version: 66.06
glider: 139
mission: 7
dive: 669
start: 7 4 110 7 36 37
data:
$ID,139
$MISSION,7
$DIVE,669
$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,-2146091.8
$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
$GPS1,072822,2104.604,-15748.790,57,9.1,76,9.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-71.3
$GPS2,073546,2104.600,-15748.871,37,3.3,56,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.158,0.093
$KALMAN_X,-358987.9,90.5,-272.0,369642.1,-1423.4
$KALMAN_Y,32991.9,-91.2,-144.5,-37028.9,-970.3
$MHEAD_RNG_PITCHd_Wd,49.7,10528,-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,-77.9,0.0,0.0,0,73,0.00,0.00,-55.28,0.000,2,0.000,0.000,426,1890,3163,0,0,0,0,0,0
$GC,77,-1.40,-77.9,3.4,-5.7,11,98,10.55,0.00,-4.20,0.000,6,0.131,0.000,2401,1891,3369,0,0,0,0,0,0
$GC,302,-1.20,-77.9,40.7,-15.1,45,307,0.25,2.45,0.00,0.000,4,0.096,0.041,2455,462,3371,0,0,0,0,0,0
$GC,332,-1.09,-77.9,45.2,-14.3,47,338,0.10,2.33,0.00,0.000,6,0.111,0.019,2475,1909,3372,0,0,0,0,0,0
$GC,594,-1.09,-77.9,74.1,-10.7,72,598,0.00,2.50,0.00,0.000,4,0.000,0.043,2474,462,3372,0,0,0,0,0,0
$GC,650,-1.09,-77.9,80.2,-9.8,77,655,0.00,2.28,0.00,0.000,6,0.000,0.018,2475,1885,3372,0,0,0,0,0,0
$GC,913,-1.15,-77.9,102.7,-8.9,102,916,0.00,2.42,0.00,0.000,4,0.000,0.041,2475,462,3373,0,0,0,0,0,0
$GC,988,-1.20,-77.9,110.3,-11.0,110,992,0.00,2.25,0.00,0.000,6,0.000,0.018,2474,1880,3373,0,0,0,0,0,0
$GC,1252,-1.30,-77.9,135.1,-7.6,134,1257,0.20,2.42,0.00,0.000,4,0.046,0.039,2412,466,3374,0,0,0,0,0,0
$GC,1424,-1.25,-77.9,152.5,-9.8,152,1428,0.12,2.22,0.00,0.000,6,0.097,0.018,2439,1874,3375,0,0,0,0,0,0
$GC,1690,-1.31,-77.9,174.5,-8.6,177,1694,0.00,2.40,0.00,0.000,4,0.000,0.041,2438,458,3375,0,0,0,0,0,0
$GC,1752,-1.35,-77.9,180.3,-9.6,183,1757,0.00,2.25,0.00,0.000,6,0.000,0.019,2438,1873,3376,0,0,0,0,0,0
$GC,2025,-1.42,-77.9,204.3,-8.6,206,2030,0.15,2.40,0.00,0.000,4,0.054,0.042,2389,467,3375,0,0,0,0,0,0
$GC,2082,-1.33,-77.9,210.8,-11.0,208,2087,0.15,2.22,0.00,0.000,6,0.093,0.020,2421,1873,3376,0,0,0,0,0,0
$GC,2405,-1.37,-77.9,238.8,-7.7,224,2409,0.00,2.38,0.00,0.000,4,0.000,0.042,2421,469,3376,0,0,0,0,0,0
$GC,2456,-1.37,-77.9,243.3,-8.3,226,2460,0.00,2.25,0.00,0.000,6,0.000,0.020,2421,1876,3376,0,0,0,0,0,0
$GC,2777,-1.42,-77.9,265.9,-6.8,242,2781,0.00,2.42,0.00,0.000,4,0.000,0.044,2421,463,3376,0,0,0,0,0,0
$GC,2806,-1.42,-77.9,268.0,-7.6,243,2810,0.00,2.28,0.00,0.000,6,0.000,0.021,2421,1880,3376,0,0,0,0,0,0
