version: 66.06
glider: 139
mission: 7
dive: 674
start: 7 4 110 23 55 54
data:
$ID,139
$MISSION,7
$DIVE,674
$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,-2146254.8
$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
$GPS1,234819,2104.307,-15747.215,119,2.0,130,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-68.7
$GPS2,235503,2104.253,-15747.223,42,1.9,61,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.150,0.106
$KALMAN_X,-365098.2,135.8,-157.6,378438.8,-571.6
$KALMAN_Y,27035.4,-64.4,-126.4,-31762.2,-757.8
$MHEAD_RNG_PITCHd_Wd,45.0,7980,-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,-77.9,0.0,0.0,0,74,0.00,0.00,-54.97,0.000,2,0.000,0.000,429,1898,3177,0,0,0,0,0,0
$GC,78,-1.40,-77.9,3.3,-4.9,11,97,10.48,2.40,-3.95,0.000,4,0.130,0.041,2407,3296,3369,0,0,0,0,0,0
$GC,132,-1.31,-77.9,15.7,-14.7,22,138,0.10,2.42,0.00,0.000,6,0.114,0.031,2426,1869,3370,0,0,0,0,0,0
$GC,343,-1.18,-77.9,42.1,-12.2,51,348,0.15,2.40,0.00,0.000,4,0.106,0.042,2457,465,3371,0,0,0,0,0,0
$GC,374,-1.07,-77.9,46.0,-12.2,53,380,0.12,2.33,0.00,0.000,6,0.102,0.019,2482,1912,3371,0,0,0,0,0,0
$GC,636,-1.07,-77.9,71.6,-9.6,78,640,0.00,2.47,0.00,0.000,4,0.000,0.041,2481,465,3372,0,0,0,0,0,0
$GC,725,-1.07,-77.9,80.7,-11.1,87,729,0.00,2.25,0.00,0.000,6,0.000,0.019,2482,1877,3372,0,0,0,0,0,0
$GC,988,-1.16,-77.9,107.7,-9.4,111,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1882,3373,0,0,0,0,0,0
$GC,1244,-1.29,-77.9,128.8,-7.6,135,1249,0.22,2.42,0.00,0.000,4,0.043,0.040,2413,463,3374,0,0,0,0,0,0
$GC,1345,-1.23,-77.9,138.8,-10.1,145,1350,0.15,2.28,0.00,0.000,6,0.090,0.019,2445,1885,3374,0,0,0,0,0,0
$GC,1606,-1.30,-77.9,159.8,-8.1,169,1611,0.00,2.40,0.00,0.000,4,0.000,0.041,2445,468,3375,0,0,0,0,0,0
$GC,1673,-1.36,-77.9,165.6,-8.8,176,1677,0.12,2.25,0.00,0.000,6,0.061,0.019,2401,1882,3375,0,0,0,0,0,0
$GC,1933,-1.36,-77.9,192.4,-10.3,200,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1887,3375,0,0,0,0,0,0
$GC,2193,-1.36,-77.9,217.0,-8.5,216,2198,0.00,2.40,0.00,0.000,4,0.000,0.041,2400,467,3376,0,0,0,0,0,0
$GC,2236,-1.36,-77.9,221.3,-10.2,218,2240,0.00,2.25,0.00,0.000,6,0.000,0.020,2401,1872,3376,0,0,0,0,0,0
$GC,2566,-1.36,-77.9,246.7,-7.0,234,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1877,3376,0,0,0,0,0,0
$GC,2875,-1.36,-77.9,276.3,-10.6,249,2880,0.00,2.40,0.00,0.000,4,0.000,0.044,2400,465,3375,0,0,0,0,0,0
$GC,2914,-1.33,-77.9,280.6,-10.9,250,2920,0.12,2.28,0.00,0.000,6,0.097,0.021,2426,1877,3375,0,0,0,0,0,0
