version: 66.06
glider: 139
mission: 7
dive: 479
start: 6 9 110 6 55 0
data:
$ID,139
$MISSION,7
$DIVE,479
$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,-2138886.2
$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
$GPS1,064725,2107.688,-15746.967,139,1.7,139,9.8
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,3
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-69.3
$GPS2,065408,2107.686,-15747.030,15,1.7,15,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.157,0.096
$KALMAN_X,-219485.7,330.9,647.3,232156.9,-2663.5
$KALMAN_Y,14860.0,223.3,278.6,-13926.0,-638.1
$MHEAD_RNG_PITCHd_Wd,48.6,7906,-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,16,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-52.80,0.000,2,0.000,0.000,427,1861,3214,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.7,-5.7,10,96,10.60,2.42,-3.05,0.000,4,0.134,0.037,2402,3302,3370,0,0,0,0,0,0
$GC,112,-0.68,-77.9,14.9,-28.9,17,118,0.80,2.45,0.00,0.000,6,0.081,0.032,2566,1867,3371,0,0,0,0,0,0
$GC,324,-0.90,-77.9,30.7,-6.4,54,329,0.22,2.40,0.00,0.000,4,0.043,0.043,2500,464,3372,0,0,0,0,0,0
$GC,378,-0.96,-77.9,36.3,-11.1,59,384,0.00,2.35,0.00,0.000,6,0.000,0.020,2500,1909,3372,0,0,0,0,0,0
$GC,642,-1.04,-77.9,62.2,-9.5,84,646,0.00,2.50,0.00,0.000,4,0.000,0.044,2500,462,3374,0,0,0,0,0,0
$GC,737,-1.15,-77.9,72.3,-9.9,94,741,0.15,2.28,0.00,0.000,6,0.055,0.019,2451,1882,3374,0,0,0,0,0,0
$GC,1005,-1.21,-77.9,104.3,-12.1,119,1010,0.00,2.42,0.00,0.000,4,0.000,0.042,2450,468,3374,0,0,0,0,0,0
$GC,1097,-1.28,-77.9,115.5,-10.7,128,1103,0.00,2.28,0.00,0.000,6,0.000,0.019,2450,1876,3375,0,0,0,0,0,0
$GC,1361,-1.35,-77.9,140.2,-9.9,153,1367,0.12,0.00,0.00,0.000,6,0.063,0.000,2407,1881,3376,0,0,0,0,0,0
$GC,1624,-1.35,-77.9,168.8,-10.1,178,1628,0.00,2.40,0.00,0.000,4,0.000,0.043,2404,466,3376,0,0,0,0,0,0
$GC,1702,-1.31,-77.9,177.5,-10.7,186,1707,0.10,2.28,0.00,0.000,6,0.106,0.020,2427,1883,3376,0,0,0,0,0,0
$GC,1964,-1.36,-77.9,197.4,-7.5,210,1968,0.00,2.40,0.00,0.000,4,0.000,0.043,2427,468,3376,0,0,0,0,0,0
$GC,2011,-1.36,-77.9,201.7,-9.2,214,2016,0.00,2.28,0.00,0.000,6,0.000,0.021,2426,1887,3376,0,0,0,0,0,0
$GC,2336,-1.41,-77.9,229.7,-9.4,230,2340,0.00,2.42,0.00,0.000,4,0.000,0.044,2427,466,3377,0,0,0,0,0,0
$GC,2404,-1.41,-77.9,236.6,-9.6,233,2409,0.00,2.28,0.00,0.000,6,0.000,0.021,2427,1886,3377,0,0,0,0,0,0
$GC,2731,-1.47,-77.9,265.6,-9.9,249,2736,0.15,2.45,0.00,0.000,4,0.057,0.046,2381,464,3377,0,0,0,0,0,0
$GC,2793,-1.37,-77.9,273.4,-12.5,251,2799,0.17,2.28,0.00,0.000,6,0.090,0.022,2417,1874,3376,0,0,0,0,0,0
