version: 66.06
glider: 139
mission: 7
dive: 465
start: 6 7 110 10 48 19
data:
$ID,139
$MISSION,7
$DIVE,465
$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,-2138352.2
$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
$GPS1,104157,2107.771,-15747.808,58,2.1,77,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-68.6
$GPS2,104728,2107.808,-15747.888,15,2.2,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.015
$KALMAN_X,-190869.4,-151.1,-519.1,203714.4,-2019.8
$KALMAN_Y,16206.7,-242.6,-82.7,-14216.4,154.9
$MHEAD_RNG_PITCHd_Wd,84.9,9347,-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,15,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-53.12,0.000,2,0.000,0.000,424,1904,3217,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.4,-5.3,10,95,10.57,2.33,-2.97,0.000,4,0.133,0.036,2398,3299,3371,0,0,0,0,0,0
$GC,112,-0.69,-77.9,15.5,-30.2,17,118,0.75,2.42,0.00,0.000,6,0.082,0.030,2558,1868,3372,0,0,0,0,0,0
$GC,317,-0.88,-77.9,34.5,-8.2,49,322,0.17,2.42,0.00,0.000,4,0.050,0.043,2501,464,3373,0,0,0,0,0,0
$GC,381,-0.95,-77.9,40.6,-9.2,55,388,0.00,2.35,0.00,0.000,6,0.000,0.020,2498,1910,3373,0,0,0,0,0,0
$GC,645,-1.03,-77.9,69.5,-11.4,80,649,0.00,2.47,0.00,0.000,4,0.000,0.044,2499,463,3374,0,0,0,0,0,0
$GC,733,-1.15,-77.9,80.9,-12.3,89,738,0.17,2.25,0.00,0.000,6,0.049,0.019,2444,1881,3374,0,0,0,0,0,0
$GC,995,-1.15,-77.9,112.4,-10.6,113,999,0.00,2.42,0.00,0.000,4,0.000,0.042,2442,469,3376,0,0,0,0,0,0
$GC,1033,-1.12,-77.9,116.8,-11.0,116,1040,0.12,2.28,0.00,0.000,6,0.067,0.019,2465,1879,3376,0,0,0,0,0,0
$GC,1295,-1.25,-77.9,139.6,-9.3,141,1300,0.15,2.40,0.00,0.000,4,0.055,0.042,2424,470,3377,0,0,0,0,0,0
$GC,1372,-1.25,-77.9,148.2,-11.8,149,1377,0.10,2.22,0.00,0.000,6,0.107,0.019,2441,1879,3377,0,0,0,0,0,0
$GC,1634,-1.32,-77.9,174.2,-9.2,173,1638,0.00,2.40,0.00,0.000,4,0.000,0.043,2446,468,3377,0,0,0,0,0,0
$GC,1734,-1.36,-77.9,184.9,-11.3,183,1739,0.12,2.25,0.00,0.000,6,0.061,0.020,2400,1878,3378,0,0,0,0,0,0
$GC,1994,-1.33,-77.9,214.2,-10.8,201,1999,0.10,2.40,0.00,0.000,4,0.109,0.042,2422,470,3378,0,0,0,0,0,0
$GC,2009,-1.30,-77.9,216.0,-10.0,201,2015,0.00,2.25,0.00,0.000,6,0.000,0.021,2421,1881,3378,0,0,0,0,0,0
$GC,2326,-1.34,-77.9,244.8,-8.3,217,2331,0.00,2.40,0.00,0.000,4,0.000,0.043,2421,470,3378,0,0,0,0,0,0
$GC,2346,-1.34,-77.9,246.7,-8.6,218,2350,0.00,2.25,0.00,0.000,6,0.000,0.021,2421,1875,3378,0,0,0,0,0,0
$GC,2677,-1.40,-77.9,271.6,-7.0,234,2681,0.00,2.42,0.00,0.000,4,0.000,0.044,2422,465,3378,0,0,0,0,0,0
$GC,2709,-1.45,-77.9,274.2,-7.6,235,2714,0.00,2.28,0.00,0.000,6,0.000,0.021,2421,1881,3378,0,0,0,0,0,0
