version: 66.06
glider: 139
mission: 7
dive: 685
start: 7 6 110 12 8 40
data:
$ID,139
$MISSION,7
$DIVE,685
$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,-2146559.2
$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
$GPS1,120101,2105.121,-15744.552,98,2.0,98,9.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-69.9
$GPS2,120749,2105.069,-15744.516,14,2.0,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.147,0.110
$KALMAN_X,-376780.5,-378.7,-380.3,395538.1,-325.4
$KALMAN_Y,14060.0,-186.6,-305.1,-16975.4,-575.7
$MHEAD_RNG_PITCHd_Wd,43.3,3086,-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,15,-1.40,-77.9,0.0,0.0,0,67,0.00,0.00,-49.65,0.000,2,0.000,0.000,425,1880,3105,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.1,-4.6,10,95,10.55,2.40,-5.62,0.000,4,0.131,0.038,2407,3297,3370,0,0,0,0,0,0
$GC,158,-1.35,-77.9,18.2,-12.5,28,164,0.00,2.40,0.00,0.000,6,0.000,0.028,2407,1869,3372,0,0,0,0,0,0
$GC,363,-1.21,-77.9,47.7,-15.0,54,368,0.20,2.38,0.00,0.000,4,0.097,0.041,2448,472,3372,0,0,0,0,0,0
$GC,407,-1.12,-77.9,54.2,-13.6,58,412,0.10,2.28,0.00,0.000,6,0.114,0.019,2468,1906,3372,0,0,0,0,0,0
$GC,670,-1.12,-77.9,82.8,-10.0,82,674,0.00,2.45,0.00,0.000,4,0.000,0.042,2467,471,3373,0,0,0,0,0,0
$GC,768,-1.12,-77.9,92.9,-10.2,92,772,0.00,2.25,0.00,0.000,6,0.000,0.019,2468,1883,3374,0,0,0,0,0,0
$GC,1036,-1.20,-77.9,114.7,-7.9,117,1040,0.00,2.25,0.00,0.000,4,0.000,0.025,2468,3260,3375,0,0,0,0,0,0
$GC,1047,-1.30,-77.9,115.7,-7.9,118,1052,0.17,2.28,0.00,0.000,6,0.049,0.025,2410,1872,3374,0,0,0,0,0,0
$GC,1309,-1.30,-77.9,142.7,-9.8,142,1313,0.10,2.38,0.00,0.000,4,0.105,0.041,2432,470,3376,0,0,0,0,0,0
$GC,1365,-1.30,-77.9,148.1,-9.1,147,1370,0.00,2.25,0.00,0.000,6,0.000,0.018,2432,1883,3375,0,0,0,0,0,0
$GC,1629,-1.34,-77.9,169.4,-7.5,172,1633,0.00,2.40,0.00,0.000,4,0.000,0.041,2431,466,3376,0,0,0,0,0,0
$GC,1657,-1.34,-77.9,171.9,-9.2,175,1661,0.00,2.25,0.00,0.000,6,0.000,0.019,2432,1879,3376,0,0,0,0,0,0
$GC,1920,-1.38,-77.9,193.2,-8.4,199,1924,0.00,2.40,0.00,0.000,4,0.000,0.041,2432,473,3376,0,0,0,0,0,0
$GC,1975,-1.38,-77.9,198.1,-8.7,204,1979,0.00,2.25,0.00,0.000,6,0.000,0.020,2432,1879,3376,0,0,0,0,0,0
$GC,2229,-1.42,-77.9,219.6,-8.6,217,2231,0.12,0.00,0.00,0.000,6,0.061,0.000,2389,1883,3376,0,0,0,0,0,0
$GC,2539,-1.39,-77.9,248.0,-8.3,232,2544,0.12,2.42,0.00,0.000,4,0.096,0.044,2414,475,3376,0,0,0,0,0,0
$GC,2583,-1.39,-77.9,251.9,-8.4,234,2587,0.00,2.25,0.00,0.000,6,0.000,0.021,2414,1880,3376,0,0,0,0,0,0
