version: 66.06
glider: 139
mission: 7
dive: 681
start: 7 5 110 22 51 54
data:
$ID,139
$MISSION,7
$DIVE,681
$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,-2146451.8
$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
$GPS1,223736,2104.457,-15745.952,145,1.5,150,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-71.4
$GPS2,225102,2104.446,-15745.922,16,1.5,16,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.146,0.112
$KALMAN_X,-373566.9,253.9,-295.0,389172.9,-474.0
$KALMAN_Y,17732.1,103.9,-207.7,-22194.4,-683.4
$MHEAD_RNG_PITCHd_Wd,42.8,5776,-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,-77.9,0.0,0.0,0,68,0.00,0.00,-50.38,0.000,2,0.000,0.000,424,1897,3154,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.4,-5.9,10,95,10.55,2.50,-4.30,0.000,4,0.130,0.053,2405,468,3370,0,0,0,0,0,0
$GC,107,-0.58,-77.9,13.5,-25.5,17,113,0.88,2.30,0.00,0.000,6,0.084,0.019,2586,1912,3370,0,0,0,0,0,0
$GC,316,-0.85,-77.9,27.6,-6.1,54,322,0.25,2.50,0.00,0.000,4,0.041,0.039,2504,465,3371,0,0,0,0,0,0
$GC,386,-0.93,-77.9,33.9,-10.3,64,390,0.00,2.25,0.00,0.000,6,0.000,0.019,2505,1884,3372,0,0,0,0,0,0
$GC,648,-1.01,-77.9,59.1,-10.1,88,653,0.00,2.42,0.00,0.000,4,0.000,0.042,2505,465,3372,0,0,0,0,0,0
$GC,701,-1.11,-77.9,64.5,-10.0,93,706,0.15,2.25,0.00,0.000,6,0.055,0.019,2455,1882,3373,0,0,0,0,0,0
$GC,964,-1.11,-77.9,94.1,-11.1,117,968,0.00,2.42,0.00,0.000,4,0.000,0.041,2455,468,3373,0,0,0,0,0,0
$GC,1016,-1.11,-77.9,99.6,-10.1,122,1021,0.00,2.22,0.00,0.000,6,0.000,0.018,2454,1876,3374,0,0,0,0,0,0
$GC,1283,-1.16,-77.9,122.3,-7.8,147,1287,0.00,2.40,0.00,0.000,4,0.000,0.041,2454,461,3374,0,0,0,0,0,0
$GC,1337,-1.20,-77.9,126.7,-7.8,152,1341,0.00,2.25,0.00,0.000,6,0.000,0.019,2454,1875,3374,0,0,0,0,0,0
$GC,1600,-1.28,-77.9,146.5,-7.1,176,1604,0.00,2.40,0.00,0.000,4,0.000,0.041,2454,467,3375,0,0,0,0,0,0
$GC,1684,-1.36,-77.9,153.3,-7.7,184,1690,0.17,2.22,0.00,0.000,6,0.048,0.018,2397,1878,3375,0,0,0,0,0,0
$GC,1945,-1.32,-77.9,177.9,-10.1,209,1950,0.12,2.40,0.00,0.000,4,0.096,0.042,2423,468,3375,0,0,0,0,0,0
$GC,1983,-1.32,-77.9,182.0,-10.3,212,1989,0.00,2.22,0.00,0.000,6,0.000,0.019,2423,1877,3375,0,0,0,0,0,0
$GC,2244,-1.36,-77.9,205.6,-9.1,234,2249,0.00,2.38,0.00,0.000,4,0.000,0.042,2423,469,3375,0,0,0,0,0,0
$GC,2311,-1.36,-77.9,211.6,-8.5,237,2315,0.00,2.22,0.00,0.000,6,0.000,0.020,2423,1871,3375,0,0,0,0,0,0
$GC,2643,-1.41,-77.9,240.5,-8.3,253,2647,0.00,2.40,0.00,0.000,4,0.000,0.042,2423,465,3375,0,0,0,0,0,0
$GC,2717,-1.41,-77.9,247.5,-9.4,256,2721,0.00,2.25,0.00,0.000,6,0.000,0.020,2423,1876,3375,0,0,0,0,0,0
