version: 66.06
glider: 139
mission: 7
dive: 676
start: 7 5 110 6 26 28
data:
$ID,139
$MISSION,7
$DIVE,676
$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,-2146310.5
$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
$GPS1,061856,2104.315,-15746.736,163,6.4,182,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.0
$GPS2,062535,2104.293,-15746.788,20,6.4,39,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.139,0.120
$KALMAN_X,-367734.0,40.3,19.4,381746.6,-1695.5
$KALMAN_Y,24465.7,-24.7,30.9,-29314.4,-1401.0
$MHEAD_RNG_PITCHd_Wd,39.5,7256,-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,-50.10,0.000,2,0.000,0.000,426,1856,3141,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.3,-5.4,10,91,10.52,0.00,-4.57,0.000,6,0.130,0.000,2403,1856,3368,0,0,0,0,0,0
$GC,296,-1.21,-77.9,42.3,-16.9,44,301,0.22,2.40,0.00,0.000,4,0.095,0.041,2448,459,3370,0,0,0,0,0,0
$GC,312,-1.05,-77.9,44.9,-15.6,45,317,0.17,2.33,0.00,0.000,6,0.095,0.019,2483,1917,3370,0,0,0,0,0,0
$GC,575,-1.05,-77.9,71.3,-9.6,69,579,0.00,2.50,0.00,0.000,4,0.000,0.041,2483,466,3371,0,0,0,0,0,0
$GC,636,-1.05,-77.9,76.9,-8.5,75,640,0.00,2.22,0.00,0.000,6,0.000,0.019,2483,1871,3371,0,0,0,0,0,0
$GC,903,-1.11,-77.9,98.5,-8.2,100,908,0.00,2.40,0.00,0.000,4,0.000,0.041,2483,458,3372,0,0,0,0,0,0
$GC,931,-1.11,-77.9,101.3,-9.6,102,937,0.00,2.28,0.00,0.000,6,0.000,0.019,2483,1883,3372,0,0,0,0,0,0
$GC,1195,-1.22,-77.9,123.6,-7.4,127,1200,0.15,2.45,0.00,0.000,4,0.055,0.042,2432,463,3373,0,0,0,0,0,0
$GC,1251,-1.22,-77.9,129.3,-10.6,132,1257,0.00,2.25,0.00,0.000,6,0.000,0.018,2432,1879,3373,0,0,0,0,0,0
$GC,1516,-1.22,-77.9,150.2,-7.2,157,1521,0.00,2.40,0.00,0.000,4,0.000,0.041,2432,461,3374,0,0,0,0,0,0
$GC,1550,-1.22,-77.9,153.0,-7.5,160,1554,0.00,2.25,0.00,0.000,6,0.000,0.019,2433,1886,3374,0,0,0,0,0,0
$GC,1815,-1.26,-77.9,172.3,-7.3,184,1819,0.00,2.42,0.00,0.000,4,0.000,0.041,2433,467,3375,0,0,0,0,0,0
$GC,1871,-1.26,-77.9,177.2,-8.4,189,1876,0.00,2.25,0.00,0.000,6,0.000,0.019,2433,1880,3375,0,0,0,0,0,0
$GC,2134,-1.32,-77.9,197.9,-8.5,214,2138,0.00,2.40,0.00,0.000,4,0.000,0.041,2433,462,3375,0,0,0,0,0,0
$GC,2166,-1.32,-77.9,201.1,-9.5,216,2170,0.00,2.25,0.00,0.000,6,0.000,0.020,2432,1877,3375,0,0,0,0,0,0
$GC,2482,-1.38,-77.9,232.5,-10.8,231,2486,0.00,2.40,0.00,0.000,4,0.000,0.042,2432,462,3375,0,0,0,0,0,0
$GC,2525,-1.38,-77.9,237.4,-11.2,233,2529,0.00,2.25,0.00,0.000,6,0.000,0.021,2432,1873,3375,0,0,0,0,0,0
