version: 66.06
glider: 139
mission: 7
dive: 466
start: 6 7 110 13 53 25
data:
$ID,139
$MISSION,7
$DIVE,466
$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,-2138388
$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
$GPS1,134714,2107.619,-15747.946,78,3.1,97,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-71.0
$GPS2,135234,2107.638,-15747.979,15,2.9,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.012
$KALMAN_X,-193241.0,-324.7,-191.4,205772.0,-1695.2
$KALMAN_Y,15921.3,-236.0,50.0,-14383.2,-5.7
$MHEAD_RNG_PITCHd_Wd,83.9,9373,-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,-77.9,0.0,0.0,0,70,0.00,0.00,-52.42,0.000,2,0.000,0.000,428,1858,3199,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.6,-5.9,10,94,10.52,2.42,-3.30,0.000,4,0.132,0.053,2403,468,3370,0,0,0,0,0,0
$GC,119,-1.00,-77.9,17.0,-23.9,19,126,0.45,2.33,0.00,0.000,6,0.091,0.020,2493,1913,3371,0,0,0,0,0,0
$GC,324,-1.04,-77.9,41.3,-10.9,47,329,0.00,2.47,0.00,0.000,4,0.000,0.043,2494,468,3372,0,0,0,0,0,0
$GC,386,-1.08,-77.9,48.7,-11.3,53,390,0.00,2.22,0.00,0.000,6,0.000,0.019,2491,1872,3372,0,0,0,0,0,0
$GC,649,-1.14,-77.9,75.3,-9.4,77,654,0.12,2.42,0.00,0.000,4,0.064,0.044,2450,465,3373,0,0,0,0,0,0
$GC,724,-1.07,-77.9,85.2,-13.5,84,731,0.10,2.28,0.00,0.000,6,0.072,0.019,2475,1871,3373,0,0,0,0,0,0
$GC,987,-1.16,-77.9,112.6,-9.7,109,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1876,3374,0,0,0,0,0,0
$GC,1242,-1.27,-77.9,133.4,-7.6,133,1247,0.17,2.42,0.00,0.000,4,0.050,0.043,2421,467,3375,0,0,0,0,0,0
$GC,1270,-1.22,-77.9,136.6,-11.1,135,1276,0.12,2.25,0.00,0.000,6,0.097,0.019,2445,1881,3376,0,0,0,0,0,0
$GC,1532,-1.28,-77.9,160.8,-8.5,160,1536,0.00,2.42,0.00,0.000,4,0.000,0.041,2447,466,3376,0,0,0,0,0,0
$GC,1584,-1.31,-77.9,165.1,-8.2,165,1589,0.00,2.25,0.00,0.000,6,0.000,0.019,2446,1877,3377,0,0,0,0,0,0
$GC,1848,-1.40,-77.9,182.8,-6.8,189,1853,0.17,2.42,0.00,0.000,4,0.051,0.043,2394,460,3377,0,0,0,0,0,0
$GC,1941,-1.32,-77.9,192.2,-10.6,198,1948,0.12,2.28,0.00,0.000,6,0.071,0.020,2422,1871,3377,0,0,0,0,0,0
$GC,2200,-1.36,-77.9,216.5,-9.5,215,2204,0.00,2.42,0.00,0.000,4,0.000,0.044,2425,459,3377,0,0,0,0,0,0
$GC,2255,-1.36,-77.9,222.4,-10.0,217,2259,0.00,2.25,0.00,0.000,6,0.000,0.021,2421,1875,3377,0,0,0,0,0,0
$GC,2571,-1.42,-77.9,249.7,-7.9,232,2575,0.00,2.42,0.00,0.000,4,0.000,0.044,2426,463,3377,0,0,0,0,0,0
$GC,2608,-1.42,-77.9,253.3,-9.7,233,2613,0.00,2.25,0.00,0.000,6,0.000,0.021,2424,1878,3377,0,0,0,0,0,0
$GC,2926,-1.50,-77.9,280.2,-8.9,249,2930,0.17,2.42,0.00,0.000,4,0.052,0.045,2374,468,3376,0,0,0,0,0,0
