version: 66.06
glider: 139
mission: 7
dive: 667
start: 7 4 110 1 6 51
data:
$ID,139
$MISSION,7
$DIVE,667
$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,-2145962
$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
$GPS1,005944,2104.973,-15748.970,111,2.1,130,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-68.3
$GPS2,010558,2104.915,-15748.981,16,2.2,35,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.170,0.069
$KALMAN_X,-355699.5,-37.4,72.0,365951.3,-746.6
$KALMAN_Y,35201.7,-67.2,-6.9,-38817.7,-586.0
$MHEAD_RNG_PITCHd_Wd,58.2,10609,-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,-50.15,0.000,2,0.000,0.000,429,1908,3123,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.5,-6.3,10,91,10.52,0.00,-4.88,0.000,6,0.130,0.000,2402,1908,3369,0,0,0,0,0,0
$GC,290,-1.21,-77.9,42.1,-15.6,43,295,0.22,2.47,0.00,0.000,4,0.093,0.041,2447,460,3371,0,0,0,0,0,0
$GC,325,-1.07,-77.9,47.3,-14.3,46,330,0.15,2.35,0.00,0.000,6,0.100,0.020,2478,1913,3371,0,0,0,0,0,0
$GC,588,-1.11,-77.9,75.7,-9.8,70,592,0.00,2.47,0.00,0.000,4,0.000,0.041,2477,461,3372,0,0,0,0,0,0
$GC,651,-1.16,-77.9,81.6,-9.6,76,655,0.00,2.28,0.00,0.000,6,0.000,0.019,2477,1883,3373,0,0,0,0,0,0
$GC,916,-1.23,-77.9,105.6,-9.8,100,921,0.15,2.45,0.00,0.000,4,0.056,0.042,2427,468,3373,0,0,0,0,0,0
$GC,1055,-1.16,-77.9,124.3,-13.4,114,1061,0.15,2.25,0.00,0.000,6,0.090,0.018,2459,1878,3374,0,0,0,0,0,0
$GC,1316,-1.26,-77.9,146.1,-6.7,139,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1883,3375,0,0,0,0,0,0
$GC,1574,-1.35,-77.9,163.2,-6.6,163,1579,0.17,2.42,0.00,0.000,4,0.050,0.041,2402,468,3375,0,0,0,0,0,0
$GC,1675,-1.27,-77.9,172.9,-9.7,173,1679,0.15,2.25,0.00,0.000,6,0.094,0.019,2435,1880,3376,0,0,0,0,0,0
$GC,1941,-1.33,-77.9,196.0,-9.6,198,1945,0.00,2.40,0.00,0.000,4,0.000,0.041,2434,462,3375,0,0,0,0,0,0
$GC,2021,-1.37,-77.9,204.8,-10.6,204,2025,0.00,2.25,0.00,0.000,6,0.000,0.020,2435,1879,3376,0,0,0,0,0,0
$GC,2346,-1.43,-77.9,231.0,-7.1,220,2351,0.15,2.42,0.00,0.000,4,0.055,0.043,2385,463,3376,0,0,0,0,0,0
$GC,2398,-1.33,-77.9,236.3,-10.3,222,2403,0.17,2.25,0.00,0.000,6,0.090,0.021,2422,1876,3375,0,0,0,0,0,0
$GC,2721,-1.38,-77.9,264.2,-9.3,238,2725,0.00,2.40,0.00,0.000,4,0.000,0.044,2422,463,3376,0,0,0,0,0,0
$GC,2758,-1.38,-77.9,268.2,-10.3,239,2764,0.00,2.28,0.00,0.000,6,0.000,0.021,2422,1879,3376,0,0,0,0,0,0
$GC,3075,-1.45,-77.9,296.4,-7.7,255,3080,0.12,2.30,0.00,0.000,4,0.063,0.028,2381,3266,3376,0,0,0,0,0,0
