version: 66.06
glider: 139
mission: 7
dive: 649
start: 7 1 110 14 27 58
data:
$ID,139
$MISSION,7
$DIVE,649
$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,-2145208.8
$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
$GPS1,141628,2107.666,-15801.373,57,3.8,76,9.8
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-71.2
$GPS2,142707,2107.675,-15801.396,68,0.9,68,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,0.019
$KALMAN_X,-340727.9,-133.5,384.7,329313.6,-434.0
$KALMAN_Y,38777.6,88.4,98.6,-37549.3,-383.7
$MHEAD_RNG_PITCHd_Wd,74.4,32113,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.40,-77.9,0.0,0.0,0,70,0.00,0.00,-50.33,0.000,2,0.000,0.000,428,1839,3156,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.5,-5.8,10,97,10.52,2.47,-4.28,0.000,4,0.131,0.039,2403,3298,3370,0,0,0,0,0,0
$GC,104,-0.42,-77.9,12.6,-27.8,16,110,1.02,2.40,0.00,0.000,6,0.078,0.028,2617,1872,3370,0,0,0,0,0,0
$GC,319,-1.00,-77.9,31.9,-8.1,52,327,0.50,2.38,0.00,0.000,4,0.041,0.040,2486,470,3372,0,0,0,0,0,0
$GC,442,-1.00,-77.9,43.9,-10.2,65,446,0.00,2.30,0.00,0.000,6,0.000,0.019,2486,1916,3372,0,0,0,0,0,0
$GC,705,-1.05,-77.9,66.3,-8.4,89,710,0.00,2.47,0.00,0.000,4,0.000,0.041,2486,469,3372,0,0,0,0,0,0
$GC,739,-1.10,-77.9,69.3,-8.4,92,743,0.00,2.28,0.00,0.000,6,0.000,0.019,2486,1889,3373,0,0,0,0,0,0
$GC,1003,-1.19,-77.9,87.8,-7.8,116,1008,0.15,2.42,0.00,0.000,4,0.056,0.041,2435,470,3373,0,0,0,0,0,0
$GC,1068,-1.13,-77.9,95.4,-11.7,122,1075,0.15,2.22,0.00,0.000,6,0.093,0.019,2466,1881,3374,0,0,0,0,0,0
$GC,1330,-1.21,-77.9,117.6,-8.3,147,1334,0.00,2.40,0.00,0.000,4,0.000,0.041,2466,465,3374,0,0,0,0,0,0
$GC,1452,-1.29,-77.9,128.7,-8.1,159,1459,0.15,2.22,0.00,0.000,6,0.054,0.019,2415,1880,3375,0,0,0,0,0,0
$GC,1713,-1.29,-77.9,152.8,-8.3,184,1717,0.00,2.40,0.00,0.000,4,0.000,0.041,2415,471,3375,0,0,0,0,0,0
$GC,1796,-1.24,-77.9,160.5,-8.6,192,1802,0.12,2.22,0.00,0.000,6,0.096,0.019,2442,1883,3375,0,0,0,0,0,0
$GC,2060,-1.32,-77.9,178.5,-6.5,217,2064,0.00,2.42,0.00,0.000,4,0.000,0.042,2442,466,3375,0,0,0,0,0,0
$GC,2108,-1.38,-77.9,182.1,-7.4,221,2114,0.12,2.25,0.00,0.000,6,0.062,0.019,2397,1879,3375,0,0,0,0,0,0
$GC,2379,-1.38,-77.9,208.2,-9.8,243,2383,0.00,2.40,0.00,0.000,4,0.000,0.041,2396,470,3375,0,0,0,0,0,0
$GC,2430,-1.32,-77.9,214.0,-11.1,245,2435,0.15,2.25,0.00,0.000,6,0.091,0.020,2428,1879,3375,0,0,0,0,0,0
$GC,2759,-1.39,-77.9,236.4,-6.5,261,2763,0.00,2.40,0.00,0.000,4,0.000,0.043,2428,463,3376,0,0,0,0,0,0
$GC,2837,-1.43,-77.9,243.3,-8.8,264,2842,0.12,2.25,0.00,0.000,6,0.061,0.021,2385,1882,3376,0,0,0,0,0,0
