version: 66.06
glider: 139
mission: 7
dive: 686
start: 7 6 110 15 38 27
data:
$ID,139
$MISSION,7
$DIVE,686
$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,-2146598
$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
$GPS1,151707,2105.378,-15743.891,89,1.6,89,9.8
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-68.4
$GPS2,153736,2105.095,-15743.883,33,1.2,37,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.128,0.132
$KALMAN_X,-377742.1,-509.8,158.3,397183.7,-412.8
$KALMAN_Y,12771.5,-392.2,14.4,-15748.2,-673.6
$MHEAD_RNG_PITCHd_Wd,34.2,2133,-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,-77.9,0.0,0.0,0,73,0.00,0.00,-55.38,0.000,2,0.000,0.000,425,1879,3150,0,0,0,0,0,0
$GC,77,-1.40,-77.9,3.3,-6.1,11,100,10.50,2.40,-4.45,0.000,4,0.129,0.036,2405,3303,3369,0,0,0,0,0,0
$GC,145,-1.35,-77.9,18.3,-15.2,25,150,0.00,2.38,0.00,0.000,6,0.000,0.026,2405,1870,3370,0,0,0,0,0,0
$GC,348,-1.20,-77.9,47.4,-13.7,51,353,0.22,2.40,0.00,0.000,4,0.097,0.040,2451,468,3371,0,0,0,0,0,0
$GC,393,-1.12,-77.9,53.8,-13.5,55,398,0.00,2.33,0.00,0.000,6,0.000,0.019,2450,1910,3372,0,0,0,0,0,0
$GC,654,-1.12,-77.9,83.1,-10.7,79,658,0.00,2.45,0.00,0.000,4,0.000,0.041,2451,471,3372,0,0,0,0,0,0
$GC,698,-1.09,-77.9,87.7,-10.4,83,703,0.12,2.25,0.00,0.000,6,0.106,0.019,2475,1885,3373,0,0,0,0,0,0
$GC,964,-1.17,-77.9,108.6,-8.4,108,968,0.00,2.40,0.00,0.000,4,0.000,0.041,2475,472,3372,0,0,0,0,0,0
$GC,1068,-1.24,-77.9,117.4,-8.2,119,1073,0.15,2.25,0.00,0.000,6,0.054,0.018,2424,1887,3373,0,0,0,0,0,0
$GC,1330,-1.24,-77.9,140.7,-9.2,143,1334,0.00,2.40,0.00,0.000,4,0.000,0.040,2425,469,3373,0,0,0,0,0,0
$GC,1355,-1.24,-77.9,143.2,-9.7,145,1359,0.00,2.25,0.00,0.000,6,0.000,0.018,2424,1881,3373,0,0,0,0,0,0
$GC,1618,-1.24,-77.9,164.5,-7.7,169,1622,0.00,2.40,0.00,0.000,4,0.000,0.040,2424,463,3374,0,0,0,0,0,0
$GC,1645,-1.24,-77.9,167.2,-9.8,171,1651,0.00,2.25,0.00,0.000,6,0.000,0.019,2424,1878,3374,0,0,0,0,0,0
$GC,1909,-1.24,-77.9,188.1,-7.9,196,1913,0.00,2.40,0.00,0.000,4,0.000,0.041,2424,472,3373,0,0,0,0,0,0
$GC,1971,-1.24,-77.9,193.2,-8.2,202,1975,0.00,2.22,0.00,0.000,6,0.000,0.019,2424,1878,3374,0,0,0,0,0,0
$GC,2238,-1.28,-77.9,214.2,-8.8,219,2242,0.00,2.40,0.00,0.000,4,0.000,0.041,2424,473,3374,0,0,0,0,0,0
$GC,2307,-1.28,-77.9,221.6,-10.8,222,2311,0.00,2.22,0.00,0.000,6,0.000,0.020,2424,1878,3374,0,0,0,0,0,0
$GC,2635,-1.34,-77.9,250.0,-7.9,238,2639,0.00,2.38,0.00,0.000,4,0.000,0.041,2424,472,3374,0,0,0,0,0,0
$GC,2682,-1.39,-77.9,253.9,-7.7,240,2686,0.00,2.22,0.00,0.000,6,0.000,0.020,2425,1877,3373,0,0,0,0,0,0
