version: 66.06
glider: 139
mission: 7
dive: 680
start: 7 5 110 19 27 25
data:
$ID,139
$MISSION,7
$DIVE,680
$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,-2146434.8
$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
$GPS1,191906,2104.177,-15746.079,60,2.0,60,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-70.3
$GPS2,192634,2104.155,-15746.089,11,7.2,30,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.118,0.141
$KALMAN_X,-372598.6,-3.8,32.6,387844.2,-1118.4
$KALMAN_Y,18659.6,-80.0,95.9,-23776.7,-1460.7
$MHEAD_RNG_PITCHd_Wd,30.3,6281,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.40,-77.9,0.0,0.0,0,69,0.00,0.00,-50.10,0.000,2,0.000,0.000,425,1895,3135,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.5,-6.2,10,96,10.52,2.38,-4.70,0.000,4,0.130,0.038,2404,3299,3370,0,0,0,0,0,0
$GC,103,-0.36,-77.9,12.6,-28.4,16,109,1.10,2.40,0.00,0.000,6,0.074,0.029,2636,1864,3371,0,0,0,0,0,0
$GC,313,-0.92,-77.9,26.0,-6.3,53,319,0.52,2.38,0.00,0.000,4,0.046,0.040,2507,466,3372,0,0,0,0,0,0
$GC,363,-1.01,-77.9,30.1,-9.0,63,367,0.00,2.30,0.00,0.000,6,0.000,0.019,2506,1913,3373,0,0,0,0,0,0
$GC,631,-1.10,-77.9,54.0,-9.1,88,635,0.15,2.50,0.00,0.000,4,0.057,0.041,2455,470,3373,0,0,0,0,0,0
$GC,706,-1.07,-77.9,63.2,-12.3,95,712,0.12,2.25,0.00,0.000,6,0.095,0.019,2482,1878,3374,0,0,0,0,0,0
$GC,970,-1.13,-77.9,89.8,-11.1,120,974,0.00,2.42,0.00,0.000,4,0.000,0.041,2482,464,3374,0,0,0,0,0,0
$GC,1032,-1.21,-77.9,97.1,-10.6,126,1037,0.15,2.25,0.00,0.000,6,0.054,0.019,2434,1891,3375,0,0,0,0,0,0
$GC,1298,-1.21,-77.9,125.5,-9.0,151,1302,0.00,2.42,0.00,0.000,4,0.000,0.040,2430,469,3375,0,0,0,0,0,0
$GC,1373,-1.21,-77.9,132.6,-8.8,158,1378,0.00,2.20,0.00,0.000,6,0.000,0.018,2430,1877,3375,0,0,0,0,0,0
$GC,1638,-1.25,-77.9,152.4,-7.4,183,1642,0.00,2.38,0.00,0.000,4,0.000,0.041,2430,469,3376,0,0,0,0,0,0
$GC,1657,-1.25,-77.9,154.4,-8.3,184,1662,0.00,2.22,0.00,0.000,6,0.000,0.019,2430,1877,3376,0,0,0,0,0,0
$GC,1920,-1.29,-77.9,175.7,-8.5,209,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,1881,3376,0,0,0,0,0,0
$GC,2175,-1.34,-77.9,196.3,-8.3,233,2179,0.00,2.40,0.00,0.000,4,0.000,0.041,2430,470,3377,0,0,0,0,0,0
$GC,2231,-1.39,-77.9,201.3,-8.8,237,2235,0.00,2.22,0.00,0.000,6,0.000,0.020,2430,1874,3377,0,0,0,0,0,0
$GC,2551,-1.45,-77.9,225.4,-8.2,253,2556,0.15,2.42,0.00,0.000,4,0.055,0.043,2381,468,3377,0,0,0,0,0,0
$GC,2613,-1.37,-77.9,231.7,-10.3,255,2619,0.15,2.25,0.00,0.000,6,0.094,0.020,2413,1875,3377,0,0,0,0,0,0
$GC,2929,-1.41,-77.9,259.9,-9.1,271,2934,0.00,2.42,0.00,0.000,4,0.000,0.044,2412,461,3377,0,0,0,0,0,0
