version: 66.06
glider: 139
mission: 7
dive: 659
start: 7 2 110 23 3 22
data:
$ID,139
$MISSION,7
$DIVE,659
$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,-2145647
$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
$GPS1,225456,2107.103,-15753.153,81,3.2,100,9.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-70.1
$GPS2,230231,2107.071,-15753.173,81,1.2,81,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.182,-0.029
$KALMAN_X,-346219.2,-383.0,-89.0,349727.0,390.7
$KALMAN_Y,39839.0,-6.5,-3.7,-39532.2,5.4
$MHEAD_RNG_PITCHd_Wd,89.2,17871,-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,-50.40,0.000,2,0.000,0.000,427,1859,3167,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.5,-5.6,10,95,10.55,2.45,-4.00,0.000,4,0.132,0.037,2406,3298,3369,0,0,0,0,0,0
$GC,111,-0.82,-77.9,14.2,-22.4,18,118,0.60,2.40,0.00,0.000,6,0.077,0.029,2532,1869,3370,0,0,0,0,0,0
$GC,319,-0.95,-77.9,33.0,-8.7,52,323,0.12,2.42,0.00,0.000,4,0.064,0.043,2489,465,3371,0,0,0,0,0,0
$GC,372,-0.99,-77.9,38.5,-10.9,57,376,0.00,2.30,0.00,0.000,6,0.000,0.019,2489,1912,3371,0,0,0,0,0,0
$GC,635,-1.03,-77.9,64.2,-9.8,81,640,0.00,2.47,0.00,0.000,4,0.000,0.041,2489,462,3372,0,0,0,0,0,0
$GC,691,-1.08,-77.9,70.5,-10.9,86,697,0.00,2.25,0.00,0.000,6,0.000,0.019,2489,1882,3373,0,0,0,0,0,0
$GC,955,-1.15,-77.9,95.5,-9.4,111,960,0.12,2.42,0.00,0.000,4,0.063,0.041,2445,466,3373,0,0,0,0,0,0
$GC,1020,-1.15,-77.9,102.1,-8.8,117,1026,0.00,2.25,0.00,0.000,6,0.000,0.018,2445,1880,3373,0,0,0,0,0,0
$GC,1284,-1.20,-77.9,124.5,-9.0,142,1288,0.00,2.42,0.00,0.000,4,0.000,0.041,2445,465,3374,0,0,0,0,0,0
$GC,1363,-1.20,-77.9,132.1,-8.8,150,1367,0.00,2.22,0.00,0.000,6,0.000,0.018,2445,1879,3375,0,0,0,0,0,0
$GC,1627,-1.25,-77.9,153.5,-7.9,174,1631,0.00,2.40,0.00,0.000,4,0.000,0.041,2445,462,3375,0,0,0,0,0,0
$GC,1720,-1.30,-77.9,161.9,-9.0,183,1725,0.00,2.25,0.00,0.000,6,0.000,0.018,2445,1883,3375,0,0,0,0,0,0
$GC,1985,-1.38,-77.9,182.2,-7.4,208,1990,0.15,2.45,0.00,0.000,4,0.054,0.042,2393,460,3376,0,0,0,0,0,0
$GC,2020,-1.31,-77.9,185.8,-10.0,211,2025,0.17,2.22,0.00,0.000,6,0.087,0.019,2430,1875,3376,0,0,0,0,0,0
$GC,2292,-1.37,-77.9,207.1,-8.3,232,2296,0.00,2.40,0.00,0.000,4,0.000,0.041,2430,469,3376,0,0,0,0,0,0
$GC,2315,-1.37,-77.9,209.6,-9.5,233,2319,0.00,2.25,0.00,0.000,6,0.000,0.020,2430,1881,3376,0,0,0,0,0,0
$GC,2642,-1.44,-77.9,233.8,-5.8,249,2647,0.15,2.42,0.00,0.000,4,0.055,0.043,2381,469,3376,0,0,0,0,0,0
$GC,2759,-1.36,-77.9,242.8,-7.5,254,2764,0.17,2.22,0.00,0.000,6,0.088,0.021,2418,1878,3376,0,0,0,0,0,0
