version: 66.06
glider: 139
mission: 7
dive: 462
start: 6 7 110 1 46 36
data:
$ID,139
$MISSION,7
$DIVE,462
$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,-2138262
$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
$GPS1,014030,2108.320,-15747.345,74,1.1,78,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.1
$GPS2,014544,2108.323,-15747.362,12,1.5,12,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.174,-0.058
$KALMAN_X,-184627.9,149.3,-94.2,197651.2,-1057.0
$KALMAN_Y,16509.9,83.4,24.3,-13997.3,106.2
$MHEAD_RNG_PITCHd_Wd,98.6,8976,-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,-53.00,0.000,2,0.000,0.000,428,1854,3199,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.3,-5.1,10,97,10.55,2.40,-3.35,0.000,4,0.132,0.052,2402,468,3371,0,0,0,0,0,0
$GC,131,-1.13,-77.9,18.6,-20.3,21,137,0.32,2.33,0.00,0.000,6,0.091,0.020,2468,1910,3371,0,0,0,0,0,0
$GC,335,-1.13,-77.9,48.1,-13.5,46,339,0.00,2.47,0.00,0.000,4,0.000,0.044,2466,467,3372,0,0,0,0,0,0
$GC,404,-1.09,-77.9,57.9,-13.6,53,408,0.00,2.25,0.00,0.000,6,0.000,0.019,2467,1882,3372,0,0,0,0,0,0
$GC,666,-1.09,-77.9,90.3,-12.2,77,670,0.00,2.45,0.00,0.000,4,0.000,0.043,2468,461,3373,0,0,0,0,0,0
$GC,739,-1.09,-77.9,99.8,-13.1,84,749,0.00,2.28,0.00,0.000,6,0.000,0.020,2468,1864,3374,0,0,0,0,0,0
$GC,1003,-1.19,-77.9,125.9,-9.0,109,1007,0.00,2.40,0.00,0.000,4,0.000,0.042,2468,463,3375,0,0,0,0,0,0
$GC,1049,-1.26,-77.9,130.3,-8.5,113,1056,0.12,2.28,0.00,0.000,6,0.062,0.019,2424,1890,3375,0,0,0,0,0,0
$GC,1310,-1.26,-77.9,154.4,-9.7,138,1314,0.00,2.42,0.00,0.000,4,0.000,0.043,2424,464,3376,0,0,0,0,0,0
$GC,1337,-1.22,-77.9,157.5,-12.1,140,1345,0.08,2.28,0.00,0.000,6,0.075,0.020,2446,1876,3376,0,0,0,0,0,0
$GC,1600,-1.30,-77.9,177.9,-8.7,165,1604,0.00,2.40,0.00,0.000,4,0.000,0.042,2446,460,3376,0,0,0,0,0,0
$GC,1656,-1.35,-77.9,183.1,-9.5,170,1663,0.10,2.30,0.00,0.000,6,0.033,0.020,2401,1879,3377,0,0,0,0,0,0
$GC,1928,-1.35,-77.9,211.5,-10.8,191,1932,0.00,2.40,0.00,0.000,4,0.000,0.043,2401,464,3377,0,0,0,0,0,0
$GC,1994,-1.30,-77.9,219.7,-11.5,194,1999,0.15,2.25,0.00,0.000,6,0.094,0.021,2433,1877,3377,0,0,0,0,0,0
$GC,2330,-1.38,-77.9,254.3,-9.6,210,2334,0.00,2.42,0.00,0.000,4,0.000,0.044,2433,465,3377,0,0,0,0,0,0
$GC,2397,-1.45,-77.9,260.7,-9.2,213,2402,0.15,2.25,0.00,0.000,6,0.056,0.021,2383,1882,3377,0,0,0,0,0,0
$GC,2730,-1.45,-77.9,291.8,-9.7,229,2734,0.00,2.42,0.00,0.000,4,0.000,0.046,2385,463,3376,0,0,0,0,0,0
$GC,2837,-1.41,-77.9,303.4,-9.9,233,2842,0.10,2.28,0.00,0.000,6,0.109,0.022,2404,1881,3376,0,0,0,0,0,0
