version: 66.06
glider: 139
mission: 7
dive: 662
start: 7 3 110 8 37 43
data:
$ID,139
$MISSION,7
$DIVE,662
$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,-2145756.5
$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
$GPS1,083015,2106.051,-15751.390,95,2.9,114,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-70.9
$GPS2,083652,2106.065,-15751.441,38,3.1,57,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,0.013
$KALMAN_X,-349365.2,151.0,-559.0,355809.1,-524.1
$KALMAN_Y,39056.9,-144.7,-152.3,-40319.4,-195.3
$MHEAD_RNG_PITCHd_Wd,76.1,14735,-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,-77.9,0.0,0.0,0,69,0.00,0.00,-49.92,0.000,2,0.000,0.000,425,1858,3137,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.5,-6.0,10,96,10.52,2.42,-4.70,0.000,4,0.130,0.038,2404,3291,3370,0,0,0,0,0,0
$GC,103,-0.40,-77.9,12.7,-27.7,16,109,1.05,2.40,0.00,0.000,6,0.077,0.026,2624,1862,3371,0,0,0,0,0,0
$GC,313,-0.96,-77.9,29.4,-7.6,53,319,0.50,2.35,0.00,0.000,4,0.044,0.038,2496,472,3372,0,0,0,0,0,0
$GC,363,-0.96,-77.9,35.2,-13.0,59,367,0.00,2.30,0.00,0.000,6,0.000,0.019,2496,1935,3373,0,0,0,0,0,0
$GC,626,-1.01,-77.9,60.6,-9.5,83,630,0.00,2.53,0.00,0.000,4,0.000,0.041,2496,465,3373,0,0,0,0,0,0
$GC,645,-1.01,-77.9,62.7,-9.8,84,651,0.00,2.33,0.00,0.000,6,0.000,0.018,2496,1919,3374,0,0,0,0,0,0
$GC,908,-1.09,-77.9,87.7,-9.2,109,912,0.00,2.47,0.00,0.000,4,0.000,0.041,2495,470,3374,0,0,0,0,0,0
$GC,937,-1.18,-77.9,90.7,-10.3,111,943,0.17,2.22,0.00,0.000,6,0.049,0.018,2439,1882,3375,0,0,0,0,0,0
$GC,1197,-1.18,-77.9,116.9,-9.5,136,1201,0.00,2.40,0.00,0.000,4,0.000,0.041,2439,466,3375,0,0,0,0,0,0
$GC,1290,-1.18,-77.9,126.1,-9.0,145,1296,0.00,2.22,0.00,0.000,6,0.000,0.018,2438,1880,3375,0,0,0,0,0,0
$GC,1554,-1.22,-77.9,150.1,-9.1,170,1559,0.00,2.40,0.00,0.000,4,0.000,0.041,2438,463,3376,0,0,0,0,0,0
$GC,1615,-1.22,-77.9,155.8,-8.7,176,1619,0.00,2.22,0.00,0.000,6,0.000,0.019,2439,1875,3376,0,0,0,0,0,0
$GC,1878,-1.28,-77.9,177.4,-9.0,200,1883,0.00,2.38,0.00,0.000,4,0.000,0.041,2439,469,3377,0,0,0,0,0,0
$GC,1970,-1.33,-77.9,186.3,-10.0,209,1974,0.00,2.22,0.00,0.000,6,0.000,0.019,2439,1880,3376,0,0,0,0,0,0
$GC,2240,-1.39,-77.9,208.2,-7.8,229,2245,0.12,2.40,0.00,0.000,4,0.061,0.041,2392,472,3377,0,0,0,0,0,0
$GC,2285,-1.35,-77.9,212.7,-10.4,231,2290,0.12,2.22,0.00,0.000,6,0.099,0.020,2418,1877,3377,0,0,0,0,0,0
$GC,2619,-1.39,-77.9,237.6,-6.8,247,2623,0.00,2.38,0.00,0.000,4,0.000,0.042,2418,473,3377,0,0,0,0,0,0
$GC,2654,-1.39,-77.9,240.1,-6.9,248,2658,0.00,2.25,0.00,0.000,6,0.000,0.020,2418,1873,3376,0,0,0,0,0,0
$GC,2971,-1.43,-77.9,261.6,-7.4,263,2975,0.00,2.40,0.00,0.000,4,0.000,0.043,2418,465,3376,0,0,0,0,0,0
