version: 66.06
glider: 139
mission: 7
dive: 678
start: 7 5 110 12 53 27
data:
$ID,139
$MISSION,7
$DIVE,678
$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,-2146366
$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
$GPS1,124456,2103.989,-15746.752,57,4.9,76,9.8
$_CALLS,1
$_XMS_NAKs,23
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-71.6
$GPS2,125236,2103.944,-15746.729,14,1.9,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.138,0.121
$KALMAN_X,-370337.0,-284.9,-43.8,384837.5,-692.3
$KALMAN_Y,21379.4,-133.5,-140.0,-26596.7,-904.4
$MHEAD_RNG_PITCHd_Wd,39.1,7439,-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,-77.9,0.0,0.0,0,72,0.00,0.00,-54.42,0.000,2,0.000,0.000,428,1898,3155,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.4,-5.6,11,99,10.52,2.38,-4.32,0.000,4,0.131,0.038,2404,3298,3370,0,0,0,0,0,0
$GC,125,-1.17,-77.9,16.3,-20.4,21,131,0.25,2.40,0.00,0.000,6,0.085,0.028,2456,1867,3371,0,0,0,0,0,0
$GC,335,-1.13,-77.9,45.7,-12.3,48,339,0.00,2.35,0.00,0.000,4,0.000,0.039,2456,471,3372,0,0,0,0,0,0
$GC,373,-1.06,-77.9,50.5,-11.9,51,379,0.12,2.30,0.00,0.000,6,0.103,0.019,2481,1911,3373,0,0,0,0,0,0
$GC,636,-1.09,-77.9,78.0,-9.4,76,641,0.00,2.47,0.00,0.000,4,0.000,0.041,2481,472,3373,0,0,0,0,0,0
$GC,711,-1.14,-77.9,86.1,-10.4,83,716,0.00,2.25,0.00,0.000,6,0.000,0.018,2481,1885,3374,0,0,0,0,0,0
$GC,975,-1.22,-77.9,108.0,-7.9,108,979,0.15,2.45,0.00,0.000,4,0.055,0.041,2430,466,3374,0,0,0,0,0,0
$GC,1046,-1.14,-77.9,115.6,-11.2,115,1051,0.15,2.25,0.00,0.000,6,0.094,0.018,2461,1880,3374,0,0,0,0,0,0
$GC,1308,-1.22,-77.9,136.1,-6.2,139,1312,0.00,2.42,0.00,0.000,4,0.000,0.041,2462,462,3375,0,0,0,0,0,0
$GC,1318,-1.30,-77.9,136.8,-6.3,139,1324,0.15,2.25,0.00,0.000,6,0.054,0.019,2411,1883,3375,0,0,0,0,0,0
$GC,1579,-1.30,-77.9,160.2,-9.7,164,1583,0.00,2.42,0.00,0.000,4,0.000,0.041,2411,463,3376,0,0,0,0,0,0
$GC,1710,-1.26,-77.9,174.0,-10.2,177,1716,0.12,2.22,0.00,0.000,6,0.096,0.018,2437,1869,3376,0,0,0,0,0,0
$GC,1971,-1.32,-77.9,196.8,-9.0,202,1976,0.00,2.38,0.00,0.000,4,0.000,0.041,2437,465,3376,0,0,0,0,0,0
$GC,2027,-1.37,-77.9,202.5,-10.9,206,2032,0.00,2.20,0.00,0.000,6,0.000,0.019,2437,1870,3377,0,0,0,0,0,0
$GC,2344,-1.44,-77.9,228.5,-7.5,221,2349,0.17,2.42,0.00,0.000,4,0.050,0.043,2382,463,3377,0,0,0,0,0,0
$GC,2375,-1.33,-77.9,231.6,-10.5,222,2380,0.20,2.22,0.00,0.000,6,0.086,0.020,2424,1873,3376,0,0,0,0,0,0
$GC,2699,-1.40,-77.9,257.9,-7.3,238,2703,0.00,2.38,0.00,0.000,4,0.000,0.043,2424,472,3377,0,0,0,0,0,0