$GC,2857,-1.46,-77.9,266.2,-7.0,249,2862,0.17,2.42,0.00,0.000,4,0.051,0.044,2378,469,3375,0,0,0,0,0,0
$GC,2919,-1.39,-77.9,271.9,-9.3,251,2925,0.15,2.25,0.00,0.000,6,0.091,0.021,2409,1870,3375,0,0,0,0,0,0
$GC,3236,-1.43,-77.9,296.2,-8.9,267,3240,0.00,2.42,0.00,0.000,4,0.000,0.044,2409,469,3374,0,0,0,0,0,0
$GC,3297,-1.43,-77.9,302.1,-9.5,269,3301,0.00,2.25,0.00,0.000,6,0.000,0.021,2409,1883,3374,0,0,0,0,0,0
$GC,3647,-1.48,-77.9,334.3,-9.0,278,3651,0.00,2.28,0.00,0.000,4,0.000,0.029,2408,3261,3373,0,0,0,0,0,0
$GC,3680,-1.60,-77.9,336.8,-7.4,278,3685,0.20,2.30,0.00,0.000,6,0.049,0.030,2351,1871,3373,0,0,0,0,0,0
$GC,4012,-1.54,-77.9,364.0,-8.3,286,4017,0.12,2.40,0.00,0.000,4,0.103,0.047,2376,473,3371,0,0,0,0,0,0
$GC,4036,-1.46,-77.9,366.3,-8.7,286,4040,0.00,2.25,0.00,0.000,6,0.000,0.023,2376,1874,3371,0,0,0,0,0,0
$GC,4377,-1.46,-77.9,389.8,-6.8,295,4381,0.00,2.42,0.00,0.000,4,0.000,0.048,2376,474,3369,0,0,0,0,0,0
$GC,4392,-1.42,-77.9,391.0,-7.3,295,4397,0.12,2.28,0.00,0.000,6,0.101,0.025,2402,1877,3369,0,0,0,0,0,0
$GC,4708,-1.48,-77.9,412.9,-7.1,303,4712,0.00,2.42,0.00,0.000,4,0.000,0.048,2402,473,3366,0,0,0,0,0,0
$GC,4837,-1.48,-77.9,424.8,-9.3,305,4842,0.00,2.28,0.00,0.000,6,0.000,0.025,2402,1869,3366,0,0,0,0,0,0
$STATE,5167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5167,begin apogee
$GC,5173,-0.31,0.0,452.0,7.9,314,5241,1.12,0.00,64.40,0.858,6,0.067,0.000,2646,2034,3050,0,0,0,0,0,0
$STATE,5242,end apogee,CONTROL_FINISHED_OK
$STATE,5242,begin climb
$GC,5245,1.40,77.9,453.1,0.0,315,5321,1.60,2.40,64.85,0.838,4,0.028,0.038,3017,3387,2732,0,0,0,0,0,0
$GC,5383,1.25,157.7,456.3,2.5,318,5463,0.22,2.33,68.38,0.838,6,0.109,0.032,2989,2010,2406,0,0,0,0,0,0
$GC,5786,1.14,157.7,416.4,11.2,328,5791,0.15,2.50,0.00,0.000,4,0.121,0.051,2961,598,2398,0,0,0,0,0,0
$GC,5912,1.01,157.7,402.4,11.4,330,5917,0.15,2.30,0.00,0.000,6,0.123,0.027,2936,1990,2394,0,0,0,0,0,0
$GC,6248,1.01,157.7,369.8,9.4,339,6252,0.00,2.45,0.00,0.000,4,0.000,0.051,2936,603,2393,0,0,0,0,0,0
$GC,6420,0.98,169.1,355.3,7.2,342,6433,0.00,2.33,8.48,0.699,6,0.000,0.028,2937,2016,2360,0,0,0,0,0,0
$GC,6759,1.06,212.8,336.6,5.0,351,6805,0.00,2.55,40.17,0.796,4,0.000,0.051,2936,603,2180,0,0,0,0,0,0
$GC,6906,1.06,212.8,324.0,9.4,354,6910,0.00,2.38,0.00,0.000,6,0.000,0.028,2937,2015,2175,0,0,0,0,0,0
$GC,7222,1.14,212.8,294.4,10.0,363,7227,0.12,2.47,0.00,0.000,4,0.076,0.051,2968,601,2173,0,0,0,0,0,0
$GC,7284,1.08,212.8,287.5,11.5,365,7289,0.00,2.35,0.00,0.000,6,0.000,0.028,2969,2016,2171,0,0,0,0,0,0