$GC,3010,-1.47,-77.9,278.7,-7.7,256,3015,0.15,2.42,0.00,0.000,4,0.056,0.044,2377,472,3373,0,0,0,0,0,0
$GC,3146,-1.40,-77.9,291.9,-10.1,262,3151,0.15,2.25,0.00,0.000,6,0.092,0.021,2408,1874,3372,0,0,0,0,0,0
$GC,3480,-1.45,-77.9,315.5,-6.9,273,3485,0.00,2.42,0.00,0.000,4,0.000,0.044,2408,466,3372,0,0,0,0,0,0
$GC,3559,-1.45,-77.9,321.7,-7.7,274,3564,0.00,2.25,0.00,0.000,6,0.000,0.022,2408,1871,3371,0,0,0,0,0,0
$GC,3892,-1.51,-77.9,346.5,-7.9,282,3896,0.00,2.42,0.00,0.000,4,0.000,0.046,2407,466,3369,0,0,0,0,0,0
$GC,3929,-1.51,-77.9,350.0,-9.5,282,3934,0.00,2.30,0.00,0.000,6,0.000,0.024,2408,1882,3369,0,0,0,0,0,0
$GC,4261,-1.56,-77.9,374.8,-7.3,291,4265,0.15,2.47,0.00,0.000,4,0.058,0.048,2362,465,3367,0,0,0,0,0,0
$GC,4332,-1.48,-77.9,381.3,-9.5,292,4337,0.15,2.28,0.00,0.000,6,0.095,0.025,2394,1870,3367,0,0,0,0,0,0
$GC,4674,-1.48,-77.9,409.8,-8.4,301,4678,0.00,2.45,0.00,0.000,4,0.000,0.049,2393,475,3364,0,0,0,0,0,0
$GC,4726,-1.48,-77.9,414.5,-8.7,302,4730,0.00,2.28,0.00,0.000,6,0.000,0.025,2393,1878,3363,0,0,0,0,0,0
$GC,5045,-1.48,-77.9,441.5,-8.7,310,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1881,3362,0,0,0,0,0,0
$STATE,5163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5163,begin apogee
$GC,5170,-0.31,0.0,451.3,8.2,313,5237,1.15,0.00,63.85,0.857,6,0.069,0.000,2643,2031,3050,0,0,0,0,0,0
$STATE,5238,end apogee,CONTROL_FINISHED_OK
$STATE,5238,begin climb
$GC,5241,1.40,77.9,452.5,0.0,314,5316,1.62,2.40,64.90,0.842,4,0.028,0.038,3024,3377,2732,0,0,0,0,0,0
$GC,5388,1.23,133.4,453.6,4.2,317,5442,0.22,2.33,47.65,0.831,6,0.113,0.033,2985,2012,2505,0,0,0,0,0,0
$GC,5784,1.11,133.4,419.9,8.7,327,5789,0.15,2.33,0.00,0.000,4,0.116,0.037,2950,3378,2497,0,0,0,0,0,0
$GC,5805,1.04,138.1,418.3,7.7,327,5814,0.00,2.33,4.25,0.538,6,0.000,0.034,2956,2013,2486,0,0,0,0,0,0
$GC,6151,1.01,157.4,393.4,6.7,336,6176,0.12,2.55,17.60,0.788,4,0.123,0.051,2937,607,2407,0,0,0,0,0,0
$GC,6186,1.02,167.9,390.8,7.3,336,6203,0.00,2.30,10.93,0.734,6,0.000,0.028,2936,1992,2364,0,0,0,0,0,0
$GC,6529,1.03,171.6,364.9,7.8,345,6538,0.00,2.45,3.80,0.493,4,0.000,0.051,2937,604,2350,0,0,0,0,0,0
$GC,6548,1.04,178.9,363.1,7.5,345,6562,0.00,2.35,8.27,0.694,6,0.000,0.028,2936,2017,2320,0,0,0,0,0,0
$GC,6894,1.08,214.3,341.8,5.6,354,6936,0.00,2.55,32.88,0.794,4,0.000,0.051,2937,602,2174,0,0,0,0,0,0
$GC,7049,1.08,214.3,327.9,10.0,357,7053,0.00,2.35,0.00,0.000,6,0.000,0.028,2937,2008,2168,0,0,0,0,0,0
$GC,7398,1.15,214.3,297.1,9.4,366,7403,0.12,2.50,0.00,0.000,4,0.076,0.051,2969,596,2166,0,0,0,0,0,0
$GC,7552,1.11,214.3,281.2,10.3,372,7558,0.00,2.38,0.00,0.000,6,0.000,0.029,2969,2015,2164,0,0,0,0,0,0