$GC,2915,-1.42,-77.9,277.4,-7.4,250,2919,0.00,2.40,0.00,0.000,4,0.000,0.043,2415,467,3376,0,0,0,0,0,0
$GC,2970,-1.42,-77.9,282.4,-8.4,252,2974,0.00,2.22,0.00,0.000,6,0.000,0.021,2414,1876,3376,0,0,0,0,0,0
$GC,3310,-1.48,-77.9,306.1,-7.0,267,3314,0.00,2.40,0.00,0.000,4,0.000,0.044,2414,468,3376,0,0,0,0,0,0
$GC,3371,-1.48,-77.9,310.7,-7.4,268,3376,0.10,2.28,0.00,0.000,6,0.073,0.021,2379,1879,3375,0,0,0,0,0,0
$GC,3721,-1.48,-77.9,338.9,-8.5,277,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1883,3374,0,0,0,0,0,0
$GC,4048,-1.48,-77.9,367.9,-9.0,285,4052,0.00,2.40,0.00,0.000,4,0.000,0.046,2378,476,3373,0,0,0,0,0,0
$GC,4123,-1.42,-77.9,375.3,-9.5,286,4128,0.12,2.28,0.00,0.000,6,0.099,0.024,2404,1875,3373,0,0,0,0,0,0
$GC,4461,-1.48,-77.9,401.9,-8.0,295,4465,0.00,2.42,0.00,0.000,4,0.000,0.048,2402,473,3371,0,0,0,0,0,0
$GC,4503,-1.48,-77.9,405.8,-8.6,295,4509,0.00,2.30,0.00,0.000,6,0.000,0.025,2404,1880,3370,0,0,0,0,0,0
$GC,4835,-1.54,-77.9,431.2,-7.4,304,4840,0.12,2.45,0.00,0.000,4,0.065,0.050,2364,477,3368,0,0,0,0,0,0
$GC,4879,-1.47,-77.9,435.0,-9.5,305,4884,0.15,2.30,0.00,0.000,6,0.094,0.026,2396,1879,3368,0,0,0,0,0,0
$STATE,5087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5087,begin apogee
$GC,5094,-0.31,0.0,450.8,7.5,310,5162,1.15,0.00,64.88,0.857,6,0.068,0.000,2645,2035,3050,0,0,0,0,0,0
$STATE,5163,end apogee,CONTROL_FINISHED_OK
$STATE,5163,begin climb
$GC,5166,1.40,77.9,452.1,0.0,311,5242,1.62,2.40,64.95,0.838,4,0.028,0.038,3024,3380,2731,0,0,0,0,0,0
$GC,5506,1.19,112.7,444.0,5.6,318,5544,0.30,2.35,29.88,0.824,6,0.109,0.035,2974,2006,2589,0,0,0,0,0,0
$GC,5858,1.10,121.8,419.2,7.4,327,5874,0.12,2.50,8.45,0.717,4,0.125,0.051,2950,605,2551,0,0,0,0,0,0
$GC,5908,0.98,121.8,414.9,8.8,328,5913,0.12,2.33,0.00,0.000,6,0.127,0.028,2931,1989,2551,0,0,0,0,0,0
$GC,6232,1.02,155.4,394.6,5.7,336,6264,0.00,0.00,29.83,0.821,6,0.000,0.000,2932,1994,2416,0,0,0,0,0,0
$GC,6557,1.06,185.6,374.5,5.9,344,6590,0.00,2.53,27.25,0.808,4,0.000,0.052,2929,604,2293,0,0,0,0,0,0
$GC,6601,1.08,205.2,371.7,6.7,345,6626,0.00,2.38,19.05,0.776,6,0.000,0.029,2930,2016,2212,0,0,0,0,0,0
$GC,6973,1.14,205.2,342.9,8.3,354,6978,0.15,2.50,0.00,0.000,4,0.070,0.051,2968,603,2205,0,0,0,0,0,0
$GC,7109,1.06,205.2,328.5,11.0,357,7114,0.12,2.38,0.00,0.000,6,0.128,0.029,2948,2011,2202,0,0,0,0,0,0
$GC,7441,1.11,212.1,302.5,7.5,365,7453,0.00,2.58,5.50,0.597,4,0.000,0.051,2948,589,2185,0,0,0,0,0,0
$GC,7505,1.11,212.1,296.4,9.4,366,7510,0.00,2.40,0.00,0.000,6,0.000,0.029,2947,2011,2182,0,0,0,0,0,0
$GC,7821,1.17,214.2,272.0,7.9,382,7826,0.10,2.50,0.00,0.000,4,0.086,0.051,2974,606,2183,0,0,0,0,0,0
