version: 66.06
glider: 139
mission: 7
dive: 665
start: 7 3 110 18 44 18
data:
$ID,139
$MISSION,7
$DIVE,665
$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,-2145902
$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
$GPS1,183657,2105.287,-15750.067,58,2.2,77,9.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-72.0
$GPS2,184325,2105.305,-15750.125,43,1.0,43,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.179,0.043
$KALMAN_X,-353094.7,-375.7,-185.6,361960.6,-1078.0
$KALMAN_Y,37145.2,-153.0,-156.3,-39801.4,-413.9
$MHEAD_RNG_PITCHd_Wd,66.6,12488,-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,12,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,67,0.00,0.00,-50.17,0.000,2,0.000,0.000,425,1902,3164,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.9,-7.4,10,95,10.60,2.53,-4.00,0.000,4,0.134,0.051,2404,466,3371,0,0,0,0,0,0
$GC,138,-1.18,-77.9,19.5,-15.9,24,144,0.25,2.33,0.00,0.000,6,0.101,0.020,2452,1906,3372,0,0,0,0,0,0
$GC,343,-1.13,-77.9,43.9,-12.3,50,347,0.00,2.47,0.00,0.000,4,0.000,0.042,2452,468,3373,0,0,0,0,0,0
$GC,377,-1.01,-77.9,49.3,-16.0,53,382,0.20,2.28,0.00,0.000,6,0.106,0.019,2491,1894,3372,0,0,0,0,0,0
$GC,640,-1.01,-77.9,79.6,-10.3,77,644,0.00,2.42,0.00,0.000,4,0.000,0.041,2490,469,3374,0,0,0,0,0,0
$GC,677,-1.01,-77.9,84.2,-12.0,80,683,0.00,2.22,0.00,0.000,6,0.000,0.019,2491,1878,3374,0,0,0,0,0,0
$GC,940,-1.11,-77.9,105.8,-8.3,105,944,0.00,2.42,0.00,0.000,4,0.000,0.041,2491,465,3375,0,0,0,0,0,0
$GC,974,-1.17,-77.9,109.0,-9.0,108,979,0.15,2.25,0.00,0.000,6,0.054,0.019,2440,1876,3375,0,0,0,0,0,0
$GC,1235,-1.17,-77.9,136.1,-10.1,132,1239,0.00,2.22,0.00,0.000,4,0.000,0.025,2440,3256,3376,0,0,0,0,0,0
$GC,1273,-1.29,-77.9,139.8,-9.6,135,1282,0.00,2.28,0.00,0.000,6,0.000,0.025,2440,1868,3376,0,0,0,0,0,0
$GC,1535,-1.34,-77.9,162.1,-8.2,160,1539,0.00,2.35,0.00,0.000,4,0.000,0.041,2440,472,3377,0,0,0,0,0,0
$GC,1610,-1.34,-77.9,169.1,-9.1,168,1614,0.00,2.25,0.00,0.000,6,0.000,0.018,2440,1885,3377,0,0,0,0,0,0
$GC,1874,-1.41,-77.9,189.9,-7.7,192,1878,0.15,2.42,0.00,0.000,4,0.055,0.041,2390,474,3378,0,0,0,0,0,0
$GC,1922,-1.32,-77.9,194.6,-9.9,196,1928,0.17,2.22,0.00,0.000,6,0.088,0.019,2427,1875,3378,0,0,0,0,0,0
$GC,2179,-1.37,-77.9,214.4,-7.6,212,2183,0.00,2.38,0.00,0.000,4,0.000,0.041,2427,471,3378,0,0,0,0,0,0
$GC,2221,-1.37,-77.9,218.3,-8.9,213,2226,0.00,2.20,0.00,0.000,6,0.000,0.020,2427,1876,3378,0,0,0,0,0,0
$GC,2537,-1.44,-77.9,243.2,-7.6,229,2542,0.12,2.42,0.00,0.000,4,0.062,0.043,2382,470,3378,0,0,0,0,0,0
