version: 66.06
glider: 139
mission: 7
dive: 475
start: 6 8 110 18 22 2
data:
$ID,139
$MISSION,7
$DIVE,475
$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,-2138771.5
$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
$GPS1,181156,2107.591,-15747.637,109,4.3,128,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-67.6
$GPS2,182110,2107.587,-15747.683,17,4.3,36,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,0.013
$KALMAN_X,-211739.2,-322.9,580.9,224003.6,-1899.4
$KALMAN_Y,14924.8,-198.6,264.3,-13736.7,-206.5
$MHEAD_RNG_PITCHd_Wd,76.2,8863,-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,-52.92,0.000,2,0.000,0.000,426,1894,3234,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.9,-7.0,10,96,10.55,2.40,-2.53,0.000,4,0.133,0.038,2401,3307,3371,0,0,0,0,0,0
$GC,142,-1.32,-77.9,21.8,-16.2,24,149,0.10,2.45,0.00,0.000,6,0.081,0.032,2423,1879,3372,0,0,0,0,0,0
$GC,351,-1.21,-77.9,53.5,-14.9,48,356,0.12,2.45,0.00,0.000,4,0.112,0.044,2450,466,3372,0,0,0,0,0,0
$GC,386,-1.09,-77.9,59.0,-14.8,51,391,0.12,2.30,0.00,0.000,6,0.104,0.019,2474,1910,3372,0,0,0,0,0,0
$GC,649,-1.12,-77.9,86.5,-10.0,75,654,0.00,2.47,0.00,0.000,4,0.000,0.044,2475,466,3373,0,0,0,0,0,0
$GC,731,-1.15,-77.9,95.9,-10.5,83,736,0.00,2.22,0.00,0.000,6,0.000,0.019,2473,1876,3374,0,0,0,0,0,0
$GC,994,-1.29,-77.9,119.3,-7.9,108,999,0.17,2.42,0.00,0.000,4,0.050,0.043,2417,463,3375,0,0,0,0,0,0
$GC,1024,-1.25,-77.9,122.6,-11.4,111,1029,0.12,2.25,0.00,0.000,6,0.096,0.019,2444,1885,3375,0,0,0,0,0,0
$GC,1286,-1.32,-77.9,145.8,-8.4,135,1290,0.00,2.45,0.00,0.000,4,0.000,0.042,2444,457,3377,0,0,0,0,0,0
$GC,1368,-1.36,-77.9,153.8,-9.8,143,1374,0.12,2.28,0.00,0.000,6,0.062,0.019,2400,1882,3376,0,0,0,0,0,0
$GC,1628,-1.36,-77.9,181.4,-11.5,168,1632,0.00,2.45,0.00,0.000,4,0.000,0.044,2401,457,3376,0,0,0,0,0,0
$GC,1652,-1.27,-77.9,184.3,-12.5,170,1657,0.17,2.25,0.00,0.000,6,0.090,0.020,2437,1880,3376,0,0,0,0,0,0
$GC,1915,-1.34,-77.9,211.2,-10.5,189,1919,0.00,2.40,0.00,0.000,4,0.000,0.044,2438,467,3377,0,0,0,0,0,0
$GC,1993,-1.40,-77.9,219.8,-10.5,192,1998,0.12,2.22,0.00,0.000,6,0.062,0.021,2394,1874,3377,0,0,0,0,0,0
$GC,2314,-1.40,-77.9,251.8,-9.9,208,2318,0.00,2.42,0.00,0.000,4,0.000,0.044,2394,463,3376,0,0,0,0,0,0
$GC,2328,-1.36,-77.9,253.3,-9.8,208,2336,0.08,2.28,0.00,0.000,6,0.077,0.021,2414,1874,3376,0,0,0,0,0,0
$GC,2645,-1.41,-77.9,282.0,-9.0,224,2649,0.00,2.42,0.00,0.000,4,0.000,0.046,2415,467,3375,0,0,0,0,0,0
$GC,2737,-1.41,-77.9,291.1,-9.7,228,2742,0.00,2.22,0.00,0.000,6,0.000,0.022,2415,1867,3375,0,0,0,0,0,0
