version: 66.06
glider: 139
mission: 7
dive: 677
start: 7 5 110 9 38 29
data:
$ID,139
$MISSION,7
$DIVE,677
$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,-2146334
$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
$GPS1,092724,2103.972,-15747.025,98,1.6,116,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-69.9
$GPS2,093736,2103.910,-15747.051,20,1.8,22,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.136,0.123
$KALMAN_X,-369135.3,-174.2,-378.4,383306.1,-1017.7
$KALMAN_Y,22833.9,-83.5,-323.0,-27976.7,-1128.7
$MHEAD_RNG_PITCHd_Wd,38.1,7964,-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,-50.05,0.000,2,0.000,0.000,419,1856,3140,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.3,-5.3,10,95,10.57,2.45,-4.62,0.000,4,0.130,0.038,2405,3298,3370,0,0,0,0,0,0
$GC,130,-1.32,-77.9,16.8,-15.9,22,135,0.00,2.42,0.00,0.000,6,0.000,0.033,2405,1867,3371,0,0,0,0,0,0
$GC,334,-1.15,-77.9,46.4,-15.3,49,339,0.25,2.40,0.00,0.000,4,0.094,0.041,2459,466,3371,0,0,0,0,0,0
$GC,354,-1.02,-77.9,50.0,-15.3,50,361,0.15,2.30,0.00,0.000,6,0.100,0.019,2489,1917,3371,0,0,0,0,0,0
$GC,618,-1.05,-77.9,74.2,-9.0,75,622,0.00,2.47,0.00,0.000,4,0.000,0.042,2489,466,3373,0,0,0,0,0,0
$GC,682,-1.05,-77.9,81.3,-9.5,81,688,0.00,2.25,0.00,0.000,6,0.000,0.019,2489,1878,3373,0,0,0,0,0,0
$GC,946,-1.15,-77.9,102.3,-7.5,106,951,0.12,2.45,0.00,0.000,4,0.063,0.041,2444,460,3374,0,0,0,0,0,0
$GC,1036,-1.15,-77.9,111.3,-8.5,115,1040,0.00,2.25,0.00,0.000,6,0.000,0.018,2444,1885,3374,0,0,0,0,0,0
$GC,1300,-1.20,-77.9,133.1,-6.1,139,1304,0.00,2.40,0.00,0.000,4,0.000,0.041,2445,467,3375,0,0,0,0,0,0
$GC,1337,-1.20,-77.9,135.8,-6.5,142,1343,0.00,2.22,0.00,0.000,6,0.000,0.018,2445,1890,3375,0,0,0,0,0,0
$GC,1601,-1.26,-77.9,154.3,-7.8,167,1606,0.00,2.42,0.00,0.000,4,0.000,0.041,2445,458,3375,0,0,0,0,0,0
$GC,1658,-1.31,-77.9,159.6,-8.9,172,1663,0.00,2.25,0.00,0.000,6,0.000,0.018,2445,1876,3375,0,0,0,0,0,0
$GC,1921,-1.38,-77.9,181.2,-8.5,197,1926,0.15,2.40,0.00,0.000,4,0.054,0.042,2393,465,3376,0,0,0,0,0,0
$GC,1965,-1.29,-77.9,185.8,-10.3,201,1970,0.17,2.25,0.00,0.000,6,0.087,0.019,2430,1883,3376,0,0,0,0,0,0
$GC,2228,-1.33,-77.9,207.1,-8.4,221,2233,0.00,2.40,0.00,0.000,4,0.000,0.042,2430,467,3376,0,0,0,0,0,0
$GC,2266,-1.33,-77.9,210.8,-9.0,222,2271,0.00,2.25,0.00,0.000,6,0.000,0.020,2430,1879,3376,0,0,0,0,0,0
$GC,2583,-1.39,-77.9,237.0,-8.9,238,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,1883,3376,0,0,0,0,0,0
$GC,2891,-1.46,-77.9,263.7,-7.9,253,2896,0.15,2.45,0.00,0.000,4,0.056,0.044,2382,461,3375,0,0,0,0,0,0