$GC,3128,-1.49,-77.9,287.8,-6.2,259,3133,0.15,2.45,0.00,0.000,4,0.055,0.044,2373,461,3375,0,0,0,0,0,0
$GC,3253,-1.41,-77.9,299.4,-8.8,264,3258,0.15,2.28,0.00,0.000,6,0.093,0.021,2404,1871,3375,0,0,0,0,0,0
$GC,3566,-1.45,-77.9,320.9,-7.0,272,3570,0.00,2.28,0.00,0.000,4,0.000,0.028,2403,3263,3374,0,0,0,0,0,0
$GC,3594,-1.55,-77.9,323.4,-8.5,272,3599,0.12,2.33,0.00,0.000,6,0.064,0.030,2365,1864,3374,0,0,0,0,0,0
$GC,3931,-1.52,-77.9,358.2,-10.7,281,3935,0.00,2.40,0.00,0.000,4,0.000,0.046,2365,467,3373,0,0,0,0,0,0
$GC,4055,-1.43,-77.9,371.7,-10.2,283,4060,0.17,2.28,0.00,0.000,6,0.091,0.024,2401,1869,3373,0,0,0,0,0,0
$GC,4392,-1.48,-77.9,394.7,-6.0,292,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1874,3370,0,0,0,0,0,0
$GC,4719,-1.54,-77.9,413.3,-5.7,300,4723,0.00,2.42,0.00,0.000,4,0.000,0.048,2401,474,3368,0,0,0,0,0,0
$GC,4798,-1.54,-77.9,419.0,-6.5,301,4802,0.00,2.28,0.00,0.000,6,0.000,0.025,2401,1868,3367,0,0,0,0,0,0
$GC,5135,-1.59,-77.9,447.3,-9.5,310,5140,0.15,2.45,0.00,0.000,4,0.060,0.051,2358,474,3365,0,0,0,0,0,0
$STATE,5157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5157,begin apogee
$GC,5166,-0.31,0.0,450.4,12.3,310,5235,1.33,0.00,64.68,0.861,6,0.078,0.000,2642,2007,3050,0,0,0,0,0,0
$STATE,5236,end apogee,CONTROL_FINISHED_OK
$STATE,5236,begin climb
$GC,5238,1.40,77.9,453.8,0.0,312,5314,1.62,2.47,65.15,0.843,4,0.030,0.038,3022,3400,2732,0,0,0,0,0,0
$GC,5542,1.24,145.1,453.5,3.4,318,5610,0.20,2.40,57.25,0.846,6,0.116,0.034,2987,2006,2458,0,0,0,0,0,0
$GC,5929,1.13,147.6,426.4,7.8,328,5934,0.15,2.47,0.00,0.000,4,0.120,0.053,2962,605,2451,0,0,0,0,0,0
$GC,6043,0.99,147.6,416.6,8.5,330,6048,0.17,2.35,0.00,0.000,6,0.122,0.027,2932,2016,2448,0,0,0,0,0,0
$GC,6389,0.99,147.6,388.8,8.7,339,6393,0.00,2.50,0.00,0.000,4,0.000,0.051,2931,604,2446,0,0,0,0,0,0
$GC,6408,0.96,147.6,386.9,9.6,339,6412,0.00,2.35,0.00,0.000,6,0.000,0.029,2932,2016,2445,0,0,0,0,0,0
$GC,6754,0.97,157.7,359.7,7.3,348,6765,0.00,0.00,9.82,0.738,6,0.000,0.000,2932,2020,2407,0,0,0,0,0,0
$GC,7078,1.05,192.9,340.0,5.6,356,7120,0.00,2.58,32.25,0.803,4,0.000,0.051,2932,598,2261,0,0,0,0,0,0
$GC,7218,1.05,192.9,328.3,9.3,359,7222,0.00,2.40,0.00,0.000,6,0.000,0.029,2932,2016,2256,0,0,0,0,0,0
$GC,7541,1.13,209.5,305.2,6.9,367,7559,0.12,0.00,15.18,0.746,6,0.076,0.000,2962,2020,2196,0,0,0,0,0,0
$GC,7849,1.13,209.5,280.4,8.6,380,7853,0.00,2.50,0.00,0.000,4,0.000,0.051,2962,604,2193,0,0,0,0,0,0
