version: 66.06
glider: 139
mission: 7
dive: 471
start: 6 8 110 5 46 20
data:
$ID,139
$MISSION,7
$DIVE,471
$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,-2138594.5
$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
$GPS1,053533,2107.750,-15746.878,49,1.9,57,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-62.3
$GPS2,054526,2107.731,-15746.966,13,1.6,13,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.175,0.057
$KALMAN_X,-203077.9,286.0,496.4,216057.1,-2501.4
$KALMAN_Y,15824.2,124.8,155.6,-14586.1,-364.2
$MHEAD_RNG_PITCHd_Wd,62.2,7843,-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,-77.9,0.0,0.0,0,118,0.00,0.00,-100.65,0.000,2,0.000,0.000,426,1867,3152,0,0,0,0,0,0
$GC,121,-1.40,-77.9,3.0,-4.7,19,144,10.62,0.00,-4.43,0.000,6,0.133,0.000,2404,1868,3370,0,0,0,0,0,0
$GC,346,-1.23,-77.9,46.0,-17.5,51,351,0.20,2.42,0.00,0.000,4,0.100,0.042,2445,464,3371,0,0,0,0,0,0
$GC,364,-1.05,-77.9,49.0,-16.7,52,369,0.20,2.35,0.00,0.000,6,0.096,0.019,2484,1923,3371,0,0,0,0,0,0
$GC,629,-1.10,-77.9,76.0,-10.0,76,633,0.00,2.50,0.00,0.000,4,0.000,0.042,2484,463,3372,0,0,0,0,0,0
$GC,699,-1.10,-77.9,84.6,-11.9,83,703,0.00,2.25,0.00,0.000,6,0.000,0.019,2485,1878,3372,0,0,0,0,0,0
$GC,963,-1.23,-77.9,111.5,-7.7,107,968,0.17,2.42,0.00,0.000,4,0.051,0.043,2427,467,3372,0,0,0,0,0,0
$GC,1015,-1.23,-77.9,116.9,-10.4,112,1019,0.00,2.25,0.00,0.000,6,0.000,0.019,2429,1889,3372,0,0,0,0,0,0
$GC,1279,-1.27,-77.9,140.4,-9.3,136,1283,0.00,2.42,0.00,0.000,4,0.000,0.043,2428,466,3373,0,0,0,0,0,0
$GC,1359,-1.27,-77.9,149.0,-9.4,144,1363,0.00,2.22,0.00,0.000,6,0.000,0.019,2427,1878,3373,0,0,0,0,0,0
$GC,1621,-1.31,-77.9,172.3,-9.2,168,1625,0.00,2.40,0.00,0.000,4,0.000,0.043,2428,467,3373,0,0,0,0,0,0
$GC,1675,-1.31,-77.9,178.0,-10.5,173,1681,0.00,2.25,0.00,0.000,6,0.000,0.020,2426,1877,3373,0,0,0,0,0,0
$GC,1938,-1.36,-77.9,200.5,-8.5,198,1942,0.00,2.40,0.00,0.000,4,0.000,0.046,2428,470,3373,0,0,0,0,0,0
$GC,2005,-1.36,-77.9,206.3,-9.1,201,2009,0.00,2.22,0.00,0.000,6,0.000,0.021,2429,1871,3373,0,0,0,0,0,0
$GC,2336,-1.41,-77.9,231.0,-7.4,217,2341,0.00,2.42,0.00,0.000,4,0.000,0.044,2429,460,3373,0,0,0,0,0,0
$GC,2368,-1.41,-77.9,234.2,-9.5,218,2372,0.00,2.25,0.00,0.000,6,0.000,0.021,2429,1873,3373,0,0,0,0,0,0
$GC,2686,-1.48,-77.9,261.7,-9.8,233,2691,0.17,2.45,0.00,0.000,4,0.051,0.046,2376,461,3372,0,0,0,0,0,0
$GC,2769,-1.41,-77.9,271.9,-10.8,236,2777,0.10,2.30,0.00,0.000,6,0.076,0.022,2402,1872,3371,0,0,0,0,0,0
$GC,3086,-1.41,-77.9,301.5,-9.1,252,3090,0.00,2.42,0.00,0.000,4,0.000,0.046,2402,470,3370,0,0,0,0,0,0
