version: 66.06
glider: 139
mission: 7
dive: 655
start: 7 2 110 10 5 22
data:
$ID,139
$MISSION,7
$DIVE,655
$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,-2145518
$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
$GPS1,094920,2107.335,-15756.271,32,1.8,32,9.8
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.5
$GPS2,100431,2107.313,-15756.270,42,1.9,42,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,-0.010
$KALMAN_X,-343850.2,399.9,-402.5,341542.0,361.4
$KALMAN_Y,39425.7,-1.0,44.0,-38720.7,-178.8
$MHEAD_RNG_PITCHd_Wd,83.3,23235,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.40,-77.9,0.0,0.0,0,74,0.00,0.00,-55.17,0.000,2,0.000,0.000,426,1861,3195,0,0,0,0,0,0
$GC,78,-1.40,-77.9,3.4,-5.2,11,97,10.52,2.38,-3.53,0.000,4,0.130,0.033,2405,3302,3369,0,0,0,0,0,0
$GC,151,-1.36,-77.9,18.6,-14.2,26,156,0.00,2.40,0.00,0.000,6,0.000,0.028,2406,1872,3370,0,0,0,0,0,0
$GC,354,-1.19,-77.9,51.5,-18.5,51,359,0.22,2.40,0.00,0.000,4,0.096,0.040,2450,470,3371,0,0,0,0,0,0
$GC,393,-1.10,-77.9,57.9,-12.7,54,399,0.12,2.28,0.00,0.000,6,0.105,0.019,2476,1912,3370,0,0,0,0,0,0
$GC,656,-1.10,-77.9,84.5,-9.6,79,660,0.00,2.45,0.00,0.000,4,0.000,0.041,2475,471,3371,0,0,0,0,0,0
$GC,736,-1.10,-77.9,93.4,-10.5,87,740,0.00,2.22,0.00,0.000,6,0.000,0.018,2476,1877,3371,0,0,0,0,0,0
$GC,998,-1.17,-77.9,121.1,-9.7,111,1002,0.00,2.25,0.00,0.000,4,0.000,0.025,2476,3264,3372,0,0,0,0,0,0
$GC,1051,-1.34,-77.9,125.0,-6.3,116,1057,0.25,2.33,0.00,0.000,6,0.041,0.025,2401,1866,3373,0,0,0,0,0,0
$GC,1313,-1.31,-77.9,146.8,-9.2,140,1317,0.12,2.38,0.00,0.000,4,0.097,0.041,2427,466,3373,0,0,0,0,0,0
$GC,1370,-1.31,-77.9,152.5,-9.2,145,1375,0.00,2.22,0.00,0.000,6,0.000,0.018,2427,1879,3373,0,0,0,0,0,0
$GC,1634,-1.31,-77.9,176.6,-8.9,170,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1883,3373,0,0,0,0,0,0
$GC,1898,-1.35,-77.9,198.7,-7.9,195,1902,0.00,2.40,0.00,0.000,4,0.000,0.041,2427,472,3374,0,0,0,0,0,0
$GC,2019,-1.35,-77.9,208.3,-8.1,202,2023,0.00,2.20,0.00,0.000,6,0.000,0.019,2427,1875,3374,0,0,0,0,0,0
$GC,2347,-1.40,-77.9,233.2,-8.0,218,2351,0.00,2.38,0.00,0.000,4,0.000,0.041,2427,473,3374,0,0,0,0,0,0
$GC,2446,-1.44,-77.9,240.8,-6.5,222,2451,0.12,2.22,0.00,0.000,6,0.061,0.020,2384,1878,3374,0,0,0,0,0,0
$GC,2774,-1.44,-77.9,265.8,-8.3,238,2778,0.00,2.40,0.00,0.000,4,0.000,0.043,2383,475,3373,0,0,0,0,0,0
$GC,2802,-1.36,-77.9,268.9,-9.6,239,2807,0.15,2.22,0.00,0.000,6,0.094,0.021,2415,1878,3373,0,0,0,0,0,0