$GC,3026,-1.43,-77.9,266.7,-8.5,265,3030,0.00,2.25,0.00,0.000,6,0.000,0.021,2418,1881,3376,0,0,0,0,0,0
$GC,3343,-1.50,-77.9,292.6,-7.5,280,3348,0.15,2.42,0.00,0.000,4,0.056,0.045,2369,469,3376,0,0,0,0,0,0
$GC,3395,-1.43,-77.9,297.4,-8.7,282,3400,0.15,2.25,0.00,0.000,6,0.093,0.021,2401,1881,3376,0,0,0,0,0,0
$GC,3734,-1.47,-77.9,319.3,-6.5,292,3738,0.00,2.40,0.00,0.000,4,0.000,0.045,2401,473,3375,0,0,0,0,0,0
$GC,3794,-1.47,-77.9,324.0,-7.7,293,3798,0.00,2.25,0.00,0.000,6,0.000,0.023,2401,1882,3374,0,0,0,0,0,0
$GC,4144,-1.51,-77.9,350.9,-8.1,302,4149,0.00,2.45,0.00,0.000,4,0.000,0.047,2401,467,3373,0,0,0,0,0,0
$GC,4191,-1.51,-77.9,355.1,-9.1,303,4195,0.00,2.28,0.00,0.000,6,0.000,0.024,2401,1877,3373,0,0,0,0,0,0
$GC,4514,-1.55,-77.9,379.3,-7.7,311,4519,0.12,2.45,0.00,0.000,4,0.065,0.048,2362,473,3371,0,0,0,0,0,0
$GC,4585,-1.46,-77.9,386.5,-10.7,312,4590,0.15,2.28,0.00,0.000,6,0.097,0.025,2393,1878,3370,0,0,0,0,0,0
$GC,4926,-1.46,-77.9,415.6,-8.4,321,4931,0.00,2.42,0.00,0.000,4,0.000,0.048,2393,475,3367,0,0,0,0,0,0
$GC,4987,-1.46,-77.9,421.5,-9.8,322,4991,0.00,2.28,0.00,0.000,6,0.000,0.026,2393,1874,3367,0,0,0,0,0,0
$GC,5337,-1.50,-77.9,449.3,-7.4,331,5341,0.00,2.42,0.00,0.000,4,0.000,0.051,2392,473,3365,0,0,0,0,0,0
$STATE,5344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5344,begin apogee
$GC,5353,-0.31,0.0,450.1,7.2,331,5423,1.15,0.00,64.18,0.862,6,0.074,0.000,2642,2020,3049,0,0,0,0,0,0
$STATE,5424,end apogee,CONTROL_FINISHED_OK
$STATE,5424,begin climb
$GC,5427,1.40,77.9,451.6,0.0,333,5502,1.62,2.45,64.75,0.843,4,0.029,0.039,3025,3398,2731,0,0,0,0,0,0
$GC,5688,1.20,112.0,444.7,5.7,338,5725,0.25,2.38,29.15,0.822,6,0.108,0.033,2980,2003,2593,0,0,0,0,0,0
$GC,6066,1.08,113.3,415.4,7.9,348,6071,0.15,2.47,0.00,0.000,4,0.114,0.050,2952,603,2588,0,0,0,0,0,0
$GC,6086,0.97,119.3,413.8,7.6,348,6099,0.15,2.35,6.90,0.678,6,0.117,0.028,2925,2020,2562,0,0,0,0,0,0
$GC,6435,1.01,158.1,394.0,5.4,357,6477,0.00,2.58,34.20,0.824,4,0.000,0.051,2924,613,2403,0,0,0,0,0,0
$GC,6539,0.98,161.5,386.9,7.8,359,6548,0.00,2.35,3.90,0.502,6,0.000,0.028,2926,2014,2391,0,0,0,0,0,0
$GC,6894,1.06,196.7,365.5,5.6,368,6935,0.00,2.55,32.28,0.809,4,0.000,0.050,2925,606,2247,0,0,0,0,0,0
$GC,7030,1.07,207.8,356.4,7.3,371,7046,0.00,2.35,10.82,0.726,6,0.000,0.028,2926,2017,2201,0,0,0,0,0,0
$GC,7362,1.14,207.8,327.9,9.8,379,7367,0.17,2.50,0.00,0.000,4,0.064,0.051,2967,609,2197,0,0,0,0,0,0
$GC,7483,1.06,207.8,313.6,11.3,381,7488,0.12,2.33,0.00,0.000,6,0.123,0.029,2947,2008,2194,0,0,0,0,0,0
$GC,7803,1.11,207.8,285.6,9.5,393,7807,0.00,2.45,0.00,0.000,4,0.000,0.050,2944,607,2194,0,0,0,0,0,0