$GC,3153,-1.43,-77.9,271.2,-8.4,279,3157,0.00,2.40,0.00,0.000,4,0.000,0.044,2384,469,3375,0,0,0,0,0,0
$GC,3200,-1.37,-77.9,275.8,-9.1,281,3205,0.15,2.25,0.00,0.000,6,0.094,0.021,2415,1873,3374,0,0,0,0,0,0
$GC,3548,-1.43,-77.9,305.4,-9.0,297,3551,0.00,2.40,0.00,0.000,4,0.000,0.044,2415,466,3373,0,0,0,0,0,0
$GC,3584,-1.43,-77.9,309.5,-10.1,297,3588,0.00,2.25,0.00,0.000,6,0.000,0.022,2416,1873,3373,0,0,0,0,0,0
$GC,3916,-1.51,-77.9,340.6,-9.6,305,3921,0.12,2.45,0.00,0.000,4,0.063,0.047,2376,466,3372,0,0,0,0,0,0
$GC,4037,-1.44,-77.9,354.1,-10.4,307,4042,0.12,2.30,0.00,0.000,6,0.098,0.023,2401,1882,3371,0,0,0,0,0,0
$GC,4379,-1.48,-77.9,378.6,-5.9,316,4383,0.00,2.42,0.00,0.000,4,0.000,0.048,2401,469,3369,0,0,0,0,0,0
$GC,4463,-1.48,-77.9,384.7,-7.7,317,4468,0.00,2.28,0.00,0.000,6,0.000,0.025,2401,1882,3369,0,0,0,0,0,0
$GC,4794,-1.53,-77.9,411.3,-8.2,326,4798,0.00,2.42,0.00,0.000,4,0.000,0.048,2400,471,3367,0,0,0,0,0,0
$GC,4869,-1.53,-77.9,418.1,-9.6,327,4873,0.00,2.30,0.00,0.000,6,0.000,0.025,2401,1879,3366,0,0,0,0,0,0
$GC,5205,-1.59,-77.9,445.0,-8.4,336,5210,0.15,2.45,0.00,0.000,4,0.059,0.051,2357,473,3364,0,0,0,0,0,0
$STATE,5246,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5246,begin apogee
$GC,5255,-0.31,0.0,450.1,11.8,337,5323,1.35,0.00,64.00,0.860,6,0.079,0.000,2643,2010,3050,0,0,0,0,0,0
$STATE,5324,end apogee,CONTROL_FINISHED_OK
$STATE,5324,begin climb
$GC,5326,1.40,77.9,452.2,0.0,338,5401,1.62,2.47,64.57,0.841,4,0.029,0.038,3022,3405,2732,0,0,0,0,0,0
$GC,5585,1.22,127.8,450.2,4.6,343,5634,0.03,2.40,42.47,0.834,6,0.191,0.033,3013,2007,2528,0,0,0,0,0,0
$GC,5967,0.99,127.8,417.7,9.0,353,5972,0.45,2.42,0.00,0.000,4,0.102,0.036,2950,3408,2521,0,0,0,0,0,0
$GC,5988,0.90,140.1,416.1,7.2,353,6004,0.20,2.40,10.98,0.752,6,0.104,0.033,2912,2009,2478,0,0,0,0,0,0
$GC,6338,1.01,187.6,399.8,4.8,362,6382,0.00,0.00,41.78,0.831,6,0.000,0.000,2913,2009,2285,0,0,0,0,0,0
$GC,6708,1.08,187.6,371.1,8.8,371,6713,0.17,2.50,0.00,0.000,4,0.063,0.051,2950,600,2278,0,0,0,0,0,0
$GC,6728,1.08,187.6,368.7,10.5,371,6732,0.00,2.35,0.00,0.000,6,0.000,0.029,2953,2010,2276,0,0,0,0,0,0
$GC,7073,1.11,207.0,343.5,6.7,380,7097,0.00,2.53,17.02,0.775,4,0.000,0.050,2955,601,2205,0,0,0,0,0,0
$GC,7181,1.06,207.0,333.7,10.3,382,7185,0.00,2.38,0.00,0.000,6,0.000,0.028,2956,2010,2200,0,0,0,0,0,0
$GC,7531,1.06,207.0,304.3,8.0,391,7535,0.00,2.47,0.00,0.000,4,0.000,0.051,2955,607,2200,0,0,0,0,0,0
$GC,7597,1.02,207.0,298.8,8.6,392,7601,0.00,2.38,0.00,0.000,6,0.000,0.029,2956,2020,2197,0,0,0,0,0,0
$GC,7925,1.02,207.0,270.0,9.7,408,7930,0.00,2.50,0.00,0.000,4,0.000,0.050,2955,601,2197,0,0,0,0,0,0