$GC,3117,-1.41,-77.9,305.1,-10.6,252,3122,0.00,2.28,0.00,0.000,6,0.000,0.023,2402,1878,3370,0,0,0,0,0,0
$GC,3449,-1.41,-77.9,333.6,-8.0,260,3453,0.00,2.42,0.00,0.000,4,0.000,0.048,2402,464,3368,0,0,0,0,0,0
$GC,3476,-1.41,-77.9,336.2,-9.5,260,3480,0.00,2.25,0.00,0.000,6,0.000,0.024,2402,1871,3368,0,0,0,0,0,0
$GC,3817,-1.44,-77.9,362.9,-7.6,269,3821,0.00,2.45,0.00,0.000,4,0.000,0.048,2402,461,3366,0,0,0,0,0,0
$GC,3910,-1.44,-77.9,372.1,-9.7,271,3914,0.00,2.30,0.00,0.000,6,0.000,0.025,2402,1875,3364,0,0,0,0,0,0
$GC,4232,-1.49,-77.9,404.1,-10.1,279,4237,0.00,2.42,0.00,0.000,4,0.000,0.051,2402,471,3363,0,0,0,0,0,0
$GC,4284,-1.49,-77.9,408.9,-9.5,280,4288,0.00,2.28,0.00,0.000,6,0.000,0.026,2402,1872,3363,0,0,0,0,0,0
$GC,4602,-1.53,-77.9,434.6,-7.7,288,4606,0.00,2.45,0.00,0.000,4,0.000,0.051,2402,471,3360,0,0,0,0,0,0
$GC,4662,-1.53,-77.9,439.5,-8.5,289,4666,0.00,2.33,0.00,0.000,6,0.000,0.027,2402,1880,3360,0,0,0,0,0,0
$STATE,4806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4806,begin apogee
$GC,4812,-0.31,0.0,450.3,7.5,293,4879,1.12,0.00,63.35,0.871,6,0.071,0.000,2645,2031,3049,0,0,0,0,0,0
$STATE,4879,end apogee,CONTROL_FINISHED_OK
$STATE,4880,begin climb
$GC,4882,1.40,77.9,451.2,0.0,294,4957,1.62,2.42,64.78,0.850,4,0.031,0.042,3026,3378,2732,0,0,0,0,0,0
$GC,5008,1.26,155.2,451.9,2.7,296,5084,0.17,2.38,66.15,0.848,6,0.118,0.035,2993,2004,2416,0,0,0,0,0,0
$GC,5425,1.15,155.2,414.9,9.2,307,5430,0.15,2.47,0.00,0.000,4,0.117,0.051,2967,598,2405,0,0,0,0,0,0
$GC,5449,1.02,155.2,412.5,9.2,307,5454,0.15,2.35,0.00,0.000,6,0.121,0.030,2940,1990,2404,0,0,0,0,0,0
$GC,5790,1.02,155.2,385.6,8.1,316,5794,0.00,2.45,0.00,0.000,4,0.000,0.052,2940,605,2402,0,0,0,0,0,0
$GC,5836,0.98,155.2,380.8,10.6,317,5840,0.00,2.35,0.00,0.000,6,0.000,0.030,2940,2011,2401,0,0,0,0,0,0
$GC,6158,0.98,155.2,351.1,9.3,325,6162,0.00,2.47,0.00,0.000,4,0.000,0.051,2940,605,2400,0,0,0,0,0,0
$GC,6251,0.94,155.2,342.3,9.5,327,6256,0.12,2.33,0.00,0.000,6,0.121,0.030,2918,2010,2398,0,0,0,0,0,0
$GC,6574,1.05,193.7,322.2,5.4,335,6610,0.10,0.00,31.17,0.798,6,0.087,0.000,2944,2015,2260,0,0,0,0,0,0
$GC,6925,1.10,193.7,290.9,11.3,345,6930,0.00,2.50,0.00,0.000,4,0.000,0.051,2943,598,2254,0,0,0,0,0,0
$GC,7031,1.10,193.7,278.5,10.8,349,7036,0.00,2.38,0.00,0.000,6,0.000,0.029,2944,2011,2251,0,0,0,0,0,0
$GC,7348,1.17,206.8,250.9,7.1,365,7365,0.12,2.50,11.43,0.695,4,0.077,0.050,2976,605,2207,0,0,0,0,0,0
$GC,7437,1.11,206.8,243.4,9.5,368,7442,0.00,2.38,0.00,0.000,6,0.000,0.028,2975,2019,2203,0,0,0,0,0,0
