version: 66.06
glider: 139
mission: 7
dive: 476
start: 6 8 110 21 33 53
data:
$ID,139
$MISSION,7
$DIVE,476
$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,-2138810
$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
$GPS1,211907,2107.574,-15747.423,149,1.7,149,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.0
$GPS2,213302,2107.559,-15747.608,37,1.5,37,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.181,0.032
$KALMAN_X,-213849.5,67.1,373.8,226061.0,-2669.9
$KALMAN_Y,14782.3,71.1,-57.1,-13593.2,-106.8
$MHEAD_RNG_PITCHd_Wd,70.1,8725,-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,-52.30,0.000,2,0.000,0.000,424,1865,3212,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.5,-6.0,10,90,10.65,0.00,-3.12,0.000,6,0.134,0.000,2405,1866,3370,0,0,0,0,0,0
$GC,288,-1.21,-77.9,46.0,-17.6,41,290,0.22,0.00,0.00,0.000,6,0.097,0.000,2450,1866,3372,0,0,0,0,0,0
$GC,544,-1.16,-77.9,84.4,-14.6,65,548,0.00,2.38,0.00,0.000,4,0.000,0.044,2450,468,3372,0,0,0,0,0,0
$GC,614,-1.07,-77.9,95.9,-15.0,72,619,0.15,2.30,0.00,0.000,6,0.103,0.019,2479,1914,3373,0,0,0,0,0,0
$GC,876,-1.21,-77.9,123.3,-7.9,96,881,0.12,2.50,0.00,0.000,4,0.062,0.042,2434,457,3374,0,0,0,0,0,0
$GC,955,-1.21,-77.9,130.1,-8.5,104,959,0.00,2.28,0.00,0.000,6,0.000,0.019,2434,1883,3375,0,0,0,0,0,0
$GC,1217,-1.27,-77.9,148.1,-7.1,128,1221,0.00,2.42,0.00,0.000,4,0.000,0.043,2434,466,3375,0,0,0,0,0,0
$GC,1270,-1.31,-77.9,152.4,-7.9,133,1275,0.00,2.22,0.00,0.000,6,0.000,0.019,2433,1878,3375,0,0,0,0,0,0
$GC,1534,-1.36,-77.9,176.2,-10.0,157,1538,0.00,2.42,0.00,0.000,4,0.000,0.043,2434,467,3376,0,0,0,0,0,0
$GC,1588,-1.36,-77.9,182.6,-11.2,162,1595,0.00,2.25,0.00,0.000,6,0.000,0.020,2434,1870,3375,0,0,0,0,0,0
$GC,1849,-1.42,-77.9,206.2,-8.9,184,1854,0.15,2.40,0.00,0.000,4,0.057,0.044,2386,468,3376,0,0,0,0,0,0
$GC,1933,-1.32,-77.9,216.4,-12.6,187,1939,0.20,2.22,0.00,0.000,6,0.086,0.021,2428,1871,3375,0,0,0,0,0,0
$GC,2251,-1.38,-77.9,247.7,-10.0,203,2255,0.00,2.42,0.00,0.000,4,0.000,0.045,2428,463,3375,0,0,0,0,0,0
$GC,2348,-1.43,-77.9,257.8,-9.4,207,2352,0.12,2.25,0.00,0.000,6,0.063,0.021,2387,1875,3375,0,0,0,0,0,0
$GC,2670,-1.43,-77.9,287.1,-8.2,223,2674,0.00,2.40,0.00,0.000,4,0.000,0.045,2386,470,3374,0,0,0,0,0,0
$GC,2772,-1.38,-77.9,296.4,-9.1,227,2777,0.12,2.22,0.00,0.000,6,0.100,0.022,2412,1869,3374,0,0,0,0,0,0
$GC,3104,-1.44,-77.9,319.5,-6.8,236,3108,0.00,2.42,0.00,0.000,4,0.000,0.047,2412,467,3372,0,0,0,0,0,0
