version: 66.06
glider: 139
mission: 7
dive: 474
start: 6 8 110 15 12 18
data:
$ID,139
$MISSION,7
$DIVE,474
$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,-2138733
$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
$GPS1,145922,2107.668,-15748.285,116,2.4,135,9.8
$_CALLS,2
$_XMS_NAKs,37
$_XMS_TOUTs,2
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.5
$GPS2,151126,2107.719,-15748.353,52,2.2,71,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.179,-0.042
$KALMAN_X,-209717.4,-516.0,-393.8,221996.0,-1053.4
$KALMAN_Y,15026.8,-322.8,57.3,-13262.4,116.3
$MHEAD_RNG_PITCHd_Wd,93.5,10031,-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,-52.97,0.000,2,0.000,0.000,426,1898,3203,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.2,-5.2,10,96,10.57,2.50,-3.33,0.000,4,0.133,0.051,2402,463,3371,0,0,0,0,0,0
$GC,121,-0.98,-77.9,16.8,-25.4,19,127,0.47,2.35,0.00,0.000,6,0.086,0.020,2499,1909,3372,0,0,0,0,0,0
$GC,329,-1.05,-77.9,41.8,-10.7,47,333,0.00,2.50,0.00,0.000,4,0.000,0.043,2501,463,3372,0,0,0,0,0,0
$GC,390,-1.08,-77.9,49.3,-11.8,53,394,0.00,2.28,0.00,0.000,6,0.000,0.019,2500,1890,3372,0,0,0,0,0,0
$GC,654,-1.15,-77.9,75.4,-9.2,77,659,0.15,2.45,0.00,0.000,4,0.058,0.043,2454,469,3373,0,0,0,0,0,0
$GC,725,-1.08,-77.9,84.4,-12.8,84,730,0.12,2.25,0.00,0.000,6,0.100,0.019,2479,1883,3373,0,0,0,0,0,0
$GC,987,-1.17,-77.9,115.3,-10.0,108,992,0.00,2.42,0.00,0.000,4,0.000,0.042,2479,461,3374,0,0,0,0,0,0
$GC,1057,-1.26,-77.9,121.4,-8.6,115,1062,0.17,2.28,0.00,0.000,6,0.051,0.018,2424,1887,3374,0,0,0,0,0,0
$GC,1318,-1.26,-77.9,145.5,-8.3,139,1319,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,1892,3375,0,0,0,0,0,0
$GC,1575,-1.26,-77.9,164.7,-8.1,163,1580,0.00,2.42,0.00,0.000,4,0.000,0.042,2423,461,3375,0,0,0,0,0,0
$GC,1666,-1.26,-77.9,173.2,-9.6,172,1672,0.00,2.28,0.00,0.000,6,0.000,0.020,2423,1868,3376,0,0,0,0,0,0
$GC,1929,-1.30,-77.9,198.4,-9.9,197,1934,0.00,2.38,0.00,0.000,4,0.000,0.043,2423,468,3376,0,0,0,0,0,0
$GC,2042,-1.30,-77.9,210.4,-9.8,203,2047,0.00,2.25,0.00,0.000,6,0.000,0.021,2423,1881,3376,0,0,0,0,0,0
$GC,2375,-1.34,-77.9,237.2,-8.5,219,2379,0.00,2.40,0.00,0.000,4,0.000,0.044,2424,469,3375,0,0,0,0,0,0
$GC,2448,-1.38,-77.9,244.7,-9.3,222,2452,0.00,2.25,0.00,0.000,6,0.000,0.021,2423,1870,3375,0,0,0,0,0,0
$GC,2768,-1.44,-77.9,271.7,-8.3,238,2773,0.10,2.45,0.00,0.000,4,0.075,0.046,2388,460,3375,0,0,0,0,0,0
$GC,2812,-1.36,-77.9,276.3,-10.9,240,2817,0.15,2.28,0.00,0.000,6,0.094,0.022,2419,1884,3374,0,0,0,0,0,0
$GC,3142,-1.42,-77.9,304.0,-8.4,255,3146,0.00,2.42,0.00,0.000,4,0.000,0.047,2419,468,3373,0,0,0,0,0,0
