version: 66.06
glider: 139
mission: 7
dive: 472
start: 6 8 110 8 58 27
data:
$ID,139
$MISSION,7
$DIVE,472
$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,-2138624.2
$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
$GPS1,084115,2107.678,-15747.118,75,2.5,94,9.8
$_CALLS,4
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-69.2
$GPS2,085736,2107.683,-15747.352,12,1.2,28,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.171,0.067
$KALMAN_X,-205145.3,-58.0,281.2,218018.2,-3077.5
$KALMAN_Y,15603.6,-63.4,-155.9,-13948.2,-232.6
$MHEAD_RNG_PITCHd_Wd,58.7,8407,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-53.20,0.000,2,0.000,0.000,425,1885,3244,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.9,-6.5,10,97,10.57,2.40,-2.35,0.000,4,0.133,0.037,2405,3307,3371,0,0,0,0,0,0
$GC,177,-1.34,-77.9,26.7,-16.6,31,183,0.10,2.42,0.00,0.000,6,0.117,0.030,2419,1871,3372,0,0,0,0,0,0
$GC,378,-1.21,-77.9,59.0,-15.6,51,382,0.12,2.40,0.00,0.000,4,0.113,0.044,2447,470,3373,0,0,0,0,0,0
$GC,404,-1.08,-77.9,63.0,-15.1,53,409,0.15,2.30,0.00,0.000,6,0.103,0.019,2477,1914,3373,0,0,0,0,0,0
$GC,668,-1.13,-77.9,93.2,-11.4,77,672,0.00,2.47,0.00,0.000,4,0.000,0.042,2477,464,3374,0,0,0,0,0,0
$GC,774,-1.21,-77.9,106.1,-11.3,88,779,0.12,2.22,0.00,0.000,6,0.063,0.019,2432,1872,3374,0,0,0,0,0,0
$GC,1035,-1.25,-77.9,132.2,-9.2,112,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,1878,3375,0,0,0,0,0,0
$GC,1291,-1.30,-77.9,158.8,-9.8,136,1295,0.00,2.40,0.00,0.000,4,0.000,0.043,2433,461,3375,0,0,0,0,0,0
$GC,1377,-1.34,-77.9,168.7,-11.3,145,1383,0.00,2.22,0.00,0.000,6,0.000,0.020,2430,1876,3376,0,0,0,0,0,0
$GC,1639,-1.40,-77.9,196.6,-10.4,170,1644,0.12,2.42,0.00,0.000,4,0.064,0.044,2391,471,3376,0,0,0,0,0,0
$GC,1719,-1.29,-77.9,207.3,-13.2,175,1724,0.20,2.25,0.00,0.000,6,0.088,0.020,2431,1879,3376,0,0,0,0,0,0
$GC,2042,-1.36,-77.9,239.2,-9.1,191,2046,0.00,2.40,0.00,0.000,4,0.000,0.044,2432,469,3376,0,0,0,0,0,0
$GC,2121,-1.43,-77.9,246.9,-9.2,194,2126,0.12,2.25,0.00,0.000,6,0.063,0.021,2390,1883,3375,0,0,0,0,0,0
$GC,2437,-1.43,-77.9,275.4,-8.2,209,2441,0.00,2.45,0.00,0.000,4,0.000,0.045,2390,463,3375,0,0,0,0,0,0
$GC,2489,-1.37,-77.9,280.4,-9.9,211,2494,0.12,2.28,0.00,0.000,6,0.100,0.021,2416,1873,3375,0,0,0,0,0,0
$GC,2811,-1.44,-77.9,303.9,-7.6,226,2815,0.00,2.42,0.00,0.000,4,0.000,0.047,2417,471,3374,0,0,0,0,0,0
$GC,2866,-1.44,-77.9,309.3,-9.6,227,2870,0.00,2.28,0.00,0.000,6,0.000,0.023,2416,1875,3373,0,0,0,0,0,0
