version: 66.06
glider: 139
mission: 7
dive: 564
start: 6 20 110 6 28 14
data:
$ID,139
$MISSION,7
$DIVE,564
$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,-2142308
$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
$GPS1,062056,2106.104,-15744.579,66,7.2,85,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.2
$GPS2,062722,2106.075,-15744.649,12,8.6,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.181,0.031
$KALMAN_X,-330251.3,278.8,255.6,347482.2,-1609.2
$KALMAN_Y,18194.4,141.2,128.1,-20007.1,-411.8
$MHEAD_RNG_PITCHd_Wd,70.6,3030,-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,-55.38,0.000,2,0.000,0.000,426,1860,3301,0,0,0,0,0,0
$GC,76,-1.40,-77.9,4.2,-8.2,11,96,10.52,2.42,-1.30,0.000,4,0.131,0.052,2404,467,3371,0,0,0,0,0,0
$GC,107,-0.34,-77.9,16.2,-36.6,17,113,1.15,2.35,0.00,0.000,6,0.094,0.020,2636,1919,3372,0,0,0,0,0,0
$GC,317,-0.97,-77.9,29.6,-6.4,54,323,0.57,2.50,0.00,0.000,4,0.060,0.040,2502,463,3373,0,0,0,0,0,0
$GC,380,-1.04,-77.9,35.3,-9.2,61,385,0.00,2.25,0.00,0.000,6,0.000,0.019,2501,1873,3373,0,0,0,0,0,0
$GC,643,-1.11,-77.9,62.7,-9.8,86,648,0.12,2.42,0.00,0.000,4,0.062,0.042,2457,469,3374,0,0,0,0,0,0
$GC,705,-1.06,-77.9,70.1,-11.7,92,710,0.12,2.22,0.00,0.000,6,0.094,0.020,2483,1872,3374,0,0,0,0,0,0
$GC,969,-1.14,-77.9,94.3,-7.9,116,973,0.00,2.42,0.00,0.000,4,0.000,0.041,2483,460,3375,0,0,0,0,0,0
$GC,989,-1.20,-77.9,96.0,-7.6,117,996,0.12,2.28,0.00,0.000,6,0.062,0.019,2436,1883,3375,0,0,0,0,0,0
$GC,1250,-1.20,-77.9,123.0,-10.4,142,1254,0.00,2.40,0.00,0.000,4,0.000,0.041,2437,467,3376,0,0,0,0,0,0
$GC,1349,-1.20,-77.9,131.9,-7.7,152,1353,0.00,2.25,0.00,0.000,6,0.000,0.019,2437,1878,3377,0,0,0,0,0,0
$GC,1612,-1.23,-77.9,155.4,-9.7,176,1616,0.00,2.42,0.00,0.000,4,0.000,0.041,2437,462,3377,0,0,0,0,0,0
$GC,1630,-1.23,-77.9,157.8,-11.0,177,1636,0.00,2.25,0.00,0.000,6,0.000,0.019,2437,1878,3377,0,0,0,0,0,0
$GC,1893,-1.29,-77.9,184.0,-8.7,202,1897,0.00,2.42,0.00,0.000,4,0.000,0.041,2437,460,3377,0,0,0,0,0,0
$GC,1936,-1.34,-77.9,187.9,-8.8,206,1941,0.00,2.25,0.00,0.000,6,0.000,0.020,2437,1880,3377,0,0,0,0,0,0
$GC,2196,-1.42,-77.9,209.1,-8.5,225,2201,0.15,2.42,0.00,0.000,4,0.054,0.044,2386,468,3378,0,0,0,0,0,0
$GC,2244,-1.36,-77.9,214.5,-11.3,227,2249,0.15,2.22,0.00,0.000,6,0.092,0.020,2418,1878,3378,0,0,0,0,0,0
$GC,2571,-1.40,-77.9,243.1,-8.7,243,2575,0.00,2.40,0.00,0.000,4,0.000,0.044,2418,467,3378,0,0,0,0,0,0
$GC,2633,-1.40,-77.9,249.2,-9.6,245,2639,0.00,2.28,0.00,0.000,6,0.000,0.021,2417,1883,3378,0,0,0,0,0,0
$GC,2948,-1.45,-77.9,274.4,-8.1,261,2953,0.00,2.42,0.00,0.000,4,0.000,0.045,2417,464,3377,0,0,0,0,0,0
