version: 66.06
glider: 139
mission: 7
dive: 663
start: 7 3 110 11 56 27
data:
$ID,139
$MISSION,7
$DIVE,663
$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,-2145802.5
$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
$GPS1,114757,2105.943,-15750.786,64,5.9,83,9.8
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,2
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-68.6
$GPS2,115536,2105.914,-15750.780,35,1.2,45,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,0.008
$KALMAN_X,-350628.3,-25.6,-35.4,357864.2,-715.8
$KALMAN_Y,38616.3,-228.4,-55.4,-40174.2,-111.7
$MHEAD_RNG_PITCHd_Wd,77.6,13587,-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,-49.75,0.000,2,0.000,0.000,422,1862,3135,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.5,-6.5,10,94,10.57,2.42,-4.70,0.000,4,0.132,0.049,2404,462,3370,0,0,0,0,0,0
$GC,115,-0.96,-77.9,15.1,-21.5,19,121,0.47,2.33,0.00,0.000,6,0.090,0.019,2501,1930,3370,0,0,0,0,0,0
$GC,321,-1.02,-77.9,36.1,-9.1,50,325,0.00,2.55,0.00,0.000,4,0.000,0.044,2499,460,3372,0,0,0,0,0,0
$GC,374,-1.09,-77.9,42.1,-10.4,55,379,0.10,2.35,0.00,0.000,6,0.072,0.019,2463,1917,3371,0,0,0,0,0,0
$GC,637,-1.05,-77.9,71.3,-11.4,79,642,0.10,2.50,0.00,0.000,4,0.107,0.041,2483,463,3372,0,0,0,0,0,0
$GC,666,-1.00,-77.9,74.9,-12.0,81,672,0.00,2.25,0.00,0.000,6,0.000,0.019,2483,1885,3372,0,0,0,0,0,0
$GC,930,-1.07,-77.9,96.0,-7.8,106,934,0.00,2.42,0.00,0.000,4,0.000,0.041,2483,468,3374,0,0,0,0,0,0
$GC,1005,-1.14,-77.9,103.0,-9.2,114,1009,0.00,2.25,0.00,0.000,6,0.000,0.018,2483,1882,3373,0,0,0,0,0,0
$GC,1273,-1.27,-77.9,128.3,-9.3,139,1278,0.20,2.42,0.00,0.000,4,0.046,0.040,2419,464,3375,0,0,0,0,0,0
$GC,1330,-1.23,-77.9,135.2,-11.6,144,1336,0.12,2.22,0.00,0.000,6,0.094,0.018,2446,1873,3375,0,0,0,0,0,0
$GC,1591,-1.28,-77.9,154.7,-6.1,169,1595,0.00,2.38,0.00,0.000,4,0.000,0.040,2446,466,3375,0,0,0,0,0,0
$GC,1693,-1.31,-77.9,162.1,-7.3,179,1697,0.00,2.25,0.00,0.000,6,0.000,0.018,2446,1882,3375,0,0,0,0,0,0
$GC,1959,-1.39,-77.9,180.0,-6.7,203,1964,0.15,2.45,0.00,0.000,4,0.054,0.041,2394,460,3376,0,0,0,0,0,0
$GC,2040,-1.34,-77.9,188.4,-10.5,211,2045,0.12,2.25,0.00,0.000,6,0.098,0.019,2420,1884,3376,0,0,0,0,0,0
$GC,2300,-1.37,-77.9,210.5,-7.5,229,2304,0.00,2.42,0.00,0.000,4,0.000,0.041,2420,465,3376,0,0,0,0,0,0
$GC,2323,-1.37,-77.9,212.8,-8.4,230,2328,0.00,2.22,0.00,0.000,6,0.000,0.020,2420,1877,3376,0,0,0,0,0,0
$GC,2651,-1.41,-77.9,236.1,-7.6,246,2655,0.00,2.42,0.00,0.000,4,0.000,0.042,2420,461,3376,0,0,0,0,0,0
$GC,2698,-1.41,-77.9,240.2,-8.0,248,2703,0.00,2.28,0.00,0.000,6,0.000,0.020,2420,1880,3376,0,0,0,0,0,0