$GC,7892,1.12,214.2,265.1,10.3,385,7896,0.00,2.38,0.00,0.000,6,0.000,0.028,2974,2023,2181,0,0,0,0,0,0
$GC,8218,1.13,226.6,238.1,7.2,401,8240,0.00,2.58,14.02,0.695,4,0.000,0.048,2974,604,2125,0,0,0,0,0,0
$GC,8326,1.14,235.5,229.6,7.4,405,8340,0.00,2.35,9.12,0.640,6,0.000,0.028,2974,2023,2089,0,0,0,0,0,0
$GC,8668,1.19,240.4,207.5,7.7,422,8680,0.00,2.55,5.57,0.545,4,0.000,0.048,2973,603,2070,0,0,0,0,0,0
$GC,8750,1.19,240.4,199.6,9.8,425,8754,0.00,2.33,0.00,0.000,6,0.000,0.026,2974,2011,2068,0,0,0,0,0,0
$GC,9075,1.24,240.4,168.8,9.6,455,9079,0.00,2.47,0.00,0.000,4,0.000,0.046,2974,596,2067,0,0,0,0,0,0
$GC,9259,1.24,240.4,150.2,9.6,474,9265,0.00,2.35,0.00,0.000,6,0.000,0.025,2974,2018,2066,0,0,0,0,0,0
$GC,9523,1.32,251.2,129.6,7.3,499,9542,0.12,2.53,10.75,0.580,4,0.069,0.046,3010,607,2026,0,0,0,0,0,0
$GC,9751,1.28,251.2,108.1,10.0,523,9757,0.00,2.33,0.00,0.000,6,0.000,0.024,3010,2019,2022,0,0,0,0,0,0
$GC,10014,1.29,261.1,88.5,7.3,548,10032,0.00,2.53,10.25,0.537,4,0.000,0.044,3010,603,1985,0,0,0,0,0,0
$GC,10119,1.29,261.1,80.4,8.1,559,10123,0.00,2.30,0.00,0.000,6,0.000,0.023,3010,2015,1982,0,0,0,0,0,0
$GC,10387,1.37,286.3,62.4,6.3,584,10416,0.00,2.53,23.30,0.554,4,0.000,0.044,3010,604,1881,0,0,0,0,0,0
$GC,10680,1.37,286.3,38.0,10.7,616,10684,0.00,2.30,0.00,0.000,6,0.000,0.021,3010,2015,1876,0,0,0,0,0,0
$GC,10952,1.49,328.1,14.5,5.1,656,10996,0.12,2.47,36.60,0.518,4,0.065,0.045,3051,603,1711,0,0,0,0,0,0
$STATE,11075,end climb,SURFACE_DEPTH_REACHED
$STATE,11075,begin surface coast
$FINISH,0.6,1.010498
$STATE,11099,end surface coast,CONTROL_FINISHED_OK
$STATE,11099,begin surface
$SM_CCo,11182,0.00,0.000,0,0,1701,330.66
$SM_GC,1.43,11.32,0.00,0.00,0.025,0.000,0.000,425,1878,1701,-10.45,0.08,330.66
$IRIDIUM_FIX,2059.45,-15745.74,300999,080837
$TT8_MAMPS,0.029913
$HUMID,54.01
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,22.50
$XPDR_PINGS,2
$24V_AH,23.3,61.382
$10V_AH,10.0,52.807
$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,27.150,123.800,359.400,0.000,0.000,32.770,32.274,200.283,5.000,0.000,32.935,1320.720,7672.179,413.467,1652.932,524.793,33.375,1309.426,0.000,1591.119,0.000,29.245,0.000
$DEVICE_MAMPS,131.157,52.923,856.739,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,462.147,447.383,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34886,688
$CAP_FILE_SIZE,127275,0
$CFSIZE,260165632,218173440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060710,151707,2105.378,-15743.891,89,1.6,89,9.8