$GC,3005,-1.44,-77.9,289.8,-12.4,252,3009,0.12,2.28,0.00,0.000,6,0.099,0.022,2398,1879,3376,0,0,0,0,0,0
$GC,3338,-1.44,-77.9,320.2,-9.0,263,3342,0.00,2.42,0.00,0.000,4,0.000,0.046,2399,470,3375,0,0,0,0,0,0
$GC,3375,-1.44,-77.9,324.0,-10.2,263,3380,0.00,2.28,0.00,0.000,6,0.000,0.023,2398,1881,3375,0,0,0,0,0,0
$GC,3706,-1.47,-77.9,354.4,-9.1,272,3710,0.00,2.42,0.00,0.000,4,0.000,0.048,2399,470,3374,0,0,0,0,0,0
$GC,3762,-1.47,-77.9,360.2,-10.7,273,3766,0.00,2.28,0.00,0.000,6,0.000,0.025,2399,1881,3374,0,0,0,0,0,0
$GC,4075,-1.51,-77.9,387.1,-8.1,281,4080,0.00,2.45,0.00,0.000,4,0.000,0.050,2397,471,3372,0,0,0,0,0,0
$GC,4137,-1.51,-77.9,392.5,-9.5,282,4141,0.00,2.28,0.00,0.000,6,0.000,0.025,2399,1874,3371,0,0,0,0,0,0
$GC,4487,-1.56,-77.9,420.6,-8.1,291,4492,0.12,2.45,0.00,0.000,4,0.067,0.052,2363,471,3369,0,0,0,0,0,0
$GC,4534,-1.48,-77.9,425.9,-11.5,292,4539,0.12,2.30,0.00,0.000,6,0.104,0.027,2388,1870,3368,0,0,0,0,0,0
$STATE,4814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4815,begin apogee
$GC,4821,-0.31,0.0,451.8,9.0,299,4889,1.20,0.00,65.15,0.874,6,0.074,0.000,2646,2035,3049,0,0,0,0,0,0
$STATE,4890,end apogee,CONTROL_FINISHED_OK
$STATE,4890,begin climb
$GC,4892,1.40,77.9,452.8,0.0,300,4967,1.62,2.42,64.97,0.853,4,0.032,0.042,3025,3383,2731,0,0,0,0,0,0
$GC,5232,1.21,110.0,443.4,5.8,307,5266,0.22,2.35,27.62,0.834,6,0.113,0.035,2982,2006,2601,0,0,0,0,0,0
$GC,5579,1.09,110.0,416.5,8.1,316,5581,0.17,0.00,0.00,0.000,6,0.114,0.000,2951,2006,2596,0,0,0,0,0,0
$GC,5905,1.04,114.8,391.9,7.7,324,5914,0.00,2.38,4.32,0.564,4,0.000,0.038,2951,3381,2581,0,0,0,0,0,0
$GC,6049,1.04,141.7,382.5,6.2,327,6082,0.00,2.38,24.48,0.821,6,0.000,0.036,2950,2004,2471,0,0,0,0,0,0
$GC,6408,1.05,149.7,356.7,7.5,336,6418,0.00,0.00,7.75,0.703,6,0.000,0.000,2950,2004,2439,0,0,0,0,0,0
$GC,6731,1.06,159.1,331.8,7.4,344,6748,0.00,2.50,9.50,0.727,4,0.000,0.051,2952,602,2400,0,0,0,0,0,0
$GC,6806,1.00,173.4,326.3,7.0,345,6827,0.10,2.33,13.90,0.759,6,0.133,0.030,2936,1993,2342,0,0,0,0,0,0
$GC,7155,1.07,188.1,301.1,7.0,354,7175,0.00,2.53,13.85,0.746,4,0.000,0.051,2936,606,2283,0,0,0,0,0,0
$GC,7226,1.07,188.1,293.9,10.5,356,7231,0.00,2.35,0.00,0.000,6,0.000,0.029,2936,2007,2279,0,0,0,0,0,0
$GC,7551,1.13,188.1,265.4,8.3,372,7556,0.10,2.47,0.00,0.000,4,0.086,0.051,2962,602,2279,0,0,0,0,0,0
$GC,7659,1.09,188.1,255.2,9.5,376,7666,0.00,2.38,0.00,0.000,6,0.000,0.029,2962,2001,2276,0,0,0,0,0,0
$GC,7975,1.12,211.7,232.8,6.4,392,7998,0.00,0.00,21.65,0.722,6,0.000,0.000,2962,2006,2187,0,0,0,0,0,0
