version: 66.06
glider: 139
mission: 7
dive: 464
start: 6 7 110 7 49 19
data:
$ID,139
$MISSION,7
$DIVE,464
$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,-2138316.5
$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
$GPS1,074231,2107.719,-15747.155,80,1.7,86,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.5
$GPS2,074828,2107.709,-15747.221,15,3.9,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.182,0.026
$KALMAN_X,-188472.1,72.2,53.7,201668.5,-2593.2
$KALMAN_Y,16294.0,-162.1,-133.0,-14513.6,-35.5
$MHEAD_RNG_PITCHd_Wd,71.9,8222,-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,-53.22,0.000,2,0.000,0.000,426,1851,3244,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.8,-6.6,10,97,10.57,2.45,-2.35,0.000,4,0.133,0.053,2400,457,3371,0,0,0,0,0,0
$GC,113,-0.59,-77.9,17.5,-35.0,17,119,0.90,2.33,0.00,0.000,6,0.094,0.020,2580,1907,3372,0,0,0,0,0,0
$GC,323,-0.85,-77.9,35.3,-6.7,48,328,0.22,2.47,0.00,0.000,4,0.044,0.041,2513,467,3373,0,0,0,0,0,0
$GC,386,-0.96,-77.9,41.5,-10.4,54,390,0.00,2.28,0.00,0.000,6,0.000,0.019,2510,1886,3373,0,0,0,0,0,0
$GC,649,-1.07,-77.9,67.1,-9.8,78,654,0.12,2.47,0.00,0.000,4,0.065,0.044,2472,463,3374,0,0,0,0,0,0
$GC,729,-1.07,-77.9,76.3,-11.3,86,733,0.00,2.25,0.00,0.000,6,0.000,0.019,2471,1881,3375,0,0,0,0,0,0
$GC,993,-1.15,-77.9,103.2,-7.9,110,997,0.00,2.40,0.00,0.000,4,0.000,0.042,2472,468,3376,0,0,0,0,0,0
$GC,1045,-1.20,-77.9,107.5,-8.5,115,1049,0.00,2.22,0.00,0.000,6,0.000,0.019,2470,1880,3376,0,0,0,0,0,0
$GC,1309,-1.32,-77.9,128.9,-8.7,139,1314,0.20,2.42,0.00,0.000,4,0.046,0.041,2408,469,3377,0,0,0,0,0,0
$GC,1372,-1.25,-77.9,136.2,-12.2,145,1377,0.15,2.25,0.00,0.000,6,0.092,0.019,2439,1877,3376,0,0,0,0,0,0
$GC,1635,-1.31,-77.9,160.6,-9.4,169,1640,0.00,2.40,0.00,0.000,4,0.000,0.042,2440,463,3377,0,0,0,0,0,0
$GC,1723,-1.34,-77.9,169.3,-9.7,178,1727,0.00,2.25,0.00,0.000,6,0.000,0.020,2439,1886,3377,0,0,0,0,0,0
$GC,1986,-1.39,-77.9,193.8,-10.0,202,1990,0.15,2.42,0.00,0.000,4,0.056,0.044,2390,469,3378,0,0,0,0,0,0
$GC,2041,-1.33,-77.9,200.7,-12.5,207,2046,0.15,2.22,0.00,0.000,6,0.094,0.021,2421,1872,3378,0,0,0,0,0,0
$GC,2358,-1.37,-77.9,235.7,-10.4,222,2362,0.00,2.40,0.00,0.000,4,0.000,0.044,2421,470,3378,0,0,0,0,0,0
$GC,2420,-1.41,-77.9,242.3,-9.7,224,2427,0.00,2.28,0.00,0.000,6,0.000,0.021,2421,1873,3377,0,0,0,0,0,0
$GC,2736,-1.48,-77.9,265.5,-6.5,240,2741,0.12,2.42,0.00,0.000,4,0.064,0.046,2381,463,3378,0,0,0,0,0,0
$GC,2806,-1.43,-77.9,272.0,-9.3,243,2811,0.10,2.28,0.00,0.000,6,0.109,0.022,2401,1875,3378,0,0,0,0,0,0
