version: 66.06
glider: 139
mission: 7
dive: 657
start: 7 2 110 16 38 32
data:
$ID,139
$MISSION,7
$DIVE,657
$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,-2145548.8
$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
$GPS1,163054,2107.181,-15754.820,255,1.7,273,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.4
$GPS2,163738,2107.195,-15754.870,14,1.8,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.182,-0.027
$KALMAN_X,-345642.2,-113.4,249.4,345614.0,-1615.9
$KALMAN_Y,39713.6,27.2,-12.2,-39198.8,247.1
$MHEAD_RNG_PITCHd_Wd,88.6,20810,-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,15,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-54.80,0.000,2,0.000,0.000,426,1860,3172,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.5,-6.3,11,95,10.60,0.00,-3.92,0.000,6,0.133,0.000,2406,1861,3369,0,0,0,0,0,0
$GC,293,-1.21,-77.9,45.9,-16.1,42,298,0.20,2.38,0.00,0.000,4,0.097,0.040,2445,463,3371,0,0,0,0,0,0
$GC,340,-1.12,-77.9,53.0,-13.7,46,347,0.12,2.30,0.00,0.000,6,0.104,0.019,2470,1909,3371,0,0,0,0,0,0
$GC,603,-1.12,-77.9,80.6,-10.6,71,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1914,3371,0,0,0,0,0,0
$GC,857,-1.17,-77.9,105.6,-8.9,95,861,0.00,2.47,0.00,0.000,4,0.000,0.041,2470,469,3372,0,0,0,0,0,0
$GC,923,-1.22,-77.9,112.4,-9.9,101,928,0.00,2.25,0.00,0.000,6,0.000,0.018,2470,1884,3372,0,0,0,0,0,0
$GC,1188,-1.32,-77.9,133.5,-6.6,126,1193,0.20,2.45,0.00,0.000,4,0.046,0.041,2408,459,3373,0,0,0,0,0,0
$GC,1235,-1.25,-77.9,138.3,-10.0,130,1241,0.15,2.25,0.00,0.000,6,0.094,0.018,2440,1881,3373,0,0,0,0,0,0
$GC,1497,-1.29,-77.9,160.9,-8.7,155,1501,0.00,2.42,0.00,0.000,4,0.000,0.041,2440,463,3374,0,0,0,0,0,0
$GC,1616,-1.35,-77.9,171.8,-8.3,167,1620,0.00,2.22,0.00,0.000,6,0.000,0.019,2440,1876,3374,0,0,0,0,0,0
$GC,1879,-1.41,-77.9,194.8,-8.8,191,1884,0.15,2.40,0.00,0.000,4,0.054,0.041,2390,467,3374,0,0,0,0,0,0
$GC,1949,-1.30,-77.9,203.4,-12.6,197,1954,0.20,2.22,0.00,0.000,6,0.085,0.019,2433,1875,3374,0,0,0,0,0,0
$GC,2278,-1.35,-77.9,230.4,-6.7,213,2282,0.00,2.40,0.00,0.000,4,0.000,0.042,2432,459,3374,0,0,0,0,0,0
$GC,2319,-1.35,-77.9,233.6,-6.7,214,2325,0.00,2.28,0.00,0.000,6,0.000,0.020,2433,1884,3375,0,0,0,0,0,0
$GC,2636,-1.43,-77.9,254.4,-7.1,230,2641,0.12,2.42,0.00,0.000,4,0.062,0.042,2389,463,3375,0,0,0,0,0,0
$GC,2680,-1.38,-77.9,258.2,-9.0,232,2685,0.12,2.25,0.00,0.000,6,0.098,0.021,2415,1882,3375,0,0,0,0,0,0
$GC,3015,-1.44,-77.9,281.3,-7.2,248,3019,0.00,2.40,0.00,0.000,4,0.000,0.044,2415,467,3375,0,0,0,0,0,0
$GC,3030,-1.48,-77.9,282.9,-7.7,248,3036,0.12,2.25,0.00,0.000,6,0.063,0.021,2373,1884,3375,0,0,0,0,0,0
