version: 66.06
glider: 139
mission: 7
dive: 660
start: 7 3 110 2 20 37
data:
$ID,139
$MISSION,7
$DIVE,660
$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,-2145683
$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
$GPS1,021236,2107.003,-15752.008,63,1.5,63,9.8
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.6
$GPS2,021946,2106.971,-15752.034,15,7.0,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.179,-0.041
$KALMAN_X,-346940.2,-108.6,300.3,351758.4,-458.8
$KALMAN_Y,40028.2,-9.1,-52.1,-39854.6,249.8
$MHEAD_RNG_PITCHd_Wd,93.1,15896,-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,12,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,-49.70,0.000,2,0.000,0.000,428,1896,3142,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.7,-6.5,10,94,10.52,2.50,-4.40,0.000,4,0.130,0.053,2407,469,3370,0,0,0,0,0,0
$GC,124,-1.10,-77.9,18.9,-21.7,21,130,0.32,2.33,0.00,0.000,6,0.090,0.020,2472,1906,3372,0,0,0,0,0,0
$GC,328,-1.10,-77.9,44.1,-11.8,46,332,0.00,2.50,0.00,0.000,4,0.000,0.042,2472,459,3373,0,0,0,0,0,0
$GC,362,-1.05,-77.9,48.8,-13.4,49,367,0.00,2.28,0.00,0.000,6,0.000,0.019,2472,1884,3373,0,0,0,0,0,0
$GC,626,-1.09,-77.9,80.2,-10.8,73,630,0.00,2.45,0.00,0.000,4,0.000,0.041,2472,458,3374,0,0,0,0,0,0
$GC,700,-1.09,-77.9,89.2,-11.9,80,706,0.00,2.25,0.00,0.000,6,0.000,0.019,2473,1882,3374,0,0,0,0,0,0
$GC,964,-1.18,-77.9,110.8,-7.1,105,968,0.00,2.42,0.00,0.000,4,0.000,0.041,2472,466,3375,0,0,0,0,0,0
$GC,996,-1.23,-77.9,113.6,-8.3,108,1003,0.12,2.25,0.00,0.000,6,0.061,0.019,2427,1877,3375,0,0,0,0,0,0
$GC,1257,-1.23,-77.9,137.8,-9.0,133,1261,0.00,2.40,0.00,0.000,4,0.000,0.041,2427,465,3376,0,0,0,0,0,0
$GC,1323,-1.23,-77.9,144.4,-10.2,140,1327,0.00,2.25,0.00,0.000,6,0.000,0.019,2427,1871,3377,0,0,0,0,0,0
$GC,1587,-1.27,-77.9,166.8,-7.8,164,1591,0.00,2.28,0.00,0.000,4,0.000,0.025,2427,3262,3377,0,0,0,0,0,0
$GC,1606,-1.34,-77.9,168.6,-8.1,165,1612,0.00,2.30,0.00,0.000,6,0.000,0.026,2427,1869,3377,0,0,0,0,0,0
$GC,1869,-1.40,-77.9,188.9,-8.3,190,1873,0.00,2.38,0.00,0.000,4,0.000,0.041,2427,470,3378,0,0,0,0,0,0
$GC,1903,-1.40,-77.9,192.2,-9.5,193,1907,0.00,2.22,0.00,0.000,6,0.000,0.019,2427,1880,3378,0,0,0,0,0,0
$GC,2172,-1.46,-77.9,213.1,-7.7,210,2177,0.15,2.42,0.00,0.000,4,0.055,0.042,2379,472,3377,0,0,0,0,0,0
$GC,2201,-1.36,-77.9,216.1,-10.3,211,2206,0.17,2.25,0.00,0.000,6,0.087,0.020,2416,1877,3378,0,0,0,0,0,0
$GC,2525,-1.36,-77.9,241.5,-8.0,227,2529,0.00,2.38,0.00,0.000,4,0.000,0.043,2416,473,3378,0,0,0,0,0,0
$GC,2617,-1.36,-77.9,249.7,-8.1,231,2621,0.00,2.22,0.00,0.000,6,0.000,0.021,2416,1875,3377,0,0,0,0,0,0
