version: 66.06
glider: 139
mission: 7
dive: 666
start: 7 3 110 21 52 53
data:
$ID,139
$MISSION,7
$DIVE,666
$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,-2145924.5
$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
$GPS1,214507,2105.083,-15749.594,84,1.4,84,9.8
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-70.5
$GPS2,215202,2105.057,-15749.612,21,1.7,21,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.178,0.046
$KALMAN_X,-354127.3,-232.9,-414.5,363964.9,-122.2
$KALMAN_Y,36235.6,-89.4,-246.6,-39325.2,-287.8
$MHEAD_RNG_PITCHd_Wd,65.8,11652,-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,-50.30,0.000,2,0.000,0.000,429,1908,3128,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.4,-5.9,10,95,10.57,2.53,-4.82,0.000,4,0.133,0.051,2406,464,3370,0,0,0,0,0,0
$GC,125,-1.13,-77.9,16.8,-18.5,21,131,0.30,2.35,0.00,0.000,6,0.088,0.020,2467,1909,3371,0,0,0,0,0,0
$GC,331,-1.13,-77.9,41.9,-12.3,49,335,0.00,2.47,0.00,0.000,4,0.000,0.041,2466,461,3371,0,0,0,0,0,0
$GC,388,-1.09,-77.9,49.5,-12.1,54,393,0.00,2.28,0.00,0.000,6,0.000,0.019,2467,1893,3372,0,0,0,0,0,0
$GC,649,-1.09,-77.9,82.8,-12.5,79,653,0.00,2.42,0.00,0.000,4,0.000,0.041,2467,467,3373,0,0,0,0,0,0
$GC,710,-1.09,-77.9,90.4,-11.7,85,714,0.00,2.25,0.00,0.000,6,0.000,0.019,2467,1888,3373,0,0,0,0,0,0
$GC,975,-1.14,-77.9,115.8,-9.0,109,979,0.00,2.45,0.00,0.000,4,0.000,0.041,2467,459,3374,0,0,0,0,0,0
$GC,1110,-1.19,-77.9,127.9,-7.7,123,1114,0.00,2.25,0.00,0.000,6,0.000,0.019,2467,1887,3374,0,0,0,0,0,0
$GC,1374,-1.30,-77.9,146.5,-8.0,147,1379,0.15,2.45,0.00,0.000,4,0.054,0.041,2416,467,3375,0,0,0,0,0,0
$GC,1421,-1.24,-77.9,151.4,-10.8,151,1427,0.12,2.22,0.00,0.000,6,0.097,0.019,2442,1877,3375,0,0,0,0,0,0
$GC,1682,-1.31,-77.9,172.4,-8.1,176,1686,0.00,2.40,0.00,0.000,4,0.000,0.041,2442,468,3376,0,0,0,0,0,0
$GC,1758,-1.34,-77.9,179.5,-8.7,184,1765,0.00,2.25,0.00,0.000,6,0.000,0.019,2442,1884,3376,0,0,0,0,0,0
$GC,2029,-1.43,-77.9,201.9,-7.8,208,2034,0.17,2.45,0.00,0.000,4,0.050,0.042,2387,460,3376,0,0,0,0,0,0
$GC,2096,-1.35,-77.9,208.0,-8.5,211,2101,0.15,2.25,0.00,0.000,6,0.092,0.020,2418,1870,3376,0,0,0,0,0,0
$GC,2429,-1.38,-77.9,232.0,-7.4,227,2433,0.00,2.40,0.00,0.000,4,0.000,0.042,2418,468,3376,0,0,0,0,0,0
$GC,2466,-1.38,-77.9,235.4,-8.7,228,2471,0.00,2.25,0.00,0.000,6,0.000,0.020,2418,1877,3376,0,0,0,0,0,0
$GC,2782,-1.44,-77.9,262.3,-8.7,244,2786,0.00,2.40,0.00,0.000,4,0.000,0.044,2417,466,3377,0,0,0,0,0,0
$GC,2829,-1.47,-77.9,266.5,-8.5,246,2834,0.10,2.25,0.00,0.000,6,0.072,0.021,2381,1873,3376,0,0,0,0,0,0
