version: 66.06
glider: 139
mission: 7
dive: 656
start: 7 2 110 13 12 17
data:
$ID,139
$MISSION,7
$DIVE,656
$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,-2145533.5
$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
$GPS1,130530,2107.296,-15755.355,152,1.7,157,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-72.0
$GPS2,131125,2107.278,-15755.356,9,1.3,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.181,-0.033
$KALMAN_X,-344851.8,245.7,292.0,343587.5,-988.0
$KALMAN_Y,39624.8,28.6,-143.7,-38829.6,237.7
$MHEAD_RNG_PITCHd_Wd,90.5,21662,-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,15,begin dive
$GC,17,-1.40,-77.9,0.0,0.0,0,69,0.00,0.00,-49.88,0.000,2,0.000,0.000,423,1865,3139,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.5,-6.2,10,96,10.57,2.45,-4.75,0.000,4,0.132,0.054,2406,463,3371,0,0,0,0,0,0
$GC,108,-0.54,-77.9,12.9,-24.2,17,114,0.93,2.35,0.00,0.000,6,0.093,0.020,2593,1921,3371,0,0,0,0,0,0
$GC,318,-0.82,-77.9,26.1,-4.6,54,324,0.25,2.50,0.00,0.000,4,0.046,0.039,2514,458,3372,0,0,0,0,0,0
$GC,395,-0.92,-77.9,33.0,-9.9,67,400,0.00,2.25,0.00,0.000,6,0.000,0.019,2514,1880,3372,0,0,0,0,0,0
$GC,659,-1.01,-77.9,53.9,-10.7,91,663,0.00,2.42,0.00,0.000,4,0.000,0.041,2514,469,3373,0,0,0,0,0,0
$GC,706,-1.09,-77.9,58.1,-7.8,95,712,0.17,2.25,0.00,0.000,6,0.051,0.019,2458,1882,3374,0,0,0,0,0,0
$GC,969,-1.09,-77.9,86.2,-10.6,120,973,0.00,2.42,0.00,0.000,4,0.000,0.041,2458,465,3375,0,0,0,0,0,0
$GC,1012,-1.04,-77.9,91.1,-10.9,124,1017,0.15,2.22,0.00,0.000,6,0.091,0.019,2489,1877,3375,0,0,0,0,0,0
$GC,1274,-1.15,-77.9,114.8,-7.1,148,1279,0.12,2.42,0.00,0.000,4,0.062,0.041,2444,468,3375,0,0,0,0,0,0
$GC,1364,-1.15,-77.9,123.2,-9.2,157,1368,0.00,2.25,0.00,0.000,6,0.000,0.019,2444,1885,3376,0,0,0,0,0,0
$GC,1632,-1.20,-77.9,143.8,-8.5,182,1636,0.00,2.42,0.00,0.000,4,0.000,0.041,2443,462,3376,0,0,0,0,0,0
$GC,1726,-1.24,-77.9,152.9,-9.0,192,1730,0.00,2.22,0.00,0.000,6,0.000,0.019,2444,1877,3376,0,0,0,0,0,0
$GC,1989,-1.30,-77.9,174.2,-7.1,216,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1882,3377,0,0,0,0,0,0
$GC,2243,-1.38,-77.9,191.1,-6.3,240,2248,0.15,2.40,0.00,0.000,4,0.054,0.041,2392,467,3377,0,0,0,0,0,0
$GC,2328,-1.31,-77.9,198.2,-8.9,248,2334,0.17,2.22,0.00,0.000,6,0.087,0.019,2429,1880,3377,0,0,0,0,0,0
$GC,2583,-1.37,-77.9,218.8,-8.7,262,2587,0.00,2.40,0.00,0.000,4,0.000,0.041,2429,459,3377,0,0,0,0,0,0
$GC,2652,-1.37,-77.9,225.6,-9.6,265,2656,0.00,2.25,0.00,0.000,6,0.000,0.020,2429,1876,3377,0,0,0,0,0,0
$GC,2979,-1.44,-77.9,249.4,-6.5,281,2984,0.12,2.42,0.00,0.000,4,0.061,0.044,2386,458,3377,0,0,0,0,0,0
$GC,3059,-1.39,-77.9,256.4,-8.6,284,3064,0.12,2.25,0.00,0.000,6,0.098,0.021,2412,1877,3377,0,0,0,0,0,0