$GC,2962,-1.38,-77.9,270.9,-10.4,256,2967,0.15,2.25,0.00,0.000,6,0.094,0.021,2413,1880,3375,0,0,0,0,0,0
$GC,3291,-1.43,-77.9,293.8,-6.7,272,3294,0.00,2.42,0.00,0.000,4,0.000,0.044,2413,463,3375,0,0,0,0,0,0
$GC,3323,-1.43,-77.9,296.5,-7.6,273,3327,0.00,2.25,0.00,0.000,6,0.000,0.021,2413,1883,3375,0,0,0,0,0,0
$GC,3663,-1.49,-77.9,323.5,-9.1,283,3668,0.12,2.42,0.00,0.000,4,0.063,0.045,2372,470,3374,0,0,0,0,0,0
$GC,3682,-1.49,-77.9,325.9,-10.1,283,3686,0.00,2.25,0.00,0.000,6,0.000,0.022,2373,1882,3374,0,0,0,0,0,0
$GC,4027,-1.49,-77.9,358.6,-9.2,292,4028,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1886,3372,0,0,0,0,0,0
$GC,4352,-1.49,-77.9,385.4,-8.3,300,4357,0.00,2.42,0.00,0.000,4,0.000,0.048,2372,470,3370,0,0,0,0,0,0
$GC,4385,-1.42,-77.9,388.5,-9.7,300,4390,0.15,2.25,0.00,0.000,6,0.095,0.025,2403,1869,3370,0,0,0,0,0,0
$GC,4718,-1.48,-77.9,410.0,-6.0,308,4722,0.00,2.40,0.00,0.000,4,0.000,0.048,2403,472,3368,0,0,0,0,0,0
$GC,4785,-1.51,-77.9,414.7,-7.4,309,4789,0.00,2.28,0.00,0.000,6,0.000,0.026,2403,1874,3368,0,0,0,0,0,0
$GC,5130,-1.56,-77.9,438.0,-7.1,318,5135,0.15,2.45,0.00,0.000,4,0.061,0.051,2360,468,3365,0,0,0,0,0,0
$GC,5169,-1.47,-77.9,441.6,-9.5,318,5176,0.15,2.30,0.00,0.000,6,0.095,0.027,2391,1879,3365,0,0,0,0,0,0
$STATE,5295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5295,begin apogee
$GC,5301,-0.31,0.0,452.2,8.3,322,5369,1.17,0.00,64.53,0.861,6,0.070,0.000,2645,2036,3049,0,0,0,0,0,0
$STATE,5370,end apogee,CONTROL_FINISHED_OK
$STATE,5370,begin climb
$GC,5373,1.40,77.9,453.4,0.0,323,5449,1.62,2.40,64.95,0.841,4,0.028,0.038,3014,3380,2732,0,0,0,0,0,0
$GC,5524,1.24,154.6,455.2,2.7,326,5600,0.22,2.38,66.22,0.838,6,0.113,0.033,2988,2002,2419,0,0,0,0,0,0
$GC,5924,1.13,154.6,423.7,8.5,336,5929,0.15,2.35,0.00,0.000,4,0.120,0.039,2959,3377,2409,0,0,0,0,0,0
$GC,5945,1.07,164.8,422.2,7.3,336,5960,0.00,2.35,8.52,0.713,6,0.000,0.035,2961,2009,2378,0,0,0,0,0,0
$GC,6292,1.06,201.7,400.7,5.5,345,6334,0.00,2.58,33.62,0.820,4,0.000,0.053,2962,605,2226,0,0,0,0,0,0
$GC,6356,0.96,207.5,396.5,7.6,346,6369,0.20,2.33,6.20,0.640,6,0.114,0.028,2926,1991,2204,0,0,0,0,0,0
$GC,6712,1.02,207.5,370.2,8.2,355,6716,0.00,2.45,0.00,0.000,4,0.000,0.052,2926,604,2199,0,0,0,0,0,0
$GC,6851,1.02,207.5,356.7,9.3,358,6856,0.00,2.35,0.00,0.000,6,0.000,0.028,2926,2004,2196,0,0,0,0,0,0
$GC,7175,1.09,208.8,331.5,7.9,366,7180,0.12,2.47,0.00,0.000,4,0.076,0.051,2957,604,2195,0,0,0,0,0,0
$GC,7255,1.05,208.8,322.4,11.7,367,7260,0.00,2.35,0.00,0.000,6,0.000,0.029,2957,2015,2194,0,0,0,0,0,0