$GC,2954,-1.41,-77.9,262.3,-9.3,272,2958,0.00,2.25,0.00,0.000,6,0.000,0.021,2412,1875,3377,0,0,0,0,0,0
$GC,3285,-1.45,-77.9,289.6,-8.0,288,3289,0.00,2.40,0.00,0.000,4,0.000,0.044,2412,465,3376,0,0,0,0,0,0
$GC,3352,-1.45,-77.9,295.7,-8.3,291,3356,0.00,2.25,0.00,0.000,6,0.000,0.021,2412,1876,3376,0,0,0,0,0,0
$GC,3698,-1.51,-77.9,321.7,-6.8,301,3703,0.12,2.42,0.00,0.000,4,0.062,0.045,2372,469,3374,0,0,0,0,0,0
$GC,3779,-1.43,-77.9,328.7,-8.5,302,3784,0.15,2.28,0.00,0.000,6,0.094,0.022,2403,1877,3374,0,0,0,0,0,0
$GC,4110,-1.47,-77.9,356.0,-8.1,310,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1881,3373,0,0,0,0,0,0
$GC,4437,-1.52,-77.9,381.8,-7.8,318,4441,0.00,2.42,0.00,0.000,4,0.000,0.048,2402,465,3371,0,0,0,0,0,0
$GC,4483,-1.52,-77.9,386.3,-9.0,319,4488,0.00,2.28,0.00,0.000,6,0.000,0.025,2403,1870,3370,0,0,0,0,0,0
$GC,4808,-1.57,-77.9,410.6,-7.4,327,4813,0.15,2.42,0.00,0.000,4,0.058,0.048,2359,472,3368,0,0,0,0,0,0
$GC,4866,-1.50,-77.9,416.1,-10.0,328,4871,0.15,2.30,0.00,0.000,6,0.097,0.025,2390,1876,3368,0,0,0,0,0,0
$GC,5181,-1.53,-77.9,439.7,-7.3,336,5188,0.00,2.42,0.00,0.000,4,0.000,0.050,2389,460,3366,0,0,0,0,0,0
$GC,5226,-1.53,-77.9,443.6,-8.8,336,5232,0.00,2.33,0.00,0.000,6,0.000,0.026,2390,1874,3366,0,0,0,0,0,0
$STATE,5311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5311,begin apogee
$GC,5317,-0.31,0.0,450.6,8.1,339,5386,1.17,0.00,64.72,0.854,6,0.070,0.000,2643,2039,3050,0,0,0,0,0,0
$STATE,5386,end apogee,CONTROL_FINISHED_OK
$STATE,5387,begin climb
$GC,5389,1.40,77.9,451.8,0.0,340,5465,1.62,2.38,64.80,0.836,4,0.028,0.038,3024,3376,2732,0,0,0,0,0,0
$GC,5540,1.24,148.0,453.0,3.2,343,5607,0.20,2.33,60.08,0.832,6,0.113,0.033,2990,2009,2446,0,0,0,0,0,0
$GC,5932,1.13,148.0,419.9,9.4,353,5937,0.15,2.35,0.00,0.000,4,0.117,0.037,2960,3386,2438,0,0,0,0,0,0
$GC,5980,1.08,148.0,415.7,8.6,354,5984,0.00,2.38,0.00,0.000,6,0.000,0.035,2963,2006,2438,0,0,0,0,0,0
$GC,6303,1.03,152.8,390.2,7.7,362,6308,0.12,2.47,0.00,0.000,4,0.118,0.051,2940,605,2435,0,0,0,0,0,0
$GC,6374,0.97,155.9,384.2,7.8,363,6387,0.00,2.28,6.10,0.644,6,0.000,0.028,2941,1992,2413,0,0,0,0,0,0
$GC,6719,0.97,155.9,357.3,8.4,372,6720,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,1993,2412,0,0,0,0,0,0
$GC,7043,0.97,162.1,331.1,7.6,380,7051,0.00,0.00,6.28,0.643,6,0.000,0.000,2941,1993,2389,0,0,0,0,0,0
$GC,7369,1.05,194.1,309.6,5.8,388,7405,0.00,2.53,29.60,0.778,4,0.000,0.050,2941,608,2257,0,0,0,0,0,0
$GC,7517,1.06,210.2,299.7,6.9,391,7538,0.00,2.38,15.30,0.729,6,0.000,0.028,2941,2018,2192,0,0,0,0,0,0