$GC,3134,-1.46,-77.9,299.9,-9.1,259,3138,0.00,2.40,0.00,0.000,4,0.000,0.046,2402,470,3377,0,0,0,0,0,0
$GC,3204,-1.46,-77.9,306.7,-9.9,261,3208,0.00,2.28,0.00,0.000,6,0.000,0.023,2401,1881,3376,0,0,0,0,0,0
$GC,3553,-1.49,-77.9,341.3,-10.4,270,3558,0.00,2.45,0.00,0.000,4,0.000,0.047,2402,464,3375,0,0,0,0,0,0
$GC,3586,-1.49,-77.9,345.2,-11.3,270,3590,0.00,2.28,0.00,0.000,6,0.000,0.025,2402,1878,3374,0,0,0,0,0,0
$GC,3918,-1.53,-77.9,378.3,-9.2,278,3923,0.00,2.42,0.00,0.000,4,0.000,0.049,2401,470,3373,0,0,0,0,0,0
$GC,3983,-1.53,-77.9,384.2,-8.4,279,3987,0.00,2.28,0.00,0.000,6,0.000,0.025,2402,1876,3373,0,0,0,0,0,0
$GC,4328,-1.58,-77.9,408.7,-6.9,288,4333,0.15,2.47,0.00,0.000,4,0.060,0.052,2359,468,3370,0,0,0,0,0,0
$GC,4380,-1.48,-77.9,413.8,-9.9,289,4385,0.15,2.30,0.00,0.000,6,0.099,0.027,2390,1880,3370,0,0,0,0,0,0
$GC,4700,-1.48,-77.9,440.0,-8.2,297,4704,0.00,2.47,0.00,0.000,4,0.000,0.052,2390,469,3368,0,0,0,0,0,0
$GC,4732,-1.45,-77.9,443.2,-9.5,297,4736,0.00,2.33,0.00,0.000,6,0.000,0.028,2389,1879,3367,0,0,0,0,0,0
$STATE,4817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4817,begin apogee
$GC,4822,-0.31,0.0,450.7,8.7,299,4891,1.20,0.00,65.10,0.874,6,0.077,0.000,2643,2032,3050,0,0,0,0,0,0
$STATE,4892,end apogee,CONTROL_FINISHED_OK
$STATE,4892,begin climb
$GC,4894,1.40,77.9,451.5,0.0,300,4969,1.62,2.42,64.80,0.852,4,0.033,0.042,3023,3379,2731,0,0,0,0,0,0
$GC,5044,1.26,147.4,451.4,3.2,303,5113,0.17,2.35,59.22,0.847,6,0.117,0.035,2989,2005,2449,0,0,0,0,0,0
$GC,5436,1.14,147.4,417.6,9.0,313,5441,0.15,2.40,0.00,0.000,4,0.117,0.039,2959,3383,2441,0,0,0,0,0,0
$GC,5474,1.14,147.4,414.3,8.4,313,5479,0.00,2.38,0.00,0.000,6,0.000,0.038,2964,2014,2441,0,0,0,0,0,0
$GC,5805,1.10,160.4,389.2,7.1,322,5821,0.00,2.55,10.93,0.760,4,0.000,0.052,2963,595,2394,0,0,0,0,0,0
$GC,5845,0.98,160.4,385.9,8.6,322,5851,0.17,2.38,0.00,0.000,6,0.116,0.030,2933,1995,2392,0,0,0,0,0,0
$GC,6176,1.02,160.4,360.7,8.1,331,6181,0.00,2.47,0.00,0.000,4,0.000,0.051,2932,597,2391,0,0,0,0,0,0
$GC,6251,1.02,160.4,353.0,11.1,332,6256,0.00,2.40,0.00,0.000,6,0.000,0.031,2933,2019,2389,0,0,0,0,0,0
$GC,6588,1.06,160.7,323.0,8.0,341,6592,0.00,2.50,0.00,0.000,4,0.000,0.051,2933,601,2389,0,0,0,0,0,0
$GC,6671,1.06,161.1,316.1,8.0,342,6676,0.00,2.38,0.00,0.000,6,0.000,0.030,2933,2019,2387,0,0,0,0,0,0
$GC,6983,1.15,201.6,299.0,5.2,351,7027,0.15,2.42,36.25,0.791,4,0.071,0.038,2970,3408,2227,0,0,0,0,0,0
$GC,7038,1.16,206.5,294.9,7.7,353,7052,0.00,2.45,5.93,0.604,6,0.000,0.036,2970,2004,2208,0,0,0,0,0,0
$GC,7363,1.16,206.5,258.3,12.3,369,7367,0.00,2.47,0.00,0.000,4,0.000,0.052,2970,598,2202,0,0,0,0,0,0