$GC,7567,1.05,208.8,292.8,9.0,376,7571,0.00,2.50,0.00,0.000,4,0.000,0.051,2957,599,2193,0,0,0,0,0,0
$GC,7591,1.05,208.8,290.4,10.0,377,7595,0.00,2.38,0.00,0.000,6,0.000,0.029,2958,2019,2192,0,0,0,0,0,0
$GC,7917,1.12,231.5,266.7,6.5,393,7945,0.00,2.55,20.85,0.742,4,0.000,0.051,2957,597,2105,0,0,0,0,0,0
$GC,8187,1.12,231.5,242.7,10.6,404,8192,0.00,2.35,0.00,0.000,6,0.000,0.028,2958,2010,2099,0,0,0,0,0,0
$GC,8503,1.20,235.9,215.2,7.7,420,8514,0.00,2.50,4.43,0.495,4,0.000,0.048,2958,598,2087,0,0,0,0,0,0
$GC,8631,1.22,254.1,205.4,6.8,425,8656,0.10,2.38,17.85,0.679,6,0.084,0.027,2985,2027,2013,0,0,0,0,0,0
$GC,8980,1.26,254.1,177.1,8.9,454,8985,0.00,2.50,0.00,0.000,4,0.000,0.048,2984,596,2010,0,0,0,0,0,0
$GC,9229,1.26,254.1,151.8,9.6,480,9235,0.00,2.35,0.00,0.000,6,0.000,0.025,2984,2018,2007,0,0,0,0,0,0
$GC,9493,1.34,278.8,134.6,6.3,505,9523,0.10,2.55,22.65,0.619,4,0.081,0.046,3015,604,1912,0,0,0,0,0,0
$GC,9719,1.28,278.8,110.0,9.8,529,9725,0.12,2.33,0.00,0.000,6,0.110,0.023,2992,2018,1908,0,0,0,0,0,0
$GC,9982,1.40,318.0,92.2,5.3,554,10025,0.12,2.55,34.95,0.587,4,0.067,0.046,3029,606,1752,0,0,0,0,0,0
$GC,10291,1.40,318.0,64.3,9.5,587,10297,0.00,2.30,0.00,0.000,6,0.000,0.021,3029,2013,1746,0,0,0,0,0,0
$GC,10554,1.45,318.0,39.2,11.4,612,10558,0.00,2.45,0.00,0.000,4,0.000,0.044,3028,594,1746,0,0,0,0,0,0
$GC,10710,1.45,318.0,23.1,9.9,635,10715,0.00,2.28,0.00,0.000,6,0.000,0.021,3029,2010,1744,0,0,0,0,0,0
$GC,10920,1.48,318.0,5.5,10.1,672,10925,0.00,2.45,0.00,0.000,4,0.000,0.045,3029,598,1744,0,0,0,0,0,0
$STATE,10948,end climb,SURFACE_DEPTH_REACHED
$STATE,10948,begin surface coast
$FINISH,0.5,1.012679
$STATE,10990,end surface coast,CONTROL_FINISHED_OK
$STATE,10991,begin surface
$SM_CCo,11075,0.00,0.000,0,0,1739,321.34
$SM_GC,1.54,11.25,0.00,0.00,0.029,0.000,0.000,428,1896,1739,-10.44,0.59,321.34
$IRIDIUM_FIX,2054.83,-15741.46,290999,090913
$TT8_MAMPS,0.029146
$HUMID,54.92
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.3,60.633
$10V_AH,10.0,52.334
$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,27.500,128.425,344.775,0.000,0.000,63.723,68.490,266.748,4.500,0.000,22.693,1319.668,7640.608,405.429,1622.742,694.421,33.404,1300.663,0.000,1579.027,0.000,29.252,0.000
$DEVICE_MAMPS,130.390,53.690,860.574,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,461.386,454.713,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,34879,687
$CAP_FILE_SIZE,130042,0
$CFSIZE,260165632,218673152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050710,124456,2103.989,-15746.752,57,4.9,76,9.8