$GC,3126,-1.41,-77.9,296.2,-7.7,255,3130,0.00,2.40,0.00,0.000,4,0.000,0.044,2414,466,3373,0,0,0,0,0,0
$GC,3186,-1.41,-77.9,300.8,-7.5,257,3191,0.00,2.28,0.00,0.000,6,0.000,0.022,2415,1878,3372,0,0,0,0,0,0
$GC,3518,-1.47,-77.9,326.0,-8.1,266,3522,0.00,2.40,0.00,0.000,4,0.000,0.044,2414,470,3372,0,0,0,0,0,0
$GC,3627,-1.50,-77.9,334.7,-8.0,268,3632,0.12,2.28,0.00,0.000,6,0.063,0.022,2373,1877,3371,0,0,0,0,0,0
$GC,3981,-1.47,-77.9,365.2,-9.0,277,3986,0.10,2.42,0.00,0.000,4,0.110,0.047,2393,471,3369,0,0,0,0,0,0
$GC,4028,-1.47,-77.9,370.0,-9.5,278,4032,0.00,2.28,0.00,0.000,6,0.000,0.025,2393,1881,3369,0,0,0,0,0,0
$GC,4351,-1.47,-77.9,399.5,-9.1,286,4358,0.00,2.42,0.00,0.000,4,0.000,0.047,2393,468,3367,0,0,0,0,0,0
$GC,4387,-1.43,-77.9,403.2,-10.6,286,4391,0.00,2.28,0.00,0.000,6,0.000,0.025,2393,1875,3366,0,0,0,0,0,0
$GC,4723,-1.47,-77.9,434.2,-8.7,295,4727,0.00,2.42,0.00,0.000,4,0.000,0.049,2393,469,3364,0,0,0,0,0,0
$GC,4834,-1.47,-77.9,445.2,-9.8,297,4838,0.00,2.28,0.00,0.000,6,0.000,0.025,2393,1873,3363,0,0,0,0,0,0
$STATE,4897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4897,begin apogee
$GC,4903,-0.31,0.0,451.1,8.8,299,4970,1.17,0.00,63.67,0.853,6,0.074,0.000,2644,2040,3050,0,0,0,0,0,0
$STATE,4971,end apogee,CONTROL_FINISHED_OK
$STATE,4971,begin climb
$GC,4974,1.40,77.9,452.3,0.0,300,5049,1.62,2.38,64.45,0.835,4,0.028,0.037,3010,3381,2732,0,0,0,0,0,0
$GC,5120,1.24,147.6,454.9,3.2,303,5188,0.22,2.33,59.17,0.830,6,0.110,0.031,2987,2013,2448,0,0,0,0,0,0
$GC,5512,1.12,147.6,421.7,9.6,312,5517,0.15,2.47,0.00,0.000,4,0.120,0.048,2958,599,2440,0,0,0,0,0,0
$GC,5556,1.00,147.6,416.6,12.5,313,5561,0.15,2.33,0.00,0.000,6,0.123,0.027,2934,1999,2438,0,0,0,0,0,0
$GC,5885,1.00,147.6,386.6,8.2,321,5886,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2003,2436,0,0,0,0,0,0
$GC,6209,1.00,147.6,360.5,8.3,329,6213,0.00,2.40,0.00,0.000,4,0.000,0.036,2934,3408,2434,0,0,0,0,0,0
$GC,6251,1.00,147.6,356.9,8.8,330,6256,0.00,2.38,0.00,0.000,6,0.000,0.033,2933,2005,2434,0,0,0,0,0,0
$GC,6580,1.04,177.6,335.5,6.0,338,6611,0.00,2.50,24.52,0.782,4,0.000,0.049,2932,607,2324,0,0,0,0,0,0
$GC,6660,1.07,203.3,330.8,6.3,339,6689,0.00,2.35,23.75,0.765,6,0.000,0.028,2933,2013,2221,0,0,0,0,0,0
$GC,7038,1.14,208.2,304.8,7.7,349,7051,0.12,2.47,5.12,0.569,4,0.075,0.048,2962,607,2200,0,0,0,0,0,0
$GC,7191,1.08,208.2,287.9,10.9,354,7195,0.00,2.35,0.00,0.000,6,0.000,0.028,2965,2006,2196,0,0,0,0,0,0
