77.9,218.7,-5.3,208,2198,0.00,2.22,0.00,0.000,6,0.000,0.020,2437,1871,3375,0,0,0,0,0,0
$GC,2526,-1.45,-77.9,235.9,-6.2,224,2531,0.17,2.42,0.00,0.000,4,0.051,0.043,2382,465,3375,0,0,0,0,0,0
$GC,2597,-1.38,-77.9,242.9,-10.1,227,2602,0.15,2.22,0.00,0.000,6,0.094,0.021,2413,1870,3375,0,0,0,0,0,0
$GC,2924,-1.42,-77.9,272.3,-9.1,243,2929,0.00,2.38,0.00,0.000,4,0.000,0.044,2413,468,3375,0,0,0,0,0,0
$GC,2967,-1.42,-77.9,276.1,-8.8,245,2971,0.00,2.25,0.00,0.000,6,0.000,0.021,2413,1885,3375,0,0,0,0,0,0
$GC,3299,-1.48,-77.9,300.3,-7.5,261,3303,0.00,2.45,0.00,0.000,4,0.000,0.045,2413,463,3374,0,0,0,0,0,0
$GC,3403,-1.48,-77.9,308.8,-8.1,263,3407,0.00,2.28,0.00,0.000,6,0.000,0.022,2413,1872,3374,0,0,0,0,0,0
$GC,3717,-1.52,-77.9,333.4,-7.8,271,3722,0.15,2.45,0.00,0.000,4,0.057,0.046,2367,463,3373,0,0,0,0,0,0
$GC,3737,-1.48,-77.9,335.6,-10.1,271,3742,0.12,2.28,0.00,0.000,6,0.100,0.023,2392,1883,3373,0,0,0,0,0,0
$GC,4084,-1.48,-77.9,368.6,-9.3,280,4088,0.00,2.45,0.00,0.000,4,0.000,0.048,2393,469,3371,0,0,0,0,0,0
$GC,4112,-1.45,-77.9,371.6,-10.2,280,4116,0.00,2.28,0.00,0.000,6,0.000,0.024,2393,1872,3371,0,0,0,0,0,0
$GC,4454,-1.45,-77.9,401.3,-8.4,289,4458,0.00,2.42,0.00,0.000,4,0.000,0.048,2393,463,3368,0,0,0,0,0,0
$GC,4514,-1.45,-77.9,405.9,-7.2,290,4518,0.00,2.28,0.00,0.000,6,0.000,0.025,2393,1873,3368,0,0,0,0,0,0
$GC,4865,-1.48,-77.9,428.6,-7.3,299,4869,0.00,2.42,0.00,0.000,4,0.000,0.050,2392,469,3366,0,0,0,0,0,0
$GC,4893,-1.48,-77.9,431.3,-9.1,299,4897,0.00,2.30,0.00,0.000,6,0.000,0.026,2393,1883,3365,0,0,0,0,0,0
$STATE,5189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5190,begin apogee
$GC,5196,-0.31,0.0,450.7,6.0,307,5263,1.17,0.00,63.92,0.861,6,0.069,0.000,2647,2036,3050,0,0,0,0,0,0
$STATE,5264,end apogee,CONTROL_FINISHED_OK
$STATE,5264,begin climb
$GC,5267,1.40,77.9,451.1,0.0,308,5342,1.60,2.38,64.68,0.841,4,0.028,0.037,3025,3377,2732,0,0,0,0,0,0
$GC,5569,1.22,123.7,442.3,4.9,314,5615,0.20,2.33,38.95,0.832,6,0.114,0.033,2986,2008,2544,0,0,0,0,0,0
$GC,5952,1.09,131.3,411.7,7.5,324,5962,0.17,0.00,7.00,0.679,6,0.112,0.000,2955,2008,2513,0,0,0,0,0,0
$GC,6276,1.11,184.1,396.9,4.4,332,6329,0.00,2.55,46.70,0.831,4,0.000,0.053,2956,610,2298,0,0,0,0,0,0
$GC,6588,1.03,184.1,369.2,10.2,338,6594,0.00,2.30,0.00,0.000,6,0.000,0.028,2954,1990,2289,0,0,0,0,0,0
$GC,6920,1.06,205.8,344.2,6.5,347,6941,0.00,0.00,19.05,0.778,6,0.000,0.000,2957,1995,2211,0,0,0,0,0,0
$GC,7244,1.06,205.8,317.6,9.0,355,7245,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,1995,2206,0,0,0,0,0,0
$GC,7550,1.06,205.8,289.8,8.6,365,7554,0.00,2.42,0.00,0.000,4,0.000,0.051,2956,606,2204,0,0,0,0,0,0
$GC,7688,1.02,205.8,276.6,10.0,371,7692,0.00,2.35,0.00,0.000,6,0.000,0.028,2957,2010,2201,0,0,0,0,0,0
