version: 66.06
glider: 139
mission: 7
dive: 468
start: 6 7 110 20 21 52
data:
$ID,139
$MISSION,7
$DIVE,468
$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,-2138493.8
$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
$GPS1,201428,2107.542,-15747.279,29,5.3,48,9.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-71.3
$GPS2,202100,2107.529,-15747.339,51,0.9,51,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,0.014
$KALMAN_X,-197010.2,-30.2,266.6,209886.8,-2318.5
$KALMAN_Y,15596.6,104.1,-98.5,-14452.9,-52.7
$MHEAD_RNG_PITCHd_Wd,75.7,8273,-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,-52.95,0.000,2,0.000,0.000,427,1859,3220,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.6,-6.1,10,96,10.57,2.42,-2.90,0.000,4,0.133,0.054,2402,472,3371,0,0,0,0,0,0
$GC,112,-0.60,-77.9,15.9,-31.1,17,118,0.88,2.30,0.00,0.000,6,0.092,0.020,2578,1911,3372,0,0,0,0,0,0
$GC,319,-0.84,-77.9,32.3,-6.8,51,324,0.22,2.50,0.00,0.000,4,0.043,0.042,2509,469,3372,0,0,0,0,0,0
$GC,375,-0.91,-77.9,38.1,-10.8,56,382,0.00,2.28,0.00,0.000,6,0.000,0.020,2507,1873,3373,0,0,0,0,0,0
$GC,638,-1.01,-77.9,62.9,-9.1,81,642,0.00,2.40,0.00,0.000,4,0.000,0.043,2509,470,3374,0,0,0,0,0,0
$GC,738,-1.10,-77.9,72.8,-9.7,92,743,0.15,2.25,0.00,0.000,6,0.055,0.019,2456,1889,3374,0,0,0,0,0,0
$GC,999,-1.16,-77.9,103.1,-8.5,116,1003,0.00,2.42,0.00,0.000,4,0.000,0.041,2459,468,3375,0,0,0,0,0,0
$GC,1026,-1.21,-77.9,105.4,-8.7,118,1033,0.00,2.28,0.00,0.000,6,0.000,0.019,2456,1875,3376,0,0,0,0,0,0
$GC,1292,-1.29,-77.9,125.7,-8.5,143,1297,0.12,2.42,0.00,0.000,4,0.064,0.043,2414,460,3377,0,0,0,0,0,0
$GC,1373,-1.24,-77.9,135.1,-11.7,151,1377,0.15,2.28,0.00,0.000,6,0.091,0.019,2445,1884,3377,0,0,0,0,0,0
$GC,1635,-1.31,-77.9,159.3,-8.8,175,1639,0.00,2.45,0.00,0.000,4,0.000,0.043,2446,458,3377,0,0,0,0,0,0
$GC,1696,-1.35,-77.9,165.5,-10.1,181,1701,0.12,2.25,0.00,0.000,6,0.063,0.020,2402,1883,3377,0,0,0,0,0,0
$GC,1958,-1.35,-77.9,193.2,-10.2,205,1963,0.00,2.42,0.00,0.000,4,0.000,0.044,2403,469,3377,0,0,0,0,0,0
$GC,2084,-1.28,-77.9,207.2,-9.3,214,2089,0.15,2.22,0.00,0.000,6,0.093,0.020,2433,1874,3377,0,0,0,0,0,0
$GC,2403,-1.35,-77.9,234.3,-8.4,229,2407,0.00,2.42,0.00,0.000,4,0.000,0.044,2434,460,3377,0,0,0,0,0,0
$GC,2458,-1.40,-77.9,239.5,-8.7,231,2462,0.12,2.28,0.00,0.000,6,0.063,0.021,2391,1880,3378,0,0,0,0,0,0
$GC,2773,-1.40,-77.9,269.9,-9.5,246,2777,0.00,2.40,0.00,0.000,4,0.000,0.044,2391,468,3377,0,0,0,0,0,0