$GC,3179,-1.42,-77.9,307.7,-9.3,255,3185,0.00,2.28,0.00,0.000,6,0.000,0.023,2419,1883,3373,0,0,0,0,0,0
$GC,3511,-1.48,-77.9,333.6,-7.8,264,3516,0.12,2.47,0.00,0.000,4,0.064,0.048,2379,467,3372,0,0,0,0,0,0
$GC,3654,-1.42,-77.9,348.3,-10.1,267,3659,0.12,2.30,0.00,0.000,6,0.101,0.024,2405,1881,3371,0,0,0,0,0,0
$GC,3975,-1.47,-77.9,372.4,-7.3,275,3979,0.00,2.42,0.00,0.000,4,0.000,0.049,2404,471,3369,0,0,0,0,0,0
$GC,4072,-1.47,-77.9,380.8,-8.9,277,4076,0.00,2.30,0.00,0.000,6,0.000,0.025,2405,1879,3369,0,0,0,0,0,0
$GC,4391,-1.52,-77.9,404.4,-7.4,285,4396,0.00,2.45,0.00,0.000,4,0.000,0.050,2404,462,3366,0,0,0,0,0,0
$GC,4470,-1.52,-77.9,411.3,-8.1,286,4475,0.00,2.33,0.00,0.000,6,0.000,0.026,2405,1881,3366,0,0,0,0,0,0
$GC,4801,-1.58,-77.9,439.8,-8.9,294,4806,0.15,2.47,0.00,0.000,4,0.062,0.053,2362,471,3364,0,0,0,0,0,0
$GC,4872,-1.50,-77.9,447.4,-11.3,295,4877,0.12,2.28,0.00,0.000,6,0.105,0.028,2387,1872,3363,0,0,0,0,0,0
$STATE,4931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4931,begin apogee
$GC,4937,-0.31,0.0,453.1,9.1,297,5004,1.20,0.00,64.12,0.873,6,0.074,0.000,2643,2032,3050,0,0,0,0,0,0
$STATE,5005,end apogee,CONTROL_FINISHED_OK
$STATE,5005,begin climb
$GC,5007,1.40,77.9,454.1,0.0,298,5083,1.65,2.42,64.88,0.851,4,0.033,0.042,3028,3383,2732,0,0,0,0,0,0
$GC,5194,1.22,126.2,451.8,4.7,302,5244,0.22,2.38,41.60,0.842,6,0.114,0.035,2986,2003,2534,0,0,0,0,0,0
$GC,5557,1.11,126.2,423.2,8.2,311,5562,0.17,2.38,0.00,0.000,4,0.117,0.039,2944,3384,2527,0,0,0,0,0,0
$GC,5582,1.07,140.2,421.4,7.1,311,5600,0.00,2.38,12.20,0.772,6,0.000,0.037,2955,2011,2478,0,0,0,0,0,0
$GC,5925,1.04,140.2,393.7,8.1,320,5929,0.00,2.50,0.00,0.000,4,0.000,0.051,2955,602,2474,0,0,0,0,0,0
$GC,5972,0.94,140.2,389.2,10.0,321,5977,0.20,2.33,0.00,0.000,6,0.114,0.029,2920,1992,2472,0,0,0,0,0,0
$GC,6295,1.01,160.8,367.2,6.6,329,6320,0.00,2.55,17.98,0.799,4,0.000,0.051,2919,604,2393,0,0,0,0,0,0
$GC,6416,1.01,160.8,357.7,8.2,331,6420,0.00,2.35,0.00,0.000,6,0.000,0.030,2920,2009,2389,0,0,0,0,0,0
$GC,6753,1.09,168.4,332.8,7.5,340,6766,0.15,2.53,7.30,0.684,4,0.070,0.051,2956,600,2363,0,0,0,0,0,0
$GC,6799,1.02,168.4,328.9,9.0,341,6803,0.00,2.38,0.00,0.000,6,0.000,0.030,2956,2018,2361,0,0,0,0,0,0
$GC,7122,1.02,168.4,302.4,8.8,349,7125,0.00,2.47,0.00,0.000,4,0.000,0.050,2956,604,2359,0,0,0,0,0,0
$GC,7193,0.96,168.4,296.1,8.7,351,7198,0.17,2.35,0.00,0.000,6,0.114,0.029,2925,2018,2359,0,0,0,0,0,0
$GC,7526,1.12,228.7,280.0,3.9,367,7583,0.15,0.00,53.95,0.775,6,0.070,0.000,2961,2023,2116,0,0,0,0,0,0