$GC,3343,-1.48,-77.9,312.3,-9.5,261,3347,0.00,2.45,0.00,0.000,4,0.000,0.045,2372,461,3374,0,0,0,0,0,0
$GC,3381,-1.40,-77.9,316.1,-10.2,261,3388,0.17,2.28,0.00,0.000,6,0.089,0.022,2409,1873,3374,0,0,0,0,0,0
$GC,3713,-1.47,-77.9,342.8,-8.0,270,3718,0.00,2.40,0.00,0.000,4,0.000,0.046,2409,470,3372,0,0,0,0,0,0
$GC,3789,-1.50,-77.9,349.3,-8.4,271,3793,0.10,2.28,0.00,0.000,6,0.072,0.024,2374,1873,3372,0,0,0,0,0,0
$GC,4130,-1.50,-77.9,382.0,-9.6,280,4135,0.00,2.42,0.00,0.000,4,0.000,0.048,2374,463,3369,0,0,0,0,0,0
$GC,4145,-1.46,-77.9,383.5,-9.6,280,4150,0.10,2.30,0.00,0.000,6,0.109,0.025,2394,1873,3370,0,0,0,0,0,0
$GC,4497,-1.46,-77.9,409.2,-7.0,289,4501,0.00,2.42,0.00,0.000,4,0.000,0.048,2394,466,3367,0,0,0,0,0,0
$GC,4567,-1.46,-77.9,415.1,-7.9,290,4571,0.00,2.28,0.00,0.000,6,0.000,0.026,2393,1871,3366,0,0,0,0,0,0
$GC,4910,-1.49,-77.9,442.6,-8.7,299,4915,0.00,2.45,0.00,0.000,4,0.000,0.050,2393,467,3363,0,0,0,0,0,0
$GC,4971,-1.49,-77.9,449.4,-10.8,300,4975,0.00,2.30,0.00,0.000,6,0.000,0.027,2394,1876,3364,0,0,0,0,0,0
$STATE,4977,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4978,begin apogee
$GC,4984,-0.31,0.0,450.5,10.1,300,5051,1.15,0.00,63.90,0.862,6,0.075,0.000,2642,2036,3050,0,0,0,0,0,0
$STATE,5052,end apogee,CONTROL_FINISHED_OK
$STATE,5052,begin climb
$GC,5056,1.40,77.9,452.7,0.0,302,5131,1.62,2.40,64.47,0.843,4,0.029,0.038,3023,3384,2731,0,0,0,0,0,0
$GC,5191,1.28,165.8,455.6,2.0,305,5276,0.15,2.35,74.85,0.841,6,0.120,0.033,2997,2007,2374,0,0,0,0,0,0
$GC,5599,1.15,165.8,417.9,10.7,315,5604,0.17,2.45,0.00,0.000,4,0.115,0.051,2964,605,2364,0,0,0,0,0,0
$GC,5735,1.03,165.8,403.4,10.8,318,5740,0.15,2.33,0.00,0.000,6,0.119,0.027,2940,2003,2360,0,0,0,0,0,0
$GC,6063,1.03,165.8,372.6,9.7,326,6067,0.00,2.45,0.00,0.000,4,0.000,0.049,2938,601,2359,0,0,0,0,0,0
$GC,6110,0.98,165.8,367.5,10.1,327,6114,0.00,2.35,0.00,0.000,6,0.000,0.028,2939,2014,2357,0,0,0,0,0,0
$GC,6433,0.98,166.5,341.4,8.0,335,6437,0.00,2.47,0.00,0.000,4,0.000,0.050,2938,603,2356,0,0,0,0,0,0
$GC,6489,0.94,166.5,336.6,8.2,336,6494,0.00,2.35,0.00,0.000,6,0.000,0.028,2939,2019,2354,0,0,0,0,0,0
$GC,6804,0.99,177.2,313.4,7.3,344,6816,0.00,2.53,7.78,0.677,4,0.000,0.051,2936,599,2327,0,0,0,0,0,0
$GC,6892,0.99,177.2,305.7,9.1,346,6896,0.00,2.38,0.00,0.000,6,0.000,0.029,2939,2010,2324,0,0,0,0,0,0
$GC,7226,1.08,211.9,283.7,5.6,360,7263,0.00,2.53,31.70,0.768,4,0.000,0.051,2937,607,2186,0,0,0,0,0,0
$GC,7389,1.08,211.9,271.4,8.5,366,7393,0.00,2.35,0.00,0.000,6,0.000,0.028,2939,2014,2180,0,0,0,0,0,0