$GC,3040,-1.48,-77.9,271.5,-7.2,272,3045,0.15,2.40,0.00,0.000,4,0.056,0.044,2375,469,3375,0,0,0,0,0,0
$GC,3069,-1.38,-77.9,274.2,-9.0,273,3074,0.17,2.25,0.00,0.000,6,0.088,0.021,2411,1874,3375,0,0,0,0,0,0
$GC,3393,-1.43,-77.9,296.2,-7.3,289,3397,0.00,2.40,0.00,0.000,4,0.000,0.044,2411,463,3374,0,0,0,0,0,0
$GC,3457,-1.43,-77.9,302.4,-9.7,291,3461,0.00,2.28,0.00,0.000,6,0.000,0.021,2412,1876,3374,0,0,0,0,0,0
$GC,3803,-1.49,-77.9,332.6,-8.6,300,3807,0.00,2.40,0.00,0.000,4,0.000,0.045,2411,469,3373,0,0,0,0,0,0
$GC,3859,-1.52,-77.9,337.9,-9.2,301,3864,0.12,2.28,0.00,0.000,6,0.063,0.022,2369,1883,3373,0,0,0,0,0,0
$GC,4174,-1.52,-77.9,366.3,-8.4,309,4178,0.00,2.42,0.00,0.000,4,0.000,0.046,2369,465,3372,0,0,0,0,0,0
$GC,4202,-1.45,-77.9,369.0,-9.4,309,4207,0.12,2.30,0.00,0.000,6,0.097,0.024,2395,1880,3371,0,0,0,0,0,0
$GC,4539,-1.49,-77.9,394.2,-7.4,318,4544,0.00,2.42,0.00,0.000,4,0.000,0.048,2394,467,3369,0,0,0,0,0,0
$GC,4591,-1.49,-77.9,398.7,-8.6,319,4595,0.00,2.30,0.00,0.000,6,0.000,0.025,2395,1876,3369,0,0,0,0,0,0
$GC,4909,-1.53,-77.9,423.8,-7.8,327,4913,0.00,2.33,0.00,0.000,4,0.000,0.033,2393,3271,3366,0,0,0,0,0,0
$GC,4929,-1.60,-77.9,425.4,-7.9,327,4934,0.12,2.38,0.00,0.000,6,0.067,0.034,2356,1868,3366,0,0,0,0,0,0
$STATE,5195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5195,begin apogee
$GC,5202,-0.31,0.0,450.3,9.3,334,5270,1.35,0.00,64.32,0.851,6,0.074,0.000,2644,2025,3050,0,0,0,0,0,0
$STATE,5271,end apogee,CONTROL_FINISHED_OK
$STATE,5271,begin climb
$GC,5273,1.40,77.9,451.4,0.0,335,5349,1.60,2.40,64.70,0.831,4,0.028,0.038,3026,3374,2731,0,0,0,0,0,0
$GC,5593,1.22,125.6,444.2,4.7,342,5641,0.22,2.35,40.62,0.828,6,0.111,0.034,2985,2008,2537,0,0,0,0,0,0
$GC,5964,1.11,135.7,419.4,7.3,351,5981,0.15,2.38,9.12,0.724,4,0.118,0.036,2956,3380,2496,0,0,0,0,0,0
$GC,6060,1.08,148.0,412.3,7.2,353,6077,0.00,2.35,12.15,0.758,6,0.000,0.035,2959,2006,2446,0,0,0,0,0,0
$GC,6388,1.04,157.9,387.7,7.3,361,6405,0.00,2.47,9.43,0.728,4,0.000,0.051,2957,607,2405,0,0,0,0,0,0
$GC,6448,0.94,157.9,382.7,8.8,362,6453,0.20,2.30,0.00,0.000,6,0.111,0.028,2922,1988,2402,0,0,0,0,0,0
$GC,6763,1.00,167.4,360.4,7.4,370,6779,0.00,2.47,9.35,0.723,4,0.000,0.050,2922,604,2366,0,0,0,0,0,0
$GC,6817,1.00,167.4,355.6,8.7,371,6821,0.00,2.35,0.00,0.000,6,0.000,0.028,2922,2016,2363,0,0,0,0,0,0
$GC,7136,1.10,198.1,333.7,5.9,379,7172,0.15,2.55,28.05,0.791,4,0.069,0.050,2958,601,2240,0,0,0,0,0,0
$GC,7185,1.08,223.9,330.6,6.2,380,7214,0.00,2.40,24.08,0.769,6,0.000,0.029,2959,2020,2137,0,0,0,0,0,0
$GC,7547,1.08,223.9,299.7,9.2,389,7551,0.00,2.50,0.00,0.000,4,0.000,0.051,2959,604,2130,0,0,0,0,0,0