$GC,7878,1.16,228.7,248.4,10.2,384,7882,0.00,2.50,0.00,0.000,4,0.000,0.051,2961,605,2109,0,0,0,0,0,0
$GC,7985,1.16,228.7,235.5,12.7,388,7991,0.00,2.38,0.00,0.000,6,0.000,0.027,2961,2012,2106,0,0,0,0,0,0
$GC,8300,1.20,228.7,205.6,9.1,404,8304,0.00,2.47,0.00,0.000,4,0.000,0.048,2961,603,2105,0,0,0,0,0,0
$GC,8430,1.20,228.7,191.0,12.1,414,8436,0.00,2.38,0.00,0.000,6,0.000,0.026,2961,2015,2103,0,0,0,0,0,0
$GC,8693,1.26,228.7,162.6,10.8,439,8698,0.12,2.47,0.00,0.000,4,0.071,0.047,2995,597,2103,0,0,0,0,0,0
$GC,8750,1.18,228.7,155.2,13.1,444,8757,0.10,2.38,0.00,0.000,6,0.091,0.025,2974,2018,2103,0,0,0,0,0,0
$GC,9014,1.21,228.7,129.1,9.0,469,9018,0.00,2.45,0.00,0.000,4,0.000,0.047,2973,599,2103,0,0,0,0,0,0
$GC,9204,1.21,231.1,110.4,7.9,489,9209,0.00,2.30,0.00,0.000,6,0.000,0.024,2974,2021,2102,0,0,0,0,0,0
$GC,9466,1.35,260.6,94.6,6.0,514,9499,0.15,2.50,26.55,0.599,4,0.062,0.044,3016,601,1987,0,0,0,0,0,0
$GC,9542,1.30,260.6,88.2,8.9,521,9547,0.00,2.33,0.00,0.000,6,0.000,0.022,3017,2014,1983,0,0,0,0,0,0
$GC,9805,1.30,260.6,64.4,9.8,546,9808,0.00,2.42,0.00,0.000,4,0.000,0.044,3016,602,1983,0,0,0,0,0,0
$GC,9870,1.27,260.6,57.7,10.5,553,9875,0.12,2.28,0.00,0.000,6,0.107,0.021,2992,2012,1981,0,0,0,0,0,0
$GC,10132,1.35,260.6,37.6,8.8,577,10136,0.00,2.40,0.00,0.000,4,0.000,0.042,2992,602,1981,0,0,0,0,0,0
$GC,10218,1.35,260.6,30.1,8.3,586,10223,0.00,2.25,0.00,0.000,6,0.000,0.021,2992,2015,1981,0,0,0,0,0,0
$GC,10488,1.43,260.6,8.2,9.6,634,10495,0.15,2.47,0.00,0.000,4,0.060,0.042,3037,599,1981,0,0,0,0,0,0
$STATE,10534,end climb,SURFACE_DEPTH_REACHED
$STATE,10535,begin surface coast
$FINISH,0.5,1.012062
$STATE,10570,end surface coast,CONTROL_FINISHED_OK
$STATE,10570,begin surface
$SM_CCo,10592,19.58,0.495,0,0,1826,300.00
$SM_GC,1.33,0.00,0.00,19.58,0.000,0.000,0.495,426,1894,1826,-10.52,0.51,300.00
$IRIDIUM_FIX,2057.14,-15746.61,020999,151508
$TT8_MAMPS,0.029146
$HUMID,48.93
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,41.842
$10V_AH,10.0,39.721
$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,28.075,128.700,288.575,19.575,0.000,59.786,69.592,357.151,4.500,0.000,72.308,1287.562,6899.271,372.806,2045.246,730.905,33.386,1248.867,0.000,1968.499,0.000,29.261,0.000
$DEVICE_MAMPS,132.691,52.923,872.846,495.482,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,439.114,419.905,820.339,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,37998,651
$CAP_FILE_SIZE,132045,0
$CFSIZE,260165632,230998016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080610,181156,2107.591,-15747.637,109,4.3,128,9.8