$GC,7709,1.18,211.9,245.4,8.6,382,7714,0.12,2.47,0.00,0.000,4,0.074,0.050,2971,607,2179,0,0,0,0,0,0
$GC,7810,1.14,211.9,236.2,9.0,386,7814,0.00,2.35,0.00,0.000,6,0.000,0.028,2972,2014,2176,0,0,0,0,0,0
$GC,8131,1.21,247.0,213.9,5.6,402,8167,0.00,2.55,31.15,0.708,4,0.000,0.049,2971,603,2041,0,0,0,0,0,0
$GC,8283,1.21,247.0,202.5,8.5,408,8288,0.00,2.35,0.00,0.000,6,0.000,0.027,2972,2018,2036,0,0,0,0,0,0
$GC,8609,1.28,247.0,176.8,9.2,437,8613,0.00,2.45,0.00,0.000,4,0.000,0.048,2972,606,2035,0,0,0,0,0,0
$GC,8756,1.29,261.0,163.7,7.1,452,8775,0.10,2.33,12.55,0.617,6,0.081,0.025,3000,2030,1985,0,0,0,0,0,0
$GC,9030,1.29,261.0,145.4,8.0,478,9034,0.00,2.45,0.00,0.000,4,0.000,0.045,3001,606,1984,0,0,0,0,0,0
$GC,9152,1.29,261.0,133.0,10.8,490,9157,0.00,2.33,0.00,0.000,6,0.000,0.024,3000,2015,1981,0,0,0,0,0,0
$GC,9415,1.36,279.9,110.7,6.7,515,9442,0.00,2.50,17.62,0.586,4,0.000,0.049,3001,603,1907,0,0,0,0,0,0
$GC,9577,1.36,279.9,95.8,9.2,532,9582,0.00,2.30,0.00,0.000,6,0.000,0.022,3001,2013,1904,0,0,0,0,0,0
$GC,9840,1.45,282.6,74.5,7.8,557,9845,0.12,2.47,0.00,0.000,4,0.065,0.044,3038,596,1904,0,0,0,0,0,0
$GC,9964,1.40,282.6,62.5,9.5,569,9969,0.00,2.28,0.00,0.000,6,0.000,0.021,3038,2013,1903,0,0,0,0,0,0
$GC,10226,1.40,282.6,41.8,9.0,594,10230,0.00,2.42,0.00,0.000,4,0.000,0.042,3038,599,1903,0,0,0,0,0,0
$GC,10315,1.34,282.6,32.8,9.7,603,10320,0.15,2.28,0.00,0.000,6,0.099,0.021,3007,2014,1903,0,0,0,0,0,0
$GC,10590,1.41,282.6,11.7,8.9,648,10595,0.00,2.40,0.00,0.000,4,0.000,0.041,3006,602,1903,0,0,0,0,0,0
$STATE,10687,end climb,SURFACE_DEPTH_REACHED
$STATE,10687,begin surface coast
$FINISH,0.6,1.001827
$STATE,10721,end surface coast,CONTROL_FINISHED_OK
$STATE,10721,begin surface
$SM_CCo,10744,16.58,0.489,0,0,1827,300.00
$SM_GC,1.65,0.00,0.00,16.58,0.000,0.000,0.489,428,1901,1827,-10.52,0.74,300.00
$IRIDIUM_FIX,2057.14,-15756.04,260999,131316
$TT8_MAMPS,0.029146
$HUMID,54.48
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,22.90
$XPDR_PINGS,1
$24V_AH,23.3,58.803
$10V_AH,10.0,51.171
$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,27.300,128.100,304.025,16.575,0.000,29.004,36.840,211.197,4.750,0.000,14.618,1314.407,7315.657,388.821,1609.015,535.775,33.378,1270.122,0.000,1566.741,0.000,29.255,0.000
$DEVICE_MAMPS,133.458,51.389,862.108,488.579,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,454.280,446.082,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,34943,676
$CAP_FILE_SIZE,127618,0
$CFSIZE,260165632,219906048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020710,193942,2107.005,-15754.293,65,1.4,71,9.8