$GC,3031,-1.45,-77.9,264.6,-7.9,264,3036,0.10,2.42,0.00,0.000,4,0.074,0.043,2382,463,3376,0,0,0,0,0,0
$GC,3083,-1.41,-77.9,269.8,-10.4,266,3088,0.12,2.25,0.00,0.000,6,0.100,0.021,2408,1878,3376,0,0,0,0,0,0
$GC,3406,-1.45,-77.9,296.9,-7.3,282,3411,0.00,2.40,0.00,0.000,4,0.000,0.044,2408,466,3375,0,0,0,0,0,0
$GC,3476,-1.45,-77.9,302.7,-7.4,284,3480,0.00,2.25,0.00,0.000,6,0.000,0.021,2408,1878,3375,0,0,0,0,0,0
$GC,3817,-1.50,-77.9,327.2,-7.4,293,3821,0.00,2.42,0.00,0.000,4,0.000,0.044,2407,469,3374,0,0,0,0,0,0
$GC,3864,-1.50,-77.9,331.4,-9.1,294,3868,0.00,2.28,0.00,0.000,6,0.000,0.022,2408,1878,3374,0,0,0,0,0,0
$GC,4187,-1.56,-77.9,357.8,-8.4,302,4192,0.15,2.42,0.00,0.000,4,0.057,0.047,2363,470,3373,0,0,0,0,0,0
$GC,4279,-1.47,-77.9,367.1,-10.7,304,4284,0.15,2.25,0.00,0.000,6,0.094,0.024,2394,1869,3372,0,0,0,0,0,0
$GC,4610,-1.50,-77.9,395.0,-8.2,312,4614,0.00,2.40,0.00,0.000,4,0.000,0.048,2394,471,3370,0,0,0,0,0,0
$GC,4679,-1.50,-77.9,400.5,-8.1,313,4684,0.00,2.28,0.00,0.000,6,0.000,0.025,2394,1873,3369,0,0,0,0,0,0
$GC,5025,-1.50,-77.9,426.3,-7.9,322,5029,0.00,2.42,0.00,0.000,4,0.000,0.050,2394,470,3367,0,0,0,0,0,0
$GC,5098,-1.50,-77.9,432.9,-8.6,323,5102,0.00,2.28,0.00,0.000,6,0.000,0.026,2394,1874,3366,0,0,0,0,0,0
$STATE,5355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5355,begin apogee
$GC,5362,-0.31,0.0,452.0,7.5,330,5430,1.17,0.00,64.22,0.864,6,0.074,0.000,2645,2033,3050,0,0,0,0,0,0
$STATE,5430,end apogee,CONTROL_FINISHED_OK
$STATE,5430,begin climb
$GC,5433,1.40,77.9,453.0,0.0,331,5509,1.62,2.40,64.65,0.843,4,0.028,0.038,2980,3381,2731,0,0,0,0,0,0
$GC,5674,1.22,131.6,450.7,4.3,336,5727,0.25,2.38,45.72,0.837,6,0.108,0.034,2983,2000,2512,0,0,0,0,0,0
$GC,6073,1.11,132.9,420.4,7.9,346,6078,0.15,2.47,0.00,0.000,4,0.116,0.051,2953,600,2505,0,0,0,0,0,0
$GC,6107,0.98,135.9,417.6,7.8,346,6112,0.15,2.30,0.00,0.000,6,0.119,0.028,2930,1985,2504,0,0,0,0,0,0
$GC,6439,1.01,160.9,397.5,6.3,354,6471,0.00,2.47,24.77,0.815,4,0.000,0.054,2929,605,2393,0,0,0,0,0,0
$GC,6486,0.99,172.3,394.0,7.2,355,6502,0.00,2.35,11.45,0.745,6,0.000,0.028,2930,2013,2347,0,0,0,0,0,0
$GC,6814,1.02,172.4,367.9,8.0,363,6818,0.00,2.50,0.00,0.000,4,0.000,0.050,2929,597,2341,0,0,0,0,0,0
$GC,6897,1.02,172.4,360.1,9.2,364,6903,0.00,2.38,0.00,0.000,6,0.000,0.029,2930,2006,2339,0,0,0,0,0,0
$GC,7229,1.07,172.4,332.8,8.2,373,7233,0.00,2.47,0.00,0.000,4,0.000,0.050,2927,603,2339,0,0,0,0,0,0
$GC,7257,1.07,172.8,330.3,8.0,373,7261,0.00,2.35,0.00,0.000,6,0.000,0.029,2930,2015,2337,0,0,0,0,0,0
$GC,7593,1.18,206.8,309.4,5.7,382,7630,0.17,2.58,30.23,0.783,4,0.065,0.051,2973,613,2205,0,0,0,0,0,0
