version: 66.06
glider: 139
mission: 7
dive: 670
start: 7 4 110 10 58 37
data:
$ID,139
$MISSION,7
$DIVE,670
$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,-2146125.8
$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
$GPS1,104621,2104.622,-15748.801,116,2.9,135,9.8
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.5
$GPS2,105746,2104.553,-15748.812,13,3.4,32,9.8
$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,-360540.9,-73.2,-227.2,371415.7,-969.2
$KALMAN_Y,31929.7,-108.1,-200.0,-35983.6,-559.6
$MHEAD_RNG_PITCHd_Wd,58.1,10449,-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,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-54.78,0.000,2,0.000,0.000,424,1856,3228,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.9,-7.6,11,96,10.57,2.42,-2.70,0.000,4,0.132,0.036,2400,3310,3370,0,0,0,0,0,0
$GC,108,-0.39,-77.9,14.1,-29.6,17,114,1.08,2.42,0.00,0.000,6,0.073,0.026,2628,1868,3371,0,0,0,0,0,0
$GC,317,-0.92,-77.9,27.3,-4.8,54,324,0.47,2.38,0.00,0.000,4,0.039,0.041,2504,473,3371,0,0,0,0,0,0
$GC,349,-1.10,-77.9,30.2,-8.9,60,354,0.12,2.30,0.00,0.000,6,0.062,0.019,2459,1922,3371,0,0,0,0,0,0
$GC,612,-1.10,-77.9,60.2,-11.0,84,616,0.00,2.47,0.00,0.000,4,0.000,0.041,2459,470,3372,0,0,0,0,0,0
$GC,677,-1.10,-77.9,69.1,-12.3,90,683,0.00,2.25,0.00,0.000,6,0.000,0.018,2459,1880,3372,0,0,0,0,0,0
$GC,940,-1.15,-77.9,96.7,-8.8,115,944,0.00,2.40,0.00,0.000,4,0.000,0.041,2459,467,3373,0,0,0,0,0,0
$GC,975,-1.15,-77.9,100.1,-8.8,118,980,0.00,2.22,0.00,0.000,6,0.000,0.019,2459,1879,3373,0,0,0,0,0,0
$GC,1240,-1.21,-77.9,120.7,-8.4,142,1244,0.00,2.40,0.00,0.000,4,0.000,0.041,2459,466,3374,0,0,0,0,0,0
$GC,1339,-1.21,-77.9,130.0,-10.2,152,1344,0.00,2.22,0.00,0.000,6,0.000,0.019,2459,1877,3374,0,0,0,0,0,0
$GC,1605,-1.28,-77.9,156.2,-8.1,176,1610,0.10,0.00,0.00,0.000,6,0.073,0.000,2419,1881,3375,0,0,0,0,0,0
$GC,1869,-1.28,-77.9,176.5,-8.3,201,1873,0.00,2.38,0.00,0.000,4,0.000,0.041,2419,472,3375,0,0,0,0,0,0
$GC,1930,-1.28,-77.9,182.5,-9.8,207,1934,0.00,2.22,0.00,0.000,6,0.000,0.019,2419,1877,3375,0,0,0,0,0,0
$GC,2207,-1.28,-77.9,205.8,-8.2,230,2211,0.00,2.40,0.00,0.000,4,0.000,0.041,2419,472,3375,0,0,0,0,0,0
$GC,2257,-1.28,-77.9,210.3,-8.0,232,2262,0.00,2.22,0.00,0.000,6,0.000,0.020,2419,1873,3376,0,0,0,0,0,0
$GC,2583,-1.32,-77.9,230.8,-6.5,248,2588,0.00,2.40,0.00,0.000,4,0.000,0.042,2418,469,3375,0,0,0,0,0,0
$GC,2611,-1.32,-77.9,233.0,-7.4,249,2616,0.00,2.25,0.00,0.000,6,0.000,0.020,2418,1876,3376,0,0,0,0,0,0