$GC,3187,-1.41,-77.9,335.7,-10.0,242,3191,0.00,2.42,0.00,0.000,4,0.000,0.047,2405,464,3375,0,0,0,0,0,0
$GC,3255,-1.41,-77.9,343.2,-10.5,243,3259,0.00,2.25,0.00,0.000,6,0.000,0.024,2404,1869,3375,0,0,0,0,0,0
$GC,3596,-1.46,-77.9,375.6,-9.3,252,3600,0.00,2.42,0.00,0.000,4,0.000,0.049,2404,462,3373,0,0,0,0,0,0
$GC,3684,-1.46,-77.9,384.1,-9.4,254,3688,0.00,2.30,0.00,0.000,6,0.000,0.025,2405,1882,3373,0,0,0,0,0,0
$GC,4012,-1.51,-77.9,411.0,-8.1,262,4016,0.00,2.47,0.00,0.000,4,0.000,0.051,2405,466,3370,0,0,0,0,0,0
$GC,4059,-1.51,-77.9,415.0,-8.4,263,4063,0.00,2.33,0.00,0.000,6,0.000,0.027,2405,1881,3370,0,0,0,0,0,0
$GC,4383,-1.57,-77.9,438.7,-7.0,271,4388,0.15,2.50,0.00,0.000,4,0.061,0.053,2363,466,3368,0,0,0,0,0,0
$GC,4486,-1.49,-77.9,449.4,-11.4,273,4490,0.00,2.08,0.00,0.000,3,0.000,0.027,2362,1735,3367,0,0,0,0,0,0
$STATE,4491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4491,begin apogee
$GC,4496,-0.31,0.0,450.0,10.9,273,4565,1.30,0.00,64.60,0.868,6,0.080,0.000,2639,2018,3050,0,0,0,0,0,0
$STATE,4566,end apogee,CONTROL_FINISHED_OK
$STATE,4566,begin climb
$GC,4568,1.40,77.9,452.1,0.0,275,4643,1.65,2.47,65.03,0.848,4,0.032,0.043,3026,3390,2732,0,0,0,0,0,0
$GC,4718,1.27,162.5,452.5,2.2,278,4798,0.15,2.38,72.22,0.846,6,0.119,0.035,2994,2003,2387,0,0,0,0,0,0
$GC,5113,1.16,162.5,415.9,10.6,288,5118,0.15,2.45,0.00,0.000,4,0.117,0.052,2971,606,2378,0,0,0,0,0,0
$GC,5217,1.03,162.5,404.7,10.6,290,5222,0.17,2.35,0.00,0.000,6,0.114,0.029,2940,2014,2374,0,0,0,0,0,0
$GC,5531,1.04,163.5,379.0,8.0,298,5536,0.00,2.50,0.00,0.000,4,0.000,0.052,2940,602,2373,0,0,0,0,0,0
$GC,5578,0.98,163.5,375.0,8.3,299,5582,0.00,2.38,0.00,0.000,6,0.000,0.030,2940,2020,2371,0,0,0,0,0,0
$GC,5900,0.98,163.5,348.8,8.6,307,5904,0.00,2.50,0.00,0.000,4,0.000,0.051,2940,602,2371,0,0,0,0,0,0
$GC,5923,0.94,163.5,346.6,9.9,307,5928,0.00,2.38,0.00,0.000,6,0.000,0.030,2940,2016,2370,0,0,0,0,0,0
$GC,6263,0.94,163.5,314.9,9.1,316,6267,0.00,2.50,0.00,0.000,4,0.000,0.051,2939,599,2369,0,0,0,0,0,0
$GC,6360,0.91,163.5,305.3,9.9,318,6365,0.15,2.35,0.00,0.000,6,0.116,0.029,2913,2017,2367,0,0,0,0,0,0
$GC,6684,1.03,190.7,283.0,6.2,332,6709,0.12,0.00,22.42,0.765,6,0.076,0.000,2944,2022,2272,0,0,0,0,0,0
$GC,7014,1.09,202.2,259.3,7.2,348,7030,0.00,2.53,11.25,0.696,4,0.000,0.051,2942,600,2224,0,0,0,0,0,0
$GC,7158,1.09,202.2,245.7,9.4,354,7162,0.00,2.35,0.00,0.000,6,0.000,0.028,2944,2019,2220,0,0,0,0,0,0
$GC,7479,1.15,202.2,218.5,8.7,370,7483,0.00,2.47,0.00,0.000,4,0.000,0.049,2944,602,2220,0,0,0,0,0,0