$GC,2731,-1.40,-77.9,260.7,-8.1,239,2735,0.00,2.22,0.00,0.000,6,0.000,0.021,2424,1875,3377,0,0,0,0,0,0
$GC,3047,-1.46,-77.9,283.6,-6.4,254,3052,0.12,2.40,0.00,0.000,4,0.062,0.044,2382,472,3376,0,0,0,0,0,0
$GC,3081,-1.38,-77.9,286.4,-8.6,255,3086,0.15,2.22,0.00,0.000,6,0.094,0.021,2413,1873,3376,0,0,0,0,0,0
$GC,3419,-1.44,-77.9,308.2,-6.4,268,3423,0.00,2.42,0.00,0.000,4,0.000,0.044,2413,464,3376,0,0,0,0,0,0
$GC,3536,-1.44,-77.9,319.4,-10.3,270,3540,0.00,2.25,0.00,0.000,6,0.000,0.022,2413,1876,3376,0,0,0,0,0,0
$GC,3876,-1.51,-77.9,351.4,-9.0,279,3881,0.12,2.42,0.00,0.000,4,0.064,0.047,2372,470,3374,0,0,0,0,0,0
$GC,3903,-1.46,-77.9,353.8,-10.0,279,3908,0.10,2.28,0.00,0.000,6,0.109,0.023,2394,1873,3374,0,0,0,0,0,0
$GC,4244,-1.46,-77.9,377.9,-6.2,288,4245,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1878,3371,0,0,0,0,0,0
$GC,4571,-1.50,-77.9,400.6,-7.3,296,4575,0.00,2.42,0.00,0.000,4,0.000,0.048,2393,474,3369,0,0,0,0,0,0
$GC,4673,-1.50,-77.9,410.4,-9.8,298,4677,0.00,2.28,0.00,0.000,6,0.000,0.025,2394,1880,3369,0,0,0,0,0,0
$GC,4987,-1.54,-77.9,436.6,-8.6,306,4991,0.00,2.42,0.00,0.000,4,0.000,0.050,2393,475,3367,0,0,0,0,0,0
$GC,5011,-1.54,-77.9,438.8,-8.6,306,5015,0.00,2.30,0.00,0.000,6,0.000,0.026,2393,1880,3366,0,0,0,0,0,0
$STATE,5187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5187,begin apogee
$GC,5194,-0.31,0.0,452.9,7.9,311,5262,1.17,0.00,64.57,0.867,6,0.071,0.000,2647,2034,3050,0,0,0,0,0,0
$STATE,5263,end apogee,CONTROL_FINISHED_OK
$STATE,5263,begin climb
$GC,5266,1.40,77.9,454.1,0.0,312,5341,1.60,2.40,64.93,0.846,4,0.028,0.038,3022,3381,2732,0,0,0,0,0,0
$GC,5384,1.26,161.3,456.4,2.3,314,5465,0.20,2.38,71.60,0.841,6,0.111,0.032,2992,2002,2392,0,0,0,0,0,0
$GC,5806,1.13,161.3,416.5,10.4,325,5807,0.15,0.00,0.00,0.000,6,0.117,0.000,2965,2002,2383,0,0,0,0,0,0
$GC,6131,1.08,161.3,384.6,9.6,333,6135,0.00,2.47,0.00,0.000,4,0.000,0.053,2960,600,2379,0,0,0,0,0,0
$GC,6272,0.97,161.3,371.7,8.8,336,6278,0.20,2.30,0.00,0.000,6,0.112,0.028,2928,1987,2376,0,0,0,0,0,0
$GC,6597,1.03,179.1,349.1,6.8,344,6613,0.00,0.00,14.18,0.762,6,0.000,0.000,2928,1991,2319,0,0,0,0,0,0
$GC,6922,1.09,179.1,324.0,8.0,352,6927,0.10,2.45,0.00,0.000,4,0.087,0.052,2953,603,2315,0,0,0,0,0,0
$GC,7007,1.03,179.1,315.8,9.2,353,7012,0.00,2.38,0.00,0.000,6,0.000,0.029,2953,2022,2313,0,0,0,0,0,0
$GC,7319,1.04,193.2,293.0,7.1,363,7341,0.00,2.53,13.05,0.729,4,0.000,0.049,2953,604,2261,0,0,0,0,0,0
$GC,7412,1.04,193.2,285.1,8.7,367,7416,0.00,2.35,0.00,0.000,6,0.000,0.028,2954,2011,2258,0,0,0,0,0,0