$GC,3180,-1.51,-77.9,338.4,-9.8,235,3184,0.15,2.45,0.00,0.000,4,0.058,0.048,2371,463,3372,0,0,0,0,0,0
$GC,3274,-1.43,-77.9,349.9,-12.4,237,3279,0.15,2.30,0.00,0.000,6,0.094,0.024,2402,1877,3371,0,0,0,0,0,0
$GC,3600,-1.47,-77.9,381.5,-9.3,245,3605,0.00,2.42,0.00,0.000,4,0.000,0.050,2402,471,3369,0,0,0,0,0,0
$GC,3643,-1.47,-77.9,385.6,-8.6,246,3647,0.00,2.30,0.00,0.000,6,0.000,0.026,2401,1876,3369,0,0,0,0,0,0
$GC,3971,-1.52,-77.9,409.3,-7.0,254,3975,0.00,2.42,0.00,0.000,4,0.000,0.051,2400,473,3367,0,0,0,0,0,0
$GC,4014,-1.55,-77.9,412.8,-8.1,255,4019,0.12,2.28,0.00,0.000,6,0.066,0.027,2364,1871,3366,0,0,0,0,0,0
$GC,4344,-1.55,-77.9,440.5,-8.6,263,4348,0.00,2.45,0.00,0.000,4,0.000,0.053,2364,474,3364,0,0,0,0,0,0
$GC,4399,-1.48,-77.9,446.2,-10.2,264,4404,0.12,2.33,0.00,0.000,6,0.105,0.028,2389,1877,3363,0,0,0,0,0,0
$STATE,4467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4467,begin apogee
$GC,4473,-0.31,0.0,451.6,7.5,266,4541,1.20,0.00,64.12,0.874,6,0.074,0.000,2647,2038,3050,0,0,0,0,0,0
$STATE,4542,end apogee,CONTROL_FINISHED_OK
$STATE,4542,begin climb
$GC,4544,1.40,77.9,452.1,0.0,267,4619,1.62,2.42,64.65,0.851,4,0.031,0.043,3023,3380,2731,0,0,0,0,0,0
$GC,4822,1.20,103.8,442.1,6.2,273,4851,0.25,2.35,22.70,0.823,6,0.115,0.036,2979,2008,2625,0,0,0,0,0,0
$GC,5185,1.12,130.1,419.4,6.2,282,5214,0.12,2.55,22.42,0.825,4,0.123,0.052,2957,610,2519,0,0,0,0,0,0
$GC,5239,1.00,149.6,415.9,6.7,283,5264,0.12,2.33,18.10,0.803,6,0.124,0.029,2934,1995,2440,0,0,0,0,0,0
$GC,5601,1.01,158.8,390.0,7.4,292,5617,0.00,2.47,8.73,0.733,4,0.000,0.051,2936,606,2401,0,0,0,0,0,0
$GC,5636,0.96,158.8,386.8,8.7,292,5640,0.00,2.38,0.00,0.000,6,0.000,0.031,2934,2006,2399,0,0,0,0,0,0
$GC,5966,0.96,158.8,357.5,9.2,300,5970,0.00,2.42,0.00,0.000,4,0.000,0.041,2936,3403,2397,0,0,0,0,0,0
$GC,5981,0.99,158.8,356.1,9.8,300,5985,0.00,2.40,0.00,0.000,6,0.000,0.037,2936,2008,2397,0,0,0,0,0,0
$GC,6330,0.99,162.6,326.8,7.8,309,6334,0.00,2.47,0.00,0.000,4,0.000,0.052,2936,598,2395,0,0,0,0,0,0
$GC,6485,0.97,171.1,314.9,7.4,312,6501,0.00,2.38,10.88,0.741,6,0.000,0.031,2936,2018,2351,0,0,0,0,0,0
$GC,6819,1.00,171.1,289.7,8.5,323,6820,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2018,2349,0,0,0,0,0,0
$GC,7128,1.06,175.1,263.4,7.7,338,7139,0.00,2.50,4.40,0.535,4,0.000,0.050,2935,595,2335,0,0,0,0,0,0
$GC,7223,1.07,180.9,255.5,7.6,342,7235,0.00,2.38,6.88,0.640,6,0.000,0.029,2936,2018,2311,0,0,0,0,0,0
$GC,7553,1.19,215.8,235.4,5.6,358,7592,0.17,2.58,31.88,0.740,4,0.065,0.050,2979,604,2170,0,0,0,0,0,0
