version: 66.06
glider: 139
mission: 7
dive: 461
start: 6 6 110 22 43 57
data:
$ID,139
$MISSION,7
$DIVE,461
$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,-2138249
$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
$GPS1,223727,2108.673,-15747.729,62,4.3,81,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.6
$GPS2,224306,2108.697,-15747.793,21,1.1,37,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.168,-0.074
$KALMAN_X,-182957.3,-7.5,-466.7,195763.2,-1049.8
$KALMAN_Y,16401.6,107.7,-32.3,-13167.1,299.8
$MHEAD_RNG_PITCHd_Wd,104.0,9973,-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,16,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-53.10,0.000,2,0.000,0.000,427,1892,3209,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.4,-5.0,10,96,10.50,2.50,-3.17,0.000,4,0.130,0.055,2401,469,3371,0,0,0,0,0,0
$GC,121,-0.95,-77.9,17.2,-25.1,19,128,0.50,2.33,0.00,0.000,6,0.091,0.020,2502,1914,3372,0,0,0,0,0,0
$GC,331,-1.01,-77.9,41.7,-10.6,47,335,0.00,2.50,0.00,0.000,4,0.000,0.043,2501,469,3373,0,0,0,0,0,0
$GC,400,-1.05,-77.9,49.4,-11.1,54,404,0.00,2.28,0.00,0.000,6,0.000,0.019,2501,1882,3373,0,0,0,0,0,0
$GC,663,-1.14,-77.9,75.4,-9.2,78,668,0.15,2.45,0.00,0.000,4,0.056,0.044,2450,461,3374,0,0,0,0,0,0
$GC,746,-1.09,-77.9,86.4,-12.6,86,753,0.08,2.30,0.00,0.000,6,0.077,0.019,2471,1882,3374,0,0,0,0,0,0
$GC,1009,-1.19,-77.9,112.4,-9.7,111,1013,0.00,2.42,0.00,0.000,4,0.000,0.042,2469,469,3376,0,0,0,0,0,0
$GC,1070,-1.27,-77.9,119.3,-10.6,117,1075,0.15,2.22,0.00,0.000,6,0.054,0.019,2420,1878,3377,0,0,0,0,0,0
$GC,1332,-1.27,-77.9,148.6,-11.3,141,1336,0.00,2.40,0.00,0.000,4,0.000,0.043,2420,468,3377,0,0,0,0,0,0
$GC,1368,-1.23,-77.9,153.1,-11.9,144,1376,0.08,2.28,0.00,0.000,6,0.072,0.020,2441,1875,3377,0,0,0,0,0,0
$GC,1632,-1.30,-77.9,174.8,-7.8,169,1636,0.00,2.42,0.00,0.000,4,0.000,0.044,2442,464,3377,0,0,0,0,0,0
$GC,1702,-1.30,-77.9,181.0,-7.8,176,1706,0.00,2.28,0.00,0.000,6,0.000,0.020,2442,1882,3378,0,0,0,0,0,0
$GC,1965,-1.38,-77.9,202.5,-9.1,199,1970,0.12,2.45,0.00,0.000,4,0.062,0.044,2397,468,3378,0,0,0,0,0,0
$GC,2039,-1.30,-77.9,211.7,-12.1,202,2044,0.15,2.28,0.00,0.000,6,0.091,0.021,2429,1881,3378,0,0,0,0,0,0
$GC,2363,-1.37,-77.9,240.0,-7.8,218,2367,0.00,2.42,0.00,0.000,4,0.000,0.044,2429,469,3378,0,0,0,0,0,0
$GC,2410,-1.42,-77.9,244.2,-8.6,220,2414,0.12,2.22,0.00,0.000,6,0.062,0.021,2387,1878,3378,0,0,0,0,0,0
$GC,2734,-1.42,-77.9,273.1,-9.6,236,2738,0.00,2.42,0.00,0.000,4,0.000,0.044,2387,466,3378,0,0,0,0,0,0
$GC,2786,-1.38,-77.9,278.7,-11.0,238,2791,0.12,2.25,0.00,0.000,6,0.097,0.022,2413,1872,3377,0,0,0,0,0,0
$GC,3127,-1.44,-77.9,307.0,-8.1,253,3131,0.00,2.40,0.00,0.000,4,0.000,0.047,2414,470,3376,0,0,0,0,0,0