$GC,7734,1.11,206.8,296.7,10.7,385,7738,0.00,2.35,0.00,0.000,6,0.000,0.029,2973,2016,2200,0,0,0,0,0,0
$GC,8058,1.11,206.8,267.5,9.4,401,8062,0.00,2.47,0.00,0.000,4,0.000,0.050,2972,604,2199,0,0,0,0,0,0
$GC,8196,1.06,206.8,253.2,9.9,407,8201,0.15,2.35,0.00,0.000,6,0.115,0.028,2947,2017,2197,0,0,0,0,0,0
$GC,8528,1.16,227.5,228.3,6.6,423,8553,0.00,2.55,18.27,0.700,4,0.000,0.049,2947,613,2121,0,0,0,0,0,0
$GC,8706,1.20,227.5,213.1,8.7,430,8712,0.12,2.35,0.00,0.000,6,0.074,0.027,2979,2017,2116,0,0,0,0,0,0
$GC,9029,1.26,252.8,187.2,6.3,453,9058,0.00,2.58,22.98,0.667,4,0.000,0.048,2979,601,2019,0,0,0,0,0,0
$GC,9124,1.26,252.8,179.5,8.5,463,9130,0.00,2.35,0.00,0.000,6,0.000,0.025,2979,2011,2014,0,0,0,0,0,0
$GC,9388,1.34,279.7,161.9,6.2,488,9423,0.12,2.50,24.85,0.642,4,0.069,0.047,3014,604,1907,0,0,0,0,0,0
$GC,9564,1.27,279.7,144.8,10.5,507,9569,0.12,2.35,0.00,0.000,6,0.111,0.024,2991,2022,1903,0,0,0,0,0,0
$GC,9827,1.33,279.7,119.7,9.3,531,9831,0.00,2.45,0.00,0.000,4,0.000,0.045,2991,604,1903,0,0,0,0,0,0
$GC,9999,1.35,295.8,105.3,6.9,549,10020,0.00,2.30,14.32,0.569,6,0.000,0.023,2991,2022,1844,0,0,0,0,0,0
$GC,10282,1.48,326.7,83.8,5.9,576,10319,0.20,2.53,28.02,0.571,4,0.051,0.044,3047,600,1717,0,0,0,0,0,0
$GC,10547,1.43,326.7,61.4,11.5,604,10552,0.10,2.30,0.00,0.000,6,0.112,0.021,3027,2006,1711,0,0,0,0,0,0
$GC,10810,1.47,326.7,34.8,9.9,628,10814,0.00,2.42,0.00,0.000,4,0.000,0.043,3027,594,1710,0,0,0,0,0,0
$GC,10984,1.44,326.7,16.8,11.4,659,10990,0.00,2.33,0.00,0.000,6,0.000,0.021,3027,2018,1710,0,0,0,0,0,0
$STATE,11144,end climb,SURFACE_DEPTH_REACHED
$STATE,11144,begin surface coast
$FINISH,0.5,1.009969
$STATE,11182,end surface coast,CONTROL_FINISHED_OK
$STATE,11183,begin surface
$SM_CCo,11264,0.00,0.000,0,0,1707,329.44
$SM_GC,1.34,11.10,0.00,0.00,0.023,0.000,0.000,424,1863,1707,-10.43,-0.34,329.44
$IRIDIUM_FIX,2057.14,-15751.76,270999,080859
$TT8_MAMPS,0.029146
$HUMID,54.96
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,23.3,59.336
$10V_AH,10.0,51.516
$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,27.825,133.725,349.500,0.000,0.000,27.364,44.788,230.647,4.750,0.000,45.158,1357.263,7660.707,399.278,1712.964,586.089,33.380,1329.079,0.000,1643.575,0.000,29.255,0.000
$DEVICE_MAMPS,131.924,54.457,863.642,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,466.481,455.521,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,34906,694
$CAP_FILE_SIZE,133782,0
$CFSIZE,260165632,219529216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030710,150720,2105.781,-15750.157,134,3.2,153,9.8