$GC,7861,1.13,210.2,275.2,8.1,407,7865,0.00,2.50,0.00,0.000,4,0.000,0.050,2941,599,2187,0,0,0,0,0,0
$GC,7983,1.13,210.2,263.2,10.0,412,7987,0.00,2.35,0.00,0.000,6,0.000,0.028,2941,2012,2184,0,0,0,0,0,0
$GC,8304,1.22,215.4,236.7,7.7,428,8316,0.17,2.47,4.97,0.537,4,0.063,0.048,2985,603,2170,0,0,0,0,0,0
$GC,8479,1.17,229.3,224.0,7.1,435,8500,0.00,2.35,13.65,0.673,6,0.000,0.027,2985,2027,2115,0,0,0,0,0,0
$GC,8823,1.20,252.0,203.8,6.5,452,8851,0.00,2.58,21.65,0.676,4,0.000,0.047,2985,604,2021,0,0,0,0,0,0
$GC,8991,1.16,252.0,189.5,9.2,466,8995,0.00,2.33,0.00,0.000,6,0.000,0.025,2985,2010,2016,0,0,0,0,0,0
$GC,9254,1.20,252.0,165.7,9.4,490,9258,0.00,2.45,0.00,0.000,4,0.000,0.046,2985,601,2015,0,0,0,0,0,0
$GC,9343,1.20,252.0,155.7,11.5,499,9348,0.00,2.33,0.00,0.000,6,0.000,0.025,2985,2017,2014,0,0,0,0,0,0
$GC,9606,1.25,252.0,130.3,9.4,524,9610,0.00,2.45,0.00,0.000,4,0.000,0.046,2985,604,2014,0,0,0,0,0,0
$GC,9875,1.25,252.0,106.0,8.7,552,9880,0.00,2.30,0.00,0.000,6,0.000,0.023,2985,2016,2013,0,0,0,0,0,0
$GC,10139,1.36,275.3,87.2,6.4,577,10166,0.10,2.47,20.80,0.572,4,0.079,0.043,3017,603,1926,0,0,0,0,0,0
$GC,10325,1.36,280.9,72.2,7.6,597,10338,0.00,2.30,5.65,0.443,6,0.000,0.022,3017,2026,1905,0,0,0,0,0,0
$GC,10599,1.42,283.0,52.6,7.9,623,10604,0.00,2.42,0.00,0.000,4,0.000,0.043,3017,603,1904,0,0,0,0,0,0
$GC,10763,1.42,283.0,38.2,9.2,640,10767,0.00,2.25,0.00,0.000,6,0.000,0.021,3017,2008,1903,0,0,0,0,0,0
$GC,11033,1.47,283.0,17.1,8.7,678,11038,0.00,2.42,0.00,0.000,4,0.000,0.042,3018,600,1903,0,0,0,0,0,0
$STATE,11176,end climb,SURFACE_DEPTH_REACHED
$STATE,11176,begin surface coast
$FINISH,2.3,1.023162
$STATE,11181,end surface coast,CONTROL_FINISHED_OK
$STATE,11182,begin surface
$SM_CCo,11205,16.23,0.489,0,0,1826,300.00
$SM_GC,1.80,0.00,0.00,16.23,0.000,0.000,0.489,425,1898,1826,-10.53,0.62,300.00
$IRIDIUM_FIX,2054.83,-15746.61,290999,161645
$TT8_MAMPS,0.029146
$HUMID,54.80
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.3,60.906
$10V_AH,10.0,52.507
$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,28.400,122.925,313.600,16.225,0.000,30.116,47.376,205.865,4.500,0.000,31.477,1355.876,7686.279,396.811,1650.200,577.422,33.380,1291.102,0.000,1594.384,0.000,31.024,0.000
$DEVICE_MAMPS,130.390,51.389,853.671,488.579,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,477.788,469.637,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,38141,710
$CAP_FILE_SIZE,127185,0
$CFSIZE,260165632,218488832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050710,223736,2104.457,-15745.952,145,1.5,150,9.8