version: 66.06
glider: 139
mission: 7
dive: 658
start: 7 2 110 19 47 8
data:
$ID,139
$MISSION,7
$DIVE,658
$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,-2145564.2
$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
$GPS1,193942,2107.005,-15754.293,65,1.4,71,9.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-68.6
$GPS2,194614,2107.024,-15754.338,14,1.4,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,-0.003
$KALMAN_X,-345933.9,-389.9,-315.9,347662.0,-348.4
$KALMAN_Y,39617.3,-9.3,108.9,-39502.5,-162.5
$MHEAD_RNG_PITCHd_Wd,81.1,19858,-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,-77.9,0.0,0.0,0,67,0.00,0.00,-49.78,0.000,2,0.000,0.000,427,1901,3135,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.4,-5.2,10,95,10.68,2.35,-4.72,0.000,4,0.137,0.038,2406,3292,3369,0,0,0,0,0,0
$GC,173,-1.40,-77.9,22.8,-13.4,31,179,0.00,2.40,0.00,0.000,6,0.000,0.028,2406,1866,3371,0,0,0,0,0,0
$GC,374,-1.22,-77.9,53.2,-16.0,54,379,0.20,2.40,0.00,0.000,4,0.097,0.040,2446,465,3372,0,0,0,0,0,0
$GC,413,-1.11,-77.9,59.2,-14.1,57,419,0.12,2.30,0.00,0.000,6,0.105,0.019,2472,1912,3371,0,0,0,0,0,0
$GC,675,-1.11,-77.9,87.7,-10.6,82,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1916,3372,0,0,0,0,0,0
$GC,929,-1.16,-77.9,113.0,-8.8,106,933,0.00,2.45,0.00,0.000,4,0.000,0.041,2471,470,3373,0,0,0,0,0,0
$GC,1048,-1.23,-77.9,123.0,-7.7,118,1053,0.12,2.22,0.00,0.000,6,0.061,0.018,2427,1883,3374,0,0,0,0,0,0
$GC,1309,-1.23,-77.9,145.7,-8.4,142,1313,0.00,2.40,0.00,0.000,4,0.000,0.041,2427,469,3375,0,0,0,0,0,0
$GC,1380,-1.19,-77.9,153.1,-11.4,149,1385,0.12,2.25,0.00,0.000,6,0.096,0.018,2454,1882,3374,0,0,0,0,0,0
$GC,1641,-1.27,-77.9,179.0,-8.7,173,1645,0.00,2.42,0.00,0.000,4,0.000,0.041,2453,465,3375,0,0,0,0,0,0
$GC,1688,-1.34,-77.9,183.3,-9.0,177,1694,0.15,2.22,0.00,0.000,6,0.054,0.019,2403,1877,3375,0,0,0,0,0,0
$GC,1959,-1.34,-77.9,205.0,-8.1,200,1963,0.00,2.38,0.00,0.000,4,0.000,0.041,2403,471,3376,0,0,0,0,0,0
$GC,1993,-1.29,-77.9,208.2,-9.4,201,1997,0.12,2.22,0.00,0.000,6,0.095,0.019,2430,1880,3376,0,0,0,0,0,0
$GC,2310,-1.35,-77.9,229.3,-6.0,216,2314,0.00,2.40,0.00,0.000,4,0.000,0.042,2430,465,3376,0,0,0,0,0,0
$GC,2371,-1.40,-77.9,233.7,-7.2,218,2377,0.00,2.25,0.00,0.000,6,0.000,0.020,2430,1873,3376,0,0,0,0,0,0
$GC,2688,-1.47,-77.9,256.5,-7.8,234,2693,0.17,2.42,0.00,0.000,4,0.051,0.043,2375,468,3376,0,0,0,0,0,0
$GC,2702,-1.47,-77.9,258.1,-8.1,234,2708,0.00,2.25,0.00,0.000,6,0.000,0.021,2376,1874,3376,0,0,0,0,0,0
$GC,3019,-1.43,-77.9,290.9,-10.0,250,3023,0.12,2.28,0.00,0.000,4,0.100,0.028,2400,3264,3375,0,0,0,0,0,0
