version: 66.06
glider: 139
mission: 7
dive: 463
start: 6 7 110 4 47 54
data:
$ID,139
$MISSION,7
$DIVE,463
$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,-2138280.5
$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
$GPS1,043826,2107.928,-15746.968,90,2.6,109,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.4
$GPS2,044702,2107.935,-15747.028,17,1.7,17,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,0.012
$KALMAN_X,-186540.2,182.9,405.5,199609.5,-2256.2
$KALMAN_Y,16562.6,-6.5,-6.8,-14647.7,-21.5
$MHEAD_RNG_PITCHd_Wd,76.6,8116,-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,-77.9,0.0,0.0,0,71,0.00,0.00,-52.72,0.000,2,0.000,0.000,429,1863,3212,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.5,-5.9,10,95,10.57,2.42,-3.05,0.000,4,0.133,0.052,2402,467,3370,0,0,0,0,0,0
$GC,121,-0.99,-77.9,17.6,-26.4,19,127,0.47,2.33,0.00,0.000,6,0.089,0.020,2497,1927,3371,0,0,0,0,0,0
$GC,330,-1.04,-77.9,42.3,-11.1,47,334,0.00,2.53,0.00,0.000,4,0.000,0.043,2500,468,3372,0,0,0,0,0,0
$GC,382,-1.04,-77.9,48.8,-11.3,52,386,0.00,2.30,0.00,0.000,6,0.000,0.019,2499,1914,3372,0,0,0,0,0,0
$GC,645,-1.12,-77.9,77.8,-11.1,76,650,0.12,2.50,0.00,0.000,4,0.064,0.043,2457,464,3373,0,0,0,0,0,0
$GC,706,-1.09,-77.9,86.8,-14.7,82,711,0.10,2.28,0.00,0.000,6,0.105,0.019,2475,1881,3373,0,0,0,0,0,0
$GC,967,-1.20,-77.9,112.9,-8.3,106,972,0.12,2.45,0.00,0.000,4,0.063,0.043,2434,466,3374,0,0,0,0,0,0
$GC,1020,-1.20,-77.9,118.1,-9.9,111,1024,0.00,2.25,0.00,0.000,6,0.000,0.019,2433,1892,3374,0,0,0,0,0,0
$GC,1283,-1.24,-77.9,139.6,-8.0,135,1291,0.00,2.42,0.00,0.000,4,0.000,0.042,2435,453,3375,0,0,0,0,0,0
$GC,1373,-1.24,-77.9,148.5,-10.0,144,1380,0.00,2.28,0.00,0.000,6,0.000,0.019,2433,1869,3376,0,0,0,0,0,0
$GC,1637,-1.29,-77.9,171.4,-8.6,169,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1873,3376,0,0,0,0,0,0
$GC,1890,-1.35,-77.9,195.4,-9.8,193,1894,0.00,2.38,0.00,0.000,4,0.000,0.043,2434,469,3376,0,0,0,0,0,0
$GC,1958,-1.35,-77.9,202.9,-10.6,198,1962,0.00,2.22,0.00,0.000,6,0.000,0.021,2434,1875,3376,0,0,0,0,0,0
$GC,2287,-1.42,-77.9,234.2,-9.4,214,2292,0.15,2.42,0.00,0.000,4,0.056,0.044,2385,461,3376,0,0,0,0,0,0
$GC,2339,-1.38,-77.9,240.2,-11.5,216,2344,0.12,2.25,0.00,0.000,6,0.098,0.021,2411,1870,3376,0,0,0,0,0,0
$GC,2662,-1.42,-77.9,266.8,-8.0,232,2666,0.00,2.45,0.00,0.000,4,0.000,0.046,2412,463,3375,0,0,0,0,0,0
$GC,2721,-1.42,-77.9,272.5,-9.6,234,2728,0.00,2.30,0.00,0.000,6,0.000,0.022,2411,1876,3375,0,0,0,0,0,0