$GC,3219,-1.44,-77.9,315.7,-9.3,255,3223,0.00,2.28,0.00,0.000,6,0.000,0.023,2413,1875,3376,0,0,0,0,0,0
$GC,3543,-1.50,-77.9,342.9,-8.0,263,3548,0.12,2.45,0.00,0.000,4,0.066,0.049,2374,471,3374,0,0,0,0,0,0
$GC,3596,-1.44,-77.9,348.1,-10.2,264,3601,0.12,2.28,0.00,0.000,6,0.098,0.025,2400,1870,3374,0,0,0,0,0,0
$GC,3914,-1.44,-77.9,375.9,-8.9,272,3918,0.00,2.47,0.00,0.000,4,0.000,0.051,2399,464,3373,0,0,0,0,0,0
$GC,3965,-1.44,-77.9,380.9,-10.2,273,3969,0.00,2.30,0.00,0.000,6,0.000,0.026,2399,1881,3372,0,0,0,0,0,0
$GC,4284,-1.48,-77.9,409.4,-8.7,281,4289,0.00,2.47,0.00,0.000,4,0.000,0.051,2400,468,3370,0,0,0,0,0,0
$GC,4335,-1.48,-77.9,414.6,-9.9,282,4339,0.00,2.33,0.00,0.000,6,0.000,0.027,2399,1879,3369,0,0,0,0,0,0
$GC,4654,-1.53,-77.9,441.0,-8.3,290,4658,0.00,2.47,0.00,0.000,4,0.000,0.052,2400,469,3367,0,0,0,0,0,0
$GC,4723,-1.53,-77.9,448.1,-10.3,291,4727,0.00,2.30,0.00,0.000,6,0.000,0.028,2400,1876,3367,0,0,0,0,0,0
$STATE,4776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4776,begin apogee
$GC,4783,-0.31,0.0,453.0,9.2,293,4851,1.15,0.00,65.07,0.874,6,0.073,0.000,2646,2026,3050,0,0,0,0,0,0
$STATE,4852,end apogee,CONTROL_FINISHED_OK
$STATE,4852,begin climb
$GC,4854,1.40,77.9,454.4,0.0,294,4929,1.62,2.45,64.80,0.853,4,0.032,0.041,3026,3388,2732,0,0,0,0,0,0
$GC,5008,1.26,155.3,455.8,2.7,297,5084,0.10,2.38,66.62,0.851,6,0.133,0.034,2995,2007,2416,0,0,0,0,0,0
$GC,5403,1.13,155.3,416.6,10.8,307,5408,0.20,2.47,0.00,0.000,4,0.112,0.050,2972,605,2406,0,0,0,0,0,0
$GC,5446,0.99,155.3,411.6,11.2,308,5451,0.22,2.33,0.00,0.000,6,0.112,0.029,2931,1997,2404,0,0,0,0,0,0
$GC,5774,0.99,155.3,383.2,8.3,316,5778,0.00,2.47,0.00,0.000,4,0.000,0.051,2931,599,2402,0,0,0,0,0,0
$GC,5799,0.96,155.3,381.1,8.3,316,5803,0.00,2.38,0.00,0.000,6,0.000,0.030,2932,2019,2401,0,0,0,0,0,0
$GC,6140,1.00,164.3,356.2,7.4,325,6152,0.00,2.55,6.28,0.656,4,0.000,0.051,2930,614,2379,0,0,0,0,0,0
$GC,6180,1.00,164.3,352.2,10.1,325,6186,0.00,2.38,0.00,0.000,6,0.000,0.030,2932,2020,2378,0,0,0,0,0,0
$GC,6511,1.04,164.3,321.1,9.2,334,6515,0.00,2.50,0.00,0.000,4,0.000,0.051,2931,603,2377,0,0,0,0,0,0
$GC,6589,1.04,164.3,313.8,9.4,335,6593,0.00,2.38,0.00,0.000,6,0.000,0.030,2932,2018,2375,0,0,0,0,0,0
$GC,6905,1.12,179.0,291.1,7.0,345,6928,0.12,2.58,13.73,0.742,4,0.076,0.051,2963,604,2319,0,0,0,0,0,0
$GC,7029,1.05,179.0,279.3,9.6,350,7033,0.00,2.38,0.00,0.000,6,0.000,0.029,2963,2016,2316,0,0,0,0,0,0
$GC,7349,1.08,202.3,257.7,6.4,366,7378,0.00,2.53,21.70,0.742,4,0.000,0.049,2962,607,2223,0,0,0,0,0,0
$GC,7444,1.04,202.3,249.2,9.9,370,7449,0.12,2.38,0.00,0.000,6,0.121,0.028,2941,2016,2220,0,0,0,0,0,0
