version: 66.06
glider: 139
mission: 7
dive: 477
start: 6 9 110 0 38 24
data:
$ID,139
$MISSION,7
$DIVE,477
$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,-2138825.2
$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
$GPS1,003125,2107.748,-15747.783,226,1.6,226,9.8
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-66.8
$GPS2,003732,2107.792,-15747.873,14,1.6,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.180,-0.035
$KALMAN_X,-215768.0,451.3,-581.5,228091.7,-1697.2
$KALMAN_Y,14766.1,326.1,-227.0,-13231.1,249.6
$MHEAD_RNG_PITCHd_Wd,91.1,9313,-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,-53.12,0.000,2,0.000,0.000,430,1866,3249,0,0,0,0,0,0
$GC,74,-1.40,-77.9,4.1,-8.2,10,92,10.57,2.45,-2.25,0.000,4,0.133,0.051,2403,464,3370,0,0,0,0,0,0
$GC,131,-1.05,-77.9,21.8,-25.2,21,137,0.40,2.33,0.00,0.000,6,0.087,0.021,2485,1906,3372,0,0,0,0,0,0
$GC,339,-1.05,-77.9,46.8,-11.2,45,343,0.00,2.50,0.00,0.000,4,0.000,0.043,2485,461,3373,0,0,0,0,0,0
$GC,382,-1.05,-77.9,52.4,-13.3,49,386,0.00,2.30,0.00,0.000,6,0.000,0.019,2484,1896,3373,0,0,0,0,0,0
$GC,645,-1.08,-77.9,82.3,-11.4,73,650,0.00,2.47,0.00,0.000,4,0.000,0.043,2484,459,3374,0,0,0,0,0,0
$GC,725,-1.08,-77.9,91.6,-10.7,81,729,0.00,2.25,0.00,0.000,6,0.000,0.019,2485,1882,3374,0,0,0,0,0,0
$GC,988,-1.17,-77.9,115.4,-8.7,105,993,0.12,2.28,0.00,0.000,4,0.064,0.025,2442,3266,3375,0,0,0,0,0,0
$GC,1045,-1.30,-77.9,121.7,-10.3,110,1052,0.00,2.35,0.00,0.000,6,0.000,0.028,2442,1870,3375,0,0,0,0,0,0
$GC,1308,-1.37,-77.9,147.8,-9.6,135,1313,0.12,2.38,0.00,0.000,4,0.063,0.043,2399,471,3377,0,0,0,0,0,0
$GC,1390,-1.31,-77.9,156.9,-11.5,143,1395,0.12,2.25,0.00,0.000,6,0.100,0.018,2425,1883,3377,0,0,0,0,0,0
$GC,1652,-1.36,-77.9,178.5,-8.4,167,1656,0.00,2.40,0.00,0.000,4,0.000,0.043,2426,473,3377,0,0,0,0,0,0
$GC,1677,-1.36,-77.9,180.8,-9.0,169,1681,0.00,2.25,0.00,0.000,6,0.000,0.020,2426,1884,3378,0,0,0,0,0,0
$GC,1944,-1.41,-77.9,204.5,-9.5,192,1948,0.00,2.40,0.00,0.000,4,0.000,0.043,2425,473,3378,0,0,0,0,0,0
$GC,2033,-1.41,-77.9,214.0,-11.0,196,2037,0.00,2.22,0.00,0.000,6,0.000,0.021,2426,1873,3378,0,0,0,0,0,0
$GC,2363,-1.47,-77.9,244.4,-8.5,212,2368,0.15,2.42,0.00,0.000,4,0.057,0.045,2378,474,3378,0,0,0,0,0,0
$GC,2432,-1.39,-77.9,252.0,-12.2,215,2437,0.15,2.22,0.00,0.000,6,0.094,0.021,2410,1871,3377,0,0,0,0,0,0
$GC,2764,-1.43,-77.9,284.7,-8.9,231,2768,0.00,2.42,0.00,0.000,4,0.000,0.045,2410,466,3376,0,0,0,0,0,0
$GC,2824,-1.43,-77.9,290.4,-9.1,233,2830,0.00,2.28,0.00,0.000,6,0.000,0.022,2410,1873,3376,0,0,0,0,0,0