$GC,3039,-1.47,-77.9,301.1,-9.5,250,3043,0.00,2.40,0.00,0.000,4,0.000,0.047,2412,470,3374,0,0,0,0,0,0
$GC,3099,-1.47,-77.9,307.8,-10.3,251,3104,0.00,2.25,0.00,0.000,6,0.000,0.023,2412,1873,3374,0,0,0,0,0,0
$GC,3449,-1.52,-77.9,338.7,-8.5,260,3453,0.12,2.45,0.00,0.000,4,0.065,0.049,2372,467,3372,0,0,0,0,0,0
$GC,3515,-1.43,-77.9,346.0,-11.9,261,3520,0.12,2.28,0.00,0.000,6,0.102,0.025,2398,1882,3372,0,0,0,0,0,0
$GC,3860,-1.43,-77.9,378.4,-9.6,270,3864,0.00,2.47,0.00,0.000,4,0.000,0.050,2397,462,3370,0,0,0,0,0,0
$GC,3912,-1.43,-77.9,383.8,-10.7,271,3916,0.00,2.30,0.00,0.000,6,0.000,0.025,2398,1881,3369,0,0,0,0,0,0
$GC,4230,-1.48,-77.9,413.8,-9.2,279,4235,0.00,2.47,0.00,0.000,4,0.000,0.051,2398,464,3368,0,0,0,0,0,0
$GC,4301,-1.48,-77.9,420.8,-10.2,280,4305,0.00,2.30,0.00,0.000,6,0.000,0.027,2398,1877,3367,0,0,0,0,0,0
$STATE,4639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4639,begin apogee
$GC,4645,-0.31,0.0,453.2,9.7,289,4713,1.15,0.00,64.60,0.872,6,0.071,0.000,2647,2030,3050,0,0,0,0,0,0
$STATE,4714,end apogee,CONTROL_FINISHED_OK
$STATE,4714,begin climb
$GC,4716,1.40,77.9,454.7,0.0,290,4792,1.62,2.42,64.93,0.851,4,0.031,0.041,3027,3377,2732,0,0,0,0,0,0
$GC,4913,1.23,130.3,454.4,4.4,294,4966,0.20,2.38,44.75,0.844,6,0.111,0.035,2983,2002,2517,0,0,0,0,0,0
$GC,5306,1.11,130.3,419.2,9.7,304,5310,0.15,2.40,0.00,0.000,4,0.116,0.040,2958,3384,2511,0,0,0,0,0,0
$GC,5376,1.05,130.3,412.5,9.1,305,5380,0.00,2.35,0.00,0.000,6,0.000,0.037,2963,2011,2511,0,0,0,0,0,0
$GC,5716,1.00,130.3,381.7,9.2,314,5721,0.15,2.47,0.00,0.000,4,0.114,0.051,2935,597,2507,0,0,0,0,0,0
$GC,5820,0.94,130.3,371.6,9.4,316,5825,0.00,2.35,0.00,0.000,6,0.000,0.029,2935,1997,2506,0,0,0,0,0,0
$GC,6134,0.96,151.1,349.2,6.6,324,6158,0.00,2.50,16.83,0.788,4,0.000,0.050,2934,597,2433,0,0,0,0,0,0
$GC,6186,0.92,151.1,345.3,8.3,325,6191,0.12,2.40,0.00,0.000,6,0.118,0.030,2914,2013,2431,0,0,0,0,0,0
$GC,6506,1.03,187.9,326.3,5.5,333,6548,0.12,2.55,33.03,0.799,4,0.077,0.051,2944,600,2282,0,0,0,0,0,0
$GC,6596,1.03,187.9,319.0,10.1,335,6600,0.00,2.40,0.00,0.000,6,0.000,0.030,2944,2022,2279,0,0,0,0,0,0
$GC,6927,1.07,187.9,289.8,8.8,345,6932,0.00,2.50,0.00,0.000,4,0.000,0.051,2944,596,2277,0,0,0,0,0,0
$GC,6998,1.03,187.9,282.8,9.3,348,7002,0.00,2.40,0.00,0.000,6,0.000,0.029,2945,2019,2274,0,0,0,0,0,0
$GC,7323,1.08,190.8,256.2,7.8,364,7327,0.00,2.50,0.00,0.000,4,0.000,0.051,2944,597,2274,0,0,0,0,0,0
$GC,7396,1.08,190.8,249.1,9.0,367,7400,0.00,2.35,0.00,0.000,6,0.000,0.028,2945,2012,2272,0,0,0,0,0,0