$GC,8304,1.16,211.7,206.8,8.9,408,8308,0.00,2.45,0.00,0.000,4,0.000,0.048,2962,601,2183,0,0,0,0,0,0
$GC,8341,1.16,211.7,203.2,10.0,409,8347,0.00,2.35,0.00,0.000,6,0.000,0.027,2961,2016,2181,0,0,0,0,0,0
$GC,8664,1.16,213.1,175.2,7.9,438,8669,0.00,2.45,0.00,0.000,4,0.000,0.046,2962,601,2181,0,0,0,0,0,0
$GC,8807,1.16,213.1,162.6,9.7,453,8811,0.00,2.33,0.00,0.000,6,0.000,0.025,2962,2020,2179,0,0,0,0,0,0
$GC,9070,1.21,213.1,139.9,8.7,477,9072,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2025,2179,0,0,0,0,0,0
$GC,9324,1.28,213.1,117.3,8.0,501,9329,0.15,2.47,0.00,0.000,4,0.062,0.044,3004,601,2179,0,0,0,0,0,0
$GC,9479,1.27,236.7,105.6,6.4,517,9507,0.00,2.30,22.30,0.604,6,0.000,0.023,3004,2028,2084,0,0,0,0,0,0
$GC,9761,1.32,249.3,87.9,7.2,544,9781,0.00,2.53,11.95,0.551,4,0.000,0.043,3004,602,2033,0,0,0,0,0,0
$GC,9804,1.29,249.3,84.3,8.8,548,9811,0.00,2.33,0.00,0.000,6,0.000,0.022,3004,2004,2031,0,0,0,0,0,0
$GC,10068,1.33,249.3,61.3,8.6,573,10072,0.00,2.42,0.00,0.000,4,0.000,0.041,3005,597,2031,0,0,0,0,0,0
$GC,10122,1.33,249.3,55.4,10.8,578,10128,0.00,2.33,0.00,0.000,6,0.000,0.021,3004,2012,2029,0,0,0,0,0,0
$GC,10385,1.38,249.3,33.5,8.2,603,10386,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2016,2029,0,0,0,0,0,0
$GC,10647,1.43,249.3,11.2,8.3,647,10654,0.10,2.42,0.00,0.000,4,0.076,0.041,3038,600,2029,0,0,0,0,0,0
$GC,10687,1.32,249.3,7.1,11.1,655,10693,0.17,2.28,0.00,0.000,6,0.100,0.020,3004,2027,2029,0,0,0,0,0,0
$STATE,10732,end climb,SURFACE_DEPTH_REACHED
$STATE,10732,begin surface coast
$FINISH,0.4,1.021888
$STATE,10768,end surface coast,CONTROL_FINISHED_OK
$STATE,10768,begin surface
$SM_CCo,10788,25.75,0.499,0,0,1827,300.00
$SM_GC,1.32,0.00,0.00,25.75,0.000,0.000,0.499,426,1851,1827,-10.52,-0.68,300.00
$IRIDIUM_FIX,2101.76,-15745.74,010999,101031
$TT8_MAMPS,0.029146
$HUMID,49.37
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.4,41.083
$10V_AH,10.0,39.042
$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,27.225,114.325,287.450,25.750,0.000,28.122,26.670,130.939,4.500,0.000,34.971,1286.898,7099.307,386.182,1954.009,406.374,33.376,1227.140,0.000,1911.658,0.000,29.246,0.000
$DEVICE_MAMPS,132.691,52.923,874.380,499.317,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,451.005,429.598,832.474,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,38049,669
$CAP_FILE_SIZE,121762,0
$CFSIZE,260165632,231505920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070610,165526,2107.618,-15747.494,51,3.8,70,9.8