version: 66.06
glider: 139
mission: 7
dive: 473
start: 6 8 110 11 57 20
data:
$ID,139
$MISSION,7
$DIVE,473
$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,-2138660
$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
$GPS1,115028,2107.683,-15748.103,30,3.4,49,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.4
$GPS2,115628,2107.724,-15748.201,15,3.4,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,-0.006
$KALMAN_X,-207336.4,-383.0,-585.9,219935.1,-2022.4
$KALMAN_Y,15218.2,-261.9,-250.4,-13193.6,53.7
$MHEAD_RNG_PITCHd_Wd,82.1,9790,-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,-77.9,0.0,0.0,0,70,0.00,0.00,-52.30,0.000,2,0.000,0.000,428,1884,3214,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.7,-6.6,10,95,10.60,2.47,-2.97,0.000,4,0.134,0.054,2401,471,3370,0,0,0,0,0,0
$GC,111,-0.59,-77.9,16.1,-31.2,17,117,0.90,2.30,0.00,0.000,6,0.093,0.020,2583,1909,3371,0,0,0,0,0,0
$GC,321,-0.84,-77.9,34.9,-6.2,48,326,0.22,2.50,0.00,0.000,4,0.042,0.042,2513,469,3372,0,0,0,0,0,0
$GC,384,-0.92,-77.9,41.7,-11.6,54,388,0.00,2.28,0.00,0.000,6,0.000,0.019,2512,1883,3373,0,0,0,0,0,0
$GC,647,-1.02,-77.9,66.4,-9.3,78,651,0.00,2.45,0.00,0.000,4,0.000,0.044,2513,460,3374,0,0,0,0,0,0
$GC,688,-1.09,-77.9,71.3,-10.6,82,694,0.10,2.30,0.00,0.000,6,0.037,0.019,2468,1883,3374,0,0,0,0,0,0
$GC,951,-1.15,-77.9,101.1,-11.1,107,955,0.00,2.42,0.00,0.000,4,0.000,0.042,2469,459,3374,0,0,0,0,0,0
$GC,1079,-1.24,-77.9,114.0,-9.4,120,1083,0.00,2.25,0.00,0.000,6,0.000,0.019,2466,1885,3375,0,0,0,0,0,0
$GC,1342,-1.34,-77.9,136.4,-9.4,144,1344,0.22,0.00,0.00,0.000,6,0.043,0.000,2402,1889,3376,0,0,0,0,0,0
$GC,1595,-1.34,-77.9,165.7,-10.8,168,1600,0.00,2.42,0.00,0.000,4,0.000,0.042,2399,459,3377,0,0,0,0,0,0
$GC,1674,-1.28,-77.9,174.6,-11.6,176,1679,0.15,2.25,0.00,0.000,6,0.094,0.020,2433,1880,3377,0,0,0,0,0,0
$GC,1935,-1.34,-77.9,197.3,-8.9,200,1939,0.00,2.40,0.00,0.000,4,0.000,0.043,2433,466,3377,0,0,0,0,0,0
$GC,1972,-1.34,-77.9,201.1,-9.9,203,1977,0.00,2.22,0.00,0.000,6,0.000,0.021,2433,1875,3377,0,0,0,0,0,0
$GC,2291,-1.40,-77.9,231.6,-9.3,219,2296,0.12,2.45,0.00,0.000,4,0.064,0.044,2391,460,3377,0,0,0,0,0,0
$GC,2406,-1.35,-77.9,245.2,-11.5,224,2411,0.15,2.25,0.00,0.000,6,0.091,0.021,2422,1872,3377,0,0,0,0,0,0
$GC,2733,-1.41,-77.9,271.0,-7.0,240,2737,0.00,2.42,0.00,0.000,4,0.000,0.044,2423,461,3377,0,0,0,0,0,0
$GC,2760,-1.41,-77.9,273.4,-8.6,241,2764,0.00,2.28,0.00,0.000,6,0.000,0.022,2422,1880,3377,0,0,0,0,0,0
$GC,3084,-1.49,-77.9,294.7,-6.6,257,3089,0.15,2.45,0.00,0.000,4,0.058,0.046,2377,468,3376,0,0,0,0,0,0