$GC,3086,-1.36,-77.9,265.9,-8.5,270,3090,0.00,2.40,0.00,0.000,4,0.000,0.045,2418,471,3375,0,0,0,0,0,0
$GC,3165,-1.36,-77.9,274.9,-11.4,273,3169,0.00,2.22,0.00,0.000,6,0.000,0.021,2418,1876,3376,0,0,0,0,0,0
$GC,3480,-1.41,-77.9,304.2,-9.3,287,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1881,3374,0,0,0,0,0,0
$GC,3808,-1.47,-77.9,328.6,-6.7,295,3813,0.10,2.42,0.00,0.000,4,0.073,0.046,2382,467,3373,0,0,0,0,0,0
$GC,3921,-1.42,-77.9,338.6,-8.5,297,3926,0.10,2.28,0.00,0.000,6,0.108,0.023,2402,1871,3373,0,0,0,0,0,0
$GC,4272,-1.46,-77.9,360.6,-6.1,306,4276,0.00,2.42,0.00,0.000,4,0.000,0.046,2402,469,3371,0,0,0,0,0,0
$GC,4346,-1.46,-77.9,366.0,-7.1,307,4350,0.00,2.28,0.00,0.000,6,0.000,0.024,2402,1881,3371,0,0,0,0,0,0
$GC,4682,-1.51,-77.9,391.8,-8.4,316,4687,0.00,2.45,0.00,0.000,4,0.000,0.048,2402,469,3369,0,0,0,0,0,0
$GC,4798,-1.51,-77.9,403.3,-9.7,318,4802,0.00,2.30,0.00,0.000,6,0.000,0.025,2403,1879,3368,0,0,0,0,0,0
$GC,5144,-1.55,-77.9,431.4,-7.8,327,5149,0.12,2.45,0.00,0.000,4,0.066,0.050,2364,469,3365,0,0,0,0,0,0
$GC,5236,-1.47,-77.9,440.5,-10.8,329,5241,0.12,2.28,0.00,0.000,6,0.101,0.026,2390,1872,3364,0,0,0,0,0,0
$STATE,5358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5359,begin apogee
$GC,5366,-0.31,0.0,452.0,8.9,332,5433,1.17,0.00,64.28,0.860,6,0.071,0.000,2643,2041,3050,0,0,0,0,0,0
$STATE,5434,end apogee,CONTROL_FINISHED_OK
$STATE,5434,begin climb
$GC,5437,1.40,77.9,453.5,0.0,333,5513,1.62,2.38,64.78,0.842,4,0.028,0.038,3028,3373,2732,0,0,0,0,0,0
$GC,5772,1.21,122.3,446.8,5.0,340,5817,0.25,2.33,37.85,0.835,6,0.109,0.033,2983,2006,2550,0,0,0,0,0,0
$GC,6127,1.09,122.3,418.8,8.2,349,6132,0.15,2.47,0.00,0.000,4,0.117,0.051,2955,606,2544,0,0,0,0,0,0
$GC,6165,0.97,125.3,416.0,7.8,349,6172,0.15,2.30,0.00,0.000,6,0.118,0.028,2930,1988,2543,0,0,0,0,0,0
$GC,6497,1.01,156.5,395.9,5.9,358,6528,0.00,0.00,29.27,0.819,6,0.000,0.000,2930,1993,2412,0,0,0,0,0,0
$GC,6822,1.05,190.5,376.4,5.7,366,6858,0.00,2.55,30.50,0.810,4,0.000,0.051,2930,601,2273,0,0,0,0,0,0
$GC,6946,1.05,190.5,366.6,9.0,368,6950,0.00,2.40,0.00,0.000,6,0.000,0.028,2930,2020,2266,0,0,0,0,0,0
$GC,7277,1.11,190.5,338.1,9.2,376,7282,0.12,2.47,0.00,0.000,4,0.076,0.051,2959,606,2265,0,0,0,0,0,0
$GC,7454,1.05,190.5,320.0,10.0,379,7459,0.00,2.35,0.00,0.000,6,0.000,0.029,2960,2010,2262,0,0,0,0,0,0
$GC,7765,1.07,204.3,296.2,7.1,388,7782,0.00,2.50,11.85,0.713,4,0.000,0.050,2958,606,2217,0,0,0,0,0,0
$GC,7797,1.09,225.0,294.0,6.6,388,7823,0.00,2.38,20.17,0.746,6,0.000,0.028,2960,2016,2132,0,0,0,0,0,0