$GC,3039,-1.43,-77.9,293.0,-9.5,251,3043,0.00,2.30,0.00,0.000,6,0.000,0.028,2402,1871,3376,0,0,0,0,0,0
$GC,3369,-1.43,-77.9,320.9,-8.7,261,3374,0.00,2.40,0.00,0.000,4,0.000,0.044,2401,469,3375,0,0,0,0,0,0
$GC,3426,-1.43,-77.9,326.7,-10.3,262,3430,0.00,2.25,0.00,0.000,6,0.000,0.021,2401,1872,3375,0,0,0,0,0,0
$GC,3740,-1.47,-77.9,349.3,-6.8,270,3743,0.00,2.40,0.00,0.000,4,0.000,0.045,2401,474,3373,0,0,0,0,0,0
$GC,3787,-1.47,-77.9,353.2,-8.0,271,3792,0.00,2.25,0.00,0.000,6,0.000,0.023,2402,1870,3373,0,0,0,0,0,0
$GC,4120,-1.52,-77.9,377.4,-7.2,279,4124,0.00,2.42,0.00,0.000,4,0.000,0.047,2402,469,3372,0,0,0,0,0,0
$GC,4195,-1.52,-77.9,383.5,-7.5,280,4200,0.00,2.30,0.00,0.000,6,0.000,0.024,2402,1883,3371,0,0,0,0,0,0
$GC,4531,-1.56,-77.9,407.9,-7.7,289,4536,0.12,2.47,0.00,0.000,4,0.066,0.049,2363,471,3369,0,0,0,0,0,0
$GC,4579,-1.47,-77.9,412.7,-10.1,290,4584,0.15,2.28,0.00,0.000,6,0.096,0.025,2394,1874,3368,0,0,0,0,0,0
$GC,4905,-1.50,-77.9,438.7,-7.8,298,4909,0.00,2.45,0.00,0.000,4,0.000,0.050,2394,469,3366,0,0,0,0,0,0
$GC,4948,-1.50,-77.9,442.2,-7.8,299,4952,0.00,2.30,0.00,0.000,6,0.000,0.026,2394,1871,3366,0,0,0,0,0,0
$STATE,5110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5111,begin apogee
$GC,5118,-0.31,0.0,452.0,5.8,303,5186,1.15,0.00,64.40,0.862,6,0.070,0.000,2643,2038,3050,0,0,0,0,0,0
$STATE,5186,end apogee,CONTROL_FINISHED_OK
$STATE,5186,begin climb
$GC,5189,1.40,77.9,451.9,0.0,304,5265,1.62,2.38,64.60,0.840,4,0.029,0.038,3023,3374,2731,0,0,0,0,0,0
$GC,5528,1.17,86.5,432.6,7.4,311,5542,0.28,2.33,8.20,0.710,6,0.113,0.032,2974,2011,2697,0,0,0,0,0,0
$GC,5876,1.10,125.8,411.5,5.3,320,5919,0.00,2.40,33.60,0.827,4,0.000,0.035,2976,3384,2536,0,0,0,0,0,0
$GC,6167,1.07,181.6,394.7,4.2,326,6224,0.12,2.38,49.10,0.828,6,0.126,0.034,2952,2003,2309,0,0,0,0,0,0
$GC,6565,1.07,181.6,366.7,8.1,336,6568,0.00,2.45,0.00,0.000,4,0.000,0.051,2952,606,2300,0,0,0,0,0,0
$GC,6653,0.99,181.6,357.9,9.6,337,6659,0.12,2.30,0.00,0.000,6,0.123,0.028,2932,1989,2297,0,0,0,0,0,0
$GC,6984,1.06,193.5,333.9,7.2,346,7000,0.00,2.53,9.52,0.719,4,0.000,0.051,2929,604,2261,0,0,0,0,0,0
$GC,7077,1.06,193.5,325.9,8.8,348,7081,0.00,2.35,0.00,0.000,6,0.000,0.029,2932,2010,2257,0,0,0,0,0,0
$GC,7404,1.15,208.4,302.8,7.0,356,7425,0.15,2.55,14.45,0.742,4,0.071,0.051,2967,611,2200,0,0,0,0,0,0
$GC,7499,1.09,208.4,294.3,9.3,359,7503,0.00,2.35,0.00,0.000,6,0.000,0.029,2969,2016,2195,0,0,0,0,0,0
$GC,7828,1.09,208.4,265.8,8.9,375,7832,0.00,2.50,0.00,0.000,4,0.000,0.050,2968,599,2195,0,0,0,0,0,0
$GC,7890,1.03,208.4,259.8,10.4,377,7896,0.15,2.38,0.00,0.000,6,0.117,0.028,2941,2017,2192,0,0,0,0,0,0