$GC,2810,-1.35,-77.9,273.9,-10.7,247,2816,0.15,2.28,0.00,0.000,6,0.094,0.021,2422,1884,3377,0,0,0,0,0,0
$GC,3129,-1.42,-77.9,301.6,-8.8,263,3133,0.00,2.42,0.00,0.000,4,0.000,0.046,2422,462,3376,0,0,0,0,0,0
$GC,3184,-1.48,-77.9,307.3,-9.8,264,3189,0.15,2.25,0.00,0.000,6,0.058,0.022,2374,1873,3376,0,0,0,0,0,0
$GC,3503,-1.48,-77.9,342.9,-11.3,272,3507,0.00,2.40,0.00,0.000,4,0.000,0.048,2375,470,3375,0,0,0,0,0,0
$GC,3563,-1.41,-77.9,350.5,-12.5,273,3568,0.15,2.28,0.00,0.000,6,0.096,0.024,2405,1881,3375,0,0,0,0,0,0
$GC,3915,-1.46,-77.9,383.9,-9.3,282,3919,0.00,2.45,0.00,0.000,4,0.000,0.049,2405,471,3373,0,0,0,0,0,0
$GC,3966,-1.46,-77.9,389.3,-10.6,283,3970,0.00,2.28,0.00,0.000,6,0.000,0.025,2406,1881,3373,0,0,0,0,0,0
$GC,4284,-1.52,-77.9,419.3,-9.6,291,4288,0.00,2.47,0.00,0.000,4,0.000,0.051,2405,464,3370,0,0,0,0,0,0
$GC,4327,-1.52,-77.9,423.5,-10.0,292,4331,0.00,2.30,0.00,0.000,6,0.000,0.027,2406,1878,3370,0,0,0,0,0,0
$STATE,4651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4651,begin apogee
$GC,4657,-0.31,0.0,452.5,8.3,300,4726,1.12,0.00,65.12,0.871,6,0.076,0.000,2646,2028,3050,0,0,0,0,0,0
$STATE,4727,end apogee,CONTROL_FINISHED_OK
$STATE,4727,begin climb
$GC,4729,1.40,77.9,453.5,0.0,301,4804,1.62,2.42,64.75,0.851,4,0.031,0.042,3023,3377,2732,0,0,0,0,0,0
$GC,5069,1.21,117.0,441.8,5.3,308,5111,0.25,2.35,33.22,0.835,6,0.114,0.035,2980,2002,2573,0,0,0,0,0,0
$GC,5420,1.13,132.6,417.5,6.9,317,5440,0.00,2.47,13.93,0.788,4,0.000,0.040,2975,3380,2508,0,0,0,0,0,0
$GC,5570,1.06,152.2,407.3,6.7,320,5595,0.17,2.38,18.52,0.808,6,0.117,0.038,2949,2011,2428,0,0,0,0,0,0
$GC,5927,1.06,152.2,380.2,8.2,329,5931,0.00,2.38,0.00,0.000,4,0.000,0.040,2948,3380,2422,0,0,0,0,0,0
$GC,6001,1.06,152.2,373.4,9.5,330,6005,0.00,2.38,0.00,0.000,6,0.000,0.038,2949,2009,2422,0,0,0,0,0,0
$GC,6336,1.06,152.2,343.1,9.0,339,6340,0.00,2.47,0.00,0.000,4,0.000,0.052,2948,600,2419,0,0,0,0,0,0
$GC,6406,0.98,152.2,336.9,8.6,340,6410,0.00,2.35,0.00,0.000,6,0.000,0.030,2949,1997,2417,0,0,0,0,0,0
$GC,6750,0.99,156.5,310.9,7.7,349,6754,0.00,2.45,0.00,0.000,4,0.000,0.051,2948,595,2417,0,0,0,0,0,0
$GC,6833,0.94,156.5,303.6,8.9,350,6838,0.15,2.38,0.00,0.000,6,0.117,0.030,2922,2010,2416,0,0,0,0,0,0
$GC,7149,1.02,169.2,281.6,7.2,363,7171,0.00,2.55,13.55,0.736,4,0.000,0.050,2922,604,2359,0,0,0,0,0,0
$GC,7181,1.07,179.1,279.0,7.3,364,7197,0.10,2.35,10.50,0.698,6,0.083,0.029,2948,2015,2319,0,0,0,0,0,0