$GC,7766,1.11,206.8,216.2,8.3,384,7771,0.00,2.50,0.00,0.000,4,0.000,0.048,2976,596,2203,0,0,0,0,0,0
$GC,7804,1.06,206.8,212.9,9.0,385,7810,0.15,2.38,0.00,0.000,6,0.114,0.028,2948,2019,2201,0,0,0,0,0,0
$GC,8126,1.12,206.8,189.5,8.1,407,8130,0.00,2.47,0.00,0.000,4,0.000,0.048,2948,604,2201,0,0,0,0,0,0
$GC,8225,1.12,206.8,180.5,9.7,417,8231,0.00,2.35,0.00,0.000,6,0.000,0.025,2948,2026,2199,0,0,0,0,0,0
$GC,8488,1.21,231.3,161.8,6.3,442,8518,0.12,2.53,22.33,0.655,4,0.073,0.045,2982,602,2105,0,0,0,0,0,0
$GC,8651,1.16,231.3,144.2,11.0,459,8656,0.00,2.33,0.00,0.000,6,0.000,0.024,2982,2015,2100,0,0,0,0,0,0
$GC,8914,1.19,231.3,118.8,9.2,484,8918,0.00,2.45,0.00,0.000,4,0.000,0.045,2982,597,2099,0,0,0,0,0,0
$GC,9129,1.22,249.9,103.4,6.7,507,9151,0.00,2.30,16.40,0.590,6,0.000,0.023,2982,2019,2030,0,0,0,0,0,0
$GC,9412,1.30,249.9,82.1,8.4,534,9416,0.00,2.45,0.00,0.000,4,0.000,0.044,2982,601,2029,0,0,0,0,0,0
$GC,9500,1.30,249.9,74.5,8.8,543,9504,0.00,2.28,0.00,0.000,6,0.000,0.022,2982,2008,2026,0,0,0,0,0,0
$GC,9763,1.39,249.9,51.0,9.6,567,9768,0.15,2.45,0.00,0.000,4,0.061,0.043,3026,598,2026,0,0,0,0,0,0
$GC,9790,1.34,249.9,48.1,12.1,569,9794,0.00,2.28,0.00,0.000,6,0.000,0.021,3026,2012,2026,0,0,0,0,0,0
$GC,10059,1.34,249.9,21.7,10.3,601,10064,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2017,2026,0,0,0,0,0,0
$GC,10264,1.35,254.5,4.2,7.7,638,10276,0.00,2.40,5.12,0.393,4,0.000,0.038,3026,599,2011,0,0,0,0,0,0
$STATE,10281,end climb,SURFACE_DEPTH_REACHED
$STATE,10281,begin surface coast
$FINISH,0.5,1.011073
$STATE,10318,end surface coast,CONTROL_FINISHED_OK
$STATE,10318,begin surface
$SM_CCo,10340,22.58,0.499,0,0,1826,300.00
$SM_GC,1.09,0.00,0.00,22.58,0.000,0.000,0.499,426,1885,1826,-10.52,0.28,300.00
$IRIDIUM_FIX,2101.76,-15747.88,020999,050504
$TT8_MAMPS,0.029146
$HUMID,49.80
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.4,41.560
$10V_AH,10.0,39.465
$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,26.650,123.550,280.725,22.575,0.000,58.527,56.502,301.148,4.500,0.000,13.955,1241.307,6791.246,394.238,1898.645,633.124,33.380,1245.165,0.000,1875.370,0.000,31.651,0.000
$DEVICE_MAMPS,132.691,54.457,871.312,498.550,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,436.891,418.542,807.853,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,38017,649
$CAP_FILE_SIZE,124449,0
$CFSIZE,260165632,231190528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080610,084115,2107.678,-15747.118,75,2.5,94,9.8