$GC,3026,-1.53,-77.9,298.0,-7.8,250,3031,0.17,2.45,0.00,0.000,4,0.051,0.046,2369,470,3377,0,0,0,0,0,0
$GC,3101,-1.45,-77.9,306.2,-11.5,252,3106,0.15,2.25,0.00,0.000,6,0.093,0.023,2399,1881,3377,0,0,0,0,0,0
$GC,3438,-1.49,-77.9,338.8,-9.3,261,3442,0.00,2.42,0.00,0.000,4,0.000,0.048,2400,467,3375,0,0,0,0,0,0
$GC,3502,-1.49,-77.9,345.3,-10.4,262,3507,0.00,2.30,0.00,0.000,6,0.000,0.024,2400,1881,3375,0,0,0,0,0,0
$GC,3848,-1.52,-77.9,372.7,-7.4,271,3852,0.00,2.45,0.00,0.000,4,0.000,0.050,2399,469,3373,0,0,0,0,0,0
$GC,3899,-1.52,-77.9,377.1,-8.4,272,3903,0.00,2.28,0.00,0.000,6,0.000,0.025,2400,1876,3373,0,0,0,0,0,0
$GC,4223,-1.56,-77.9,401.1,-7.3,280,4228,0.12,2.47,0.00,0.000,4,0.067,0.051,2363,470,3371,0,0,0,0,0,0
$GC,4280,-1.48,-77.9,406.8,-10.5,281,4284,0.15,2.28,0.00,0.000,6,0.097,0.027,2393,1870,3370,0,0,0,0,0,0
$GC,4598,-1.48,-77.9,433.2,-8.5,289,4602,0.00,2.47,0.00,0.000,4,0.000,0.054,2394,473,3368,0,0,0,0,0,0
$GC,4653,-1.48,-77.9,438.5,-9.5,290,4658,0.00,2.30,0.00,0.000,6,0.000,0.028,2394,1878,3367,0,0,0,0,0,0
$STATE,4801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4801,begin apogee
$GC,4807,-0.31,0.0,451.5,8.7,294,4875,1.17,0.00,65.05,0.878,6,0.073,0.000,2644,2043,3050,0,0,0,0,0,0
$STATE,4876,end apogee,CONTROL_FINISHED_OK
$STATE,4876,begin climb
$GC,4879,1.40,77.9,452.6,0.0,295,4954,1.62,2.40,64.82,0.856,4,0.033,0.044,3022,3372,2732,0,0,0,0,0,0
$GC,5195,1.25,139.8,446.7,3.8,302,5256,0.17,2.33,52.92,0.855,6,0.116,0.036,2991,2010,2479,0,0,0,0,0,0
$GC,5567,1.13,139.8,416.1,8.8,311,5572,0.15,2.38,0.00,0.000,4,0.119,0.040,2944,3378,2472,0,0,0,0,0,0
$GC,5619,1.09,139.8,411.7,8.3,312,5623,0.00,2.38,0.00,0.000,6,0.000,0.038,2963,2012,2472,0,0,0,0,0,0
$GC,5937,1.04,139.8,384.2,8.9,320,5939,0.12,0.00,0.00,0.000,6,0.119,0.000,2941,2011,2468,0,0,0,0,0,0
$GC,6262,1.04,139.8,356.1,8.4,328,6266,0.00,2.47,0.00,0.000,4,0.000,0.052,2941,602,2467,0,0,0,0,0,0
$GC,6312,0.98,139.8,351.7,8.9,329,6317,0.00,2.33,0.00,0.000,6,0.000,0.030,2942,1987,2465,0,0,0,0,0,0
$GC,6630,1.02,172.3,331.2,5.8,337,6659,0.00,0.00,26.75,0.808,6,0.000,0.000,2941,1992,2347,0,0,0,0,0,0
$GC,6997,1.06,175.6,304.6,7.8,346,7001,0.00,2.42,0.00,0.000,4,0.000,0.051,2942,604,2342,0,0,0,0,0,0
$GC,7025,1.02,175.6,302.0,8.4,346,7029,0.00,2.35,0.00,0.000,6,0.000,0.030,2942,2012,2340,0,0,0,0,0,0
$GC,7346,1.06,175.6,277.4,9.0,361,7350,0.00,2.50,0.00,0.000,4,0.000,0.051,2942,597,2340,0,0,0,0,0,0
$GC,7485,1.06,175.6,264.0,9.4,367,7489,0.00,2.38,0.00,0.000,6,0.000,0.029,2942,2014,2337,0,0,0,0,0,0
$GC,7811,1.16,205.2,242.5,6.0,383,7848,0.10,2.53,29.12,0.749,4,0.086,0.048,2967,602,2212,0,0,0,0,0,0