$GC,3157,-1.49,-77.9,318.6,-8.5,245,3161,0.00,2.42,0.00,0.000,4,0.000,0.047,2410,473,3375,0,0,0,0,0,0
$GC,3228,-1.49,-77.9,325.1,-8.6,246,3232,0.00,2.28,0.00,0.000,6,0.000,0.024,2410,1872,3374,0,0,0,0,0,0
$GC,3568,-1.54,-77.9,355.2,-9.0,255,3573,0.15,2.45,0.00,0.000,4,0.059,0.049,2366,473,3373,0,0,0,0,0,0
$GC,3596,-1.44,-77.9,358.7,-12.0,255,3601,0.15,2.28,0.00,0.000,6,0.094,0.025,2397,1873,3373,0,0,0,0,0,0
$GC,3937,-1.44,-77.9,396.4,-11.0,264,3941,0.00,2.45,0.00,0.000,4,0.000,0.051,2396,471,3370,0,0,0,0,0,0
$GC,3979,-1.44,-77.9,401.1,-11.2,265,3983,0.00,2.30,0.00,0.000,6,0.000,0.026,2397,1873,3370,0,0,0,0,0,0
$GC,4307,-1.44,-77.9,430.2,-7.8,273,4311,0.00,2.42,0.00,0.000,4,0.000,0.051,2397,475,3367,0,0,0,0,0,0
$GC,4362,-1.44,-77.9,434.6,-7.0,274,4366,0.00,2.30,0.00,0.000,6,0.000,0.027,2397,1872,3367,0,0,0,0,0,0
$STATE,4596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4596,begin apogee
$GC,4603,-0.31,0.0,451.2,7.0,280,4671,1.15,0.00,64.65,0.870,6,0.072,0.000,2643,2033,3050,0,0,0,0,0,0
$STATE,4672,end apogee,CONTROL_FINISHED_OK
$STATE,4672,begin climb
$GC,4674,1.40,77.9,451.6,0.0,281,4749,1.65,2.42,65.03,0.847,4,0.033,0.042,3028,3375,2732,0,0,0,0,0,0
$GC,4856,1.20,100.2,446.8,6.5,285,4882,0.25,2.33,19.77,0.808,6,0.111,0.035,2980,2012,2641,0,0,0,0,0,0
$GC,5220,1.08,106.1,418.1,7.6,294,5232,0.17,2.42,5.90,0.652,4,0.114,0.038,2939,3376,2617,0,0,0,0,0,0
$GC,5349,1.07,135.4,409.3,6.0,296,5381,0.00,2.35,25.98,0.823,6,0.000,0.036,2949,2011,2497,0,0,0,0,0,0
$GC,5728,1.08,142.2,381.8,7.6,306,5740,0.00,2.55,6.62,0.671,4,0.000,0.052,2951,600,2470,0,0,0,0,0,0
$GC,5835,0.99,142.2,371.6,9.5,308,5839,0.00,2.35,0.00,0.000,6,0.000,0.029,2950,1995,2467,0,0,0,0,0,0
$GC,6148,0.99,142.2,345.1,8.3,316,6152,0.00,2.42,0.00,0.000,4,0.000,0.050,2951,604,2466,0,0,0,0,0,0
$GC,6176,0.91,142.2,342.6,8.9,316,6181,0.20,2.38,0.00,0.000,6,0.114,0.029,2914,2017,2466,0,0,0,0,0,0
$GC,6512,1.00,166.1,320.6,6.4,325,6541,0.00,2.58,21.42,0.783,4,0.000,0.051,2914,611,2370,0,0,0,0,0,0
$GC,6557,1.02,179.0,317.5,7.1,326,6577,0.10,2.38,12.62,0.732,6,0.083,0.030,2940,2014,2320,0,0,0,0,0,0
$GC,6889,1.07,195.3,291.9,6.9,336,6912,0.00,2.58,15.35,0.743,4,0.000,0.051,2940,602,2252,0,0,0,0,0,0
$GC,7028,1.07,195.3,278.9,9.7,342,7033,0.00,2.38,0.00,0.000,6,0.000,0.029,2940,2011,2248,0,0,0,0,0,0
$GC,7362,1.13,195.3,249.0,9.2,358,7366,0.00,2.47,0.00,0.000,4,0.000,0.050,2940,604,2247,0,0,0,0,0,0
$GC,7482,1.13,195.3,236.5,10.3,363,7487,0.00,2.38,0.00,0.000,6,0.000,0.028,2940,2016,2244,0,0,0,0,0,0