$GC,8206,1.13,226.5,234.6,6.8,393,8228,0.00,2.50,16.62,0.703,4,0.000,0.048,2941,607,2125,0,0,0,0,0,0
$GC,8272,1.16,226.6,229.7,8.0,395,8278,0.12,2.35,0.00,0.000,6,0.074,0.028,2973,2017,2122,0,0,0,0,0,0
$GC,8587,1.16,226.6,203.1,8.8,411,8591,0.00,2.45,0.00,0.000,4,0.000,0.048,2973,606,2121,0,0,0,0,0,0
$GC,8754,1.16,226.6,189.0,8.4,426,8760,0.00,2.35,0.00,0.000,6,0.000,0.025,2973,2017,2118,0,0,0,0,0,0
$GC,9017,1.21,228.8,169.6,7.9,451,9021,0.00,2.47,0.00,0.000,4,0.000,0.046,2973,598,2118,0,0,0,0,0,0
$GC,9116,1.22,239.6,161.6,7.3,461,9136,0.00,2.33,11.75,0.613,6,0.000,0.025,2973,2017,2073,0,0,0,0,0,0
$GC,9391,1.32,259.0,142.3,6.7,487,9418,0.12,2.53,18.70,0.616,4,0.071,0.045,3008,610,1993,0,0,0,0,0,0
$GC,9506,1.27,259.0,131.7,9.7,499,9512,0.00,2.30,0.00,0.000,6,0.000,0.024,3007,2013,1990,0,0,0,0,0,0
$GC,9770,1.31,285.1,110.3,6.2,524,9799,0.00,2.50,23.80,0.594,4,0.000,0.045,3008,605,1887,0,0,0,0,0,0
$GC,9925,1.31,285.1,98.4,8.0,541,9929,0.00,2.33,0.00,0.000,6,0.000,0.023,3008,2016,1882,0,0,0,0,0,0
$GC,10193,1.38,285.1,77.5,8.1,566,10197,0.00,2.45,0.00,0.000,4,0.000,0.043,3008,603,1882,0,0,0,0,0,0
$GC,10230,1.38,285.1,73.9,9.8,569,10235,0.00,2.30,0.00,0.000,6,0.000,0.022,3008,2020,1881,0,0,0,0,0,0
$GC,10494,1.46,292.6,53.2,7.5,594,10507,0.10,2.50,7.20,0.465,4,0.076,0.042,3041,607,1856,0,0,0,0,0,0
$GC,10545,1.39,292.6,48.2,9.5,599,10552,0.12,2.30,0.00,0.000,6,0.106,0.021,3018,2017,1855,0,0,0,0,0,0
$GC,10808,1.44,292.6,26.2,8.7,627,10814,0.00,2.45,0.00,0.000,4,0.000,0.041,3017,597,1855,0,0,0,0,0,0
$GC,10893,1.44,292.6,17.9,10.4,645,10898,0.00,2.28,0.00,0.000,6,0.000,0.021,3017,2015,1855,0,0,0,0,0,0
$STATE,11065,end climb,SURFACE_DEPTH_REACHED
$STATE,11065,begin surface coast
$FINISH,0.5,1.023321
$STATE,11100,end surface coast,CONTROL_FINISHED_OK
$STATE,11100,begin surface
$SM_CCo,11122,6.20,0.413,0,0,1827,300.00
$SM_GC,2.29,0.00,0.00,6.20,0.000,0.000,0.413,428,1856,1827,-10.52,-0.57,300.00
$IRIDIUM_FIX,2057.14,-15753.90,260999,161644
$TT8_MAMPS,0.029146
$HUMID,54.44
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,23.3,58.891
$10V_AH,10.0,51.227
$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,27.275,133.150,321.950,6.200,0.000,30.394,33.515,205.678,4.500,0.000,14.712,1329.165,7597.188,399.471,1658.859,536.758,33.377,1312.578,0.000,1619.017,0.000,29.242,0.000
$DEVICE_MAMPS,136.526,52.923,862.108,413.413,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,457.900,446.175,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34913,682
$CAP_FILE_SIZE,131607,0
$CFSIZE,260165632,219836416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020710,225456,2107.103,-15753.153,81,3.2,100,9.8