$GC,3155,-1.47,-77.9,293.9,-8.7,262,3160,0.00,2.40,0.00,0.000,4,0.000,0.044,2380,466,3375,0,0,0,0,0,0
$GC,3239,-1.41,-77.9,301.9,-9.6,265,3246,0.12,2.28,0.00,0.000,6,0.100,0.022,2406,1881,3375,0,0,0,0,0,0
$GC,3571,-1.45,-77.9,328.9,-8.4,274,3575,0.00,2.45,0.00,0.000,4,0.000,0.046,2405,462,3374,0,0,0,0,0,0
$GC,3608,-1.45,-77.9,332.3,-9.0,274,3614,0.00,2.28,0.00,0.000,6,0.000,0.024,2406,1878,3374,0,0,0,0,0,0
$GC,3940,-1.50,-77.9,359.1,-8.2,283,3944,0.00,2.45,0.00,0.000,4,0.000,0.048,2406,464,3372,0,0,0,0,0,0
$GC,3976,-1.50,-77.9,362.9,-10.7,283,3982,0.00,2.30,0.00,0.000,6,0.000,0.025,2406,1873,3372,0,0,0,0,0,0
$GC,4308,-1.55,-77.9,394.7,-10.0,292,4313,0.15,2.45,0.00,0.000,4,0.059,0.050,2362,463,3370,0,0,0,0,0,0
$GC,4365,-1.47,-77.9,401.4,-11.6,293,4370,0.15,2.30,0.00,0.000,6,0.096,0.026,2393,1872,3369,0,0,0,0,0,0
$GC,4680,-1.47,-77.9,429.3,-8.7,301,4684,0.00,2.42,0.00,0.000,4,0.000,0.050,2393,467,3367,0,0,0,0,0,0
$GC,4731,-1.47,-77.9,434.0,-8.6,302,4735,0.00,2.33,0.00,0.000,6,0.000,0.026,2393,1880,3367,0,0,0,0,0,0
$STATE,4965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4965,begin apogee
$GC,4972,-0.31,0.0,453.1,8.0,308,5040,1.17,0.00,64.53,0.864,6,0.071,0.000,2647,2034,3050,0,0,0,0,0,0
$STATE,5041,end apogee,CONTROL_FINISHED_OK
$STATE,5041,begin climb
$GC,5044,1.40,77.9,454.0,0.0,309,5119,1.60,2.40,64.88,0.845,4,0.028,0.038,3026,3378,2732,0,0,0,0,0,0
$GC,5309,1.20,110.5,446.6,5.8,314,5343,0.25,2.38,28.00,0.825,6,0.109,0.034,2977,1999,2599,0,0,0,0,0,0
$GC,5680,1.09,110.5,416.4,8.3,324,5685,0.15,2.45,0.00,0.000,4,0.117,0.051,2952,604,2594,0,0,0,0,0,0
$GC,5751,0.96,113.6,411.1,7.8,325,5756,0.12,2.30,0.00,0.000,6,0.127,0.028,2928,1989,2593,0,0,0,0,0,0
$GC,6092,1.02,158.3,393.2,4.9,334,6141,0.00,2.45,40.80,0.831,4,0.000,0.036,2932,3402,2403,0,0,0,0,0,0
$GC,6162,1.03,168.4,388.8,7.3,335,6180,0.00,2.40,10.12,0.728,6,0.000,0.035,2932,2011,2362,0,0,0,0,0,0
$GC,6506,1.06,168.4,359.9,8.6,344,6510,0.00,2.50,0.00,0.000,4,0.000,0.052,2931,604,2356,0,0,0,0,0,0
$GC,6599,1.06,168.4,351.0,9.4,346,6603,0.00,2.35,0.00,0.000,6,0.000,0.029,2931,2010,2353,0,0,0,0,0,0
$GC,6922,1.11,175.8,326.2,7.5,354,6935,0.10,2.42,6.10,0.634,4,0.085,0.038,2957,3400,2333,0,0,0,0,0,0
$GC,6946,1.12,180.2,324.3,7.7,354,6958,0.00,2.40,6.00,0.624,6,0.000,0.035,2957,2009,2314,0,0,0,0,0,0
$GC,7294,1.13,191.2,298.3,7.3,363,7310,0.00,2.55,10.90,0.715,4,0.000,0.052,2956,601,2270,0,0,0,0,0,0
$GC,7440,1.13,191.2,285.8,8.5,369,7444,0.00,2.35,0.00,0.000,6,0.000,0.029,2957,2010,2265,0,0,0,0,0,0