$GC,7864,1.13,211.3,238.7,7.6,385,7878,0.00,2.38,6.80,0.607,6,0.000,0.028,2967,2014,2187,0,0,0,0,0,0
$GC,8189,1.13,211.3,212.8,8.2,401,8194,0.00,2.47,0.00,0.000,4,0.000,0.049,2967,603,2184,0,0,0,0,0,0
$GC,8244,1.10,211.3,207.5,8.2,403,8249,0.00,2.33,0.00,0.000,6,0.000,0.027,2967,2011,2182,0,0,0,0,0,0
$GC,8568,1.11,221.0,183.1,7.4,428,8582,0.00,2.50,9.18,0.620,4,0.000,0.047,2967,602,2148,0,0,0,0,0,0
$GC,8671,1.11,221.0,173.6,10.0,439,8675,0.00,2.35,0.00,0.000,6,0.000,0.025,2968,2017,2145,0,0,0,0,0,0
$GC,8935,1.15,221.0,150.4,8.0,463,8939,0.00,2.47,0.00,0.000,4,0.000,0.046,2967,597,2145,0,0,0,0,0,0
$GC,9008,1.15,221.0,143.2,9.5,470,9015,0.00,2.38,0.00,0.000,6,0.000,0.025,2968,2019,2144,0,0,0,0,0,0
$GC,9272,1.21,221.0,120.4,8.2,495,9276,0.00,2.45,0.00,0.000,4,0.000,0.044,2967,594,2144,0,0,0,0,0,0
$GC,9417,1.30,245.0,108.9,6.4,510,9445,0.08,2.35,21.95,0.605,6,0.041,0.023,2999,2026,2051,0,0,0,0,0,0
$GC,9707,1.37,265.4,91.9,6.6,538,9735,0.00,2.38,18.98,0.575,4,0.000,0.028,2999,3393,1968,0,0,0,0,0,0
$GC,9742,1.44,280.9,89.4,7.0,541,9766,0.12,2.35,15.35,0.558,6,0.065,0.028,3035,2003,1903,0,0,0,0,0,0
$GC,10021,1.44,280.9,59.7,11.8,568,10025,0.00,2.40,0.00,0.000,4,0.000,0.044,3036,605,1899,0,0,0,0,0,0
$GC,10075,1.38,280.9,52.1,13.8,573,10082,0.08,2.30,0.00,0.000,6,0.081,0.021,3017,2011,1897,0,0,0,0,0,0
$GC,10337,1.38,280.9,24.8,10.9,602,10344,0.00,2.45,0.00,0.000,4,0.000,0.043,3017,608,1897,0,0,0,0,0,0
$GC,10418,1.38,280.9,15.1,12.7,619,10424,0.00,2.28,0.00,0.000,6,0.000,0.020,3017,2016,1896,0,0,0,0,0,0
$STATE,10533,end climb,SURFACE_DEPTH_REACHED
$STATE,10533,begin surface coast
$FINISH,0.5,1.015112
$STATE,10568,end surface coast,CONTROL_FINISHED_OK
$STATE,10568,begin surface
$SM_CCo,10589,10.80,0.471,0,0,1826,300.00
$SM_GC,2.03,0.00,0.00,10.80,0.000,0.000,0.471,428,1858,1826,-10.52,-0.48,300.00
$IRIDIUM_FIX,2057.14,-15746.61,010999,070706
$TT8_MAMPS,0.029146
$HUMID,49.92
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,41.004
$10V_AH,10.0,38.960
$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,27.725,128.625,310.925,10.800,0.000,29.721,30.734,137.041,4.500,0.000,35.110,1259.544,6943.944,377.834,1918.412,431.024,33.380,1237.607,0.000,1880.181,0.000,29.253,0.000
$DEVICE_MAMPS,132.691,53.690,878.215,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.580,418.827,794.952,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,38045,646
$CAP_FILE_SIZE,123747,0
$CFSIZE,260165632,231563264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070610,134714,2107.619,-15747.946,78,3.1,97,9.8