version: 66.06
glider: 139
mission: 7
dive: 467
start: 6 7 110 17 12 50
data:
$ID,139
$MISSION,7
$DIVE,467
$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,-2138441.8
$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
$GPS1,165526,2107.618,-15747.494,51,3.8,70,9.8
$_CALLS,4
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.1
$GPS2,171157,2107.638,-15747.563,33,3.5,52,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,0.006
$KALMAN_X,-195301.0,-304.2,505.5,207826.4,-2178.0
$KALMAN_Y,15880.3,-87.5,75.0,-14519.3,-16.8
$MHEAD_RNG_PITCHd_Wd,78.4,8709,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,70,0.00,0.00,-52.72,0.000,2,0.000,0.000,426,1851,3227,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.5,-6.3,10,95,10.55,2.42,-2.72,0.000,4,0.131,0.053,2402,462,3371,0,0,0,0,0,0
$GC,141,-1.13,-77.9,23.0,-22.6,24,148,0.28,2.35,0.00,0.000,6,0.077,0.020,2462,1898,3372,0,0,0,0,0,0
$GC,350,-1.10,-77.9,51.7,-13.9,47,354,0.00,2.47,0.00,0.000,4,0.000,0.043,2464,466,3373,0,0,0,0,0,0
$GC,370,-1.02,-77.9,54.8,-13.3,48,377,0.10,2.30,0.00,0.000,6,0.081,0.020,2487,1895,3373,0,0,0,0,0,0
$GC,633,-1.07,-77.9,84.0,-10.1,73,637,0.00,2.47,0.00,0.000,4,0.000,0.043,2489,458,3373,0,0,0,0,0,0
$GC,713,-1.10,-77.9,92.4,-10.5,81,717,0.00,2.25,0.00,0.000,6,0.000,0.019,2488,1872,3374,0,0,0,0,0,0
$GC,977,-1.25,-77.9,113.2,-8.0,105,982,0.22,2.40,0.00,0.000,4,0.044,0.041,2420,465,3374,0,0,0,0,0,0
$GC,1060,-1.22,-77.9,122.9,-11.9,113,1065,0.12,2.22,0.00,0.000,6,0.097,0.019,2446,1875,3375,0,0,0,0,0,0
$GC,1322,-1.28,-77.9,147.0,-8.7,137,1326,0.00,2.40,0.00,0.000,4,0.000,0.042,2447,461,3375,0,0,0,0,0,0
$GC,1366,-1.34,-77.9,150.9,-9.2,141,1371,0.10,2.22,0.00,0.000,6,0.073,0.019,2407,1875,3376,0,0,0,0,0,0
$GC,1628,-1.34,-77.9,177.4,-9.6,165,1632,0.00,2.40,0.00,0.000,4,0.000,0.042,2408,461,3376,0,0,0,0,0,0
$GC,1717,-1.27,-77.9,187.7,-12.0,174,1722,0.15,2.25,0.00,0.000,6,0.094,0.020,2439,1883,3376,0,0,0,0,0,0
$GC,1975,-1.33,-77.9,213.1,-9.9,192,1979,0.00,2.40,0.00,0.000,4,0.000,0.043,2440,469,3376,0,0,0,0,0,0
$GC,2031,-1.37,-77.9,219.0,-10.1,194,2036,0.10,2.22,0.00,0.000,6,0.074,0.020,2401,1875,3376,0,0,0,0,0,0
$GC,2347,-1.37,-77.9,252.7,-10.2,209,2351,0.00,2.40,0.00,0.000,4,0.000,0.044,2402,464,3375,0,0,0,0,0,0
$GC,2375,-1.31,-77.9,255.8,-11.4,210,2380,0.12,2.25,0.00,0.000,6,0.099,0.021,2427,1877,3375,0,0,0,0,0,0
$GC,2698,-1.39,-77.9,277.5,-5.7,226,2702,0.00,2.40,0.00,0.000,4,0.000,0.044,2427,467,3375,0,0,0,0,0,0
$GC,2767,-1.43,-77.9,282.2,-6.8,229,2772,0.12,2.28,0.00,0.000,6,0.063,0.022,2384,1881,3375,0,0,0,0,0,0