$GC,7742,1.10,213.1,260.6,6.7,383,7767,0.00,2.58,18.65,0.729,4,0.000,0.051,2954,604,2180,0,0,0,0,0,0
$GC,7820,1.10,213.1,255.0,8.2,386,7824,0.00,2.35,0.00,0.000,6,0.000,0.028,2954,2013,2177,0,0,0,0,0,0
$GC,8142,1.21,252.9,235.3,5.3,402,8185,0.10,2.53,36.35,0.726,4,0.084,0.048,2981,603,2017,0,0,0,0,0,0
$GC,8273,1.17,252.9,223.7,9.8,407,8279,0.00,2.38,0.00,0.000,6,0.000,0.027,2981,2014,2012,0,0,0,0,0,0
$GC,8591,1.20,252.9,192.4,10.2,426,8596,0.00,2.45,0.00,0.000,4,0.000,0.048,2981,607,2011,0,0,0,0,0,0
$GC,8755,1.20,252.9,175.5,10.0,443,8759,0.00,2.35,0.00,0.000,6,0.000,0.026,2980,2017,2008,0,0,0,0,0,0
$GC,9022,1.27,252.9,152.3,8.9,468,9027,0.00,2.45,0.00,0.000,4,0.000,0.048,2981,604,2008,0,0,0,0,0,0
$GC,9145,1.27,252.9,141.0,8.6,480,9151,0.00,2.33,0.00,0.000,6,0.000,0.025,2981,2018,2006,0,0,0,0,0,0
$GC,9408,1.39,282.7,125.0,6.0,505,9443,0.15,2.55,25.83,0.612,4,0.061,0.045,3023,607,1896,0,0,0,0,0,0
$GC,9557,1.34,282.7,112.1,9.7,521,9561,0.00,2.33,0.00,0.000,6,0.000,0.023,3023,2016,1892,0,0,0,0,0,0
$GC,9820,1.34,288.3,92.4,7.6,545,9833,0.00,2.53,5.68,0.458,4,0.000,0.044,3023,606,1874,0,0,0,0,0,0
$GC,10099,1.35,290.7,69.0,7.9,575,10104,0.00,2.28,0.00,0.000,6,0.000,0.021,3023,2015,1872,0,0,0,0,0,0
$GC,10363,1.40,294.7,50.7,7.7,599,10376,0.00,2.50,7.05,0.456,4,0.000,0.043,3023,602,1848,0,0,0,0,0,0
$GC,10627,1.40,294.7,28.1,10.0,629,10633,0.00,2.28,0.00,0.000,6,0.000,0.021,3023,2024,1845,0,0,0,0,0,0
$GC,10836,1.44,294.7,7.8,10.1,666,10842,0.00,2.42,0.00,0.000,4,0.000,0.041,3023,603,1846,0,0,0,0,0,0
$STATE,10883,end climb,SURFACE_DEPTH_REACHED
$STATE,10883,begin surface coast
$FINISH,0.6,1.002221
$STATE,10906,end surface coast,CONTROL_FINISHED_OK
$STATE,10906,begin surface
$SM_CCo,10929,4.68,0.368,0,0,1826,300.00
$SM_GC,2.16,0.00,0.00,4.68,0.000,0.000,0.368,427,1890,1826,-10.52,0.42,300.00
$IRIDIUM_FIX,2057.14,-15759.05,290999,090908
$TT8_MAMPS,0.029146
$HUMID,54.56
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.3,60.724
$10V_AH,10.0,52.390
$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,27.175,123.200,321.875,4.675,0.000,40.451,28.319,251.213,4.500,0.000,31.158,1312.987,7508.605,397.552,1594.867,576.986,33.380,1262.456,0.000,1538.325,0.000,29.251,0.000
$DEVICE_MAMPS,131.157,52.923,866.710,368.160,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,457.567,447.005,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34894,681
$CAP_FILE_SIZE,127011,0
$CFSIZE,260165632,218611712
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050710,155827,2104.184,-15746.327,107,2.3,126,9.8