$GC,8060,0.99,207.0,256.9,9.5,413,8066,0.15,2.35,0.00,0.000,6,0.114,0.028,2930,2021,2196,0,0,0,0,0,0
$GC,8375,1.11,219.8,233.6,7.1,429,8392,0.12,2.55,11.10,0.675,4,0.075,0.050,2960,598,2153,0,0,0,0,0,0
$GC,8500,1.11,219.8,222.7,10.1,434,8504,0.00,2.35,0.00,0.000,6,0.000,0.028,2961,2016,2149,0,0,0,0,0,0
$GC,8821,1.19,248.1,201.7,6.1,450,8856,0.00,2.58,26.12,0.693,4,0.000,0.049,2960,605,2037,0,0,0,0,0,0
$GC,8950,1.19,248.1,190.4,10.0,463,8954,0.00,2.38,0.00,0.000,6,0.000,0.026,2961,2023,2033,0,0,0,0,0,0
$GC,9213,1.29,260.6,170.7,7.2,487,9232,0.15,2.55,11.90,0.622,4,0.064,0.048,3001,599,1986,0,0,0,0,0,0
$GC,9275,1.21,260.6,165.0,9.3,493,9281,0.12,2.35,0.00,0.000,6,0.110,0.026,2979,2014,1984,0,0,0,0,0,0
$GC,9539,1.28,264.8,144.5,7.7,518,9549,0.00,2.47,4.93,0.477,4,0.000,0.046,2979,601,1969,0,0,0,0,0,0
$GC,9764,1.28,264.8,123.7,8.8,542,9768,0.00,2.33,0.00,0.000,6,0.000,0.025,2979,2014,1967,0,0,0,0,0,0
$GC,10032,1.41,296.2,106.3,5.9,567,10067,0.17,2.50,28.52,0.601,4,0.056,0.044,3028,597,1842,0,0,0,0,0,0
$GC,10264,1.36,296.2,83.1,10.0,592,10268,0.00,2.33,0.00,0.000,6,0.000,0.023,3028,2011,1837,0,0,0,0,0,0
$GC,10527,1.40,296.2,61.4,8.1,616,10531,0.00,2.45,0.00,0.000,4,0.000,0.043,3028,597,1836,0,0,0,0,0,0
$GC,10561,1.36,296.2,58.0,9.4,619,10565,0.00,2.30,0.00,0.000,6,0.000,0.022,3029,2019,1836,0,0,0,0,0,0
$GC,10827,1.40,296.2,36.4,8.6,643,10831,0.00,2.45,0.00,0.000,4,0.000,0.041,3028,596,1836,0,0,0,0,0,0
$GC,10950,1.36,296.2,23.5,10.9,662,10956,0.00,2.28,0.00,0.000,6,0.000,0.021,3028,2018,1836,0,0,0,0,0,0
$STATE,11156,end climb,SURFACE_DEPTH_REACHED
$STATE,11156,begin surface coast
$FINISH,0.6,1.009798
$STATE,11197,end surface coast,CONTROL_FINISHED_OK
$STATE,11197,begin surface
$SM_CCo,11218,2.47,0.204,0,0,1826,300.00
$SM_GC,2.46,0.00,0.00,2.47,0.000,0.000,0.204,430,1866,1826,-10.51,-0.25,300.00
$IRIDIUM_FIX,2057.14,-15808.48,250999,141416
$TT8_MAMPS,0.029913
$HUMID,55.11
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,23.3,58.066
$10V_AH,10.0,50.704
$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,29.300,133.925,323.400,2.475,0.000,54.013,65.862,272.091,4.500,0.000,68.940,1365.628,7698.920,393.358,1714.464,684.809,33.381,1304.557,0.000,1623.326,0.000,29.258,0.000
$DEVICE_MAMPS,190.983,53.690,859.807,204.022,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,474.645,468.402,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,38029,706
$CAP_FILE_SIZE,135590,0
$CFSIZE,260165632,220381184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010710,173626,2107.938,-15801.081,48,1.8,48,9.8