$GC,3378,-1.43,-77.9,275.9,-6.4,299,3382,0.00,2.40,0.00,0.000,4,0.000,0.044,2412,465,3377,0,0,0,0,0,0
$GC,3406,-1.43,-77.9,278.0,-6.8,300,3410,0.00,2.28,0.00,0.000,6,0.000,0.021,2412,1882,3377,0,0,0,0,0,0
$GC,3746,-1.49,-77.9,304.7,-8.5,316,3751,0.00,2.42,0.00,0.000,4,0.000,0.044,2412,469,3375,0,0,0,0,0,0
$GC,3774,-1.49,-77.9,307.3,-9.2,316,3778,0.00,2.25,0.00,0.000,6,0.000,0.022,2412,1879,3375,0,0,0,0,0,0
$GC,4111,-1.55,-77.9,331.7,-6.2,325,4116,0.15,2.42,0.00,0.000,4,0.057,0.046,2365,468,3374,0,0,0,0,0,0
$GC,4203,-1.46,-77.9,338.2,-7.7,327,4208,0.15,2.25,0.00,0.000,6,0.094,0.024,2396,1870,3374,0,0,0,0,0,0
$GC,4535,-1.46,-77.9,364.9,-9.1,335,4539,0.00,2.45,0.00,0.000,4,0.000,0.048,2396,469,3372,0,0,0,0,0,0
$GC,4558,-1.46,-77.9,367.7,-10.3,335,4562,0.00,2.30,0.00,0.000,6,0.000,0.025,2396,1882,3372,0,0,0,0,0,0
$GC,4905,-1.46,-77.9,400.1,-9.1,344,4909,0.00,2.42,0.00,0.000,4,0.000,0.048,2396,471,3369,0,0,0,0,0,0
$GC,4924,-1.46,-77.9,402.0,-8.6,344,4928,0.00,2.30,0.00,0.000,6,0.000,0.025,2396,1877,3369,0,0,0,0,0,0
$GC,5269,-1.46,-77.9,428.7,-7.2,353,5273,0.00,2.42,0.00,0.000,4,0.000,0.049,2396,472,3367,0,0,0,0,0,0
$GC,5372,-1.46,-77.9,436.2,-7.3,355,5377,0.00,2.28,0.00,0.000,6,0.000,0.026,2396,1876,3366,0,0,0,0,0,0
$STATE,5602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5602,begin apogee
$GC,5608,-0.31,0.0,452.6,7.1,361,5676,1.15,0.00,64.43,0.867,6,0.072,0.000,2644,2035,3050,0,0,0,0,0,0
$STATE,5677,end apogee,CONTROL_FINISHED_OK
$STATE,5677,begin climb
$GC,5680,1.40,77.9,453.4,0.0,362,5755,1.62,2.40,64.47,0.848,4,0.029,0.038,3025,3379,2731,0,0,0,0,0,0
$GC,5938,1.22,125.3,448.8,4.8,367,5985,0.25,2.35,40.25,0.837,6,0.110,0.033,2980,1999,2539,0,0,0,0,0,0
$GC,6317,1.11,125.3,418.1,8.1,377,6322,0.12,2.47,0.00,0.000,4,0.126,0.051,2958,603,2533,0,0,0,0,0,0
$GC,6361,0.98,125.3,414.5,8.1,378,6366,0.17,2.30,0.00,0.000,6,0.120,0.028,2928,1989,2531,0,0,0,0,0,0
$GC,6689,1.01,152.8,394.0,6.1,386,6718,0.00,2.47,23.25,0.814,4,0.000,0.050,2927,606,2427,0,0,0,0,0,0
$GC,6737,1.05,178.8,390.4,6.2,387,6767,0.00,2.35,24.25,0.801,6,0.000,0.028,2929,2012,2321,0,0,0,0,0,0
$GC,7100,1.09,178.8,360.8,8.2,396,7105,0.00,2.47,0.00,0.000,4,0.000,0.050,2928,606,2314,0,0,0,0,0,0
$GC,7143,1.09,178.8,356.9,8.6,397,7148,0.00,2.35,0.00,0.000,6,0.000,0.028,2929,2008,2312,0,0,0,0,0,0
$GC,7473,1.14,182.1,331.1,7.8,405,7478,0.15,2.50,0.00,0.000,4,0.068,0.050,2964,601,2312,0,0,0,0,0,0
$GC,7569,1.04,182.1,321.9,9.4,407,7574,0.12,2.35,0.00,0.000,6,0.130,0.029,2945,2015,2309,0,0,0,0,0,0
$GC,7894,1.09,194.5,298.1,7.2,415,7912,0.00,0.00,13.38,0.736,6,0.000,0.000,2945,2021,2256,0,0,0,0,0,0