$GC,7771,1.12,202.3,221.4,9.1,386,7775,0.00,2.47,0.00,0.000,4,0.000,0.049,2941,608,2219,0,0,0,0,0,0
$GC,7872,1.12,202.3,211.5,9.3,390,7876,0.00,2.33,0.00,0.000,6,0.000,0.027,2941,2017,2216,0,0,0,0,0,0
$GC,8193,1.23,221.4,189.9,6.7,412,8216,0.17,2.53,17.10,0.673,4,0.061,0.048,2987,598,2147,0,0,0,0,0,0
$GC,8337,1.16,221.4,176.1,10.3,427,8341,0.00,2.35,0.00,0.000,6,0.000,0.026,2986,2012,2142,0,0,0,0,0,0
$GC,8600,1.16,221.4,152.9,8.1,451,8604,0.00,2.45,0.00,0.000,4,0.000,0.045,2986,605,2142,0,0,0,0,0,0
$GC,8626,1.10,221.4,150.3,10.3,453,8631,0.17,2.33,0.00,0.000,6,0.108,0.025,2954,2022,2141,0,0,0,0,0,0
$GC,8888,1.19,221.4,128.9,8.6,477,8892,0.00,2.47,0.00,0.000,4,0.000,0.045,2953,597,2141,0,0,0,0,0,0
$GC,8933,1.19,221.4,124.3,9.6,481,8938,0.00,2.33,0.00,0.000,6,0.000,0.024,2954,2021,2140,0,0,0,0,0,0
$GC,9196,1.32,242.0,104.1,6.6,506,9225,0.20,2.47,18.90,0.595,4,0.054,0.043,3009,608,2061,0,0,0,0,0,0
$GC,9285,1.26,242.0,95.5,9.7,515,9289,0.00,2.30,0.00,0.000,6,0.000,0.022,3009,2019,2059,0,0,0,0,0,0
$GC,9548,1.27,245.0,76.1,7.8,539,9552,0.00,2.42,0.00,0.000,4,0.000,0.042,3009,602,2058,0,0,0,0,0,0
$GC,9584,1.23,245.0,72.7,9.1,542,9591,0.10,2.33,0.00,0.000,6,0.079,0.022,2985,2014,2057,0,0,0,0,0,0
$GC,9846,1.34,266.6,55.5,6.5,567,9877,0.00,2.53,22.05,0.552,4,0.000,0.043,2985,600,1962,0,0,0,0,0,0
$GC,10002,1.38,266.6,43.6,8.3,584,10007,0.12,2.30,0.00,0.000,6,0.066,0.021,3024,2018,1959,0,0,0,0,0,0
$GC,10273,1.38,266.6,17.9,10.2,620,10279,0.00,2.47,0.00,0.000,4,0.000,0.044,3024,600,1959,0,0,0,0,0,0
$GC,10373,1.32,266.6,6.9,11.1,641,10379,0.12,2.25,0.00,0.000,6,0.104,0.020,2999,2014,1958,0,0,0,0,0,0
$STATE,10410,end climb,SURFACE_DEPTH_REACHED
$STATE,10410,begin surface coast
$FINISH,0.5,1.014273
$STATE,10440,end surface coast,CONTROL_FINISHED_OK
$STATE,10440,begin surface
$SM_CCo,10461,17.25,0.489,0,0,1827,300.00
$SM_GC,1.25,0.00,0.00,17.25,0.000,0.000,0.489,429,1854,1827,-10.52,-0.59,300.00
$IRIDIUM_FIX,2059.45,-15745.74,310899,191935
$TT8_MAMPS,0.029146
$HUMID,49.17
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,40.671
$10V_AH,10.0,38.637
$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,27.775,139.050,296.250,17.250,0.000,25.364,31.256,147.907,4.500,0.000,37.325,1283.834,6734.609,378.447,1980.648,438.016,33.393,1252.573,0.000,1934.708,0.000,29.246,0.000
$DEVICE_MAMPS,132.691,55.224,874.380,489.346,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,440.460,422.073,844.676,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,38043,653
$CAP_FILE_SIZE,128377,0
$CFSIZE,260165632,231796736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070610,014030,2108.320,-15747.345,74,1.1,78,9.8