$GC,3086,-1.46,-77.9,322.4,-8.9,239,3090,0.00,2.42,0.00,0.000,4,0.000,0.047,2416,464,3374,0,0,0,0,0,0
$GC,3141,-1.46,-77.9,328.3,-10.7,240,3146,0.00,2.25,0.00,0.000,6,0.000,0.023,2415,1872,3373,0,0,0,0,0,0
$GC,3455,-1.52,-77.9,357.5,-9.0,248,3460,0.15,2.45,0.00,0.000,4,0.058,0.049,2370,459,3373,0,0,0,0,0,0
$GC,3546,-1.46,-77.9,368.0,-10.8,250,3551,0.12,2.28,0.00,0.000,6,0.100,0.025,2396,1871,3372,0,0,0,0,0,0
$GC,3875,-1.46,-77.9,396.6,-8.0,258,3880,0.00,2.47,0.00,0.000,4,0.000,0.051,2395,464,3370,0,0,0,0,0,0
$GC,3965,-1.46,-77.9,403.7,-7.5,260,3969,0.00,2.30,0.00,0.000,6,0.000,0.026,2395,1881,3369,0,0,0,0,0,0
$GC,4292,-1.49,-77.9,427.0,-7.2,268,4297,0.00,2.47,0.00,0.000,4,0.000,0.051,2395,469,3367,0,0,0,0,0,0
$GC,4348,-1.49,-77.9,431.7,-8.3,269,4352,0.00,2.33,0.00,0.000,6,0.000,0.027,2396,1878,3367,0,0,0,0,0,0
$STATE,4623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4623,begin apogee
$GC,4629,-0.31,0.0,452.4,7.4,276,4697,1.15,0.00,64.62,0.872,6,0.074,0.000,2642,2039,3050,0,0,0,0,0,0
$STATE,4698,end apogee,CONTROL_FINISHED_OK
$STATE,4698,begin climb
$GC,4701,1.40,77.9,453.0,0.0,277,4775,1.65,2.40,65.22,0.850,4,0.032,0.044,3028,3372,2732,0,0,0,0,0,0
$GC,5039,1.23,128.2,443.7,4.6,284,5088,0.25,2.38,42.90,0.847,6,0.112,0.036,2982,1999,2527,0,0,0,0,0,0
$GC,5429,1.13,128.2,414.0,8.4,294,5434,0.12,2.42,0.00,0.000,4,0.123,0.040,2960,3383,2520,0,0,0,0,0,0
$GC,5504,1.08,128.2,407.3,8.3,295,5508,0.00,2.38,0.00,0.000,6,0.000,0.037,2959,2009,2520,0,0,0,0,0,0
$GC,5840,1.03,128.2,377.1,9.5,304,5844,0.00,2.35,0.00,0.000,4,0.000,0.041,2955,3382,2517,0,0,0,0,0,0
$GC,5946,0.99,128.2,368.0,8.5,306,5951,0.17,2.35,0.00,0.000,6,0.107,0.038,2928,2008,2517,0,0,0,0,0,0
$GC,6296,1.03,159.6,346.2,5.9,315,6329,0.00,2.55,26.27,0.809,4,0.000,0.052,2928,610,2398,0,0,0,0,0,0
$GC,6367,1.03,160.5,341.4,8.0,316,6371,0.00,2.33,0.00,0.000,6,0.000,0.030,2928,1989,2395,0,0,0,0,0,0
$GC,6707,1.12,186.8,320.4,6.2,325,6740,0.12,2.50,24.60,0.790,4,0.077,0.051,2958,601,2288,0,0,0,0,0,0
$GC,6889,1.07,186.8,301.5,11.2,329,6893,0.00,2.38,0.00,0.000,6,0.000,0.029,2958,2011,2281,0,0,0,0,0,0
$GC,7225,1.07,186.8,267.4,9.7,344,7229,0.00,2.47,0.00,0.000,4,0.000,0.054,2958,598,2281,0,0,0,0,0,0
$GC,7271,1.03,186.8,262.5,11.3,346,7275,0.00,2.38,0.00,0.000,6,0.000,0.029,2957,2022,2279,0,0,0,0,0,0
$GC,7595,1.03,186.8,234.3,8.2,362,7599,0.00,2.47,0.00,0.000,4,0.000,0.049,2958,603,2279,0,0,0,0,0,0
$GC,7664,1.03,186.8,228.1,9.0,365,7668,0.00,2.35,0.00,0.000,6,0.000,0.028,2958,2022,2277,0,0,0,0,0,0
