version: 66.06
glider: 139
mission: 7
dive: 684
start: 7 6 110 8 54 3
data:
$ID,139
$MISSION,7
$DIVE,684
$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,-2146525.5
$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
$GPS1,084656,2105.028,-15744.505,100,4.3,119,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-69.3
$GPS2,085310,2105.034,-15744.503,13,4.8,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.131,0.128
$KALMAN_X,-375787.9,-51.4,-213.5,394071.1,-1099.0
$KALMAN_Y,15003.2,61.9,-120.3,-18414.5,-1243.9
$MHEAD_RNG_PITCHd_Wd,35.8,3096,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,67,0.00,0.00,-50.28,0.000,2,0.000,0.000,420,1860,3112,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.1,-5.1,10,90,10.57,0.00,-5.50,0.000,6,0.132,0.000,2405,1861,3369,0,0,0,0,0,0
$GC,290,-1.23,-77.9,40.4,-15.0,44,292,0.20,0.00,0.00,0.000,6,0.098,0.000,2445,1861,3372,0,0,0,0,0,0
$GC,546,-1.17,-77.9,70.0,-11.4,68,550,0.00,2.35,0.00,0.000,4,0.000,0.041,2444,468,3373,0,0,0,0,0,0
$GC,609,-1.10,-77.9,77.7,-12.4,74,614,0.15,2.33,0.00,0.000,6,0.096,0.019,2476,1913,3373,0,0,0,0,0,0
$GC,870,-1.17,-77.9,102.3,-8.9,98,875,0.00,2.47,0.00,0.000,4,0.000,0.041,2475,459,3374,0,0,0,0,0,0
$GC,895,-1.23,-77.9,104.4,-9.0,100,900,0.12,2.28,0.00,0.000,6,0.063,0.019,2431,1882,3374,0,0,0,0,0,0
$GC,1161,-1.23,-77.9,130.4,-10.0,125,1165,0.00,2.42,0.00,0.000,4,0.000,0.041,2430,463,3374,0,0,0,0,0,0
$GC,1222,-1.18,-77.9,136.8,-10.9,131,1228,0.12,2.28,0.00,0.000,6,0.097,0.018,2457,1888,3374,0,0,0,0,0,0
$GC,1484,-1.26,-77.9,156.3,-6.5,156,1488,0.00,2.42,0.00,0.000,4,0.000,0.041,2457,468,3375,0,0,0,0,0,0
$GC,1531,-1.32,-77.9,159.8,-7.7,160,1538,0.15,2.25,0.00,0.000,6,0.054,0.019,2406,1888,3375,0,0,0,0,0,0
$GC,1792,-1.32,-77.9,182.8,-9.1,185,1797,0.00,2.40,0.00,0.000,4,0.000,0.041,2406,468,3376,0,0,0,0,0,0
$GC,1826,-1.26,-77.9,186.4,-11.3,188,1831,0.15,2.22,0.00,0.000,6,0.091,0.019,2438,1877,3376,0,0,0,0,0,0
$GC,2097,-1.33,-77.9,209.1,-8.6,208,2101,0.00,2.38,0.00,0.000,4,0.000,0.041,2438,467,3376,0,0,0,0,0,0
$GC,2130,-1.33,-77.9,212.4,-9.6,209,2134,0.00,2.22,0.00,0.000,6,0.000,0.020,2438,1879,3376,0,0,0,0,0,0
$GC,2446,-1.41,-77.9,235.9,-6.2,224,2451,0.15,2.40,0.00,0.000,4,0.054,0.042,2389,468,3376,0,0,0,0,0,0
$GC,2495,-1.33,-77.9,240.1,-9.6,226,2500,0.17,2.22,0.00,0.000,6,0.088,0.020,2425,1874,3376,0,0,0,0,0,0
$GC,2823,-1.39,-77.9,265.2,-8.0,242,2827,0.00,2.40,0.00,0.000,4,0.000,0.044,2425,465,3376,0,0,0,0,0,0
$GC,2884,-1.39,-77.9,271.0,-9.1,244,2888,0.00,2.22,0.00,0.000,6,0.000,0.021,2425,1877,3376,0,0,0,0,0,0