$GC,3111,-1.43,-77.9,312.3,-9.0,243,3115,0.00,2.45,0.00,0.000,4,0.000,0.046,2385,461,3373,0,0,0,0,0,0
$GC,3154,-1.37,-77.9,316.7,-11.2,244,3158,0.15,2.30,0.00,0.000,6,0.096,0.023,2415,1881,3373,0,0,0,0,0,0
$GC,3483,-1.44,-77.9,344.7,-8.2,252,3487,0.00,2.45,0.00,0.000,4,0.000,0.048,2415,467,3372,0,0,0,0,0,0
$GC,3534,-1.48,-77.9,349.0,-7.9,253,3539,0.10,2.30,0.00,0.000,6,0.074,0.024,2381,1880,3372,0,0,0,0,0,0
$GC,3853,-1.48,-77.9,375.6,-8.3,261,3857,0.00,2.45,0.00,0.000,4,0.000,0.049,2381,469,3369,0,0,0,0,0,0
$GC,3895,-1.43,-77.9,379.2,-8.9,261,3900,0.00,2.30,0.00,0.000,6,0.000,0.025,2381,1878,3369,0,0,0,0,0,0
$GC,4226,-1.43,-77.9,406.1,-8.2,270,4231,0.00,2.45,0.00,0.000,4,0.000,0.050,2381,471,3367,0,0,0,0,0,0
$GC,4246,-1.39,-77.9,408.0,-8.6,270,4251,0.15,2.30,0.00,0.000,6,0.098,0.027,2412,1882,3367,0,0,0,0,0,0
$GC,4591,-1.47,-77.9,436.5,-8.9,279,4595,0.00,2.47,0.00,0.000,4,0.000,0.053,2412,469,3364,0,0,0,0,0,0
$GC,4674,-1.51,-77.9,445.0,-10.8,280,4681,0.12,2.30,0.00,0.000,6,0.067,0.028,2373,1877,3364,0,0,0,0,0,0
$STATE,4759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4759,begin apogee
$GC,4765,-0.31,0.0,454.4,10.9,283,4833,1.27,0.00,64.35,0.876,6,0.080,0.000,2641,2040,3049,0,0,0,0,0,0
$STATE,4833,end apogee,CONTROL_FINISHED_OK
$STATE,4834,begin climb
$GC,4836,1.40,77.9,456.3,0.0,284,4911,1.65,2.42,64.88,0.856,4,0.034,0.044,3024,3380,2732,0,0,0,0,0,0
$GC,5166,1.25,138.3,453.1,3.9,291,5224,0.20,2.38,51.45,0.857,6,0.113,0.036,2989,2006,2486,0,0,0,0,0,0
$GC,5562,1.13,138.3,421.9,8.6,301,5567,0.15,2.47,0.00,0.000,4,0.122,0.053,2963,600,2478,0,0,0,0,0,0
$GC,5577,1.01,138.3,420.4,9.4,301,5582,0.15,2.33,0.00,0.000,6,0.121,0.030,2936,1990,2477,0,0,0,0,0,0
$GC,5927,1.02,144.8,393.1,7.6,310,5934,0.00,0.00,5.38,0.632,6,0.000,0.000,2936,1995,2459,0,0,0,0,0,0
$GC,6251,1.02,144.8,366.4,8.1,318,6256,0.00,2.42,0.00,0.000,4,0.000,0.041,2938,3404,2457,0,0,0,0,0,0
$GC,6322,1.02,144.8,360.1,8.6,319,6327,0.00,2.40,0.00,0.000,6,0.000,0.038,2937,2002,2456,0,0,0,0,0,0
$GC,6662,1.02,144.8,331.8,8.2,328,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2002,2455,0,0,0,0,0,0
$GC,6987,1.05,170.9,310.0,6.2,336,7014,0.00,0.00,22.95,0.788,6,0.000,0.000,2937,2002,2353,0,0,0,0,0,0
$GC,7341,1.10,174.6,282.4,7.8,349,7350,0.00,2.47,4.30,0.529,4,0.000,0.051,2937,604,2337,0,0,0,0,0,0
$GC,7431,1.10,174.6,274.2,9.0,353,7435,0.00,2.38,0.00,0.000,6,0.000,0.029,2937,2016,2335,0,0,0,0,0,0
$GC,7762,1.18,198.6,251.4,6.4,369,7791,0.15,2.58,22.55,0.742,4,0.069,0.051,2974,609,2239,0,0,0,0,0,0