$GC,7976,1.09,209.5,268.2,9.1,385,7980,0.00,2.35,0.00,0.000,6,0.000,0.028,2962,2017,2189,0,0,0,0,0,0
$GC,8297,1.14,217.9,242.7,7.4,401,8309,0.00,0.00,8.02,0.644,6,0.000,0.000,2963,2022,2161,0,0,0,0,0,0
$GC,8630,1.21,225.1,217.5,7.5,417,8642,0.00,2.50,7.72,0.618,4,0.000,0.050,2963,604,2132,0,0,0,0,0,0
$GC,8686,1.21,225.1,212.4,9.7,419,8690,0.00,2.38,0.00,0.000,6,0.000,0.027,2963,2021,2130,0,0,0,0,0,0
$GC,9013,1.29,247.1,186.4,6.5,443,9040,0.15,2.53,21.10,0.672,4,0.065,0.046,3001,599,2041,0,0,0,0,0,0
$GC,9218,1.21,247.1,168.2,8.8,465,9223,0.12,2.38,0.00,0.000,6,0.110,0.025,2979,2024,2036,0,0,0,0,0,0
$GC,9480,1.29,266.3,148.9,6.7,489,9507,0.00,2.53,17.75,0.625,4,0.000,0.044,2979,603,1963,0,0,0,0,0,0
$GC,9648,1.35,274.1,133.5,7.5,507,9661,0.12,2.33,7.75,0.541,6,0.071,0.024,3014,2022,1932,0,0,0,0,0,0
$GC,9917,1.35,277.4,110.2,7.8,532,9927,0.00,2.47,4.70,0.439,4,0.000,0.044,3014,596,1918,0,0,0,0,0,0
$GC,10191,1.32,277.4,84.3,9.0,561,10197,0.00,2.30,0.00,0.000,6,0.000,0.022,3014,2016,1915,0,0,0,0,0,0
$GC,10455,1.41,310.6,68.4,5.7,586,10492,0.00,2.55,29.98,0.565,4,0.000,0.043,3014,603,1782,0,0,0,0,0,0
$GC,10581,1.41,310.6,57.6,8.9,600,10586,0.00,2.30,0.00,0.000,6,0.000,0.021,3014,2020,1779,0,0,0,0,0,0
$GC,10845,1.49,310.6,32.5,10.4,624,10850,0.10,2.47,0.00,0.000,4,0.074,0.043,3049,599,1779,0,0,0,0,0,0
$GC,11069,1.39,310.6,6.7,10.4,669,11076,0.15,2.30,0.00,0.000,6,0.099,0.021,3019,2014,1777,0,0,0,0,0,0
$STATE,11102,end climb,SURFACE_DEPTH_REACHED
$STATE,11102,begin surface coast
$FINISH,0.5,1.023222
$STATE,11131,end surface coast,CONTROL_FINISHED_OK
$STATE,11132,begin surface
$SM_CCo,11213,0.00,0.000,0,0,1773,313.25
$SM_GC,1.35,11.18,0.00,0.00,0.026,0.000,0.000,425,1856,1773,-10.46,-0.54,313.25
$IRIDIUM_FIX,2054.83,-15746.61,280999,040421
$TT8_MAMPS,0.029146
$HUMID,54.64
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,23.3,59.899
$10V_AH,10.0,51.869
$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,27.700,114.850,341.350,0.000,0.000,25.750,39.571,210.461,5.000,0.000,58.889,1317.192,7733.671,390.915,1678.643,528.973,33.379,1279.861,0.000,1590.200,0.000,32.156,0.000
$DEVICE_MAMPS,131.157,52.923,861.341,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,457.385,439.784,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34935,680
$CAP_FILE_SIZE,126930,0
$CFSIZE,260165632,219168768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040710,104621,2104.622,-15748.801,116,2.9,135,9.8