version: 66.06
glider: 139
mission: 7
dive: 469
start: 6 7 110 23 27 17
data:
$ID,139
$MISSION,7
$DIVE,469
$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,-2138518.2
$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
$GPS1,232020,2107.658,-15747.571,40,1.4,40,9.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.6
$GPS2,232625,2107.686,-15747.641,17,2.0,22,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.017
$KALMAN_X,-199142.0,285.6,-487.8,211943.2,-1681.6
$KALMAN_Y,15561.2,226.3,-60.3,-14291.3,28.3
$MHEAD_RNG_PITCHd_Wd,85.4,8865,-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,-53.00,0.000,2,0.000,0.000,430,1860,3222,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.7,-6.6,10,96,10.55,2.42,-2.80,0.000,4,0.133,0.054,2402,471,3370,0,0,0,0,0,0
$GC,112,-0.63,-77.9,16.4,-31.9,17,118,0.85,2.33,0.00,0.000,6,0.095,0.020,2572,1906,3372,0,0,0,0,0,0
$GC,323,-0.86,-77.9,33.9,-6.9,50,328,0.20,2.47,0.00,0.000,4,0.046,0.042,2509,468,3372,0,0,0,0,0,0
$GC,402,-0.91,-77.9,42.2,-10.7,58,406,0.00,2.28,0.00,0.000,6,0.000,0.019,2507,1887,3373,0,0,0,0,0,0
$GC,666,-1.01,-77.9,67.9,-10.3,82,670,0.00,2.42,0.00,0.000,4,0.000,0.042,2509,468,3374,0,0,0,0,0,0
$GC,764,-1.09,-77.9,78.6,-11.0,92,771,0.08,2.28,0.00,0.000,6,0.037,0.019,2465,1872,3374,0,0,0,0,0,0
$GC,1026,-1.15,-77.9,107.7,-9.1,117,1030,0.00,2.30,0.00,0.000,4,0.000,0.025,2471,3264,3375,0,0,0,0,0,0
$GC,1054,-1.30,-77.9,110.4,-8.5,119,1060,0.17,2.33,0.00,0.000,6,0.050,0.027,2414,1869,3376,0,0,0,0,0,0
$GC,1314,-1.30,-77.9,134.8,-9.7,144,1318,0.00,2.38,0.00,0.000,4,0.000,0.042,2413,473,3377,0,0,0,0,0,0
$GC,1403,-1.30,-77.9,144.2,-10.7,153,1407,0.00,2.22,0.00,0.000,6,0.000,0.019,2412,1879,3377,0,0,0,0,0,0
$GC,1667,-1.30,-77.9,168.2,-9.2,177,1671,0.00,2.42,0.00,0.000,4,0.000,0.043,2412,466,3377,0,0,0,0,0,0
$GC,1729,-1.26,-77.9,175.3,-11.6,183,1733,0.12,2.22,0.00,0.000,6,0.098,0.020,2440,1875,3377,0,0,0,0,0,0
$GC,1991,-1.32,-77.9,199.8,-9.1,207,1998,0.00,2.40,0.00,0.000,4,0.000,0.043,2440,474,3377,0,0,0,0,0,0
$GC,2048,-1.37,-77.9,206.1,-10.2,210,2053,0.10,2.22,0.00,0.000,6,0.074,0.021,2401,1873,3377,0,0,0,0,0,0
$GC,2369,-1.37,-77.9,239.4,-10.9,226,2376,0.00,2.38,0.00,0.000,4,0.000,0.044,2402,474,3377,0,0,0,0,0,0
$GC,2422,-1.37,-77.9,246.0,-11.7,228,2426,0.00,2.25,0.00,0.000,6,0.000,0.021,2402,1875,3378,0,0,0,0,0,0
$GC,2746,-1.37,-77.9,276.7,-9.3,244,2750,0.00,2.42,0.00,0.000,4,0.000,0.045,2401,469,3377,0,0,0,0,0,0
