version: 66.06
glider: 139
mission: 7
dive: 679
start: 7 5 110 16 9 49
data:
$ID,139
$MISSION,7
$DIVE,679
$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,-2146402.5
$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
$GPS1,155827,2104.184,-15746.327,107,2.3,126,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.0
$GPS2,160858,2104.093,-15746.363,15,2.2,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.129,0.130
$KALMAN_X,-371682.0,-248.2,346.8,386388.6,-1360.6
$KALMAN_Y,19927.3,-157.2,256.8,-25241.2,-1414.8
$MHEAD_RNG_PITCHd_Wd,35.0,6752,-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,15,begin dive
$GC,18,-1.40,-77.9,0.0,0.0,0,69,0.00,0.00,-48.85,0.000,2,0.000,0.000,426,1890,3104,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.1,-5.2,10,96,10.55,2.38,-5.60,0.000,4,0.131,0.039,2407,3295,3370,0,0,0,0,0,0
$GC,131,-1.33,-77.9,15.3,-15.1,22,136,0.00,2.38,0.00,0.000,6,0.000,0.028,2407,1871,3370,0,0,0,0,0,0
$GC,342,-1.18,-77.9,48.7,-19.0,51,347,0.22,2.38,0.00,0.000,4,0.096,0.040,2452,472,3372,0,0,0,0,0,0
$GC,390,-1.13,-77.9,56.2,-13.8,55,396,0.00,2.30,0.00,0.000,6,0.000,0.019,2452,1918,3372,0,0,0,0,0,0
$GC,651,-1.13,-77.9,86.2,-10.9,80,655,0.00,2.47,0.00,0.000,4,0.000,0.041,2452,463,3373,0,0,0,0,0,0
$GC,695,-1.10,-77.9,91.3,-12.2,84,699,0.10,2.25,0.00,0.000,6,0.110,0.019,2473,1877,3372,0,0,0,0,0,0
$GC,957,-1.16,-77.9,117.0,-9.9,108,962,0.00,2.40,0.00,0.000,4,0.000,0.041,2473,463,3373,0,0,0,0,0,0
$GC,1038,-1.21,-77.9,125.3,-9.9,116,1042,0.00,2.25,0.00,0.000,6,0.000,0.019,2473,1888,3374,0,0,0,0,0,0
$GC,1301,-1.31,-77.9,149.5,-9.2,140,1306,0.20,2.42,0.00,0.000,4,0.045,0.040,2410,471,3374,0,0,0,0,0,0
$GC,1364,-1.26,-77.9,156.6,-11.1,146,1368,0.15,2.25,0.00,0.000,6,0.089,0.018,2442,1882,3375,0,0,0,0,0,0
$GC,1625,-1.33,-77.9,177.9,-6.8,170,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1885,3375,0,0,0,0,0,0
$GC,1882,-1.41,-77.9,193.5,-6.0,194,1887,0.17,2.42,0.00,0.000,4,0.049,0.042,2386,469,3375,0,0,0,0,0,0
$GC,1978,-1.32,-77.9,201.5,-8.4,203,1983,0.17,2.22,0.00,0.000,6,0.087,0.019,2423,1877,3375,0,0,0,0,0,0
$GC,2307,-1.36,-77.9,223.8,-7.3,219,2311,0.00,2.38,0.00,0.000,4,0.000,0.042,2423,472,3375,0,0,0,0,0,0
$GC,2335,-1.36,-77.9,226.2,-7.9,220,2339,0.00,2.22,0.00,0.000,6,0.000,0.020,2423,1878,3375,0,0,0,0,0,0
$GC,2656,-1.42,-77.9,249.9,-7.7,236,2661,0.00,2.40,0.00,0.000,4,0.000,0.043,2424,464,3376,0,0,0,0,0,0
$GC,2703,-1.46,-77.9,254.0,-9.1,238,2708,0.12,2.25,0.00,0.000,6,0.062,0.021,2381,1883,3376,0,0,0,0,0,0