$GC,3173,-1.44,-77.9,324.7,-7.5,237,3177,0.00,2.28,0.00,0.000,6,0.000,0.023,2413,1882,3372,0,0,0,0,0,0
$GC,3513,-1.49,-77.9,351.0,-8.5,246,3518,0.10,2.45,0.00,0.000,4,0.076,0.049,2379,469,3370,0,0,0,0,0,0
$GC,3548,-1.43,-77.9,354.6,-11.0,246,3553,0.12,2.28,0.00,0.000,6,0.100,0.025,2405,1881,3370,0,0,0,0,0,0
$GC,3880,-1.48,-77.9,381.9,-7.5,254,3885,0.00,2.45,0.00,0.000,4,0.000,0.050,2405,462,3368,0,0,0,0,0,0
$GC,3960,-1.48,-77.9,388.6,-8.1,255,3964,0.00,2.30,0.00,0.000,6,0.000,0.025,2405,1871,3367,0,0,0,0,0,0
$GC,4293,-1.53,-77.9,416.8,-9.4,263,4295,0.10,0.00,0.00,0.000,6,0.080,0.000,2375,1877,3365,0,0,0,0,0,0
$STATE,4573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4573,begin apogee
$GC,4579,-0.31,0.0,452.3,12.7,270,4647,1.27,0.00,64.32,0.872,6,0.077,0.000,2645,2033,3050,0,0,0,0,0,0
$STATE,4647,end apogee,CONTROL_FINISHED_OK
$STATE,4647,begin climb
$GC,4650,1.40,77.9,454.5,0.0,271,4725,1.62,2.42,64.97,0.852,4,0.033,0.042,3026,3383,2732,0,0,0,0,0,0
$GC,4988,1.21,110.2,449.7,5.8,278,5022,0.22,2.38,27.73,0.836,6,0.112,0.035,2977,2009,2600,0,0,0,0,0,0
$GC,5336,1.09,113.9,423.1,7.8,287,5346,0.15,2.47,4.18,0.550,4,0.116,0.050,2957,601,2584,0,0,0,0,0,0
$GC,5370,0.97,124.7,420.4,7.3,287,5387,0.17,2.35,10.82,0.765,6,0.117,0.028,2926,1998,2541,0,0,0,0,0,0
$GC,5712,1.01,157.4,400.8,5.8,296,5748,0.00,2.45,29.00,0.832,4,0.000,0.038,2925,3398,2407,0,0,0,0,0,0
$GC,5827,1.06,157.4,391.2,9.3,298,5832,0.00,2.40,0.00,0.000,6,0.000,0.038,2927,2007,2407,0,0,0,0,0,0
$GC,6168,1.10,157.4,362.5,8.3,307,6173,0.12,2.50,0.00,0.000,4,0.077,0.053,2957,600,2402,0,0,0,0,0,0
$GC,6267,1.02,157.4,353.0,9.3,309,6272,0.00,2.38,0.00,0.000,6,0.000,0.030,2956,2007,2399,0,0,0,0,0,0
$GC,6586,1.02,160.1,327.7,7.8,317,6590,0.00,2.40,0.00,0.000,4,0.000,0.040,2957,3408,2398,0,0,0,0,0,0
$GC,6613,1.02,161.3,325.4,7.9,317,6617,0.00,2.40,0.00,0.000,6,0.000,0.036,2957,2002,2398,0,0,0,0,0,0
$GC,6953,1.05,185.5,304.0,6.4,326,6983,0.00,2.53,24.20,0.782,4,0.000,0.051,2957,598,2292,0,0,0,0,0,0
$GC,7122,1.00,185.5,287.3,11.6,331,7127,0.12,2.40,0.00,0.000,6,0.123,0.029,2935,2019,2287,0,0,0,0,0,0
$GC,7437,1.07,185.5,256.0,10.7,346,7441,0.00,2.47,0.00,0.000,4,0.000,0.051,2935,604,2286,0,0,0,0,0,0
$GC,7529,1.07,185.5,245.6,11.0,350,7533,0.00,2.38,0.00,0.000,6,0.000,0.028,2935,2021,2284,0,0,0,0,0,0
$GC,7854,1.19,225.9,223.1,5.2,366,7898,0.17,2.58,35.67,0.730,4,0.064,0.049,2979,610,2127,0,0,0,0,0,0