$GC,2935,-1.37,-77.9,261.0,-9.9,265,2939,0.00,2.40,0.00,0.000,4,0.000,0.043,2418,468,3375,0,0,0,0,0,0
$GC,2949,-1.40,-77.9,262.8,-10.1,265,2953,0.00,2.25,0.00,0.000,6,0.000,0.021,2419,1876,3375,0,0,0,0,0,0
$GC,3265,-1.48,-77.9,289.5,-7.3,280,3270,0.12,2.40,0.00,0.000,4,0.062,0.044,2376,473,3374,0,0,0,0,0,0
$GC,3350,-1.40,-77.9,297.5,-9.6,283,3356,0.15,2.25,0.00,0.000,6,0.094,0.021,2408,1871,3375,0,0,0,0,0,0
$GC,3683,-1.45,-77.9,320.9,-6.7,293,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,1876,3373,0,0,0,0,0,0
$GC,4008,-1.51,-77.9,345.1,-7.9,301,4012,0.00,2.40,0.00,0.000,4,0.000,0.047,2407,471,3372,0,0,0,0,0,0
$GC,4078,-1.51,-77.9,350.9,-8.5,302,4082,0.00,2.28,0.00,0.000,6,0.000,0.024,2408,1869,3372,0,0,0,0,0,0
$GC,4419,-1.57,-77.9,374.2,-6.9,311,4421,0.15,0.00,0.00,0.000,6,0.058,0.000,2363,1874,3369,0,0,0,0,0,0
$GC,4746,-1.54,-77.9,400.7,-8.1,319,4750,0.00,2.45,0.00,0.000,4,0.000,0.050,2362,475,3367,0,0,0,0,0,0
$GC,4836,-1.47,-77.9,409.5,-10.2,321,4841,0.15,2.28,0.00,0.000,6,0.097,0.026,2393,1873,3366,0,0,0,0,0,0
$GC,5166,-1.50,-77.9,436.4,-8.1,329,5171,0.00,2.42,0.00,0.000,4,0.000,0.051,2393,472,3364,0,0,0,0,0,0
$GC,5222,-1.50,-77.9,441.6,-9.0,330,5227,0.00,2.33,0.00,0.000,6,0.000,0.027,2393,1878,3364,0,0,0,0,0,0
$STATE,5330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5330,begin apogee
$GC,5337,-0.31,0.0,450.1,7.7,333,5405,1.17,0.00,64.15,0.864,6,0.070,0.000,2647,2040,3050,0,0,0,0,0,0
$STATE,5406,end apogee,CONTROL_FINISHED_OK
$STATE,5406,begin climb
$GC,5408,1.40,77.9,451.2,0.0,334,5484,1.60,2.40,65.07,0.844,4,0.029,0.040,3022,3381,2731,0,0,0,0,0,0
$GC,5749,1.22,127.8,444.5,4.6,341,5798,0.22,2.33,42.80,0.838,6,0.112,0.034,2984,2013,2527,0,0,0,0,0,0
$GC,6139,1.11,132.5,414.9,7.7,351,6149,0.15,2.40,4.20,0.544,4,0.117,0.037,2956,3390,2510,0,0,0,0,0,0
$GC,6353,1.09,156.2,400.9,6.4,355,6381,0.00,2.35,22.15,0.813,6,0.000,0.035,2958,2013,2412,0,0,0,0,0,0
$GC,6698,1.08,182.3,378.0,6.2,364,6727,0.00,2.53,23.52,0.808,4,0.000,0.052,2957,604,2306,0,0,0,0,0,0
$GC,6780,1.00,182.3,371.1,9.8,365,6787,0.15,2.35,0.00,0.000,6,0.120,0.028,2931,1991,2301,0,0,0,0,0,0
$GC,7112,1.04,188.8,346.5,7.6,374,7124,0.00,2.53,6.07,0.643,4,0.000,0.052,2931,603,2280,0,0,0,0,0,0
$GC,7176,1.04,188.8,340.8,9.1,375,7180,0.00,2.38,0.00,0.000,6,0.000,0.029,2931,2011,2278,0,0,0,0,0,0
$GC,7526,1.12,202.7,314.6,7.1,384,7547,0.12,2.58,13.77,0.751,4,0.077,0.051,2961,604,2223,0,0,0,0,0,0
$GC,7576,1.07,202.7,310.2,9.9,385,7580,0.00,2.40,0.00,0.000,6,0.000,0.029,2962,2018,2219,0,0,0,0,0,0
