version: 66.06
glider: 139
mission: 7
dive: 682
start: 7 6 110 2 16 13
data:
$ID,139
$MISSION,7
$DIVE,682
$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,-2146468.2
$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
$GPS1,020106,2104.879,-15745.078,101,1.6,101,9.8
$_CALLS,3
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.4
$GPS2,021521,2104.828,-15744.992,14,2.0,15,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.148,0.109
$KALMAN_X,-374180.5,402.4,128.7,390818.2,-653.4
$KALMAN_Y,16811.7,235.0,37.6,-20939.6,-715.4
$MHEAD_RNG_PITCHd_Wd,43.7,4021,-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,15,begin dive
$GC,17,-1.40,-77.9,0.0,0.0,0,74,0.00,0.00,-54.65,0.000,2,0.000,0.000,419,1878,3263,0,0,0,0,0,0
$GC,78,-1.40,-77.9,4.0,-7.7,11,97,10.62,2.40,-2.05,0.000,4,0.133,0.041,2404,3300,3370,0,0,0,0,0,0
$GC,113,-0.58,-77.9,15.3,-28.4,18,120,0.88,2.42,0.00,0.000,6,0.075,0.031,2588,1871,3370,0,0,0,0,0,0
$GC,324,-0.88,-77.9,29.1,-6.0,55,330,0.28,2.38,0.00,0.000,4,0.041,0.039,2501,471,3371,0,0,0,0,0,0
$GC,402,-0.95,-77.9,36.4,-10.6,64,406,0.00,2.33,0.00,0.000,6,0.000,0.019,2501,1916,3372,0,0,0,0,0,0
$GC,665,-1.03,-77.9,60.5,-9.3,88,669,0.00,2.47,0.00,0.000,4,0.000,0.041,2501,462,3372,0,0,0,0,0,0
$GC,708,-1.08,-77.9,65.0,-10.2,92,713,0.10,2.28,0.00,0.000,6,0.072,0.019,2463,1884,3373,0,0,0,0,0,0
$GC,972,-1.11,-77.9,92.7,-9.8,116,976,0.00,2.42,0.00,0.000,4,0.000,0.041,2462,469,3373,0,0,0,0,0,0
$GC,1046,-1.11,-77.9,100.3,-9.6,123,1051,0.00,2.25,0.00,0.000,6,0.000,0.018,2463,1882,3373,0,0,0,0,0,0
$GC,1310,-1.21,-77.9,122.2,-7.9,148,1314,0.00,2.40,0.00,0.000,4,0.000,0.041,2463,465,3374,0,0,0,0,0,0
$GC,1371,-1.26,-77.9,127.8,-8.9,154,1376,0.10,2.22,0.00,0.000,6,0.071,0.018,2422,1881,3375,0,0,0,0,0,0
$GC,1633,-1.26,-77.9,150.7,-9.0,178,1637,0.00,2.42,0.00,0.000,4,0.000,0.041,2422,462,3374,0,0,0,0,0,0
$GC,1716,-1.26,-77.9,159.2,-10.4,186,1721,0.00,2.22,0.00,0.000,6,0.000,0.018,2422,1878,3375,0,0,0,0,0,0
$GC,1978,-1.26,-77.9,182.0,-8.3,211,1983,0.00,2.38,0.00,0.000,4,0.000,0.041,2422,470,3375,0,0,0,0,0,0
$GC,2025,-1.26,-77.9,186.2,-8.8,215,2031,0.00,2.22,0.00,0.000,6,0.000,0.019,2422,1872,3375,0,0,0,0,0,0
$GC,2287,-1.30,-77.9,204.1,-6.3,237,2291,0.00,2.38,0.00,0.000,4,0.000,0.041,2422,467,3375,0,0,0,0,0,0
$GC,2325,-1.30,-77.9,206.9,-7.3,238,2331,0.00,2.25,0.00,0.000,6,0.000,0.020,2422,1878,3375,0,0,0,0,0,0
$GC,2641,-1.34,-77.9,230.8,-8.0,254,2645,0.00,2.38,0.00,0.000,4,0.000,0.041,2422,470,3375,0,0,0,0,0,0
$GC,2669,-1.34,-77.9,233.3,-9.0,255,2673,0.00,2.25,0.00,0.000,6,0.000,0.020,2423,1881,3375,0,0,0,0,0,0