$GC,7718,1.14,192.6,222.3,7.9,383,7719,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2016,2272,0,0,0,0,0,0
$GC,8025,1.25,232.4,203.6,5.3,398,8072,0.20,2.60,38.53,0.709,4,0.059,0.049,2995,598,2101,0,0,0,0,0,0
$GC,8084,1.18,232.4,198.8,9.8,400,8089,0.12,2.40,0.00,0.000,6,0.115,0.027,2973,2019,2099,0,0,0,0,0,0
$GC,8408,1.18,232.4,169.5,9.6,430,8412,0.00,2.47,0.00,0.000,4,0.000,0.048,2973,597,2095,0,0,0,0,0,0
$GC,8459,1.18,232.4,163.9,11.5,435,8464,0.00,2.35,0.00,0.000,6,0.000,0.025,2973,2015,2093,0,0,0,0,0,0
$GC,8723,1.24,244.0,140.5,7.2,459,8743,0.00,2.53,10.25,0.591,4,0.000,0.046,2973,604,2054,0,0,0,0,0,0
$GC,8845,1.24,244.0,128.7,10.2,472,8850,0.00,2.33,0.00,0.000,6,0.000,0.024,2973,2017,2052,0,0,0,0,0,0
$GC,9108,1.32,256.1,109.8,7.2,496,9128,0.12,2.53,11.70,0.574,4,0.068,0.046,3009,605,2005,0,0,0,0,0,0
$GC,9279,1.29,256.1,92.0,11.1,514,9285,0.00,2.33,0.00,0.000,6,0.000,0.022,3009,2011,2002,0,0,0,0,0,0
$GC,9540,1.29,256.1,68.9,8.4,539,9541,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2015,2002,0,0,0,0,0,0
$GC,9796,1.30,262.3,47.8,7.6,563,9808,0.00,2.45,6.82,0.467,4,0.000,0.041,3009,596,1980,0,0,0,0,0,0
$GC,9829,1.27,262.3,44.8,9.7,566,9833,0.00,2.30,0.00,0.000,6,0.000,0.021,3009,2017,1978,0,0,0,0,0,0
$GC,10097,1.31,262.3,20.6,9.5,600,10103,0.00,2.45,0.00,0.000,4,0.000,0.042,3009,604,1978,0,0,0,0,0,0
$GC,10223,1.31,262.3,8.4,10.2,627,10229,0.00,2.25,0.00,0.000,6,0.000,0.021,3008,2002,1978,0,0,0,0,0,0
$STATE,10278,end climb,SURFACE_DEPTH_REACHED
$STATE,10278,begin surface coast
$FINISH,0.6,1.002569
$STATE,10313,end surface coast,CONTROL_FINISHED_OK
$STATE,10314,begin surface
$SM_CCo,10334,19.40,0.495,0,0,1826,300.00
$SM_GC,1.01,0.00,0.00,19.40,0.000,0.000,0.495,426,1851,1826,-10.52,-0.68,300.00
$IRIDIUM_FIX,2059.45,-15745.74,010999,040454
$TT8_MAMPS,0.028379
$HUMID,49.21
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,40.838
$10V_AH,10.0,38.799
$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,26.975,120.050,291.425,19.400,0.000,49.030,64.337,219.831,4.500,0.000,17.636,1250.223,6824.581,371.649,1873.456,549.481,33.385,1201.821,0.000,1846.301,0.000,29.265,0.000
$DEVICE_MAMPS,133.458,53.690,872.079,495.482,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,434.059,417.383,810.341,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,34845,643
$CAP_FILE_SIZE,121752,0
$CFSIZE,260165632,231686144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070610,074231,2107.719,-15747.155,80,1.7,86,9.8