$GC,3129,-1.44,-77.9,303.5,-8.3,267,3133,0.00,2.40,0.00,0.000,4,0.000,0.046,2417,470,3376,0,0,0,0,0,0
$GC,3222,-1.48,-77.9,312.0,-9.7,269,3227,0.12,2.28,0.00,0.000,6,0.064,0.023,2377,1877,3375,0,0,0,0,0,0
$GC,3546,-1.48,-77.9,340.5,-8.8,277,3550,0.00,2.45,0.00,0.000,4,0.000,0.047,2377,461,3374,0,0,0,0,0,0
$GC,3570,-1.42,-77.9,342.9,-9.8,277,3575,0.15,2.30,0.00,0.000,6,0.094,0.024,2408,1882,3374,0,0,0,0,0,0
$GC,3911,-1.48,-77.9,375.2,-9.8,286,3915,0.00,2.45,0.00,0.000,4,0.000,0.049,2408,463,3372,0,0,0,0,0,0
$GC,4003,-1.48,-77.9,384.8,-9.8,288,4007,0.00,2.28,0.00,0.000,6,0.000,0.025,2407,1869,3371,0,0,0,0,0,0
$GC,4328,-1.54,-77.9,410.4,-7.3,296,4333,0.12,2.45,0.00,0.000,4,0.067,0.051,2370,466,3369,0,0,0,0,0,0
$GC,4379,-1.49,-77.9,415.6,-9.8,297,4384,0.00,2.33,0.00,0.000,6,0.000,0.027,2371,1880,3369,0,0,0,0,0,0
$GC,4698,-1.49,-77.9,444.6,-9.3,305,4702,0.00,2.45,0.00,0.000,4,0.000,0.052,2371,469,3367,0,0,0,0,0,0
$STATE,4751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4751,begin apogee
$GC,4759,-0.31,0.0,450.3,10.0,306,4829,1.25,0.00,64.82,0.869,6,0.077,0.000,2639,2015,3050,0,0,0,0,0,0
$STATE,4830,end apogee,CONTROL_FINISHED_OK
$STATE,4830,begin climb
$GC,4832,1.40,77.9,451.8,0.0,308,4907,1.65,2.50,64.60,0.853,4,0.034,0.043,3023,3402,2732,0,0,0,0,0,0
$GC,4973,1.23,130.0,450.8,4.4,311,5026,0.17,2.42,44.65,0.841,6,0.118,0.035,2987,2001,2519,0,0,0,0,0,0
$GC,5335,1.11,130.0,419.8,8.8,320,5340,0.17,2.47,0.00,0.000,4,0.119,0.052,2958,598,2512,0,0,0,0,0,0
$GC,5355,0.98,130.0,418.0,8.8,320,5360,0.15,2.38,0.00,0.000,6,0.125,0.029,2932,2015,2510,0,0,0,0,0,0
$GC,5700,0.99,134.0,393.1,7.8,329,5705,0.00,2.47,0.00,0.000,4,0.000,0.051,2932,606,2508,0,0,0,0,0,0
$GC,5751,0.94,134.0,388.2,9.0,330,5755,0.00,2.38,0.00,0.000,6,0.000,0.031,2931,2019,2507,0,0,0,0,0,0
$GC,6069,0.94,134.0,361.7,8.1,338,6074,0.00,2.50,0.00,0.000,4,0.000,0.051,2932,603,2505,0,0,0,0,0,0
$GC,6196,0.90,140.2,351.2,7.6,340,6209,0.12,2.35,7.62,0.703,6,0.129,0.030,2909,2018,2478,0,0,0,0,0,0
$GC,6534,0.98,148.7,326.2,7.4,349,6550,0.00,2.53,8.65,0.704,4,0.000,0.050,2910,604,2442,0,0,0,0,0,0
$GC,6591,0.98,148.7,321.4,8.1,350,6596,0.00,2.38,0.00,0.000,6,0.000,0.029,2909,2012,2440,0,0,0,0,0,0
$GC,6906,1.09,171.2,299.8,6.5,358,6932,0.17,2.55,20.45,0.771,4,0.066,0.051,2952,605,2352,0,0,0,0,0,0
$GC,7006,1.03,171.2,292.3,8.3,362,7010,0.00,2.38,0.00,0.000,6,0.000,0.029,2952,2014,2347,0,0,0,0,0,0
$GC,7326,1.05,184.5,269.5,7.1,378,7349,0.00,2.53,12.62,0.715,4,0.000,0.049,2952,608,2296,0,0,0,0,0,0
$GC,7451,1.05,184.5,259.0,8.1,383,7455,0.00,2.35,0.00,0.000,6,0.000,0.028,2952,2017,2292,0,0,0,0,0,0