$GC,3008,-1.45,-77.9,279.7,-8.7,263,3017,0.00,2.25,0.00,0.000,6,0.000,0.022,2418,1874,3377,0,0,0,0,0,0
$GC,3346,-1.50,-77.9,304.2,-7.0,279,3351,0.15,2.45,0.00,0.000,4,0.056,0.046,2370,461,3376,0,0,0,0,0,0
$GC,3370,-1.43,-77.9,306.4,-8.9,279,3375,0.15,2.25,0.00,0.000,6,0.095,0.023,2401,1874,3376,0,0,0,0,0,0
$GC,3712,-1.47,-77.9,335.8,-8.9,288,3716,0.00,2.42,0.00,0.000,4,0.000,0.047,2401,461,3374,0,0,0,0,0,0
$GC,3795,-1.47,-77.9,344.0,-9.9,289,3799,0.00,2.28,0.00,0.000,6,0.000,0.024,2402,1879,3374,0,0,0,0,0,0
$GC,4127,-1.51,-77.9,373.1,-8.6,297,4131,0.00,2.45,0.00,0.000,4,0.000,0.048,2402,467,3372,0,0,0,0,0,0
$GC,4145,-1.51,-77.9,375.0,-9.2,297,4149,0.00,2.28,0.00,0.000,6,0.000,0.025,2401,1874,3372,0,0,0,0,0,0
$GC,4490,-1.56,-77.9,405.5,-9.1,306,4495,0.12,2.45,0.00,0.000,4,0.066,0.051,2363,468,3370,0,0,0,0,0,0
$GC,4547,-1.47,-77.9,411.7,-10.6,307,4552,0.15,2.28,0.00,0.000,6,0.097,0.026,2394,1870,3370,0,0,0,0,0,0
$GC,4866,-1.47,-77.9,443.0,-9.8,315,4870,0.00,2.42,0.00,0.000,4,0.000,0.052,2394,471,3367,0,0,0,0,0,0
$STATE,4933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4933,begin apogee
$GC,4942,-0.31,0.0,450.0,9.0,316,5011,1.15,0.00,64.82,0.870,6,0.077,0.000,2641,2014,3049,0,0,0,0,0,0
$STATE,5011,end apogee,CONTROL_FINISHED_OK
$STATE,5011,begin climb
$GC,5014,1.40,77.9,451.8,0.0,318,5089,1.65,2.50,64.68,0.848,4,0.032,0.041,3026,3408,2732,0,0,0,0,0,0
$GC,5150,1.25,144.5,453.5,3.4,321,5216,0.20,2.42,57.10,0.844,6,0.113,0.033,2990,1998,2460,0,0,0,0,0,0
$GC,5559,1.14,144.5,417.8,9.2,331,5564,0.15,2.47,0.00,0.000,4,0.118,0.051,2961,598,2451,0,0,0,0,0,0
$GC,5650,1.02,144.5,409.0,9.7,333,5655,0.15,2.40,0.00,0.000,6,0.120,0.028,2936,2020,2449,0,0,0,0,0,0
$GC,5979,1.03,152.3,384.7,7.5,341,5991,0.00,2.55,5.78,0.640,4,0.000,0.051,2936,609,2429,0,0,0,0,0,0
$GC,6121,0.97,152.3,372.2,9.3,344,6125,0.00,2.38,0.00,0.000,6,0.000,0.029,2936,2015,2426,0,0,0,0,0,0
$GC,6444,0.97,152.3,346.9,8.2,352,6448,0.00,2.50,0.00,0.000,4,0.000,0.051,2935,599,2426,0,0,0,0,0,0
$GC,6534,0.93,152.3,339.1,8.7,354,6538,0.00,2.38,0.00,0.000,6,0.000,0.030,2935,2011,2424,0,0,0,0,0,0
$GC,6862,0.95,173.2,315.9,6.6,362,6886,0.00,2.55,18.80,0.777,4,0.000,0.051,2935,591,2342,0,0,0,0,0,0
$GC,6915,0.95,173.8,312.0,8.0,363,6919,0.00,2.40,0.00,0.000,6,0.000,0.030,2936,2018,2340,0,0,0,0,0,0
$GC,7235,1.04,201.0,289.6,6.1,374,7263,0.00,0.00,25.62,0.771,6,0.000,0.000,2936,2022,2230,0,0,0,0,0,0
$GC,7565,1.11,201.0,264.3,8.8,390,7569,0.00,2.47,0.00,0.000,4,0.000,0.051,2935,605,2225,0,0,0,0,0,0
$GC,7631,1.11,201.0,258.0,9.4,393,7635,0.00,2.38,0.00,0.000,6,0.000,0.029,2935,2017,2222,0,0,0,0,0,0