$GC,8017,1.04,217.7,250.0,7.2,387,8034,0.00,2.53,10.45,0.681,4,0.000,0.049,2957,610,2161,0,0,0,0,0,0
$GC,8072,1.04,217.7,245.6,9.0,389,8076,0.00,2.35,0.00,0.000,6,0.000,0.028,2957,2019,2158,0,0,0,0,0,0
$GC,8392,1.09,217.7,218.4,9.3,405,8396,0.00,2.50,0.00,0.000,4,0.000,0.049,2957,599,2158,0,0,0,0,0,0
$GC,8551,1.09,217.7,203.0,8.8,412,8555,0.00,2.35,0.00,0.000,6,0.000,0.028,2958,2018,2156,0,0,0,0,0,0
$GC,8879,1.19,235.7,180.4,6.8,441,8904,0.00,2.53,16.90,0.661,4,0.000,0.046,2958,604,2087,0,0,0,0,0,0
$GC,8934,1.19,236.0,176.0,8.0,447,8939,0.00,2.35,0.00,0.000,6,0.000,0.027,2958,2019,2085,0,0,0,0,0,0
$GC,9198,1.28,242.0,155.4,7.6,471,9211,0.15,2.53,6.55,0.541,4,0.064,0.047,2998,611,2062,0,0,0,0,0,0
$GC,9416,1.23,242.0,134.2,8.3,494,9421,0.00,2.33,0.00,0.000,6,0.000,0.025,2998,2017,2060,0,0,0,0,0,0
$GC,9679,1.27,272.9,116.1,5.9,519,9714,0.00,2.53,28.17,0.613,4,0.000,0.045,2998,599,1936,0,0,0,0,0,0
$GC,9826,1.27,272.9,104.8,8.2,535,9830,0.00,2.33,0.00,0.000,6,0.000,0.023,2998,2021,1931,0,0,0,0,0,0
$GC,10090,1.36,273.5,82.3,8.0,559,10094,0.00,2.47,0.00,0.000,4,0.000,0.044,2998,597,1931,0,0,0,0,0,0
$GC,10127,1.36,273.8,78.9,8.0,562,10133,0.00,2.30,0.00,0.000,6,0.000,0.022,2998,2016,1930,0,0,0,0,0,0
$GC,10391,1.45,282.2,59.9,7.4,587,10409,0.15,2.45,9.07,0.499,4,0.060,0.041,3042,603,1898,0,0,0,0,0,0
$GC,10526,1.38,282.2,45.8,9.5,601,10533,0.15,2.30,0.00,0.000,6,0.100,0.021,3013,2013,1896,0,0,0,0,0,0
$GC,10790,1.47,297.8,25.9,6.9,631,10813,0.00,2.50,14.93,0.505,4,0.000,0.043,3012,606,1834,0,0,0,0,0,0
$GC,10930,1.47,297.8,16.4,9.1,661,10936,0.00,2.28,0.00,0.000,6,0.000,0.021,3012,2018,1831,0,0,0,0,0,0
$STATE,11076,end climb,SURFACE_DEPTH_REACHED
$STATE,11076,begin surface coast
$FINISH,0.5,1.010502
$STATE,11104,end surface coast,CONTROL_FINISHED_OK
$STATE,11104,begin surface
$SM_CCo,11186,0.00,0.000,0,0,1826,300.00
$SM_GC,1.45,11.12,0.00,0.00,0.026,0.000,0.000,428,1857,1826,-10.43,-0.48,300.00
$IRIDIUM_FIX,2059.45,-15801.19,250999,202035
$TT8_MAMPS,0.029146
$HUMID,53.89
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.3,58.333
$10V_AH,10.0,50.874
$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,26.425,118.975,326.375,0.000,0.000,28.213,32.904,209.508,4.500,0.000,79.195,1319.194,7727.192,396.550,1670.912,521.565,33.378,1271.556,0.000,1567.789,0.000,29.265,0.000
$DEVICE_MAMPS,133.458,52.923,861.341,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,464.936,453.436,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34892,692
$CAP_FILE_SIZE,124632,0
$CFSIZE,260165632,220213248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020710,031514,2107.555,-15757.785,90,9.5,109,9.8