$GC,3249,-1.42,-77.9,309.0,-7.4,264,3253,0.00,2.40,0.00,0.000,4,0.000,0.044,2426,469,3375,0,0,0,0,0,0
$GC,3269,-1.48,-77.9,310.5,-7.2,264,3273,0.17,2.28,0.00,0.000,6,0.051,0.022,2372,1878,3375,0,0,0,0,0,0
$GC,3615,-1.48,-77.9,338.5,-7.4,273,3619,0.00,2.45,0.00,0.000,4,0.000,0.046,2372,460,3373,0,0,0,0,0,0
$GC,3639,-1.43,-77.9,340.5,-8.1,273,3644,0.15,2.28,0.00,0.000,6,0.093,0.024,2404,1874,3373,0,0,0,0,0,0
$GC,3983,-1.48,-77.9,361.1,-6.0,282,3987,0.00,2.42,0.00,0.000,4,0.000,0.048,2403,464,3371,0,0,0,0,0,0
$GC,4034,-1.48,-77.9,365.5,-8.3,283,4038,0.00,2.28,0.00,0.000,6,0.000,0.025,2403,1871,3371,0,0,0,0,0,0
$GC,4353,-1.54,-77.9,390.3,-7.8,291,4358,0.12,2.45,0.00,0.000,4,0.065,0.050,2365,465,3369,0,0,0,0,0,0
$GC,4387,-1.45,-77.9,393.7,-9.9,291,4392,0.15,2.33,0.00,0.000,6,0.094,0.025,2396,1881,3369,0,0,0,0,0,0
$GC,4719,-1.49,-77.9,419.5,-7.8,299,4724,0.00,2.45,0.00,0.000,4,0.000,0.050,2396,466,3366,0,0,0,0,0,0
$GC,4808,-1.49,-77.9,427.0,-7.8,301,4813,0.00,2.33,0.00,0.000,6,0.000,0.026,2396,1878,3366,0,0,0,0,0,0
$STATE,5135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5135,begin apogee
$GC,5142,-0.31,0.0,452.0,7.5,309,5210,1.15,0.00,64.43,0.867,6,0.071,0.000,2644,2033,3050,0,0,0,0,0,0
$STATE,5211,end apogee,CONTROL_FINISHED_OK
$STATE,5211,begin climb
$GC,5213,1.40,77.9,453.0,0.0,310,5289,1.62,2.40,64.95,0.848,4,0.029,0.039,3017,3380,2732,0,0,0,0,0,0
$GC,5498,1.22,134.0,447.5,4.2,316,5553,0.22,2.38,47.95,0.842,6,0.111,0.035,2986,2000,2503,0,0,0,0,0,0
$GC,5894,1.11,149.0,420.5,7.0,326,5914,0.15,2.50,13.07,0.776,4,0.120,0.054,2959,603,2442,0,0,0,0,0,0
$GC,5989,1.00,156.6,414.2,7.5,328,6002,0.15,2.33,8.00,0.709,6,0.123,0.028,2934,1995,2411,0,0,0,0,0,0
$GC,6318,1.01,170.4,392.0,7.1,336,6338,0.00,2.50,13.27,0.774,4,0.000,0.051,2933,599,2353,0,0,0,0,0,0
$GC,6372,0.97,170.4,387.7,8.2,337,6377,0.00,2.38,0.00,0.000,6,0.000,0.029,2933,2013,2351,0,0,0,0,0,0
$GC,6691,0.97,171.0,362.5,8.0,345,6695,0.00,2.50,0.00,0.000,4,0.000,0.052,2934,596,2350,0,0,0,0,0,0
$GC,6780,0.94,171.0,354.3,9.3,347,6784,0.00,2.40,0.00,0.000,6,0.000,0.030,2934,2020,2347,0,0,0,0,0,0
$GC,7111,0.99,171.0,328.4,8.1,355,7115,0.00,2.53,0.00,0.000,4,0.000,0.052,2933,596,2347,0,0,0,0,0,0
$GC,7264,0.99,171.4,316.2,8.0,358,7268,0.00,2.40,0.00,0.000,6,0.000,0.030,2934,2021,2344,0,0,0,0,0,0
$GC,7595,1.08,194.8,294.3,6.4,368,7619,0.00,0.00,21.52,0.770,6,0.000,0.000,2934,2026,2255,0,0,0,0,0,0
$GC,7924,1.17,207.8,270.2,7.1,384,7946,0.15,2.55,12.90,0.716,4,0.070,0.050,2971,603,2200,0,0,0,0,0,0