$GC,7600,1.12,243.9,263.7,5.9,381,7633,0.00,2.55,27.17,0.742,4,0.000,0.051,2968,607,2054,0,0,0,0,0,0
$GC,7743,1.12,243.9,251.4,10.0,387,7748,0.00,2.33,0.00,0.000,6,0.000,0.028,2969,2012,2049,0,0,0,0,0,0
$GC,8065,1.17,243.9,221.2,10.2,403,8069,0.00,2.45,0.00,0.000,4,0.000,0.049,2969,606,2048,0,0,0,0,0,0
$GC,8259,1.17,243.9,201.3,9.7,411,8263,0.00,2.35,0.00,0.000,6,0.000,0.026,2968,2020,2045,0,0,0,0,0,0
$GC,8583,1.25,255.7,177.0,7.2,440,8602,0.00,2.53,10.27,0.610,4,0.000,0.048,2968,612,2007,0,0,0,0,0,0
$GC,8802,1.25,255.7,158.9,9.3,463,8807,0.00,2.30,0.00,0.000,6,0.000,0.025,2968,2018,2004,0,0,0,0,0,0
$GC,9065,1.33,255.7,135.6,8.7,488,9069,0.15,2.45,0.00,0.000,4,0.062,0.046,3009,606,2004,0,0,0,0,0,0
$GC,9220,1.30,275.2,122.9,6.7,504,9247,0.00,2.30,18.48,0.599,6,0.000,0.023,3010,2027,1926,0,0,0,0,0,0
$GC,9502,1.31,285.1,104.0,7.3,531,9520,0.00,2.47,10.05,0.539,4,0.000,0.042,3010,603,1886,0,0,0,0,0,0
$GC,9601,1.31,285.1,95.0,9.6,541,9606,0.00,2.30,0.00,0.000,6,0.000,0.022,3010,2016,1883,0,0,0,0,0,0
$GC,9865,1.38,292.3,70.2,7.5,566,9878,0.00,2.50,7.25,0.479,4,0.000,0.043,3010,606,1858,0,0,0,0,0,0
$GC,10060,1.38,292.3,55.4,8.3,587,10064,0.00,2.30,0.00,0.000,6,0.000,0.021,3010,2025,1856,0,0,0,0,0,0
$GC,10324,1.46,292.3,33.8,8.2,611,10329,0.10,2.47,0.00,0.000,4,0.076,0.043,3043,600,1856,0,0,0,0,0,0
$GC,10480,1.40,292.3,17.8,10.5,639,10487,0.10,2.28,0.00,0.000,6,0.078,0.020,3019,2017,1856,0,0,0,0,0,0
$STATE,10637,end climb,SURFACE_DEPTH_REACHED
$STATE,10637,begin surface coast
$FINISH,0.6,1.023331
$STATE,10672,end surface coast,CONTROL_FINISHED_OK
$STATE,10672,begin surface
$SM_CCo,10695,6.85,0.427,0,0,1826,300.00
$SM_GC,2.41,0.00,0.00,6.85,0.000,0.000,0.427,420,1856,1826,-10.56,-0.54,300.00
$IRIDIUM_FIX,2054.83,-15748.75,290999,030356
$TT8_MAMPS,0.029913
$HUMID,55.04
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,23.3,60.535
$10V_AH,10.0,52.275
$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,26.700,123.500,319.500,6.850,0.000,30.099,29.641,188.407,4.750,0.000,40.269,1306.927,7244.709,388.158,1640.427,518.079,33.379,1271.674,0.000,1574.895,0.000,30.934,0.000
$DEVICE_MAMPS,130.390,51.389,858.273,427.219,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,452.312,445.346,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,35011,673
$CAP_FILE_SIZE,124865,0
$CFSIZE,260165632,218738688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050710,092724,2103.972,-15747.025,98,1.6,116,9.8