$GC,2840,-1.37,-77.9,286.2,-9.9,248,2844,0.00,2.25,0.00,0.000,6,0.000,0.022,2400,1882,3377,0,0,0,0,0,0
$GC,3161,-1.37,-77.9,316.2,-9.1,260,3165,0.00,2.42,0.00,0.000,4,0.000,0.047,2402,475,3376,0,0,0,0,0,0
$GC,3205,-1.37,-77.9,320.0,-9.1,261,3209,0.00,2.25,0.00,0.000,6,0.000,0.024,2402,1878,3376,0,0,0,0,0,0
$GC,3537,-1.41,-77.9,344.1,-7.0,269,3541,0.00,2.42,0.00,0.000,4,0.000,0.048,2402,467,3374,0,0,0,0,0,0
$GC,3638,-1.41,-77.9,353.1,-8.6,271,3643,0.00,2.28,0.00,0.000,6,0.000,0.025,2402,1877,3373,0,0,0,0,0,0
$GC,3952,-1.45,-77.9,378.3,-8.1,279,3956,0.00,2.42,0.00,0.000,4,0.000,0.050,2401,475,3371,0,0,0,0,0,0
$GC,3975,-1.45,-77.9,380.4,-9.5,279,3979,0.00,2.28,0.00,0.000,6,0.000,0.026,2402,1878,3371,0,0,0,0,0,0
$GC,4320,-1.50,-77.9,410.8,-9.0,288,4325,0.00,2.42,0.00,0.000,4,0.000,0.051,2401,477,3369,0,0,0,0,0,0
$GC,4389,-1.50,-77.9,417.8,-10.1,289,4394,0.00,2.30,0.00,0.000,6,0.000,0.027,2402,1879,3368,0,0,0,0,0,0
$GC,4730,-1.55,-77.9,448.5,-8.8,298,4735,0.12,2.47,0.00,0.000,4,0.069,0.053,2365,477,3366,0,0,0,0,0,0
$STATE,4743,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4743,begin apogee
$GC,4750,-0.31,0.0,450.1,8.5,298,4819,1.30,0.00,64.50,0.875,6,0.085,0.000,2639,2010,3050,0,0,0,0,0,0
$STATE,4820,end apogee,CONTROL_FINISHED_OK
$STATE,4820,begin climb
$GC,4822,1.40,77.9,452.3,0.0,300,4897,1.67,2.50,65.10,0.852,4,0.041,0.043,3017,3400,2732,0,0,0,0,0,0
$GC,5162,1.25,126.2,443.8,4.7,307,5211,0.17,2.38,41.25,0.847,6,0.120,0.036,2987,2013,2535,0,0,0,0,0,0
$GC,5552,1.13,126.2,410.4,9.4,317,5557,0.15,2.50,0.00,0.000,4,0.119,0.051,2960,599,2528,0,0,0,0,0,0
$GC,5577,1.01,126.2,407.6,11.1,317,5582,0.12,2.40,0.00,0.000,6,0.130,0.029,2938,2022,2527,0,0,0,0,0,0
$GC,5917,1.03,146.5,382.9,6.6,326,5942,0.00,2.58,17.48,0.804,4,0.000,0.051,2938,610,2450,0,0,0,0,0,0
$GC,6023,0.98,151.6,375.5,7.7,328,6035,0.00,2.35,5.50,0.628,6,0.000,0.030,2938,2012,2431,0,0,0,0,0,0
$GC,6380,0.99,158.7,350.2,7.5,337,6392,0.00,2.42,7.32,0.692,4,0.000,0.040,2939,3401,2403,0,0,0,0,0,0
$GC,6451,1.02,159.6,344.6,8.0,338,6455,0.00,2.40,0.00,0.000,6,0.000,0.036,2939,2013,2403,0,0,0,0,0,0
$GC,6795,1.02,159.6,316.7,8.4,347,6799,0.00,2.45,0.00,0.000,4,0.000,0.051,2938,602,2400,0,0,0,0,0,0
$GC,6893,0.99,159.6,307.3,9.9,349,6897,0.00,2.38,0.00,0.000,6,0.000,0.029,2939,2016,2398,0,0,0,0,0,0
$GC,7214,1.03,164.4,280.5,7.7,362,7226,0.00,2.55,5.93,0.622,4,0.000,0.051,2939,604,2378,0,0,0,0,0,0
$GC,7244,1.03,164.4,278.0,8.0,363,7248,0.00,2.35,0.00,0.000,6,0.000,0.030,2939,2012,2377,0,0,0,0,0,0