$GC,8223,1.16,205.9,273.1,7.2,431,8239,0.00,2.53,11.32,0.703,4,0.000,0.051,2942,601,2210,0,0,0,0,0,0
$GC,8277,1.16,205.9,268.7,8.2,433,8281,0.00,2.35,0.00,0.000,6,0.000,0.029,2944,2014,2207,0,0,0,0,0,0
$GC,8598,1.26,233.1,247.3,6.2,449,8631,0.20,2.58,25.40,0.732,4,0.059,0.051,2993,609,2098,0,0,0,0,0,0
$GC,8681,1.18,233.1,239.1,11.0,452,8685,0.12,2.35,0.00,0.000,6,0.115,0.028,2973,2013,2093,0,0,0,0,0,0
$GC,9001,1.22,233.1,210.5,8.6,468,9006,0.00,2.47,0.00,0.000,4,0.000,0.049,2972,606,2092,0,0,0,0,0,0
$GC,9202,1.24,251.2,194.3,6.8,481,9224,0.00,2.35,16.20,0.668,6,0.000,0.027,2973,2023,2025,0,0,0,0,0,0
$GC,9480,1.32,252.3,175.7,8.0,507,9485,0.12,2.50,0.00,0.000,4,0.071,0.048,3007,604,2022,0,0,0,0,0,0
$GC,9728,1.25,252.3,148.4,10.1,533,9732,0.00,2.30,0.00,0.000,6,0.000,0.025,3007,2011,2018,0,0,0,0,0,0
$GC,9993,1.27,265.9,127.7,7.1,557,10013,0.00,2.55,13.85,0.596,4,0.000,0.045,3007,600,1964,0,0,0,0,0,0
$GC,10169,1.23,265.9,111.9,9.4,576,10174,0.12,2.33,0.00,0.000,6,0.107,0.024,2984,2011,1960,0,0,0,0,0,0
$GC,10430,1.35,273.3,92.0,7.5,600,10443,0.10,2.47,7.43,0.506,4,0.078,0.044,3015,603,1935,0,0,0,0,0,0
$GC,10561,1.35,273.3,80.4,8.2,614,10565,0.00,2.30,0.00,0.000,6,0.000,0.022,3015,2015,1932,0,0,0,0,0,0
$GC,10825,1.44,304.9,63.6,5.9,638,10861,0.00,2.50,28.73,0.558,4,0.000,0.044,3015,603,1806,0,0,0,0,0,0
$GC,11032,1.44,304.9,45.5,10.6,660,11038,0.00,2.30,0.00,0.000,6,0.000,0.021,3015,2012,1802,0,0,0,0,0,0
$GC,11297,1.52,320.6,25.9,6.9,691,11321,0.12,2.50,14.60,0.498,4,0.065,0.041,3056,603,1741,0,0,0,0,0,0
$GC,11476,1.43,320.6,5.5,11.8,729,11482,0.15,2.28,0.00,0.000,6,0.100,0.020,3027,2033,1737,0,0,0,0,0,0
$STATE,11497,end climb,SURFACE_DEPTH_REACHED
$STATE,11497,begin surface coast
$FINISH,0.6,1.023331
$STATE,11526,end surface coast,CONTROL_FINISHED_OK
$STATE,11526,begin surface
$SM_CCo,11609,0.00,0.000,0,0,1733,323.06
$SM_GC,1.31,11.15,0.00,0.00,0.024,0.000,0.000,426,1861,1733,-10.43,-0.40,323.06
$IRIDIUM_FIX,2059.45,-15753.03,260999,101008
$TT8_MAMPS,0.029146
$HUMID,53.26
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.80
$XPDR_PINGS,1
$24V_AH,23.3,58.716
$10V_AH,10.0,51.111
$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,28.775,133.475,347.550,0.000,0.000,30.870,31.196,172.702,4.750,0.000,14.817,1420.609,7909.237,403.272,1725.983,500.470,33.371,1344.945,0.000,1679.678,0.000,29.254,0.000
$DEVICE_MAMPS,131.924,53.690,866.710,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,496.092,484.803,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,38119,738
$CAP_FILE_SIZE,135771,0
$CFSIZE,260165632,219951104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020710,163054,2107.181,-15754.820,255,1.7,273,9.8