$GC,3200,-1.46,-77.9,298.2,-9.2,259,3204,0.12,2.42,0.00,0.000,4,0.061,0.044,2382,459,3375,0,0,0,0,0,0
$GC,3340,-1.42,-77.9,312.8,-9.3,263,3345,0.10,2.28,0.00,0.000,6,0.110,0.021,2402,1876,3375,0,0,0,0,0,0
$GC,3666,-1.46,-77.9,335.6,-6.7,271,3670,0.00,2.42,0.00,0.000,4,0.000,0.045,2402,465,3375,0,0,0,0,0,0
$GC,3726,-1.46,-77.9,340.8,-8.5,272,3731,0.00,2.28,0.00,0.000,6,0.000,0.022,2402,1873,3374,0,0,0,0,0,0
$GC,4040,-1.49,-77.9,368.5,-9.1,280,4044,0.00,2.42,0.00,0.000,4,0.000,0.046,2402,467,3374,0,0,0,0,0,0
$GC,4119,-1.49,-77.9,375.9,-9.4,281,4123,0.00,2.28,0.00,0.000,6,0.000,0.023,2402,1873,3373,0,0,0,0,0,0
$GC,4451,-1.54,-77.9,397.6,-5.9,289,4456,0.12,2.42,0.00,0.000,4,0.064,0.048,2362,469,3371,0,0,0,0,0,0
$GC,4504,-1.46,-77.9,401.6,-7.8,290,4509,0.15,2.28,0.00,0.000,6,0.094,0.025,2393,1880,3371,0,0,0,0,0,0
$GC,4828,-1.49,-77.9,422.1,-6.5,298,4832,0.00,2.42,0.00,0.000,4,0.000,0.048,2392,469,3368,0,0,0,0,0,0
$GC,4871,-1.49,-77.9,425.6,-7.8,299,4875,0.00,2.30,0.00,0.000,6,0.000,0.025,2393,1877,3368,0,0,0,0,0,0
$GC,5200,-1.54,-77.9,445.4,-5.8,307,5204,0.00,2.45,0.00,0.000,4,0.000,0.050,2392,470,3366,0,0,0,0,0,0
$STATE,5267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5267,begin apogee
$GC,5276,-0.31,0.0,450.2,6.5,308,5344,1.15,0.00,64.25,0.860,6,0.074,0.000,2642,2007,3050,0,0,0,0,0,0
$STATE,5345,end apogee,CONTROL_FINISHED_OK
$STATE,5345,begin climb
$GC,5348,1.40,77.9,450.8,0.0,310,5423,1.62,2.47,64.68,0.838,4,0.029,0.037,3003,3405,2732,0,0,0,0,0,0
$GC,5461,1.22,135.5,450.3,4.1,312,5520,0.25,2.38,49.72,0.826,6,0.107,0.032,2981,2007,2496,0,0,0,0,0,0
$GC,5845,1.11,135.5,418.2,8.4,322,5850,0.12,2.45,0.00,0.000,4,0.120,0.050,2958,606,2488,0,0,0,0,0,0
$GC,5861,0.98,135.6,416.9,8.0,322,5866,0.17,2.35,0.00,0.000,6,0.114,0.027,2928,2021,2487,0,0,0,0,0,0
$GC,6212,1.00,155.9,393.5,6.6,331,6236,0.00,2.55,17.02,0.785,4,0.000,0.050,2927,606,2413,0,0,0,0,0,0
$GC,6270,0.96,155.9,389.1,8.1,332,6274,0.00,2.38,0.00,0.000,6,0.000,0.028,2927,2015,2410,0,0,0,0,0,0
$GC,6584,0.97,165.8,365.8,7.3,340,6600,0.00,2.50,9.43,0.723,4,0.000,0.049,2927,607,2373,0,0,0,0,0,0
$GC,6647,0.97,165.8,360.6,8.4,341,6651,0.00,2.38,0.00,0.000,6,0.000,0.028,2925,2017,2371,0,0,0,0,0,0
$GC,6961,1.05,193.1,341.1,6.1,349,6993,0.00,2.53,25.15,0.791,4,0.000,0.051,2928,608,2261,0,0,0,0,0,0
$GC,7076,1.05,193.1,331.0,9.3,351,7080,0.00,2.35,0.00,0.000,6,0.000,0.029,2927,2018,2255,0,0,0,0,0,0
$GC,7417,1.14,201.3,304.5,7.5,360,7430,0.15,2.55,7.65,0.667,4,0.069,0.051,2964,598,2229,0,0,0,0,0,0
$GC,7491,1.09,201.3,298.6,8.8,361,7495,0.00,2.40,0.00,0.000,6,0.000,0.029,2965,2021,2226,0,0,0,0,0,0