$GC,7990,1.09,211.6,206.0,6.3,381,8018,0.00,2.58,21.65,0.697,4,0.000,0.048,2958,605,2186,0,0,0,0,0,0
$GC,8137,1.09,211.6,193.7,8.7,391,8142,0.00,2.35,0.00,0.000,6,0.000,0.026,2958,2016,2181,0,0,0,0,0,0
$GC,8399,1.14,211.6,172.4,8.7,416,8403,0.00,2.45,0.00,0.000,4,0.000,0.047,2958,602,2181,0,0,0,0,0,0
$GC,8423,1.14,211.6,169.8,10.9,418,8427,0.00,2.33,0.00,0.000,6,0.000,0.025,2958,2018,2180,0,0,0,0,0,0
$GC,8685,1.18,211.6,147.6,8.2,442,8689,0.00,2.45,0.00,0.000,4,0.000,0.046,2958,600,2180,0,0,0,0,0,0
$GC,8835,1.18,211.6,134.2,9.0,458,8839,0.00,2.30,0.00,0.000,6,0.000,0.024,2959,2014,2179,0,0,0,0,0,0
$GC,9097,1.29,238.6,113.5,6.2,482,9127,0.17,2.50,24.02,0.614,4,0.058,0.043,3007,598,2076,0,0,0,0,0,0
$GC,9176,1.24,238.6,107.3,8.9,490,9180,0.00,2.33,0.00,0.000,6,0.000,0.023,3006,2020,2072,0,0,0,0,0,0
$GC,9439,1.33,279.2,89.2,5.2,514,9485,0.00,2.53,36.12,0.595,4,0.000,0.042,3006,597,1909,0,0,0,0,0,0
$GC,9525,1.33,279.2,83.2,9.9,523,9529,0.00,2.33,0.00,0.000,6,0.000,0.022,3007,2019,1906,0,0,0,0,0,0
$GC,9789,1.38,279.2,60.0,8.3,547,9793,0.00,2.47,0.00,0.000,4,0.000,0.043,3006,592,1904,0,0,0,0,0,0
$GC,9860,1.38,279.2,52.2,10.7,554,9866,0.00,2.35,0.00,0.000,6,0.000,0.021,3006,2017,1902,0,0,0,0,0,0
$GC,10125,1.44,279.2,27.9,8.4,581,10130,0.00,2.42,0.00,0.000,4,0.000,0.042,3007,597,1902,0,0,0,0,0,0
$GC,10183,1.44,279.2,22.0,10.8,593,10188,0.00,2.30,0.00,0.000,6,0.000,0.020,3006,2015,1902,0,0,0,0,0,0
$STATE,10377,end climb,SURFACE_DEPTH_REACHED
$STATE,10377,begin surface coast
$FINISH,0.5,1.023270
$STATE,10407,end surface coast,CONTROL_FINISHED_OK
$STATE,10407,begin surface
$SM_CCo,10428,10.15,0.465,0,0,1826,300.00
$SM_GC,2.16,0.00,0.00,10.15,0.000,0.000,0.465,425,1865,1826,-10.53,-0.28,300.00
$IRIDIUM_FIX,2059.45,-15746.61,020999,181827
$TT8_MAMPS,0.029146
$HUMID,50.23
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.50
$XPDR_PINGS,2
$24V_AH,23.4,41.930
$10V_AH,10.0,39.805
$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,26.700,129.175,305.425,10.150,0.000,61.501,64.829,212.627,5.000,0.000,37.804,1249.144,6815.306,368.135,1987.323,571.781,33.382,1250.343,0.000,1930.035,0.000,30.653,0.000
$DEVICE_MAMPS,132.691,58.292,872.079,464.802,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.873,403.869,777.832,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,34839,633
$CAP_FILE_SIZE,125586,0
$CFSIZE,260165632,230948864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080610,211907,2107.574,-15747.423,149,1.7,149,9.8