$GC,7882,1.11,207.8,277.4,10.1,396,7886,0.00,2.35,0.00,0.000,6,0.000,0.028,2947,2015,2192,0,0,0,0,0,0
$GC,8198,1.21,226.3,254.6,6.8,411,8221,0.15,2.50,16.38,0.719,4,0.069,0.048,2984,609,2126,0,0,0,0,0,0
$GC,8338,1.14,226.3,242.3,9.5,417,8343,0.12,2.35,0.00,0.000,6,0.117,0.028,2963,2017,2122,0,0,0,0,0,0
$GC,8671,1.21,239.1,216.6,7.1,433,8688,0.00,2.50,11.90,0.667,4,0.000,0.050,2962,609,2075,0,0,0,0,0,0
$GC,8920,1.21,239.1,194.5,9.2,446,8926,0.00,2.35,0.00,0.000,6,0.000,0.027,2964,2016,2071,0,0,0,0,0,0
$GC,9183,1.29,239.1,173.8,8.1,471,9188,0.15,2.47,0.00,0.000,4,0.064,0.047,3003,607,2071,0,0,0,0,0,0
$GC,9294,1.20,239.1,162.6,10.2,482,9299,0.15,2.35,0.00,0.000,6,0.106,0.025,2975,2025,2069,0,0,0,0,0,0
$GC,9556,1.27,248.8,143.9,7.4,506,9574,0.00,2.50,9.60,0.578,4,0.000,0.044,2975,606,2034,0,0,0,0,0,0
$GC,9839,1.27,248.8,118.9,8.9,536,9844,0.00,2.33,0.00,0.000,6,0.000,0.023,2975,2022,2031,0,0,0,0,0,0
$GC,10102,1.38,261.2,99.2,7.2,561,10121,0.17,2.47,12.23,0.558,4,0.055,0.041,3024,602,1985,0,0,0,0,0,0
$GC,10347,1.40,273.5,77.2,7.2,587,10365,0.00,2.30,12.07,0.535,6,0.000,0.021,3024,2018,1934,0,0,0,0,0,0
$GC,10621,1.44,273.5,57.8,8.4,613,10625,0.00,2.45,0.00,0.000,4,0.000,0.042,3024,597,1933,0,0,0,0,0,0
$GC,10753,1.41,273.5,45.4,10.2,626,10758,0.00,2.28,0.00,0.000,6,0.000,0.021,3024,2013,1931,0,0,0,0,0,0
$GC,11018,1.41,273.5,22.7,8.3,659,11024,0.00,2.42,0.00,0.000,4,0.000,0.040,3024,599,1931,0,0,0,0,0,0
$GC,11169,1.36,273.5,7.2,8.9,691,11175,0.00,2.28,0.00,0.000,6,0.000,0.020,3024,2008,1931,0,0,0,0,0,0
$STATE,11218,end climb,SURFACE_DEPTH_REACHED
$STATE,11218,begin surface coast
$FINISH,0.8,1.023169
$STATE,11248,end surface coast,CONTROL_FINISHED_OK
$STATE,11248,begin surface
$SM_CCo,11269,21.38,0.497,0,0,1826,300.00
$SM_GC,1.02,0.00,0.00,21.38,0.000,0.000,0.497,422,1861,1826,-10.54,-0.40,300.00
$IRIDIUM_FIX,2057.14,-15756.04,270999,050508
$TT8_MAMPS,0.029146
$HUMID,53.38
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,22.90
$XPDR_PINGS,1
$24V_AH,23.3,59.242
$10V_AH,10.0,51.457
$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,28.500,138.150,308.350,21.375,0.000,31.103,29.819,168.992,4.750,0.000,58.972,1385.307,7613.891,398.835,1787.845,499.656,33.379,1347.625,0.000,1695.852,0.000,29.253,0.000
$DEVICE_MAMPS,130.390,52.156,862.108,497.016,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,474.010,459.855,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,37973,705
$CAP_FILE_SIZE,135465,0
$CFSIZE,260165632,219582464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030710,114757,2105.943,-15750.786,64,5.9,83,9.8