$GC,7566,1.08,167.7,253.3,7.8,379,7578,0.00,2.50,4.40,0.533,4,0.000,0.050,2939,592,2364,0,0,0,0,0,0
$GC,7707,1.09,173.3,241.8,7.6,385,7719,0.00,2.38,6.43,0.619,6,0.000,0.029,2939,2015,2342,0,0,0,0,0,0
$GC,8038,1.17,182.1,218.3,7.4,401,8050,0.12,0.00,9.48,0.660,6,0.074,0.000,2972,2016,2306,0,0,0,0,0,0
$GC,8347,1.19,198.8,196.0,6.9,418,8366,0.00,0.00,16.00,0.683,6,0.000,0.000,2972,2015,2239,0,0,0,0,0,0
$GC,8622,1.19,198.8,174.8,8.2,444,8627,0.00,2.47,0.00,0.000,4,0.000,0.047,2972,599,2236,0,0,0,0,0,0
$GC,8702,1.14,198.8,167.2,10.6,452,8706,0.00,2.35,0.00,0.000,6,0.000,0.026,2971,2013,2234,0,0,0,0,0,0
$GC,8963,1.14,198.8,142.6,8.8,476,8967,0.00,2.45,0.00,0.000,4,0.000,0.046,2972,598,2234,0,0,0,0,0,0
$GC,9111,1.10,198.8,128.3,9.4,492,9116,0.00,2.33,0.00,0.000,6,0.000,0.025,2972,2016,2232,0,0,0,0,0,0
$GC,9380,1.17,207.9,107.8,7.4,517,9398,0.00,2.47,8.75,0.555,4,0.000,0.044,2972,594,2200,0,0,0,0,0,0
$GC,9487,1.23,256.9,101.6,4.6,528,9538,0.00,2.35,43.58,0.617,6,0.000,0.023,2972,2016,2002,0,0,0,0,0,0
$GC,9793,1.36,276.8,81.7,6.7,558,9814,0.17,0.00,18.02,0.571,6,0.055,0.000,3022,2016,1921,0,0,0,0,0,0
$GC,10068,1.36,276.8,54.8,9.8,584,10072,0.00,2.42,0.00,0.000,4,0.000,0.044,3022,601,1918,0,0,0,0,0,0
$GC,10200,1.36,276.8,39.9,11.9,598,10204,0.00,2.28,0.00,0.000,6,0.000,0.021,3022,2010,1915,0,0,0,0,0,0
$GC,10468,1.36,276.8,14.4,9.6,637,10474,0.00,2.42,0.00,0.000,4,0.000,0.042,3022,590,1915,0,0,0,0,0,0
$STATE,10569,end climb,SURFACE_DEPTH_REACHED
$STATE,10569,begin surface coast
$FINISH,0.5,1.010708
$STATE,10601,end surface coast,CONTROL_FINISHED_OK
$STATE,10601,begin surface
$SM_CCo,10623,12.25,0.482,0,0,1827,300.00
$SM_GC,2.34,0.00,0.00,12.25,0.000,0.000,0.482,428,1867,1827,-10.52,-0.23,300.00
$IRIDIUM_FIX,2101.76,-15750.89,010999,202000
$TT8_MAMPS,0.029146
$HUMID,49.96
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,41.352
$10V_AH,10.0,39.298
$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,27.100,123.650,313.725,12.250,0.000,29.333,35.767,180.005,4.500,0.000,23.636,1288.815,6847.961,377.462,2009.083,476.424,33.378,1262.033,0.000,1984.094,0.000,29.259,0.000
$DEVICE_MAMPS,133.458,54.457,875.147,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,449.415,430.338,832.469,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,38188,666
$CAP_FILE_SIZE,122900,0
$CFSIZE,260165632,231309312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080610,022654,2107.737,-15747.399,84,2.7,103,9.8