$GC,7617,1.11,215.8,230.4,8.9,360,7624,0.10,2.40,0.00,0.000,6,0.096,0.028,2957,2008,2166,0,0,0,0,0,0
$GC,7933,1.16,215.8,204.4,8.3,376,7937,0.00,2.47,0.00,0.000,4,0.000,0.049,2957,601,2163,0,0,0,0,0,0
$GC,8069,1.16,215.8,190.6,11.2,387,8073,0.00,2.35,0.00,0.000,6,0.000,0.027,2957,2012,2161,0,0,0,0,0,0
$GC,8333,1.22,215.8,165.5,9.1,411,8337,0.00,2.45,0.00,0.000,4,0.000,0.047,2957,598,2160,0,0,0,0,0,0
$GC,8405,1.22,215.8,158.4,9.3,418,8412,0.00,2.38,0.00,0.000,6,0.000,0.025,2957,2017,2159,0,0,0,0,0,0
$GC,8669,1.28,215.8,138.1,9.0,443,8674,0.15,2.47,0.00,0.000,4,0.065,0.047,2997,594,2159,0,0,0,0,0,0
$GC,8849,1.24,215.8,115.5,11.3,462,8853,0.00,2.33,0.00,0.000,6,0.000,0.024,2997,2019,2159,0,0,0,0,0,0
$GC,9112,1.27,241.3,95.1,6.3,486,9139,0.00,2.35,21.90,0.597,4,0.000,0.029,2996,3405,2065,0,0,0,0,0,0
$GC,9163,1.34,262.0,91.4,6.6,491,9189,0.00,2.38,19.35,0.578,6,0.000,0.028,2994,2005,1981,0,0,0,0,0,0
$GC,9451,1.40,262.0,70.0,9.3,519,9456,0.00,2.42,0.00,0.000,4,0.000,0.044,2997,598,1977,0,0,0,0,0,0
$GC,9585,1.40,262.0,56.7,9.0,533,9592,0.00,2.35,0.00,0.000,6,0.000,0.021,2997,2024,1974,0,0,0,0,0,0
$GC,9849,1.46,262.0,35.2,8.8,558,9854,0.15,2.45,0.00,0.000,4,0.059,0.043,3041,604,1974,0,0,0,0,0,0
$GC,9875,1.40,262.0,32.4,10.6,560,9880,0.12,2.28,0.00,0.000,6,0.104,0.021,3017,2021,1974,0,0,0,0,0,0
$GC,10144,1.40,262.0,6.5,9.4,606,10151,0.00,2.45,0.00,0.000,4,0.000,0.043,3016,611,1974,0,0,0,0,0,0
$STATE,10173,end climb,SURFACE_DEPTH_REACHED
$STATE,10173,begin surface coast
$FINISH,0.6,1.023214
$STATE,10192,end surface coast,CONTROL_FINISHED_OK
$STATE,10192,begin surface
$SM_CCo,10214,18.88,0.496,0,0,1826,300.00
$SM_GC,1.88,0.00,0.00,18.88,0.000,0.000,0.496,428,1883,1826,-10.52,0.23,300.00
$IRIDIUM_FIX,2059.45,-15745.74,020999,080817
$TT8_MAMPS,0.029146
$HUMID,50.19
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,41.662
$10V_AH,10.0,39.550
$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,27.350,123.975,296.000,18.875,0.000,114.607,179.426,355.820,4.500,0.000,28.958,1224.980,6835.174,366.797,1885.241,901.823,33.381,1209.753,0.000,1844.320,0.000,29.255,0.000
$DEVICE_MAMPS,132.691,52.923,873.613,496.249,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.006,399.278,762.820,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355540
$DATA_FILE_SIZE,34874,616
$CAP_FILE_SIZE,129908,0
$CFSIZE,260165632,231133184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080610,115028,2107.683,-15748.103,30,3.4,49,9.8