$GC,7962,1.23,221.4,233.4,6.6,409,7988,0.20,2.58,18.20,0.714,4,0.060,0.050,2986,606,2147,0,0,0,0,0,0
$GC,8189,1.16,221.4,210.9,11.3,418,8195,0.00,2.35,0.00,0.000,6,0.000,0.028,2986,2012,2142,0,0,0,0,0,0
$GC,8512,1.16,221.4,180.0,8.1,444,8516,0.00,2.47,0.00,0.000,4,0.000,0.048,2986,601,2142,0,0,0,0,0,0
$GC,8587,1.11,221.4,173.3,8.9,451,8593,0.15,2.33,0.00,0.000,6,0.112,0.026,2959,2015,2139,0,0,0,0,0,0
$GC,8852,1.19,223.3,155.4,7.9,476,8856,0.00,2.45,0.00,0.000,4,0.000,0.046,2959,605,2139,0,0,0,0,0,0
$GC,8917,1.19,223.3,149.1,10.1,482,8923,0.00,2.33,0.00,0.000,6,0.000,0.025,2959,2021,2138,0,0,0,0,0,0
$GC,9179,1.26,224.1,127.6,8.0,507,9184,0.12,2.47,0.00,0.000,4,0.070,0.044,2994,604,2138,0,0,0,0,0,0
$GC,9252,1.20,225.9,121.6,7.9,514,9262,0.00,2.33,4.22,0.431,6,0.000,0.024,2994,2025,2128,0,0,0,0,0,0
$GC,9517,1.27,256.1,104.0,6.0,539,9552,0.00,2.53,28.02,0.605,4,0.000,0.044,2994,602,2005,0,0,0,0,0,0
$GC,9695,1.28,270.2,90.6,7.0,558,9717,0.00,2.30,13.25,0.556,6,0.000,0.022,2994,2012,1948,0,0,0,0,0,0
$GC,9972,1.38,273.2,70.3,7.8,585,9982,0.00,2.47,3.88,0.369,4,0.000,0.044,2994,598,1935,0,0,0,0,0,0
$GC,10021,1.38,273.2,66.3,8.2,590,10025,0.00,2.28,0.00,0.000,6,0.000,0.021,2994,2011,1934,0,0,0,0,0,0
$GC,10284,1.49,292.1,47.7,6.7,614,10311,0.20,2.50,17.60,0.532,4,0.049,0.040,3052,599,1859,0,0,0,0,0,0
$GC,10456,1.39,292.1,29.0,12.1,633,10462,0.17,2.28,0.00,0.000,6,0.096,0.021,3018,2015,1856,0,0,0,0,0,0
$GC,10664,1.39,292.1,8.7,8.5,670,10670,0.00,2.45,0.00,0.000,4,0.000,0.044,3017,602,1856,0,0,0,0,0,0
$STATE,10711,end climb,SURFACE_DEPTH_REACHED
$STATE,10711,begin surface coast
$FINISH,0.5,1.023408
$STATE,10735,end surface coast,CONTROL_FINISHED_OK
$STATE,10735,begin surface
$SM_CCo,10758,4.35,0.357,0,0,1826,300.00
$SM_GC,2.38,0.00,0.00,4.35,0.000,0.000,0.357,416,1907,1826,-10.58,0.90,300.00
$IRIDIUM_FIX,2057.14,-15741.46,140999,030345
$TT8_MAMPS,0.029146
$HUMID,51.41
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.3,50.012
$10V_AH,10.0,45.813
$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,28.750,138.350,321.975,4.350,0.000,31.232,31.820,186.596,4.500,0.000,32.188,1327.775,7293.402,408.885,1621.663,496.237,33.382,1298.645,0.000,1566.527,0.000,29.250,0.000
$DEVICE_MAMPS,131.157,52.156,869.778,357.422,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.936,455.183,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34975,685
$CAP_FILE_SIZE,129250,0
$CFSIZE,260165632,225583104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200610,092921,2105.805,-15744.460,67,1.6,67,9.8