$GC,7511,1.10,221.4,262.1,7.1,370,7525,0.00,0.00,12.70,0.699,6,0.000,0.000,2965,2010,2147,0,0,0,0,0,0
$GC,7821,1.12,241.8,241.7,6.6,385,7845,0.00,2.53,19.33,0.709,4,0.000,0.050,2964,608,2064,0,0,0,0,0,0
$GC,7970,1.12,241.8,228.8,8.4,391,7974,0.00,2.35,0.00,0.000,6,0.000,0.028,2965,2014,2059,0,0,0,0,0,0
$GC,8286,1.17,241.8,202.1,8.8,406,8291,0.00,2.47,0.00,0.000,4,0.000,0.049,2965,607,2058,0,0,0,0,0,0
$GC,8443,1.17,241.8,187.2,9.8,420,8449,0.00,2.35,0.00,0.000,6,0.000,0.026,2966,2019,2055,0,0,0,0,0,0
$GC,8707,1.27,265.4,167.0,6.4,445,8735,0.12,2.50,21.30,0.650,4,0.070,0.047,3000,606,1967,0,0,0,0,0,0
$GC,8886,1.23,265.4,149.9,11.4,464,8890,0.00,2.33,0.00,0.000,6,0.000,0.025,3000,2021,1962,0,0,0,0,0,0
$GC,9149,1.26,265.4,124.9,9.1,488,9153,0.00,2.47,0.00,0.000,4,0.000,0.045,3000,602,1962,0,0,0,0,0,0
$GC,9229,1.26,265.4,117.4,10.0,496,9233,0.00,2.33,0.00,0.000,6,0.000,0.024,3000,2014,1960,0,0,0,0,0,0
$GC,9492,1.33,265.4,95.9,8.9,520,9493,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2018,1960,0,0,0,0,0,0
$GC,9746,1.44,299.1,77.6,5.7,544,9781,0.12,2.55,29.80,0.572,4,0.066,0.043,3038,601,1829,0,0,0,0,0,0
$GC,10047,1.40,299.1,49.6,9.8,576,10053,0.00,2.30,0.00,0.000,6,0.000,0.021,3038,2028,1824,0,0,0,0,0,0
$GC,10312,1.40,299.1,25.4,11.3,604,10317,0.00,2.42,0.00,0.000,4,0.000,0.041,3038,604,1824,0,0,0,0,0,0
$GC,10454,1.34,299.1,7.8,12.9,634,10460,0.15,2.25,0.00,0.000,6,0.100,0.020,3008,2011,1823,0,0,0,0,0,0
$STATE,10498,end climb,SURFACE_DEPTH_REACHED
$STATE,10498,begin surface coast
$FINISH,0.6,1.023430
$STATE,10533,end surface coast,CONTROL_FINISHED_OK
$STATE,10533,begin surface
$SM_CCo,10616,0.00,0.000,0,0,1819,301.96
$SM_GC,1.37,11.12,0.00,0.00,0.027,0.000,0.000,423,1865,1819,-10.46,-0.25,301.96
$IRIDIUM_FIX,2057.14,-15743.60,260999,101051
$TT8_MAMPS,0.029146
$HUMID,53.97
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.80
$XPDR_PINGS,1
$24V_AH,23.3,58.627
$10V_AH,10.0,51.051
$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,26.725,113.800,323.825,0.000,0.000,91.455,104.772,414.575,4.750,0.000,42.688,1256.121,7411.365,380.282,1571.917,901.387,33.375,1228.928,0.000,1506.966,0.000,29.264,0.000
$DEVICE_MAMPS,130.390,51.389,852.904,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.639,424.583,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,35002,648
$CAP_FILE_SIZE,127869,0
$CFSIZE,260165632,220024832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020710,130530,2107.296,-15755.355,152,1.7,157,9.8