$GC,2992,-1.39,-77.9,256.3,-6.8,271,2996,0.00,2.42,0.00,0.000,4,0.000,0.043,2422,466,3375,0,0,0,0,0,0
$GC,3075,-1.39,-77.9,263.8,-8.6,274,3080,0.00,2.28,0.00,0.000,6,0.000,0.021,2422,1884,3375,0,0,0,0,0,0
$GC,3392,-1.46,-77.9,285.5,-6.1,290,3396,0.12,2.42,0.00,0.000,4,0.063,0.044,2380,470,3374,0,0,0,0,0,0
$GC,3444,-1.39,-77.9,289.8,-8.5,292,3449,0.15,2.28,0.00,0.000,6,0.093,0.021,2411,1880,3373,0,0,0,0,0,0
$GC,3786,-1.44,-77.9,313.1,-7.3,305,3790,0.00,2.40,0.00,0.000,4,0.000,0.044,2411,470,3373,0,0,0,0,0,0
$GC,3814,-1.44,-77.9,315.6,-8.6,305,3818,0.00,2.25,0.00,0.000,6,0.000,0.022,2411,1878,3373,0,0,0,0,0,0
$GC,4150,-1.51,-77.9,339.3,-7.1,314,4155,0.12,2.45,0.00,0.000,4,0.063,0.046,2371,470,3371,0,0,0,0,0,0
$GC,4255,-1.45,-77.9,347.8,-8.0,316,4260,0.12,2.25,0.00,0.000,6,0.097,0.023,2397,1870,3371,0,0,0,0,0,0
$GC,4573,-1.49,-77.9,368.9,-7.0,324,4577,0.00,2.42,0.00,0.000,4,0.000,0.048,2396,470,3368,0,0,0,0,0,0
$GC,4637,-1.49,-77.9,374.8,-8.5,325,4642,0.00,2.28,0.00,0.000,6,0.000,0.024,2396,1875,3368,0,0,0,0,0,0
$GC,4983,-1.53,-77.9,404.2,-9.0,334,4987,0.00,2.45,0.00,0.000,4,0.000,0.049,2396,466,3365,0,0,0,0,0,0
$GC,5080,-1.53,-77.9,414.6,-10.6,336,5085,0.00,2.28,0.00,0.000,6,0.000,0.025,2397,1874,3365,0,0,0,0,0,0
$GC,5399,-1.57,-77.9,444.3,-9.2,344,5404,0.12,2.45,0.00,0.000,4,0.066,0.051,2359,468,3363,0,0,0,0,0,0
$STATE,5448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5448,begin apogee
$GC,5458,-0.31,0.0,450.3,11.7,345,5525,1.30,0.00,63.70,0.856,6,0.075,0.000,2640,2007,3050,0,0,0,0,0,0
$STATE,5526,end apogee,CONTROL_FINISHED_OK
$STATE,5526,begin climb
$GC,5529,1.40,77.9,452.2,0.0,346,5605,1.65,2.47,64.97,0.838,4,0.030,0.038,3021,3399,2732,0,0,0,0,0,0
$GC,5870,1.22,130.2,447.7,4.4,353,5922,0.25,2.38,44.30,0.835,6,0.114,0.033,2982,2003,2519,0,0,0,0,0,0
$GC,6259,1.11,130.2,417.4,8.6,363,6264,0.12,2.47,0.00,0.000,4,0.126,0.051,2959,605,2513,0,0,0,0,0,0
$GC,6280,0.99,130.2,415.6,8.9,363,6285,0.17,2.33,0.00,0.000,6,0.117,0.028,2929,2013,2512,0,0,0,0,0,0
$GC,6625,1.02,150.0,391.8,6.7,372,6649,0.00,2.53,17.10,0.789,4,0.000,0.049,2930,607,2437,0,0,0,0,0,0
$GC,6747,0.98,154.2,382.4,7.7,374,6761,0.00,2.35,4.68,0.570,6,0.000,0.028,2930,2015,2421,0,0,0,0,0,0
$GC,7086,1.01,181.5,360.9,6.1,383,7118,0.00,2.53,25.35,0.798,4,0.000,0.050,2930,603,2309,0,0,0,0,0,0
$GC,7188,1.01,181.5,353.1,8.8,385,7192,0.00,2.35,0.00,0.000,6,0.000,0.028,2930,2008,2304,0,0,0,0,0,0
$GC,7501,1.05,181.5,328.5,8.1,393,7506,0.00,2.45,0.00,0.000,4,0.000,0.050,2930,607,2303,0,0,0,0,0,0
$GC,7557,1.05,181.5,323.4,9.1,394,7561,0.00,2.35,0.00,0.000,6,0.000,0.028,2930,2018,2301,0,0,0,0,0,0