$GC,3096,-1.51,-77.9,298.0,-6.9,256,3100,0.00,2.33,0.00,0.000,6,0.000,0.029,2381,1863,3375,0,0,0,0,0,0
$GC,3423,-1.51,-77.9,321.1,-7.1,265,3427,0.00,2.35,0.00,0.000,4,0.000,0.044,2380,472,3374,0,0,0,0,0,0
$GC,3506,-1.44,-77.9,328.2,-8.8,266,3512,0.00,2.28,0.00,0.000,6,0.000,0.022,2381,1877,3374,0,0,0,0,0,0
$GC,3838,-1.44,-77.9,352.7,-7.2,275,3842,0.00,2.28,0.00,0.000,4,0.000,0.030,2381,3265,3373,0,0,0,0,0,0
$GC,3890,-1.50,-77.9,356.5,-7.6,276,3894,0.00,2.35,0.00,0.000,6,0.000,0.032,2381,1870,3373,0,0,0,0,0,0
$GC,4210,-1.50,-77.9,382.4,-8.4,284,4214,0.00,2.40,0.00,0.000,4,0.000,0.048,2380,466,3370,0,0,0,0,0,0
$GC,4271,-1.50,-77.9,388.3,-9.7,285,4275,0.00,2.28,0.00,0.000,6,0.000,0.025,2381,1871,3371,0,0,0,0,0,0
$GC,4623,-1.50,-77.9,420.4,-9.5,294,4627,0.00,2.42,0.00,0.000,4,0.000,0.049,2381,465,3368,0,0,0,0,0,0
$GC,4661,-1.46,-77.9,424.3,-9.7,294,4666,0.00,2.30,0.00,0.000,6,0.000,0.025,2380,1873,3368,0,0,0,0,0,0
$STATE,4948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4948,begin apogee
$GC,4956,-0.31,0.0,451.0,9.0,302,5024,1.23,0.00,64.47,0.858,6,0.073,0.000,2642,2032,3050,0,0,0,0,0,0
$STATE,5025,end apogee,CONTROL_FINISHED_OK
$STATE,5025,begin climb
$GC,5027,1.40,77.9,452.5,0.0,303,5103,1.62,2.40,64.88,0.841,4,0.029,0.038,3023,3378,2732,0,0,0,0,0,0
$GC,5368,1.23,130.5,445.8,4.4,310,5420,0.22,2.35,44.58,0.837,6,0.110,0.035,2985,2010,2518,0,0,0,0,0,0
$GC,5757,1.11,130.5,416.5,8.3,320,5762,0.15,2.47,0.00,0.000,4,0.113,0.052,2957,605,2511,0,0,0,0,0,0
$GC,5828,0.99,130.5,410.3,9.1,321,5833,0.15,2.33,0.00,0.000,6,0.120,0.027,2931,1990,2510,0,0,0,0,0,0
$GC,6169,1.02,158.0,388.1,6.1,330,6198,0.00,2.47,23.48,0.813,4,0.000,0.038,2928,3401,2404,0,0,0,0,0,0
$GC,6253,1.08,168.1,382.2,7.3,331,6269,0.00,2.42,10.43,0.737,6,0.000,0.038,2932,2008,2363,0,0,0,0,0,0
$GC,6590,1.12,173.0,356.8,7.7,340,6602,0.12,2.47,5.10,0.600,4,0.077,0.051,2960,604,2343,0,0,0,0,0,0
$GC,6646,1.03,173.0,351.4,9.3,341,6651,0.12,2.35,0.00,0.000,6,0.122,0.028,2940,2009,2341,0,0,0,0,0,0
$GC,6965,1.09,194.6,329.5,6.5,349,6991,0.00,2.55,20.08,0.779,4,0.000,0.051,2939,601,2256,0,0,0,0,0,0
$GC,7115,1.09,194.6,317.5,8.4,352,7119,0.00,2.38,0.00,0.000,6,0.000,0.028,2940,2012,2250,0,0,0,0,0,0
$GC,7445,1.15,194.6,291.1,9.1,362,7450,0.10,2.53,0.00,0.000,4,0.086,0.051,2966,597,2250,0,0,0,0,0,0
$GC,7581,1.10,194.6,276.6,10.2,368,7585,0.00,2.40,0.00,0.000,6,0.000,0.029,2966,2020,2247,0,0,0,0,0,0
$GC,7910,1.15,229.7,254.6,5.6,384,7947,0.00,2.60,31.25,0.745,4,0.000,0.051,2966,600,2112,0,0,0,0,0,0