$GC,8133,1.14,226.5,269.3,7.9,404,8138,0.00,2.50,0.00,0.000,4,0.000,0.050,2959,598,2128,0,0,0,0,0,0
$GC,8204,1.14,226.5,262.7,10.1,407,8208,0.00,2.35,0.00,0.000,6,0.000,0.028,2961,2010,2124,0,0,0,0,0,0
$GC,8529,1.19,238.1,236.5,7.2,423,8546,0.00,2.53,11.77,0.674,4,0.000,0.049,2960,603,2079,0,0,0,0,0,0
$GC,8667,1.21,254.2,226.4,6.9,428,8687,0.00,2.35,15.62,0.683,6,0.000,0.027,2961,2017,2013,0,0,0,0,0,0
$GC,9003,1.29,254.2,198.0,9.8,445,9008,0.15,2.47,0.00,0.000,4,0.065,0.049,3000,604,2010,0,0,0,0,0,0
$GC,9145,1.23,254.2,183.3,9.6,459,9150,0.00,2.35,0.00,0.000,6,0.000,0.026,3000,2017,2007,0,0,0,0,0,0
$GC,9407,1.23,254.2,161.6,8.7,484,9411,0.00,2.47,0.00,0.000,4,0.000,0.047,3000,601,2006,0,0,0,0,0,0
$GC,9517,1.19,254.2,150.0,11.3,495,9522,0.15,2.33,0.00,0.000,6,0.105,0.025,2972,2020,2006,0,0,0,0,0,0
$GC,9779,1.26,254.2,124.7,9.1,519,9783,0.00,2.45,0.00,0.000,4,0.000,0.046,2972,599,2005,0,0,0,0,0,0
$GC,10025,1.26,254.2,103.0,8.5,545,10029,0.00,2.30,0.00,0.000,6,0.000,0.024,2972,2014,2005,0,0,0,0,0,0
$GC,10289,1.41,284.4,84.5,5.9,569,10324,0.22,2.53,26.88,0.578,4,0.048,0.044,3033,606,1889,0,0,0,0,0,0
$GC,10459,1.34,284.4,67.8,11.1,587,10465,0.15,2.30,0.00,0.000,6,0.100,0.022,3005,2017,1885,0,0,0,0,0,0
$GC,10722,1.44,294.6,48.2,7.3,612,10741,0.10,2.53,9.55,0.494,4,0.076,0.043,3037,595,1848,0,0,0,0,0,0
$GC,10796,1.39,294.6,41.2,11.2,619,10801,0.00,2.30,0.00,0.000,6,0.000,0.021,3037,2013,1847,0,0,0,0,0,0
$GC,11065,1.39,294.6,15.7,8.9,657,11071,0.00,2.42,0.00,0.000,4,0.000,0.041,3037,602,1846,0,0,0,0,0,0
$STATE,11192,end climb,SURFACE_DEPTH_REACHED
$STATE,11192,begin surface coast
$FINISH,0.5,1.023186
$STATE,11224,end surface coast,CONTROL_FINISHED_OK
$STATE,11224,begin surface
$SM_CCo,11248,4.47,0.366,0,0,1826,300.00
$SM_GC,2.24,0.00,0.00,4.47,0.000,0.000,0.366,429,1895,1826,-10.52,0.57,300.00
$IRIDIUM_FIX,2059.45,-15751.76,260999,191930
$TT8_MAMPS,0.029146
$HUMID,54.80
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,23.3,58.979
$10V_AH,10.0,51.287
$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,28.025,128.350,322.525,4.475,0.000,30.706,29.659,202.969,4.750,0.000,82.075,1361.989,7627.929,401.461,1778.837,533.448,33.383,1319.717,0.000,1666.724,0.000,29.249,0.000
$DEVICE_MAMPS,131.924,51.389,859.807,365.859,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,464.795,449.982,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,34871,691
$CAP_FILE_SIZE,132107,0
$CFSIZE,260165632,219774976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030710,021236,2107.003,-15752.008,63,1.5,63,9.8