$GC,7976,1.13,225.9,212.7,10.1,371,7980,0.00,2.38,0.00,0.000,6,0.000,0.028,2978,2022,2122,0,0,0,0,0,0
$GC,8302,1.13,225.9,180.4,9.9,396,8307,0.00,2.50,0.00,0.000,4,0.000,0.048,2979,598,2120,0,0,0,0,0,0
$GC,8384,1.09,225.9,170.5,11.9,404,8391,0.12,2.38,0.00,0.000,6,0.097,0.026,2953,2012,2118,0,0,0,0,0,0
$GC,8648,1.15,225.9,146.5,8.3,429,8652,0.00,2.47,0.00,0.000,4,0.000,0.047,2952,597,2118,0,0,0,0,0,0
$GC,8728,1.15,225.9,138.8,9.7,437,8733,0.00,2.35,0.00,0.000,6,0.000,0.025,2952,2017,2117,0,0,0,0,0,0
$GC,8993,1.28,251.8,120.7,6.2,461,9022,0.17,2.50,22.35,0.624,4,0.059,0.045,2999,601,2022,0,0,0,0,0,0
$GC,9126,1.24,251.8,107.7,8.8,475,9131,0.00,2.33,0.00,0.000,6,0.000,0.024,2998,2009,2017,0,0,0,0,0,0
$GC,9389,1.31,251.8,87.2,9.7,500,9393,0.00,2.33,0.00,0.000,4,0.000,0.029,2998,3405,2017,0,0,0,0,0,0
$GC,9452,1.39,251.8,81.1,9.8,506,9459,0.00,2.40,0.00,0.000,6,0.000,0.029,2999,2000,2016,0,0,0,0,0,0
$GC,9716,1.45,251.8,57.2,8.9,531,9721,0.12,2.42,0.00,0.000,4,0.067,0.044,3036,597,2017,0,0,0,0,0,0
$GC,9806,1.37,251.8,47.0,11.3,540,9814,0.10,2.33,0.00,0.000,6,0.079,0.021,3012,2013,2015,0,0,0,0,0,0
$GC,10072,1.40,251.8,23.8,8.7,571,10077,0.00,2.40,0.00,0.000,4,0.000,0.042,3012,604,2015,0,0,0,0,0,0
$GC,10111,1.37,251.8,20.2,9.8,579,10117,0.00,2.25,0.00,0.000,6,0.000,0.021,3012,2014,2016,0,0,0,0,0,0
$STATE,10309,end climb,SURFACE_DEPTH_REACHED
$STATE,10309,begin surface coast
$FINISH,0.6,1.001322
$STATE,10344,end surface coast,CONTROL_FINISHED_OK
$STATE,10344,begin surface
$SM_CCo,10364,23.75,0.502,0,0,1827,300.00
$SM_GC,1.00,0.00,0.00,23.75,0.000,0.000,0.502,431,1867,1827,-10.51,-0.25,300.00
$IRIDIUM_FIX,2101.76,-15748.75,020999,212103
$TT8_MAMPS,0.029146
$HUMID,49.96
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,42.029
$10V_AH,10.0,39.890
$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,27.600,114.825,283.250,23.750,0.000,95.407,111.215,352.907,4.500,0.000,37.703,1234.075,6909.999,362.688,1923.135,791.993,33.376,1202.733,0.000,1871.689,0.000,29.255,0.000
$DEVICE_MAMPS,134.225,53.690,872.079,501.618,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.263,393.144,755.326,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,35017,621
$CAP_FILE_SIZE,127429,0
$CFSIZE,260165632,230883328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090610,003125,2107.748,-15747.783,226,1.6,226,9.8