$GC,7884,1.12,198.6,240.8,8.7,374,7888,0.00,2.38,0.00,0.000,6,0.000,0.028,2975,2019,2235,0,0,0,0,0,0
$GC,8204,1.12,198.6,215.0,8.2,390,8208,0.00,2.50,0.00,0.000,4,0.000,0.048,2975,598,2234,0,0,0,0,0,0
$GC,8241,1.07,198.6,211.6,9.4,391,8247,0.15,2.38,0.00,0.000,6,0.116,0.028,2949,2016,2232,0,0,0,0,0,0
$GC,8564,1.16,217.2,187.9,6.7,415,8586,0.00,2.53,16.77,0.671,4,0.000,0.048,2948,604,2163,0,0,0,0,0,0
$GC,8686,1.16,217.2,177.3,9.6,428,8693,0.00,2.38,0.00,0.000,6,0.000,0.026,2948,2015,2159,0,0,0,0,0,0
$GC,8950,1.24,219.1,156.4,7.9,453,8955,0.15,2.47,0.00,0.000,4,0.065,0.046,2988,596,2159,0,0,0,0,0,0
$GC,9069,1.18,219.1,143.9,11.0,465,9073,0.00,2.33,0.00,0.000,6,0.000,0.025,2988,2016,2157,0,0,0,0,0,0
$GC,9332,1.18,219.1,120.1,8.5,489,9337,0.00,2.45,0.00,0.000,4,0.000,0.044,2988,591,2157,0,0,0,0,0,0
$GC,9379,1.12,219.1,115.1,11.2,493,9385,0.15,2.35,0.00,0.000,6,0.111,0.024,2961,2021,2157,0,0,0,0,0,0
$GC,9641,1.24,223.0,90.0,7.8,518,9652,0.10,2.45,5.62,0.476,4,0.079,0.041,2990,601,2141,0,0,0,0,0,0
$GC,9793,1.24,223.3,78.0,8.0,534,9799,0.00,2.33,0.00,0.000,6,0.000,0.022,2990,2014,2139,0,0,0,0,0,0
$GC,10056,1.32,238.7,58.2,7.0,559,10077,0.00,2.47,15.73,0.548,4,0.000,0.041,2990,595,2075,0,0,0,0,0,0
$GC,10152,1.34,255.1,51.6,6.9,569,10174,0.00,2.30,15.23,0.535,6,0.000,0.021,2990,2025,2010,0,0,0,0,0,0
$GC,10428,1.43,268.7,33.2,7.1,595,10450,0.15,2.53,13.40,0.509,4,0.058,0.042,3033,599,1953,0,0,0,0,0,0
$GC,10545,1.37,268.7,20.9,11.0,616,10551,0.08,2.30,0.00,0.000,6,0.084,0.020,3015,2004,1950,0,0,0,0,0,0
$STATE,10740,end climb,SURFACE_DEPTH_REACHED
$STATE,10740,begin surface coast
$FINISH,0.5,1.023354
$STATE,10775,end surface coast,CONTROL_FINISHED_OK
$STATE,10775,begin surface
$SM_CCo,10795,16.00,0.489,0,0,1826,300.00
$SM_GC,1.62,0.00,0.00,16.00,0.000,0.000,0.489,427,1859,1826,-10.52,-0.45,300.00
$IRIDIUM_FIX,2101.76,-15745.74,010999,171724
$TT8_MAMPS,0.029146
$HUMID,49.64
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.40
$XPDR_PINGS,2
$24V_AH,23.4,41.186
$10V_AH,10.0,39.130
$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,27.825,124.300,302.600,16.000,0.000,102.090,126.300,401.557,5.000,0.000,52.988,1279.408,7311.573,373.926,1956.881,882.578,33.375,1224.163,0.000,1894.451,0.000,29.255,0.000
$DEVICE_MAMPS,131.157,52.923,875.914,489.346,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.026,419.515,826.720,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,38142,657
$CAP_FILE_SIZE,135419,0
$CFSIZE,260165632,231424000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070610,201428,2107.542,-15747.279,29,5.3,48,9.8