$GC,7902,1.07,202.7,282.4,8.4,398,7906,0.00,2.53,0.00,0.000,4,0.000,0.051,2961,596,2218,0,0,0,0,0,0
$GC,8051,1.09,220.9,270.7,6.8,404,8075,0.00,2.35,16.80,0.736,6,0.000,0.028,2962,2016,2148,0,0,0,0,0,0
$GC,8393,1.17,240.5,248.2,6.7,421,8418,0.00,2.45,18.60,0.720,4,0.000,0.035,2962,3401,2069,0,0,0,0,0,0
$GC,8429,1.26,262.1,245.6,6.5,422,8459,0.12,2.42,20.98,0.713,6,0.071,0.034,2994,2004,1981,0,0,0,0,0,0
$GC,8769,1.26,262.1,212.1,10.2,439,8773,0.00,2.47,0.00,0.000,4,0.000,0.051,2994,599,1975,0,0,0,0,0,0
$GC,8960,1.21,262.1,190.9,10.6,453,8964,0.00,2.38,0.00,0.000,6,0.000,0.027,2994,2020,1972,0,0,0,0,0,0
$GC,9223,1.21,262.1,165.6,9.2,477,9227,0.00,2.50,0.00,0.000,4,0.000,0.048,2994,597,1972,0,0,0,0,0,0
$GC,9405,1.19,273.2,149.9,7.3,496,9424,0.12,2.35,9.43,0.585,6,0.112,0.025,2971,2025,1936,0,0,0,0,0,0
$GC,9679,1.27,273.5,129.2,8.0,522,9683,0.00,2.47,0.00,0.000,4,0.000,0.045,2971,601,1935,0,0,0,0,0,0
$GC,9793,1.33,273.5,118.8,9.3,533,9799,0.15,2.33,0.00,0.000,6,0.064,0.024,3012,2011,1933,0,0,0,0,0,0
$GC,10055,1.33,273.5,93.4,9.0,558,10059,0.00,2.42,0.00,0.000,4,0.000,0.044,3012,601,1933,0,0,0,0,0,0
$GC,10190,1.34,285.9,82.8,7.2,572,10209,0.00,2.33,12.60,0.549,6,0.000,0.022,3013,2027,1884,0,0,0,0,0,0
$GC,10465,1.46,324.6,66.3,5.4,598,10507,0.00,2.55,34.88,0.565,4,0.000,0.044,3012,603,1725,0,0,0,0,0,0
$GC,10651,1.46,324.6,49.2,10.9,618,10656,0.00,2.30,0.00,0.000,6,0.000,0.021,3012,2010,1720,0,0,0,0,0,0
$GC,10916,1.53,324.6,21.5,10.8,650,10922,0.15,2.45,0.00,0.000,4,0.058,0.044,3059,594,1720,0,0,0,0,0,0
$STATE,11060,end climb,SURFACE_DEPTH_REACHED
$STATE,11060,begin surface coast
$FINISH,0.5,1.011731
$STATE,11093,end surface coast,CONTROL_FINISHED_OK
$STATE,11094,begin surface
$SM_CCo,11178,0.00,0.000,0,0,1713,327.97
$SM_GC,1.35,11.27,0.00,0.00,0.023,0.000,0.000,426,1874,1713,-10.45,-0.03,327.97
$IRIDIUM_FIX,2054.83,-15749.62,280999,101023
$TT8_MAMPS,0.029146
$HUMID,54.68
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.3,60.003
$10V_AH,10.0,51.930
$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,28.175,123.650,355.025,0.000,0.000,55.340,73.907,344.347,4.500,0.000,33.295,1329.466,7671.307,407.169,1698.004,750.357,33.368,1326.438,0.000,1635.430,0.000,29.258,0.000
$DEVICE_MAMPS,131.924,52.156,864.409,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,462.100,447.844,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,34966,688
$CAP_FILE_SIZE,133399,0
$CFSIZE,260165632,219099136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040710,140657,2104.593,-15748.108,67,2.2,86,9.8