$GC,2945,-1.41,-77.9,271.4,-6.2,247,2949,0.00,2.40,0.00,0.000,4,0.000,0.044,2415,473,3377,0,0,0,0,0,0
$GC,2969,-1.41,-77.9,273.4,-7.2,248,2974,0.00,2.28,0.00,0.000,6,0.000,0.021,2415,1881,3377,0,0,0,0,0,0
$GC,3304,-1.47,-77.9,300.1,-8.6,264,3308,0.00,2.40,0.00,0.000,4,0.000,0.044,2415,470,3376,0,0,0,0,0,0
$GC,3355,-1.47,-77.9,305.5,-9.8,265,3359,0.00,2.28,0.00,0.000,6,0.000,0.022,2416,1883,3376,0,0,0,0,0,0
$GC,3674,-1.53,-77.9,331.5,-7.6,273,3679,0.17,2.45,0.00,0.000,4,0.051,0.045,2364,473,3375,0,0,0,0,0,0
$GC,3718,-1.44,-77.9,335.4,-9.6,274,3723,0.17,2.28,0.00,0.000,6,0.090,0.023,2400,1877,3374,0,0,0,0,0,0
$GC,4049,-1.47,-77.9,361.1,-7.9,282,4054,0.00,2.42,0.00,0.000,4,0.000,0.046,2401,475,3374,0,0,0,0,0,0
$GC,4119,-1.47,-77.9,367.9,-8.8,283,4123,0.00,2.25,0.00,0.000,6,0.000,0.024,2400,1878,3373,0,0,0,0,0,0
$GC,4460,-1.52,-77.9,393.5,-6.9,292,4464,0.00,2.42,0.00,0.000,4,0.000,0.048,2400,476,3371,0,0,0,0,0,0
$GC,4525,-1.52,-77.9,399.3,-8.8,293,4530,0.00,2.28,0.00,0.000,6,0.000,0.025,2400,1879,3370,0,0,0,0,0,0
$GC,4872,-1.57,-77.9,430.1,-9.2,302,4877,0.12,2.45,0.00,0.000,4,0.066,0.050,2363,470,3368,0,0,0,0,0,0
$GC,4982,-1.49,-77.9,441.6,-10.2,304,4987,0.12,2.30,0.00,0.000,6,0.101,0.026,2389,1874,3367,0,0,0,0,0,0
$STATE,5127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5127,begin apogee
$GC,5133,-0.31,0.0,452.6,7.1,308,5201,1.17,0.00,64.80,0.862,6,0.070,0.000,2643,2039,3050,0,0,0,0,0,0
$STATE,5202,end apogee,CONTROL_FINISHED_OK
$STATE,5202,begin climb
$GC,5206,1.40,77.9,453.5,0.0,309,5275,1.62,0.00,64.88,0.843,6,0.028,0.000,3027,2039,2732,0,0,0,0,0,0
$GC,5618,1.21,111.5,440.5,5.7,320,5654,0.25,2.35,28.58,0.827,4,0.109,0.038,2974,3386,2594,0,0,0,0,0,0
$GC,5809,1.10,115.6,427.2,7.7,324,5821,0.00,2.38,4.78,0.583,6,0.000,0.035,2975,2005,2577,0,0,0,0,0,0
$GC,6131,1.04,142.1,406.9,6.2,332,6161,0.17,2.53,23.52,0.815,4,0.110,0.051,2940,606,2469,0,0,0,0,0,0
$GC,6226,0.95,142.1,399.3,9.3,334,6230,0.00,2.30,0.00,0.000,6,0.000,0.028,2942,1992,2466,0,0,0,0,0,0
$GC,6545,0.97,157.0,376.0,7.0,342,6560,0.00,0.00,13.48,0.769,6,0.000,0.000,2943,1997,2410,0,0,0,0,0,0
$GC,6869,1.01,186.8,355.8,6.0,350,6901,0.00,2.53,27.15,0.802,4,0.000,0.051,2941,597,2288,0,0,0,0,0,0
$GC,6917,1.00,208.2,352.6,6.6,351,6944,0.00,2.40,20.45,0.775,6,0.000,0.030,2943,2013,2201,0,0,0,0,0,0
$GC,7283,1.02,224.7,325.3,6.9,360,7303,0.00,2.55,15.25,0.752,4,0.000,0.051,2941,606,2133,0,0,0,0,0,0
$GC,7474,1.02,224.7,306.4,11.1,364,7478,0.00,2.33,0.00,0.000,6,0.000,0.028,2942,2009,2127,0,0,0,0,0,0
$GC,7796,1.09,224.7,278.3,8.1,378,7800,0.00,2.47,0.00,0.000,4,0.000,0.051,2942,606,2127,0,0,0,0,0,0