$GC,7868,1.13,236.5,259.5,6.5,388,7892,0.00,2.58,19.10,0.727,4,0.000,0.051,2969,605,2084,0,0,0,0,0,0
$GC,7991,1.13,236.5,249.5,8.7,393,7996,0.00,2.33,0.00,0.000,6,0.000,0.028,2969,2013,2081,0,0,0,0,0,0
$GC,8312,1.18,236.5,221.9,9.6,409,8316,0.00,2.47,0.00,0.000,4,0.000,0.049,2969,604,2079,0,0,0,0,0,0
$GC,8474,1.18,236.5,204.6,10.2,416,8478,0.00,2.35,0.00,0.000,6,0.000,0.027,2969,2013,2077,0,0,0,0,0,0
$GC,8809,1.26,258.5,177.8,6.5,445,8835,0.00,2.53,19.73,0.659,4,0.000,0.048,2969,603,1995,0,0,0,0,0,0
$GC,9054,1.26,258.5,156.7,9.4,471,9059,0.00,2.35,0.00,0.000,6,0.000,0.025,2969,2020,1991,0,0,0,0,0,0
$GC,9317,1.36,258.5,134.1,8.5,496,9322,0.17,2.47,0.00,0.000,4,0.057,0.047,3017,603,1991,0,0,0,0,0,0
$GC,9431,1.30,258.5,122.0,10.1,507,9437,0.00,2.33,0.00,0.000,6,0.000,0.024,3017,2017,1989,0,0,0,0,0,0
$GC,9695,1.34,290.6,103.7,5.8,532,9730,0.00,2.50,28.65,0.600,4,0.000,0.044,3017,599,1864,0,0,0,0,0,0
$GC,9862,1.34,290.6,90.6,8.4,550,9866,0.00,2.33,0.00,0.000,6,0.000,0.023,3017,2011,1860,0,0,0,0,0,0
$GC,10129,1.39,290.6,69.3,8.6,575,10133,0.00,2.42,0.00,0.000,4,0.000,0.044,3017,601,1860,0,0,0,0,0,0
$GC,10218,1.39,290.6,61.0,9.7,584,10222,0.00,2.30,0.00,0.000,6,0.000,0.021,3017,2019,1858,0,0,0,0,0,0
$GC,10485,1.45,290.6,39.9,8.5,609,10490,0.00,2.45,0.00,0.000,4,0.000,0.041,3017,596,1858,0,0,0,0,0,0
$GC,10609,1.45,290.6,26.8,11.1,624,10615,0.00,2.30,0.00,0.000,6,0.000,0.021,3017,2020,1858,0,0,0,0,0,0
$GC,10818,1.48,290.6,8.4,9.2,661,10824,0.00,2.42,0.00,0.000,4,0.000,0.042,3017,599,1858,0,0,0,0,0,0
$STATE,10869,end climb,SURFACE_DEPTH_REACHED
$STATE,10869,begin surface coast
$FINISH,1.3,1.023198
$STATE,10884,end surface coast,CONTROL_FINISHED_OK
$STATE,10884,begin surface
$SM_CCo,10908,7.12,0.431,0,0,1827,300.00
$SM_GC,2.32,0.00,0.00,7.12,0.000,0.000,0.431,424,1885,1827,-10.53,0.28,300.00
$IRIDIUM_FIX,2057.14,-15746.61,300999,151505
$TT8_MAMPS,0.029146
$HUMID,55.47
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,23.3,61.497
$10V_AH,10.0,52.870
$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,26.275,132.725,321.600,7.125,0.000,135.204,232.021,449.551,4.750,0.000,38.124,1307.457,7699.450,392.077,1633.208,1108.460,33.373,1279.987,0.000,1566.554,0.000,29.261,0.000
$DEVICE_MAMPS,128.856,52.923,856.739,431.054,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.882,441.892,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,34968,675
$CAP_FILE_SIZE,137988,0
$CFSIZE,260165632,218103808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060710,184153,2105.711,-15743.282,38,1.8,52,9.8