$GC,3033,-1.43,-77.9,282.5,-8.4,254,3034,0.10,0.00,0.00,0.000,6,0.108,0.000,2401,1886,3375,0,0,0,0,0,0
$GC,3336,-1.43,-77.9,307.9,-8.7,267,3340,0.00,2.42,0.00,0.000,4,0.000,0.045,2401,473,3374,0,0,0,0,0,0
$GC,3387,-1.43,-77.9,312.4,-7.9,268,3392,0.00,2.25,0.00,0.000,6,0.000,0.022,2401,1878,3373,0,0,0,0,0,0
$GC,3707,-1.46,-77.9,337.1,-7.9,276,3711,0.00,2.42,0.00,0.000,4,0.000,0.045,2401,472,3373,0,0,0,0,0,0
$GC,3819,-1.46,-77.9,348.2,-10.6,278,3824,0.00,2.25,0.00,0.000,6,0.000,0.023,2401,1878,3372,0,0,0,0,0,0
$GC,4166,-1.49,-77.9,374.7,-7.1,287,4169,0.00,2.42,0.00,0.000,4,0.000,0.047,2400,468,3370,0,0,0,0,0,0
$GC,4193,-1.49,-77.9,376.9,-7.3,287,4197,0.00,2.28,0.00,0.000,6,0.000,0.025,2401,1878,3370,0,0,0,0,0,0
$GC,4535,-1.54,-77.9,397.5,-5.7,296,4539,0.00,2.42,0.00,0.000,4,0.000,0.048,2400,468,3367,0,0,0,0,0,0
$GC,4558,-1.54,-77.9,399.1,-6.2,296,4563,0.00,2.30,0.00,0.000,6,0.000,0.025,2401,1873,3368,0,0,0,0,0,0
$GC,4899,-1.59,-77.9,418.7,-5.9,305,4904,0.15,2.42,0.00,0.000,4,0.059,0.050,2357,474,3365,0,0,0,0,0,0
$GC,4957,-1.51,-77.9,424.2,-10.5,306,4962,0.12,2.30,0.00,0.000,6,0.106,0.025,2383,1875,3364,0,0,0,0,0,0
$STATE,5269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5269,begin apogee
$GC,5275,-0.31,0.0,452.0,9.1,314,5343,1.23,0.00,64.40,0.861,6,0.071,0.000,2646,2031,3050,0,0,0,0,0,0
$STATE,5344,end apogee,CONTROL_FINISHED_OK
$STATE,5344,begin climb
$GC,5348,1.40,77.9,453.4,0.0,315,5423,1.60,2.40,65.07,0.843,4,0.028,0.038,3002,3379,2732,0,0,0,0,0,0
$GC,5499,1.27,172.0,457.4,1.6,318,5590,0.17,2.33,80.90,0.844,6,0.117,0.032,2993,2011,2347,0,0,0,0,0,0
$GC,5935,1.15,172.0,419.8,9.4,329,5937,0.15,0.00,0.00,0.000,6,0.118,0.000,2967,2011,2337,0,0,0,0,0,0
$GC,6261,1.10,172.0,387.7,10.5,337,6265,0.00,2.45,0.00,0.000,4,0.000,0.052,2967,607,2334,0,0,0,0,0,0
$GC,6374,0.98,172.0,374.8,11.7,339,6379,0.20,2.33,0.00,0.000,6,0.111,0.028,2932,1989,2331,0,0,0,0,0,0
$GC,6721,1.03,172.0,345.3,8.2,348,6725,0.00,2.45,0.00,0.000,4,0.000,0.051,2932,604,2330,0,0,0,0,0,0
$GC,6858,1.03,172.0,333.5,8.7,351,6862,0.00,2.38,0.00,0.000,6,0.000,0.028,2932,2022,2328,0,0,0,0,0,0
$GC,7191,1.10,190.4,310.1,6.8,359,7212,0.10,2.58,13.77,0.742,4,0.087,0.050,2957,607,2272,0,0,0,0,0,0
$GC,7353,1.06,190.4,296.2,8.4,363,7357,0.00,2.35,0.00,0.000,6,0.000,0.028,2958,2016,2268,0,0,0,0,0,0
$GC,7683,1.07,200.2,270.8,7.3,379,7699,0.00,2.55,9.65,0.683,4,0.000,0.050,2958,610,2233,0,0,0,0,0,0
$GC,7811,1.04,200.2,260.2,8.4,384,7816,0.00,2.38,0.00,0.000,6,0.000,0.028,2957,2021,2230,0,0,0,0,0,0