$GC,7926,1.13,224.7,265.7,10.4,383,7931,0.00,2.35,0.00,0.000,6,0.000,0.028,2943,2016,2124,0,0,0,0,0,0
$GC,8242,1.23,238.7,243.0,7.1,398,8264,0.17,2.53,12.35,0.690,4,0.064,0.048,2986,606,2075,0,0,0,0,0,0
$GC,8385,1.18,238.7,229.4,9.8,404,8389,0.00,2.38,0.00,0.000,6,0.000,0.028,2987,2020,2072,0,0,0,0,0,0
$GC,8709,1.18,238.7,202.4,8.5,420,8713,0.00,2.47,0.00,0.000,4,0.000,0.048,2987,604,2072,0,0,0,0,0,0
$GC,8877,1.13,238.7,183.6,12.0,435,8883,0.15,2.33,0.00,0.000,6,0.114,0.026,2960,2017,2070,0,0,0,0,0,0
$GC,9140,1.22,238.7,160.6,8.7,460,9144,0.00,2.45,0.00,0.000,4,0.000,0.047,2960,600,2070,0,0,0,0,0,0
$GC,9201,1.28,252.2,155.6,7.1,466,9221,0.15,2.33,12.55,0.618,6,0.065,0.025,2999,2024,2021,0,0,0,0,0,0
$GC,9474,1.28,252.2,134.4,8.7,492,9479,0.00,2.47,0.00,0.000,4,0.000,0.046,2999,602,2020,0,0,0,0,0,0
$GC,9641,1.28,252.2,117.0,9.0,509,9646,0.00,2.30,0.00,0.000,6,0.000,0.024,3000,2016,2017,0,0,0,0,0,0
$GC,9905,1.35,272.7,98.8,6.6,534,9931,0.00,2.53,19.17,0.584,4,0.000,0.044,3000,606,1937,0,0,0,0,0,0
$GC,10090,1.35,272.7,82.7,10.1,554,10095,0.00,2.30,0.00,0.000,6,0.000,0.022,2999,2019,1933,0,0,0,0,0,0
$GC,10354,1.47,299.3,64.1,6.2,578,10384,0.15,2.53,24.12,0.555,4,0.058,0.044,3045,594,1828,0,0,0,0,0,0
$GC,10473,1.42,299.3,52.0,11.6,590,10479,0.12,2.33,0.00,0.000,6,0.103,0.021,3021,2011,1825,0,0,0,0,0,0
$GC,10736,1.47,299.3,28.5,9.9,616,10741,0.00,2.45,0.00,0.000,4,0.000,0.044,3020,599,1824,0,0,0,0,0,0
$GC,10923,1.47,299.3,12.5,10.1,656,10928,0.00,2.28,0.00,0.000,6,0.000,0.020,3020,2022,1823,0,0,0,0,0,0
$STATE,11016,end climb,SURFACE_DEPTH_REACHED
$STATE,11016,begin surface coast
$FINISH,0.7,1.023250
$STATE,11054,end surface coast,CONTROL_FINISHED_OK
$STATE,11054,begin surface
$SM_CCo,11136,0.00,0.000,0,0,1820,301.72
$SM_GC,1.55,11.07,0.00,0.00,0.022,0.000,0.000,422,1871,1820,-10.45,-0.14,301.72
$IRIDIUM_FIX,2059.45,-15756.04,260999,232344
$TT8_MAMPS,0.029146
$HUMID,53.89
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.3,59.068
$10V_AH,10.0,51.343
$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,26.950,128.550,331.075,0.000,0.000,23.615,32.626,228.556,4.500,0.000,35.332,1330.678,7617.134,392.363,1655.082,563.714,33.372,1289.997,0.000,1595.756,0.000,29.238,0.000
$DEVICE_MAMPS,130.390,54.457,862.108,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,456.841,444.837,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,34979,679
$CAP_FILE_SIZE,129864,0
$CFSIZE,260165632,219717632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030710,052813,2106.384,-15751.608,78,1.7,85,9.8