$GC,7816,1.13,230.6,279.2,6.0,377,7849,0.00,2.58,27.45,0.755,4,0.000,0.051,2965,603,2108,0,0,0,0,0,0
$GC,7965,1.13,230.6,268.2,9.0,383,7969,0.00,2.35,0.00,0.000,6,0.000,0.028,2965,2018,2103,0,0,0,0,0,0
$GC,8281,1.17,230.6,241.2,9.3,398,8285,0.00,2.47,0.00,0.000,4,0.000,0.049,2965,603,2102,0,0,0,0,0,0
$GC,8453,1.17,230.6,223.1,8.4,405,8457,0.00,2.35,0.00,0.000,6,0.000,0.027,2964,2020,2099,0,0,0,0,0,0
$GC,8774,1.28,265.1,201.9,5.7,421,8812,0.12,2.58,30.38,0.686,4,0.071,0.048,2998,603,1969,0,0,0,0,0,0
$GC,8914,1.22,265.1,189.9,9.3,433,8920,0.00,2.35,0.00,0.000,6,0.000,0.025,2998,2016,1964,0,0,0,0,0,0
$GC,9177,1.22,265.1,168.0,9.9,458,9181,0.00,2.45,0.00,0.000,4,0.000,0.047,2998,606,1963,0,0,0,0,0,0
$GC,9290,1.18,265.1,154.5,12.6,469,9297,0.15,2.33,0.00,0.000,6,0.107,0.025,2971,2018,1961,0,0,0,0,0,0
$GC,9556,1.28,278.3,129.9,7.1,494,9574,0.00,2.47,12.12,0.578,4,0.000,0.046,2971,606,1914,0,0,0,0,0,0
$GC,9799,1.32,278.3,107.7,9.2,520,9804,0.15,2.33,0.00,0.000,6,0.064,0.023,3013,2019,1910,0,0,0,0,0,0
$GC,10061,1.37,278.3,86.2,8.4,544,10065,0.00,2.45,0.00,0.000,4,0.000,0.044,3013,604,1910,0,0,0,0,0,0
$GC,10183,1.37,278.3,74.7,9.2,556,10189,0.00,2.28,0.00,0.000,6,0.000,0.022,3013,2013,1909,0,0,0,0,0,0
$GC,10447,1.44,282.2,53.5,7.8,581,10457,0.00,2.42,4.45,0.393,4,0.000,0.042,3013,604,1898,0,0,0,0,0,0
$GC,10644,1.44,282.2,35.3,11.2,602,10648,0.00,2.28,0.00,0.000,6,0.000,0.021,3013,2021,1897,0,0,0,0,0,0
$GC,10919,1.49,284.6,12.0,7.9,644,10925,0.10,2.47,0.00,0.000,4,0.075,0.043,3047,594,1897,0,0,0,0,0,0
$STATE,11007,end climb,SURFACE_DEPTH_REACHED
$STATE,11007,begin surface coast
$FINISH,0.5,1.023108
$STATE,11042,end surface coast,CONTROL_FINISHED_OK
$STATE,11042,begin surface
$SM_CCo,11066,15.30,0.488,0,0,1827,300.00
$SM_GC,1.75,0.00,0.00,15.30,0.000,0.000,0.488,426,1880,1827,-10.53,0.14,300.00
$IRIDIUM_FIX,2054.83,-15744.48,300999,050539
$TT8_MAMPS,0.029146
$HUMID,54.52
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.3,61.291
$10V_AH,10.0,52.750
$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,27.550,133.350,312.300,15.300,0.000,25.927,29.546,175.809,4.500,0.000,33.090,1326.067,7571.052,385.834,1657.938,512.076,33.397,1290.727,0.000,1600.675,0.000,29.251,0.000
$DEVICE_MAMPS,131.924,51.389,859.807,487.812,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,451.267,438.494,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,34850,670
$CAP_FILE_SIZE,130286,0
$CFSIZE,260165632,218234880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060710,120101,2105.121,-15744.552,98,2.0,98,9.8