$GC,7703,1.08,223.9,283.4,10.5,395,7708,0.00,2.35,0.00,0.000,6,0.000,0.028,2959,2009,2127,0,0,0,0,0,0
$GC,8018,1.13,223.9,256.3,8.0,411,8023,0.00,2.47,0.00,0.000,4,0.000,0.051,2959,604,2127,0,0,0,0,0,0
$GC,8066,1.13,223.9,252.0,9.8,413,8070,0.00,2.33,0.00,0.000,6,0.000,0.028,2959,2010,2124,0,0,0,0,0,0
$GC,8391,1.19,223.9,225.3,8.7,429,8395,0.00,2.47,0.00,0.000,4,0.000,0.049,2958,600,2124,0,0,0,0,0,0
$GC,8446,1.19,223.9,220.5,8.3,431,8451,0.00,2.33,0.00,0.000,6,0.000,0.028,2959,2010,2123,0,0,0,0,0,0
$GC,8764,1.29,251.6,198.4,6.1,447,8793,0.15,2.50,23.38,0.684,4,0.066,0.048,2998,604,2024,0,0,0,0,0,0
$GC,9007,1.22,251.6,174.6,10.7,473,9013,0.00,2.35,0.00,0.000,6,0.000,0.025,2998,2015,2018,0,0,0,0,0,0
$GC,9270,1.22,251.6,153.9,8.2,498,9274,0.00,2.45,0.00,0.000,4,0.000,0.047,2997,606,2018,0,0,0,0,0,0
$GC,9425,1.17,251.6,140.2,10.2,514,9430,0.15,2.30,0.00,0.000,6,0.107,0.025,2970,2014,2016,0,0,0,0,0,0
$GC,9686,1.26,255.9,119.3,7.7,538,9696,0.00,2.47,4.30,0.424,4,0.000,0.044,2970,602,2005,0,0,0,0,0,0
$GC,9850,1.33,272.8,107.0,6.9,555,9873,0.15,2.33,16.70,0.581,6,0.064,0.024,3011,2023,1936,0,0,0,0,0,0
$GC,10128,1.36,277.8,84.6,7.7,582,10140,0.00,2.53,5.68,0.456,4,0.000,0.044,3011,603,1917,0,0,0,0,0,0
$GC,10332,1.36,277.8,67.0,9.2,604,10336,0.00,2.28,0.00,0.000,6,0.000,0.022,3011,2007,1914,0,0,0,0,0,0
$GC,10595,1.46,303.1,47.8,6.3,628,10624,0.00,2.50,23.17,0.538,4,0.000,0.044,3011,606,1814,0,0,0,0,0,0
$GC,10709,1.46,303.1,39.2,8.4,640,10715,0.00,2.30,0.00,0.000,6,0.000,0.021,3011,2014,1810,0,0,0,0,0,0
$GC,10978,1.53,303.1,17.1,8.7,678,10984,0.15,2.45,0.00,0.000,4,0.058,0.041,3057,601,1810,0,0,0,0,0,0
$STATE,11108,end climb,SURFACE_DEPTH_REACHED
$STATE,11108,begin surface coast
$FINISH,0.6,1.023171
$STATE,11132,end surface coast,CONTROL_FINISHED_OK
$STATE,11132,begin surface
$SM_CCo,11216,0.00,0.000,0,0,1805,305.40
$SM_GC,1.50,11.30,0.00,0.00,0.025,0.000,0.000,419,1877,1805,-10.46,0.06,305.40
$IRIDIUM_FIX,2054.83,-15746.61,290999,222234
$TT8_MAMPS,0.029146
$HUMID,54.84
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.3,61.008
$10V_AH,10.0,52.570
$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,28.400,137.400,335.050,0.000,0.000,73.940,90.865,370.130,4.500,0.000,16.196,1380.649,7707.224,395.813,1696.920,835.787,33.378,1326.594,0.000,1650.898,0.000,29.261,0.000
$DEVICE_MAMPS,130.390,52.923,850.603,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,478.142,468.205,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,38018,711
$CAP_FILE_SIZE,140577,0
$CFSIZE,260165632,218411008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060710,020106,2104.879,-15745.078,101,1.6,101,9.8