$GC,7773,1.06,188.2,233.1,7.8,399,7782,0.00,2.50,4.20,0.498,4,0.000,0.048,2952,606,2281,0,0,0,0,0,0
$GC,7887,1.06,188.2,221.2,12.1,404,7892,0.00,2.35,0.00,0.000,6,0.000,0.028,2952,2019,2279,0,0,0,0,0,0
$GC,8218,1.11,188.2,189.9,9.2,425,8222,0.00,2.47,0.00,0.000,4,0.000,0.048,2952,605,2279,0,0,0,0,0,0
$GC,8342,1.11,188.2,179.1,9.1,438,8346,0.00,2.33,0.00,0.000,6,0.000,0.026,2952,2021,2278,0,0,0,0,0,0
$GC,8604,1.19,218.7,161.6,5.9,462,8641,0.00,2.53,27.90,0.665,4,0.000,0.045,2952,605,2156,0,0,0,0,0,0
$GC,8653,1.21,233.6,158.2,7.0,467,8674,0.10,2.35,14.40,0.624,6,0.083,0.025,2980,2015,2097,0,0,0,0,0,0
$GC,8928,1.25,233.6,135.3,9.6,493,8932,0.00,2.47,0.00,0.000,4,0.000,0.047,2980,600,2094,0,0,0,0,0,0
$GC,9057,1.25,234.6,122.2,7.9,506,9064,0.00,2.35,0.00,0.000,6,0.000,0.025,2980,2014,2090,0,0,0,0,0,0
$GC,9320,1.33,257.8,106.8,6.4,531,9349,0.10,2.47,21.55,0.602,4,0.077,0.044,3011,604,1998,0,0,0,0,0,0
$GC,9440,1.30,257.8,94.7,11.4,544,9444,0.00,2.30,0.00,0.000,6,0.000,0.023,3011,2014,1994,0,0,0,0,0,0
$GC,9704,1.37,285.2,77.3,6.1,568,9735,0.00,2.50,24.62,0.575,4,0.000,0.042,3011,596,1885,0,0,0,0,0,0
$GC,9781,1.37,285.2,70.4,9.2,576,9785,0.00,2.33,0.00,0.000,6,0.000,0.022,3011,2013,1882,0,0,0,0,0,0
$GC,10045,1.41,285.2,45.2,10.1,600,10049,0.00,2.45,0.00,0.000,4,0.000,0.043,3011,596,1882,0,0,0,0,0,0
$GC,10190,1.41,285.2,27.6,12.1,618,10197,0.00,2.33,0.00,0.000,6,0.000,0.021,3011,2012,1880,0,0,0,0,0,0
$GC,10397,1.45,285.2,5.4,12.4,655,10402,0.00,2.40,0.00,0.000,4,0.000,0.042,3010,603,1879,0,0,0,0,0,0
$STATE,10410,end climb,SURFACE_DEPTH_REACHED
$STATE,10410,begin surface coast
$FINISH,2.6,1.023172
$STATE,10417,end surface coast,CONTROL_FINISHED_OK
$STATE,10417,begin surface
$SM_CCo,10439,11.50,0.482,0,0,1826,300.00
$SM_GC,2.93,0.00,0.00,11.50,0.000,0.000,0.482,426,1905,1826,-10.53,0.88,300.00
$IRIDIUM_FIX,2059.45,-15748.75,030999,030304
$TT8_MAMPS,0.029146
$HUMID,50.15
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,42.308
$10V_AH,10.0,40.150
$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,28.000,134.250,316.100,11.500,0.000,29.214,35.690,225.005,4.750,0.000,15.606,1287.137,6658.240,377.348,2012.837,517.226,33.384,1279.228,0.000,1982.422,0.000,32.070,0.000
$DEVICE_MAMPS,134.225,52.156,869.011,481.676,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.866,425.300,832.851,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,38118,659
$CAP_FILE_SIZE,127607,0
$CFSIZE,260165632,230690816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090610,095137,2107.768,-15747.415,103,1.8,109,9.8