$GC,7953,1.17,207.8,267.6,9.0,385,7957,0.00,2.38,0.00,0.000,6,0.000,0.029,2971,2020,2199,0,0,0,0,0,0
$GC,8278,1.18,221.8,241.9,7.1,401,8300,0.00,2.58,13.45,0.697,4,0.000,0.049,2971,606,2143,0,0,0,0,0,0
$GC,8471,1.18,221.8,224.6,8.6,409,8475,0.00,2.35,0.00,0.000,6,0.000,0.027,2971,2012,2138,0,0,0,0,0,0
$GC,8792,1.23,223.2,199.6,7.9,425,8796,0.00,2.45,0.00,0.000,4,0.000,0.048,2971,602,2138,0,0,0,0,0,0
$GC,8942,1.23,223.2,187.0,8.3,440,8948,0.00,2.33,0.00,0.000,6,0.000,0.026,2971,2014,2137,0,0,0,0,0,0
$GC,9207,1.30,242.7,168.8,6.7,465,9233,0.12,2.55,18.83,0.650,4,0.071,0.047,3006,604,2059,0,0,0,0,0,0
$GC,9350,1.19,242.7,156.4,8.6,480,9356,0.17,2.33,0.00,0.000,6,0.105,0.025,2973,2014,2056,0,0,0,0,0,0
$GC,9614,1.32,286.0,140.6,5.0,505,9660,0.12,2.58,39.20,0.637,4,0.069,0.046,3008,597,1883,0,0,0,0,0,0
$GC,9815,1.28,286.0,124.7,10.9,527,9819,0.00,2.33,0.00,0.000,6,0.000,0.024,3008,2011,1877,0,0,0,0,0,0
$GC,10078,1.32,286.0,100.3,9.5,551,10082,0.00,2.45,0.00,0.000,4,0.000,0.045,3008,596,1877,0,0,0,0,0,0
$GC,10140,1.32,286.0,93.4,10.8,557,10144,0.00,2.33,0.00,0.000,6,0.000,0.023,3009,2024,1875,0,0,0,0,0,0
$GC,10407,1.38,286.0,69.5,9.4,582,10411,0.00,2.45,0.00,0.000,4,0.000,0.043,3008,602,1875,0,0,0,0,0,0
$GC,10636,1.38,286.0,46.4,8.8,606,10640,0.00,2.28,0.00,0.000,6,0.000,0.021,3009,2013,1874,0,0,0,0,0,0
$GC,10902,1.46,294.8,26.9,7.4,633,10918,0.10,2.47,7.75,0.459,4,0.075,0.041,3041,596,1848,0,0,0,0,0,0
$GC,11137,1.35,294.8,3.2,11.7,683,11144,0.17,2.30,0.00,0.000,6,0.103,0.021,3007,2017,1845,0,0,0,0,0,0
$STATE,11148,end climb,SURFACE_DEPTH_REACHED
$STATE,11148,begin surface coast
$FINISH,0.5,1.023162
$STATE,11177,end surface coast,CONTROL_FINISHED_OK
$STATE,11177,begin surface
$SM_CCo,11199,4.53,0.368,0,0,1826,300.00
$SM_GC,2.10,0.00,0.00,4.53,0.000,0.000,0.368,425,1851,1826,-10.53,-0.68,300.00
$IRIDIUM_FIX,2057.14,-15748.75,280999,202011
$TT8_MAMPS,0.029146
$HUMID,54.56
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,23.3,60.362
$10V_AH,10.0,52.159
$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,27.325,120.000,325.325,4.525,0.000,24.930,31.537,175.340,4.750,0.000,61.370,1335.713,7700.032,393.469,1675.333,500.474,33.380,1280.100,0.000,1587.383,0.000,29.254,0.000
$DEVICE_MAMPS,129.623,53.690,866.710,368.160,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,464.079,448.535,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,34905,690
$CAP_FILE_SIZE,127116,0
$CFSIZE,260165632,218857472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050710,030507,2104.446,-15746.695,110,1.5,110,9.8