$GC,7625,1.15,202.2,204.1,9.6,376,7629,0.00,2.35,0.00,0.000,6,0.000,0.027,2943,2016,2217,0,0,0,0,0,0
$GC,7953,1.23,211.3,181.2,7.4,404,7967,0.17,2.53,8.62,0.611,4,0.062,0.048,2989,606,2188,0,0,0,0,0,0
$GC,8047,1.15,211.3,171.8,10.4,414,8052,0.12,2.33,0.00,0.000,6,0.116,0.025,2966,2019,2185,0,0,0,0,0,0
$GC,8308,1.19,211.3,150.1,8.3,438,8309,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2024,2185,0,0,0,0,0,0
$GC,8563,1.19,212.3,128.7,8.0,462,8567,0.00,2.42,0.00,0.000,4,0.000,0.045,2966,604,2185,0,0,0,0,0,0
$GC,8618,1.19,212.3,123.4,10.0,467,8623,0.00,2.30,0.00,0.000,6,0.000,0.024,2967,2021,2184,0,0,0,0,0,0
$GC,8880,1.30,247.2,105.1,5.6,492,8918,0.12,2.58,32.22,0.613,4,0.069,0.044,3003,598,2042,0,0,0,0,0,0
$GC,9016,1.25,247.2,93.3,8.1,506,9022,0.00,2.35,0.00,0.000,6,0.000,0.022,3004,2016,2038,0,0,0,0,0,0
$GC,9280,1.31,260.9,73.1,7.1,531,9301,0.00,2.35,12.70,0.544,4,0.000,0.029,3003,3393,1986,0,0,0,0,0,0
$GC,9360,1.39,260.9,66.5,8.4,539,9366,0.00,2.38,0.00,0.000,6,0.000,0.029,3003,2004,1985,0,0,0,0,0,0
$GC,9624,1.44,260.9,46.2,8.4,564,9629,0.10,2.42,0.00,0.000,4,0.077,0.043,3036,600,1985,0,0,0,0,0,0
$GC,9667,1.36,260.9,41.7,11.1,568,9672,0.12,2.30,0.00,0.000,6,0.104,0.021,3012,2018,1983,0,0,0,0,0,0
$GC,9940,1.41,260.9,17.9,8.9,605,9945,0.00,2.42,0.00,0.000,4,0.000,0.041,3012,602,1982,0,0,0,0,0,0
$GC,10077,1.41,260.9,4.5,11.4,635,10082,0.00,2.25,0.00,0.000,6,0.000,0.020,3010,2012,1982,0,0,0,0,0,0
$STATE,10092,end climb,SURFACE_DEPTH_REACHED
$STATE,10092,begin surface coast
$FINISH,0.5,1.010344
$STATE,10122,end surface coast,CONTROL_FINISHED_OK
$STATE,10122,begin surface
$SM_CCo,10143,20.10,0.495,0,0,1827,300.00
$SM_GC,1.04,0.00,0.00,20.10,0.000,0.000,0.495,429,1862,1827,-10.51,-0.37,300.00
$IRIDIUM_FIX,2101.76,-15745.74,310899,222256
$TT8_MAMPS,0.029146
$HUMID,49.05
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,40.751
$10V_AH,10.0,38.717
$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,27.150,124.275,289.075,20.100,0.000,29.492,28.230,148.640,4.750,0.000,12.261,1260.756,6482.367,365.523,1940.072,428.262,33.385,1229.141,0.000,1918.433,0.000,32.163,0.000
$DEVICE_MAMPS,131.924,52.923,868.244,495.482,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.297,419.557,815.327,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,35010,643
$CAP_FILE_SIZE,121526,0
$CFSIZE,260165632,231747584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070610,043826,2107.928,-15746.968,90,2.6,109,9.8