$GC,2566,-1.34,-77.9,245.8,-9.0,230,2571,0.17,2.22,0.00,0.000,6,0.088,0.021,2419,1873,3378,0,0,0,0,0,0
$GC,2890,-1.40,-77.9,267.8,-7.0,246,2894,0.00,2.38,0.00,0.000,4,0.000,0.044,2419,476,3377,0,0,0,0,0,0
$GC,2941,-1.43,-77.9,272.4,-8.9,248,2945,0.00,2.22,0.00,0.000,6,0.000,0.021,2419,1877,3377,0,0,0,0,0,0
$GC,3264,-1.50,-77.9,300.0,-8.6,264,3269,0.15,2.40,0.00,0.000,4,0.055,0.044,2373,473,3376,0,0,0,0,0,0
$GC,3303,-1.42,-77.9,304.9,-12.8,264,3309,0.15,2.22,0.00,0.000,6,0.094,0.022,2404,1872,3376,0,0,0,0,0,0
$GC,3634,-1.46,-77.9,336.1,-9.0,273,3638,0.00,2.40,0.00,0.000,4,0.000,0.045,2403,476,3375,0,0,0,0,0,0
$GC,3682,-1.46,-77.9,340.2,-8.6,274,3686,0.00,2.22,0.00,0.000,6,0.000,0.023,2403,1873,3375,0,0,0,0,0,0
$GC,4009,-1.50,-77.9,366.0,-8.1,282,4013,0.00,2.40,0.00,0.000,4,0.000,0.047,2403,473,3373,0,0,0,0,0,0
$GC,4038,-1.50,-77.9,369.0,-10.8,282,4042,0.00,2.25,0.00,0.000,6,0.000,0.024,2403,1874,3374,0,0,0,0,0,0
$GC,4374,-1.55,-77.9,398.5,-8.2,291,4378,0.12,2.42,0.00,0.000,4,0.066,0.048,2365,476,3371,0,0,0,0,0,0
$GC,4435,-1.48,-77.9,404.2,-8.9,292,4440,0.12,2.28,0.00,0.000,6,0.100,0.025,2391,1883,3371,0,0,0,0,0,0
$GC,4787,-1.48,-77.9,432.0,-8.5,301,4791,0.00,2.45,0.00,0.000,4,0.000,0.050,2390,476,3368,0,0,0,0,0,0
$GC,4847,-1.48,-77.9,438.2,-9.3,302,4851,0.00,2.28,0.00,0.000,6,0.000,0.026,2390,1874,3368,0,0,0,0,0,0
$STATE,4991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4991,begin apogee
$GC,4998,-0.31,0.0,450.0,8.1,306,5066,1.20,0.00,64.75,0.858,6,0.080,0.000,2643,2041,3050,0,0,0,0,0,0
$STATE,5067,end apogee,CONTROL_FINISHED_OK
$STATE,5067,begin climb
$GC,5070,1.40,77.9,451.0,0.0,307,5145,1.65,2.38,64.72,0.839,4,0.038,0.038,2994,3374,2731,0,0,0,0,0,0
$GC,5207,1.27,152.2,452.4,2.9,310,5279,0.15,2.33,63.33,0.835,6,0.119,0.033,2994,2009,2428,0,0,0,0,0,0
$GC,5611,1.14,152.2,414.3,10.0,320,5616,0.17,2.47,0.00,0.000,4,0.116,0.051,2962,603,2419,0,0,0,0,0,0
$GC,5626,1.02,152.2,412.8,9.2,320,5631,0.15,2.30,0.00,0.000,6,0.123,0.027,2937,1988,2418,0,0,0,0,0,0
$GC,5977,1.04,169.5,388.4,6.8,329,5997,0.00,2.53,14.02,0.769,4,0.000,0.051,2934,606,2358,0,0,0,0,0,0
$GC,6145,0.99,169.5,373.5,9.4,332,6149,0.00,2.38,0.00,0.000,6,0.000,0.028,2936,2020,2354,0,0,0,0,0,0
$GC,6481,1.02,192.0,349.6,6.5,341,6508,0.00,2.55,20.58,0.784,4,0.000,0.050,2936,607,2266,0,0,0,0,0,0
$GC,6596,1.03,201.4,341.8,7.4,343,6615,0.00,2.38,9.52,0.706,6,0.000,0.028,2936,2018,2228,0,0,0,0,0,0
$GC,6941,1.10,213.2,319.2,7.2,352,6958,0.00,2.53,11.60,0.723,4,0.000,0.051,2936,604,2180,0,0,0,0,0,0
$GC,7069,1.10,213.2,307.5,9.1,354,7074,0.00,2.38,0.00,0.000,6,0.000,0.028,2936,2018,2176,0,0,0,0,0,0