$GC,3182,-1.45,-77.9,304.5,-10.7,261,3187,0.10,2.25,0.00,0.000,6,0.108,0.023,2397,1869,3376,0,0,0,0,0,0
$GC,3505,-1.45,-77.9,334.6,-9.6,269,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1873,3375,0,0,0,0,0,0
$GC,3833,-1.45,-77.9,361.8,-7.9,277,3837,0.00,2.42,0.00,0.000,4,0.000,0.050,2397,463,3373,0,0,0,0,0,0
$GC,3930,-1.45,-77.9,370.2,-8.0,279,3935,0.00,2.28,0.00,0.000,6,0.000,0.025,2396,1873,3373,0,0,0,0,0,0
$GC,4248,-1.45,-77.9,396.1,-8.4,287,4252,0.00,2.45,0.00,0.000,4,0.000,0.051,2397,471,3370,0,0,0,0,0,0
$GC,4312,-1.45,-77.9,402.4,-9.2,288,4317,0.00,2.30,0.00,0.000,6,0.000,0.027,2397,1877,3370,0,0,0,0,0,0
$GC,4662,-1.48,-77.9,432.7,-8.5,297,4666,0.00,2.47,0.00,0.000,4,0.000,0.052,2397,464,3368,0,0,0,0,0,0
$GC,4712,-1.48,-77.9,437.2,-8.5,298,4717,0.00,2.33,0.00,0.000,6,0.000,0.028,2396,1872,3367,0,0,0,0,0,0
$STATE,4906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4906,begin apogee
$GC,4912,-0.31,0.0,452.7,8.0,303,4981,1.15,0.00,64.90,0.874,6,0.073,0.000,2643,2032,3050,0,0,0,0,0,0
$STATE,4982,end apogee,CONTROL_FINISHED_OK
$STATE,4982,begin climb
$GC,4984,1.40,77.9,453.7,0.0,304,5059,1.65,2.42,64.95,0.852,4,0.033,0.042,3018,3380,2732,0,0,0,0,0,0
$GC,5233,1.22,120.0,449.3,5.1,309,5277,0.25,2.35,36.22,0.840,6,0.114,0.036,2981,2007,2560,0,0,0,0,0,0
$GC,5622,1.11,120.0,418.0,8.3,319,5627,0.12,2.42,0.00,0.000,4,0.126,0.040,2947,3390,2554,0,0,0,0,0,0
$GC,5646,1.06,130.5,416.1,7.3,319,5664,0.00,2.40,9.35,0.743,6,0.000,0.037,2959,2003,2517,0,0,0,0,0,0
$GC,5990,1.03,143.8,391.2,7.1,328,6004,0.00,0.00,12.62,0.779,6,0.000,0.000,2959,2003,2463,0,0,0,0,0,0
$GC,6314,0.99,143.8,364.5,8.5,336,6319,0.15,2.42,0.00,0.000,4,0.119,0.041,2933,3387,2459,0,0,0,0,0,0
$GC,6338,0.99,147.1,362.5,7.8,336,6347,0.00,2.35,3.80,0.510,6,0.000,0.037,2934,2012,2450,0,0,0,0,0,0
$GC,6678,0.99,147.1,335.0,8.3,345,6682,0.00,2.47,0.00,0.000,4,0.000,0.051,2933,601,2448,0,0,0,0,0,0
$GC,6821,0.95,147.1,321.9,9.5,348,6825,0.00,2.30,0.00,0.000,6,0.000,0.030,2933,1992,2446,0,0,0,0,0,0
$GC,7140,1.02,174.1,300.4,6.2,356,7169,0.00,2.50,24.10,0.785,4,0.000,0.050,2932,597,2339,0,0,0,0,0,0
$GC,7174,1.04,189.7,298.0,6.9,356,7195,0.00,2.42,15.40,0.737,6,0.000,0.030,2933,2021,2276,0,0,0,0,0,0
$GC,7514,1.12,197.0,274.0,7.5,373,7527,0.10,2.53,7.10,0.647,4,0.087,0.051,2958,602,2246,0,0,0,0,0,0
$GC,7655,1.09,197.0,260.1,10.3,379,7659,0.00,2.38,0.00,0.000,6,0.000,0.028,2957,2016,2242,0,0,0,0,0,0
$GC,7985,1.13,197.0,229.8,8.7,395,7990,0.00,2.50,0.00,0.000,4,0.000,0.050,2958,598,2242,0,0,0,0,0,0