$GC,7804,1.21,204.9,210.7,7.4,379,7820,0.17,2.53,8.77,0.645,4,0.064,0.048,2985,600,2214,0,0,0,0,0,0
$GC,7946,1.13,204.9,196.5,10.6,387,7950,0.12,2.38,0.00,0.000,6,0.118,0.028,2963,2016,2210,0,0,0,0,0,0
$GC,8210,1.18,218.3,176.8,7.1,411,8230,0.00,2.50,12.90,0.654,4,0.000,0.048,2962,603,2159,0,0,0,0,0,0
$GC,8324,1.18,218.3,166.6,9.7,423,8329,0.00,2.38,0.00,0.000,6,0.000,0.026,2963,2024,2155,0,0,0,0,0,0
$GC,8589,1.24,228.9,145.6,7.3,447,8609,0.00,2.55,10.55,0.610,4,0.000,0.047,2962,605,2115,0,0,0,0,0,0
$GC,8666,1.24,228.9,139.0,8.8,455,8670,0.00,2.35,0.00,0.000,6,0.000,0.025,2963,2018,2113,0,0,0,0,0,0
$GC,8930,1.35,253.2,119.2,6.4,479,8959,0.20,2.53,22.60,0.624,4,0.054,0.045,3016,602,2016,0,0,0,0,0,0
$GC,9087,1.28,253.2,103.3,10.2,496,9092,0.12,2.33,0.00,0.000,6,0.109,0.024,2993,2021,2011,0,0,0,0,0,0
$GC,9348,1.37,265.7,83.6,7.2,520,9367,0.00,2.53,11.75,0.556,4,0.000,0.044,2992,606,1965,0,0,0,0,0,0
$GC,9400,1.37,265.7,79.0,9.8,525,9407,0.00,2.35,0.00,0.000,6,0.000,0.022,2993,2018,1963,0,0,0,0,0,0
$GC,9664,1.44,266.3,57.1,8.0,550,9669,0.17,2.47,0.00,0.000,4,0.054,0.044,3042,601,1963,0,0,0,0,0,0
$GC,9789,1.35,266.3,44.3,9.1,563,9796,0.12,2.33,0.00,0.000,6,0.081,0.021,3013,2013,1962,0,0,0,0,0,0
$GC,10053,1.36,272.8,26.3,7.6,591,10065,0.00,0.00,7.20,0.459,6,0.000,0.000,3013,2018,1937,0,0,0,0,0,0
$GC,10266,1.36,272.8,7.5,11.0,629,10271,0.00,2.42,0.00,0.000,4,0.000,0.042,3013,602,1937,0,0,0,0,0,0
$STATE,10305,end climb,SURFACE_DEPTH_REACHED
$STATE,10305,begin surface coast
$FINISH,1.3,1.023164
$STATE,10321,end surface coast,CONTROL_FINISHED_OK
$STATE,10321,begin surface
$SM_CCo,10343,14.12,0.486,0,0,1826,300.00
$SM_GC,1.61,0.00,0.00,14.12,0.000,0.000,0.486,425,1897,1826,-10.53,0.62,300.00
$IRIDIUM_FIX,2059.45,-15748.75,020999,212114
$TT8_MAMPS,0.029146
$HUMID,49.96
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,42.114
$10V_AH,10.1,39.975
$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,27.550,128.950,311.125,14.125,0.000,22.404,30.455,198.759,4.500,0.000,14.564,1262.326,6651.313,379.364,1943.710,488.261,33.382,1250.125,0.000,1922.596,0.000,29.248,0.000
$DEVICE_MAMPS,133.458,52.156,869.778,485.511,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,432.511,416.766,815.009,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,35010,641
$CAP_FILE_SIZE,124804,0
$CFSIZE,260165632,230825984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090610,033359,2107.726,-15747.489,120,2.2,139,9.8