$GC,7760,1.17,191.2,260.8,8.6,385,7761,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2015,2264,0,0,0,0,0,0
$GC,8071,1.24,200.8,235.2,7.4,400,8087,0.12,2.55,9.40,0.662,4,0.074,0.049,2988,600,2229,0,0,0,0,0,0
$GC,8144,1.17,203.2,229.8,7.9,403,8148,0.00,2.38,0.00,0.000,6,0.000,0.028,2989,2016,2227,0,0,0,0,0,0
$GC,8474,1.20,229.1,208.1,6.2,419,8507,0.00,2.58,25.90,0.699,4,0.000,0.049,2989,603,2115,0,0,0,0,0,0
$GC,8638,1.13,229.1,194.8,8.3,430,8643,0.15,2.35,0.00,0.000,6,0.113,0.026,2963,2022,2110,0,0,0,0,0,0
$GC,8899,1.21,236.0,175.5,7.5,454,8912,0.00,2.55,6.70,0.557,4,0.000,0.048,2962,604,2087,0,0,0,0,0,0
$GC,9039,1.21,236.0,163.4,8.5,469,9043,0.00,2.35,0.00,0.000,6,0.000,0.025,2962,2016,2085,0,0,0,0,0,0
$GC,9306,1.29,248.2,143.7,7.2,494,9325,0.15,2.50,12.45,0.600,4,0.064,0.045,3003,603,2037,0,0,0,0,0,0
$GC,9508,1.24,248.2,121.9,11.9,515,9513,0.00,2.33,0.00,0.000,6,0.000,0.024,3003,2020,2033,0,0,0,0,0,0
$GC,9772,1.29,260.0,99.3,7.2,540,9788,0.00,0.00,11.82,0.557,6,0.000,0.000,3003,2025,1988,0,0,0,0,0,0
$GC,10046,1.40,303.6,81.5,5.0,566,10091,0.00,2.55,38.55,0.581,4,0.000,0.044,3003,604,1811,0,0,0,0,0,0
$GC,10250,1.43,303.6,67.0,8.1,588,10256,0.10,2.33,0.00,0.000,6,0.075,0.022,3036,2020,1805,0,0,0,0,0,0
$GC,10510,1.43,303.6,43.9,9.2,613,10515,0.00,2.47,0.00,0.000,4,0.000,0.043,3036,594,1805,0,0,0,0,0,0
$GC,10639,1.39,303.6,31.3,10.6,626,10643,0.00,2.30,0.00,0.000,6,0.000,0.021,3036,2020,1804,0,0,0,0,0,0
$GC,10914,1.39,303.6,4.6,10.7,673,10919,0.00,2.42,0.00,0.000,4,0.000,0.043,3036,602,1804,0,0,0,0,0,0
$STATE,10928,end climb,SURFACE_DEPTH_REACHED
$STATE,10928,begin surface coast
$FINISH,0.6,0.999677
$STATE,10960,end surface coast,CONTROL_FINISHED_OK
$STATE,10961,begin surface
$SM_CCo,11045,0.00,0.000,0,0,1799,306.87
$SM_GC,1.39,11.25,0.00,0.00,0.028,0.000,0.000,429,1907,1799,-10.44,0.90,306.87
$IRIDIUM_FIX,2057.14,-15751.76,270999,181839
$TT8_MAMPS,0.029146
$HUMID,53.81
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.3,59.633
$10V_AH,10.0,51.695
$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,27.175,128.850,336.150,0.000,0.000,30.565,29.851,223.797,4.500,0.000,21.812,1312.704,7570.965,403.098,1614.969,552.247,33.375,1290.999,0.000,1569.688,0.000,29.250,0.000
$DEVICE_MAMPS,133.458,52.923,864.409,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.183,451.667,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34982,683
$CAP_FILE_SIZE,127844,0
$CFSIZE,260165632,219348992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040710,005944,2104.973,-15748.970,111,2.1,130,9.8