$GC,8054,1.15,229.7,244.2,8.2,390,8058,0.00,2.38,0.00,0.000,6,0.000,0.028,2966,2013,2107,0,0,0,0,0,0
$GC,8375,1.19,229.7,219.9,8.2,406,8380,0.00,2.50,0.00,0.000,4,0.000,0.049,2966,595,2106,0,0,0,0,0,0
$GC,8466,1.19,229.7,211.7,9.5,410,8470,0.00,2.35,0.00,0.000,6,0.000,0.027,2966,2013,2104,0,0,0,0,0,0
$GC,8792,1.25,229.7,183.6,8.6,434,8796,0.00,2.45,0.00,0.000,4,0.000,0.048,2966,601,2104,0,0,0,0,0,0
$GC,8959,1.25,229.7,169.3,8.6,451,8965,0.00,2.35,0.00,0.000,6,0.000,0.025,2966,2020,2102,0,0,0,0,0,0
$GC,9223,1.35,250.3,150.7,6.6,476,9250,0.17,2.55,18.08,0.626,4,0.059,0.047,3012,607,2028,0,0,0,0,0,0
$GC,9422,1.31,256.6,133.3,7.6,497,9437,0.00,2.33,6.60,0.517,6,0.000,0.024,3012,2018,2003,0,0,0,0,0,0
$GC,9692,1.33,271.7,116.2,7.0,523,9712,0.00,2.55,15.07,0.580,4,0.000,0.045,3012,598,1941,0,0,0,0,0,0
$GC,9801,1.28,271.7,107.0,9.2,534,9806,0.00,2.33,0.00,0.000,6,0.000,0.023,3012,2010,1938,0,0,0,0,0,0
$GC,10064,1.33,281.4,84.9,7.4,559,10082,0.00,2.55,9.65,0.519,4,0.000,0.044,3012,583,1901,0,0,0,0,0,0
$GC,10304,1.33,281.4,66.4,9.1,585,10309,0.00,2.33,0.00,0.000,6,0.000,0.021,3012,2021,1898,0,0,0,0,0,0
$GC,10570,1.40,287.2,45.7,7.6,609,10583,0.00,2.50,6.12,0.439,4,0.000,0.042,3012,604,1879,0,0,0,0,0,0
$GC,10745,1.40,287.2,29.3,9.0,629,10751,0.00,2.28,0.00,0.000,6,0.000,0.021,3012,2013,1877,0,0,0,0,0,0
$GC,10954,1.46,287.2,9.9,9.8,666,10959,0.00,2.45,0.00,0.000,4,0.000,0.044,3012,596,1877,0,0,0,0,0,0
$STATE,11037,end climb,SURFACE_DEPTH_REACHED
$STATE,11038,begin surface coast
$FINISH,0.5,1.009038
$STATE,11076,end surface coast,CONTROL_FINISHED_OK
$STATE,11076,begin surface
$SM_CCo,11099,10.93,0.466,0,0,1826,300.00
$SM_GC,1.98,0.00,0.00,10.93,0.000,0.000,0.466,421,1902,1826,-10.55,0.76,300.00
$IRIDIUM_FIX,2054.83,-15748.75,270999,212154
$TT8_MAMPS,0.029146
$HUMID,53.78
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,22.80
$XPDR_PINGS,1
$24V_AH,23.3,59.718
$10V_AH,10.0,51.753
$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,26.925,124.100,319.775,10.925,0.000,25.162,28.502,175.195,4.750,0.000,36.719,1354.158,7497.770,392.074,1736.723,501.405,33.379,1318.943,0.000,1672.116,0.000,29.242,0.000
$DEVICE_MAMPS,130.390,52.156,858.273,466.336,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,465.496,451.885,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,34842,692
$CAP_FILE_SIZE,129471,0
$CFSIZE,260165632,219287552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040710,041427,2104.876,-15748.690,87,3.4,106,9.8