$GC,7464,1.12,206.5,245.0,14.1,373,7469,0.00,2.38,0.00,0.000,6,0.000,0.028,2970,2012,2199,0,0,0,0,0,0
$GC,7779,1.12,206.5,212.4,8.3,388,7783,0.00,2.45,0.00,0.000,4,0.000,0.049,2969,603,2199,0,0,0,0,0,0
$GC,7800,1.12,206.5,210.7,8.9,389,7804,0.00,2.38,0.00,0.000,6,0.000,0.028,2970,2022,2197,0,0,0,0,0,0
$GC,8126,1.12,206.5,183.5,8.8,414,8130,0.00,2.35,0.00,0.000,4,0.000,0.035,2970,3415,2198,0,0,0,0,0,0
$GC,8153,1.16,206.5,180.4,10.8,416,8160,0.00,2.42,0.00,0.000,6,0.000,0.034,2970,2009,2197,0,0,0,0,0,0
$GC,8415,1.16,206.5,155.4,8.3,441,8420,0.00,2.45,0.00,0.000,4,0.000,0.046,2970,591,2197,0,0,0,0,0,0
$GC,8507,1.12,210.1,147.3,7.8,450,8513,0.00,2.38,0.00,0.000,6,0.000,0.025,2970,2016,2195,0,0,0,0,0,0
$GC,8771,1.18,229.8,127.4,6.7,475,8799,0.00,2.55,19.60,0.624,4,0.000,0.046,2969,599,2112,0,0,0,0,0,0
$GC,9059,1.18,229.8,102.0,10.4,506,9066,0.00,2.35,0.00,0.000,6,0.000,0.023,2970,2014,2107,0,0,0,0,0,0
$GC,9324,1.28,235.2,78.5,7.6,531,9335,0.10,2.45,6.03,0.477,4,0.078,0.042,3000,600,2088,0,0,0,0,0,0
$GC,9341,1.34,235.2,76.5,8.7,532,9348,0.00,2.35,0.00,0.000,6,0.000,0.023,3000,2019,2088,0,0,0,0,0,0
$GC,9605,1.41,265.0,58.9,6.0,557,9634,0.00,0.00,27.45,0.565,6,0.000,0.000,3000,2025,1969,0,0,0,0,0,0
$GC,9889,1.49,287.6,37.3,6.5,584,9920,0.15,2.53,20.38,0.532,4,0.058,0.043,3045,605,1875,0,0,0,0,0,0
$GC,9965,1.40,287.6,27.6,14.8,593,9971,0.12,2.30,0.00,0.000,6,0.104,0.021,3021,2015,1873,0,0,0,0,0,0
$GC,10170,1.43,287.6,4.6,10.1,630,10177,0.00,2.47,0.00,0.000,4,0.000,0.043,3021,599,1872,0,0,0,0,0,0
$STATE,10181,end climb,SURFACE_DEPTH_REACHED
$STATE,10181,begin surface coast
$FINISH,0.6,1.023262
$STATE,10214,end surface coast,CONTROL_FINISHED_OK
$STATE,10214,begin surface
$SM_CCo,10236,6.62,0.425,0,0,1827,300.00
$SM_GC,2.15,0.00,0.00,6.62,0.000,0.000,0.425,424,1906,1827,-10.53,0.88,300.00
$IRIDIUM_FIX,2101.76,-15747.88,010999,040430
$TT8_MAMPS,0.029146
$HUMID,50.51
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,40.921
$10V_AH,10.0,38.879
$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,28.050,133.550,315.675,6.625,0.000,30.717,34.404,157.479,4.750,0.000,35.367,1230.306,6681.492,388.828,1865.519,432.873,33.379,1218.093,0.000,1820.565,0.000,32.102,0.000
$DEVICE_MAMPS,133.458,54.457,873.613,424.918,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.305,409.734,822.440,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,35022,639
$CAP_FILE_SIZE,121710,0
$CFSIZE,260165632,231628800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070610,104157,2107.771,-15747.808,58,2.1,77,9.8