$GC,7872,1.12,187.4,298.4,7.6,402,7885,0.12,2.53,5.30,0.589,4,0.076,0.049,2961,600,2284,0,0,0,0,0,0
$GC,8054,1.09,203.2,283.7,6.9,409,8074,0.00,2.38,15.62,0.729,6,0.000,0.028,2961,2021,2221,0,0,0,0,0,0
$GC,8392,1.11,216.9,260.4,7.1,426,8414,0.00,2.53,13.32,0.704,4,0.000,0.048,2962,606,2164,0,0,0,0,0,0
$GC,8466,1.11,216.9,254.0,9.1,429,8470,0.00,2.35,0.00,0.000,6,0.000,0.028,2962,2008,2161,0,0,0,0,0,0
$GC,8791,1.16,217.8,228.3,8.0,445,8796,0.00,2.47,0.00,0.000,4,0.000,0.049,2962,600,2160,0,0,0,0,0,0
$GC,8904,1.16,217.8,218.1,9.1,450,8909,0.00,2.35,0.00,0.000,6,0.000,0.028,2961,2018,2157,0,0,0,0,0,0
$GC,9228,1.23,232.2,194.6,7.0,469,9249,0.00,2.58,13.93,0.656,4,0.000,0.048,2961,602,2103,0,0,0,0,0,0
$GC,9425,1.23,232.2,176.5,9.3,490,9430,0.00,2.35,0.00,0.000,6,0.000,0.025,2961,2016,2099,0,0,0,0,0,0
$GC,9689,1.35,258.4,157.5,6.2,515,9719,0.20,2.53,24.45,0.646,4,0.055,0.046,3013,602,1995,0,0,0,0,0,0
$GC,9887,1.27,258.4,139.0,10.6,536,9892,0.12,2.35,0.00,0.000,6,0.112,0.025,2991,2020,1990,0,0,0,0,0,0
$GC,10149,1.37,295.9,120.7,5.4,560,10191,0.00,2.50,33.40,0.615,4,0.000,0.044,2991,605,1842,0,0,0,0,0,0
$GC,10390,1.37,295.9,99.5,11.1,586,10395,0.00,2.33,0.00,0.000,6,0.000,0.022,2991,2016,1836,0,0,0,0,0,0
$GC,10654,1.47,301.6,75.3,7.6,611,10667,0.20,2.53,5.47,0.442,4,0.051,0.044,3048,604,1819,0,0,0,0,0,0
$GC,10850,1.40,301.6,54.9,10.5,632,10855,0.15,2.28,0.00,0.000,6,0.100,0.021,3019,2013,1817,0,0,0,0,0,0
$GC,11112,1.46,301.6,28.9,10.0,657,11117,0.00,2.42,0.00,0.000,4,0.000,0.042,3018,603,1817,0,0,0,0,0,0
$GC,11251,1.46,301.6,16.6,10.3,686,11256,0.00,2.30,0.00,0.000,6,0.000,0.021,3018,2018,1817,0,0,0,0,0,0
$STATE,11397,end climb,SURFACE_DEPTH_REACHED
$STATE,11397,begin surface coast
$FINISH,0.6,1.017477
$STATE,11430,end surface coast,CONTROL_FINISHED_OK
$STATE,11430,begin surface
$SM_CCo,11512,0.00,0.000,0,0,1814,303.19
$SM_GC,1.56,11.10,0.00,0.00,0.025,0.000,0.000,425,1861,1814,-10.44,-0.40,303.19
$IRIDIUM_FIX,2059.45,-15745.74,300999,020237
$TT8_MAMPS,0.029146
$HUMID,55.55
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.3,61.112
$10V_AH,10.0,52.634
$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,28.025,138.475,331.600,0.000,0.000,84.283,97.637,400.034,4.500,0.000,15.638,1392.443,7897.133,393.649,1785.514,892.123,33.375,1370.861,0.000,1740.006,0.000,29.261,0.000
$DEVICE_MAMPS,132.691,52.156,855.972,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,482.441,473.879,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,38023,718
$CAP_FILE_SIZE,144043,0
$CFSIZE,260165632,218341376
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060710,053054,2105.201,-15744.470,134,1.2,134,9.8