$GC,8127,1.09,209.2,237.8,7.4,399,8143,0.00,2.50,9.27,0.655,4,0.000,0.048,2957,607,2196,0,0,0,0,0,0
$GC,8222,1.09,209.4,230.1,8.0,403,8226,0.00,2.35,0.00,0.000,6,0.000,0.028,2957,2013,2193,0,0,0,0,0,0
$GC,8552,1.18,236.5,208.6,6.2,419,8585,0.00,2.53,25.50,0.696,4,0.000,0.048,2957,607,2084,0,0,0,0,0,0
$GC,8765,1.18,236.5,190.7,9.0,435,8771,0.00,2.35,0.00,0.000,6,0.000,0.026,2957,2017,2078,0,0,0,0,0,0
$GC,9028,1.26,236.5,168.7,8.5,460,9033,0.15,2.47,0.00,0.000,4,0.066,0.048,2997,604,2078,0,0,0,0,0,0
$GC,9242,1.20,236.5,148.5,9.0,482,9248,0.00,2.33,0.00,0.000,6,0.000,0.025,2996,2014,2076,0,0,0,0,0,0
$GC,9506,1.24,237.5,128.5,8.0,507,9511,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2018,2077,0,0,0,0,0,0
$GC,9768,1.30,264.4,111.7,6.2,532,9798,0.00,2.50,24.50,0.602,4,0.000,0.044,2997,606,1972,0,0,0,0,0,0
$GC,10003,1.31,268.8,95.1,7.7,557,10013,0.00,2.33,4.65,0.423,6,0.000,0.022,2997,2025,1954,0,0,0,0,0,0
$GC,10269,1.41,281.9,76.5,7.1,582,10288,0.10,2.55,13.55,0.540,4,0.076,0.043,3029,599,1899,0,0,0,0,0,0
$GC,10460,1.37,281.9,59.5,8.7,602,10465,0.00,2.28,0.00,0.000,6,0.000,0.021,3029,2010,1895,0,0,0,0,0,0
$GC,10721,1.37,281.9,38.9,9.0,627,10725,0.00,2.42,0.00,0.000,4,0.000,0.043,3029,604,1895,0,0,0,0,0,0
$GC,10893,1.33,281.9,22.3,10.9,653,10899,0.12,2.25,0.00,0.000,6,0.103,0.020,3005,2014,1895,0,0,0,0,0,0
$GC,11104,1.46,301.7,4.8,6.7,690,11127,0.12,2.50,18.15,0.489,4,0.065,0.040,3044,603,1819,0,0,0,0,0,0
$STATE,11131,end climb,SURFACE_DEPTH_REACHED
$STATE,11132,begin surface coast
$FINISH,0.5,1.013104
$STATE,11178,end surface coast,CONTROL_FINISHED_OK
$STATE,11178,begin surface
$SM_CCo,11261,0.00,0.000,0,0,1812,303.68
$SM_GC,1.36,11.32,0.00,0.00,0.026,0.000,0.000,425,1895,1812,-10.45,0.57,303.68
$IRIDIUM_FIX,2057.14,-15743.60,290999,161622
$TT8_MAMPS,0.028379
$HUMID,53.58
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.3,60.818
$10V_AH,10.0,52.450
$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,27.350,118.675,329.425,0.000,0.000,73.226,70.726,269.655,4.500,0.000,35.765,1355.585,7761.981,381.141,1694.359,693.291,33.379,1287.015,0.000,1632.838,0.000,29.254,0.000
$DEVICE_MAMPS,131.157,52.923,860.574,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,474.792,466.877,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,38037,706
$CAP_FILE_SIZE,131429,0
$CFSIZE,260165632,218542080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050710,191906,2104.177,-15746.079,60,2.0,60,9.8