$GC,7508,1.08,188.1,252.2,7.4,380,7524,0.00,2.50,9.15,0.673,4,0.000,0.049,2948,599,2282,0,0,0,0,0,0
$GC,7661,1.08,188.1,238.3,8.4,386,7668,0.00,2.38,0.00,0.000,6,0.000,0.028,2948,2000,2278,0,0,0,0,0,0
$GC,7977,1.13,188.6,213.9,8.0,402,7981,0.00,2.45,0.00,0.000,4,0.000,0.048,2948,602,2278,0,0,0,0,0,0
$GC,8050,1.13,188.6,207.5,8.6,405,8055,0.00,2.33,0.00,0.000,6,0.000,0.027,2947,2012,2276,0,0,0,0,0,0
$GC,8380,1.21,208.0,184.4,6.7,431,8401,0.12,0.00,18.05,0.674,6,0.074,0.000,2981,2017,2202,0,0,0,0,0,0
$GC,8653,1.21,208.0,160.3,8.9,457,8657,0.00,2.45,0.00,0.000,4,0.000,0.048,2981,600,2200,0,0,0,0,0,0
$GC,8791,1.17,208.0,146.1,11.0,471,8796,0.00,2.33,0.00,0.000,6,0.000,0.025,2982,2016,2197,0,0,0,0,0,0
$GC,9052,1.17,208.0,120.9,9.7,496,9053,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2021,2197,0,0,0,0,0,0
$GC,9307,1.22,213.0,100.1,7.7,520,9318,0.00,2.47,5.57,0.488,4,0.000,0.044,2981,595,2180,0,0,0,0,0,0
$GC,9576,1.27,249.9,84.9,5.5,549,9617,0.00,2.35,33.22,0.593,6,0.000,0.022,2981,2036,2030,0,0,0,0,0,0
$GC,9874,1.37,266.2,65.7,6.9,578,9895,0.15,2.53,15.38,0.546,4,0.061,0.042,3025,592,1963,0,0,0,0,0,0
$GC,9945,1.31,266.2,58.6,11.3,585,9953,0.10,2.35,0.00,0.000,6,0.081,0.021,3002,2014,1960,0,0,0,0,0,0
$GC,10211,1.37,269.1,36.7,7.8,610,10215,0.00,2.45,0.00,0.000,4,0.000,0.042,3001,596,1959,0,0,0,0,0,0
$GC,10373,1.37,269.1,19.4,10.3,638,10380,0.00,2.33,0.00,0.000,6,0.000,0.021,3001,2016,1957,0,0,0,0,0,0
$STATE,10555,end climb,SURFACE_DEPTH_REACHED
$STATE,10555,begin surface coast
$FINISH,0.6,1.023204
$STATE,10593,end surface coast,CONTROL_FINISHED_OK
$STATE,10593,begin surface
$SM_CCo,10614,17.08,0.489,0,0,1826,300.00
$SM_GC,1.07,0.00,0.00,17.08,0.000,0.000,0.489,431,1860,1826,-10.50,-0.42,300.00
$IRIDIUM_FIX,2059.45,-15745.74,010999,171756
$TT8_MAMPS,0.029146
$HUMID,50.27
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,23.4,41.268
$10V_AH,10.0,39.216
$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,27.825,119.375,300.975,17.075,0.000,30.135,30.570,182.386,4.750,0.000,51.358,1313.072,6758.899,373.610,2098.904,478.073,33.373,1271.534,0.000,2041.759,0.000,29.250,0.000
$DEVICE_MAMPS,132.691,54.457,870.545,489.346,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,457.156,443.821,872.847,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,38027,678
$CAP_FILE_SIZE,124378,0
$CFSIZE,260165632,231374848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070610,232020,2107.658,-15747.571,40,1.4,40,9.8