$GC,7383,1.17,213.2,278.8,8.8,368,7388,0.15,2.53,0.00,0.000,4,0.068,0.051,2975,603,2175,0,0,0,0,0,0
$GC,7639,1.12,213.2,255.0,8.7,379,7643,0.00,2.35,0.00,0.000,6,0.000,0.028,2975,2010,2172,0,0,0,0,0,0
$GC,7964,1.13,225.6,230.8,7.2,395,7980,0.00,2.50,11.23,0.670,4,0.000,0.050,2976,607,2130,0,0,0,0,0,0
$GC,8120,1.09,225.6,217.0,9.0,401,8126,0.12,2.33,0.00,0.000,6,0.124,0.027,2954,2011,2126,0,0,0,0,0,0
$GC,8441,1.19,252.3,192.5,6.2,422,8474,0.00,2.53,24.88,0.683,4,0.000,0.048,2954,600,2019,0,0,0,0,0,0
$GC,8538,1.24,262.6,185.7,7.3,432,8556,0.15,2.38,10.32,0.617,6,0.065,0.026,2994,2023,1978,0,0,0,0,0,0
$GC,8817,1.24,262.6,162.7,9.0,459,8821,0.00,2.47,0.00,0.000,4,0.000,0.047,2993,605,1976,0,0,0,0,0,0
$GC,9017,1.24,262.6,142.2,11.3,480,9021,0.00,2.33,0.00,0.000,6,0.000,0.025,2993,2010,1973,0,0,0,0,0,0
$GC,9281,1.31,285.8,122.3,6.4,504,9308,0.00,2.50,21.08,0.610,4,0.000,0.044,2993,604,1884,0,0,0,0,0,0
$GC,9379,1.31,285.8,113.4,9.5,514,9385,0.00,2.33,0.00,0.000,6,0.000,0.024,2994,2010,1880,0,0,0,0,0,0
$GC,9643,1.39,285.8,91.8,8.2,539,9648,0.10,2.47,0.00,0.000,4,0.077,0.045,3025,602,1880,0,0,0,0,0,0
$GC,9835,1.36,285.8,72.8,9.6,559,9839,0.00,2.33,0.00,0.000,6,0.000,0.022,3025,2021,1878,0,0,0,0,0,0
$GC,10099,1.43,302.5,54.4,6.9,583,10120,0.00,2.53,15.40,0.532,4,0.000,0.043,3025,589,1815,0,0,0,0,0,0
$GC,10229,1.43,302.5,42.4,10.6,597,10233,0.00,2.30,0.00,0.000,6,0.000,0.021,3025,2014,1813,0,0,0,0,0,0
$GC,10497,1.47,302.5,16.7,9.3,633,10502,0.00,2.42,0.00,0.000,4,0.000,0.042,3025,603,1812,0,0,0,0,0,0
$STATE,10623,end climb,SURFACE_DEPTH_REACHED
$STATE,10624,begin surface coast
$FINISH,0.6,1.007959
$STATE,10647,end surface coast,CONTROL_FINISHED_OK
$STATE,10647,begin surface
$SM_CCo,10730,0.00,0.000,0,0,1807,304.91
$SM_GC,1.46,11.27,0.00,0.00,0.031,0.000,0.000,430,1911,1807,-10.44,1.02,304.91
$IRIDIUM_FIX,2054.83,-15749.62,270999,151516
$TT8_MAMPS,0.029913
$HUMID,54.64
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.3,59.543
$10V_AH,10.0,51.638
$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,27.500,132.600,331.425,0.000,0.000,27.991,26.944,181.911,4.500,0.000,43.622,1285.810,7314.188,394.505,1625.173,493.644,33.376,1277.960,0.000,1552.257,0.000,30.788,0.000
$DEVICE_MAMPS,134.225,51.389,858.273,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,446.936,435.232,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,34841,665
$CAP_FILE_SIZE,126555,0
$CFSIZE,260165632,219414528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030710,214507,2105.083,-15749.594,84,1.4,84,9.8