$GC,8050,1.13,197.0,224.0,9.0,398,8055,0.00,2.38,0.00,0.000,6,0.000,0.028,2957,2021,2239,0,0,0,0,0,0
$GC,8381,1.17,201.4,200.0,7.7,414,8392,0.00,2.50,4.57,0.505,4,0.000,0.047,2958,598,2227,0,0,0,0,0,0
$GC,8505,1.17,201.4,188.4,10.0,427,8511,0.00,2.38,0.00,0.000,6,0.000,0.026,2957,2023,2226,0,0,0,0,0,0
$GC,8768,1.25,223.2,169.8,6.5,452,8798,0.12,2.58,20.25,0.663,4,0.074,0.047,2991,597,2139,0,0,0,0,0,0
$GC,8812,1.19,223.2,165.8,9.6,456,8819,0.00,2.38,0.00,0.000,6,0.000,0.025,2991,2008,2137,0,0,0,0,0,0
$GC,9076,1.19,223.2,138.0,10.2,481,9080,0.00,2.42,0.00,0.000,4,0.000,0.046,2991,602,2137,0,0,0,0,0,0
$GC,9176,1.15,223.2,126.4,11.0,491,9183,0.15,2.33,0.00,0.000,6,0.107,0.024,2964,2014,2134,0,0,0,0,0,0
$GC,9439,1.29,259.0,106.5,5.6,516,9477,0.15,0.00,31.98,0.613,6,0.063,0.000,3005,2019,1994,0,0,0,0,0,0
$GC,9732,1.35,259.8,86.1,8.0,544,9737,0.00,2.45,0.00,0.000,4,0.000,0.044,3005,601,1990,0,0,0,0,0,0
$GC,9776,1.35,259.8,82.3,8.8,548,9780,0.00,2.30,0.00,0.000,6,0.000,0.022,3005,2019,1988,0,0,0,0,0,0
$GC,10040,1.39,259.8,60.1,8.7,572,10044,0.00,2.45,0.00,0.000,4,0.000,0.043,3005,601,1988,0,0,0,0,0,0
$GC,10093,1.39,259.8,55.1,9.2,577,10100,0.00,2.33,0.00,0.000,6,0.000,0.021,3005,2015,1987,0,0,0,0,0,0
$GC,10357,1.45,267.4,34.8,7.5,602,10371,0.10,2.50,8.27,0.473,4,0.077,0.043,3037,598,1959,0,0,0,0,0,0
$GC,10451,1.39,267.4,24.7,12.0,617,10457,0.12,2.28,0.00,0.000,6,0.107,0.021,3014,2012,1956,0,0,0,0,0,0
$GC,10655,1.39,267.4,5.8,10.1,654,10661,0.00,2.42,0.00,0.000,4,0.000,0.038,3014,604,1956,0,0,0,0,0,0
$STATE,10681,end climb,SURFACE_DEPTH_REACHED
$STATE,10681,begin surface coast
$FINISH,0.4,1.013871
$STATE,10710,end surface coast,CONTROL_FINISHED_OK
$STATE,10710,begin surface
$SM_CCo,10732,16.38,0.486,0,0,1826,300.00
$SM_GC,1.16,0.00,0.00,16.38,0.000,0.000,0.486,428,1898,1826,-10.52,0.65,300.00
$IRIDIUM_FIX,2059.45,-15748.75,020999,090921
$TT8_MAMPS,0.029146
$HUMID,49.05
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,41.745
$10V_AH,10.0,39.632
$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,27.900,124.050,303.525,16.375,0.000,24.041,31.357,173.990,4.500,0.000,35.122,1289.270,7010.495,387.735,1962.188,459.220,33.400,1240.380,0.000,1920.889,0.000,29.243,0.000
$DEVICE_MAMPS,134.225,54.457,873.613,486.278,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,448.354,427.642,842.519,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,38168,665
$CAP_FILE_SIZE,123672,0
$CFSIZE,260165632,231071744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080610,145922,2107.668,-15748.285,116,2.4,135,9.8