version: 66.06
glider: 139
mission: 7
dive: 478
start: 6 9 110 3 50 16
data:
$ID,139
$MISSION,7
$DIVE,478
$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,-2138870
$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
$GPS1,033359,2107.726,-15747.489,120,2.2,139,9.8
$_CALLS,3
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.5
$GPS2,034925,2107.798,-15747.562,36,1.7,43,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.182,-0.027
$KALMAN_X,-217634.1,567.0,-320.5,230117.0,-1208.3
$KALMAN_Y,14782.8,378.4,103.7,-13621.0,-75.0
$MHEAD_RNG_PITCHd_Wd,88.7,8826,-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,15,begin dive
$GC,17,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-51.33,0.000,2,0.000,0.000,424,1895,3170,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.1,-5.0,10,96,10.68,2.50,-4.10,0.000,4,0.135,0.054,2404,467,3370,0,0,0,0,0,0
$GC,104,-0.28,-77.9,11.8,-26.4,15,110,1.23,2.35,0.00,0.000,6,0.097,0.020,2648,1933,3372,0,0,0,0,0,0
$GC,310,-0.86,-77.9,18.5,3.2,52,318,0.47,2.58,0.00,0.000,4,0.038,0.044,2520,469,3372,0,0,0,0,0,0
$GC,433,-0.94,-77.9,30.4,-9.9,78,437,0.00,2.30,0.00,0.000,6,0.000,0.018,2519,1912,3372,0,0,0,0,0,0
$GC,696,-1.08,-77.9,53.3,-8.3,102,701,0.17,2.53,0.00,0.000,4,0.051,0.043,2463,460,3373,0,0,0,0,0,0
$GC,756,-1.08,-77.9,60.4,-12.2,108,760,0.00,2.25,0.00,0.000,6,0.000,0.019,2462,1877,3373,0,0,0,0,0,0
$GC,1023,-1.08,-77.9,91.0,-11.2,133,1028,0.22,2.42,0.00,0.000,4,0.080,0.042,2510,460,3373,0,0,0,0,0,0
$GC,1107,-1.21,-77.9,98.0,-7.3,141,1112,0.28,2.28,0.00,0.000,6,0.039,0.019,2430,1885,3374,0,0,0,0,0,0
$GC,1369,-1.24,-77.9,122.4,-9.5,165,1373,0.00,2.42,0.00,0.000,4,0.000,0.041,2429,469,3375,0,0,0,0,0,0
$GC,1423,-1.24,-77.9,128.7,-11.2,170,1430,0.00,2.25,0.00,0.000,6,0.000,0.019,2431,1868,3375,0,0,0,0,0,0
$GC,1687,-1.29,-77.9,157.3,-10.4,195,1691,0.00,2.40,0.00,0.000,4,0.000,0.042,2430,466,3375,0,0,0,0,0,0
$GC,1731,-1.29,-77.9,162.1,-10.5,199,1735,0.00,2.25,0.00,0.000,6,0.000,0.019,2430,1879,3375,0,0,0,0,0,0
$GC,1998,-1.36,-77.9,185.8,-8.5,224,2002,0.00,2.42,0.00,0.000,4,0.000,0.043,2430,466,3376,0,0,0,0,0,0
$GC,2040,-1.36,-77.9,189.8,-8.8,228,2044,0.00,2.25,0.00,0.000,6,0.000,0.020,2430,1884,3376,0,0,0,0,0,0
$GC,2311,-1.43,-77.9,208.6,-6.9,247,2316,0.12,2.45,0.00,0.000,4,0.063,0.044,2387,469,3376,0,0,0,0,0,0
$GC,2367,-1.38,-77.9,214.8,-11.3,249,2372,0.12,2.25,0.00,0.000,6,0.099,0.021,2412,1876,3376,0,0,0,0,0,0
$GC,2691,-1.42,-77.9,248.7,-11.4,265,2695,0.00,2.42,0.00,0.000,4,0.000,0.044,2412,464,3376,0,0,0,0,0,0
$GC,2735,-1.45,-77.9,253.9,-11.3,267,2739,0.00,2.28,0.00,0.000,6,0.000,0.021,2413,1879,3376,0,0,0,0,0,0
$GC,3067,-1.52,-77.9,285.3,-9.2,283,3072,0.15,2.42,0.00,0.000,4,0.057,0.046,2367,470,3375,0,0,0,0,0,0
$GC,3146,-1.46,-77.9,294.8,-11.5,286,3151,0.12,2.25,0.00,0.000,6,0.100,0.022,2392,1873,3374,0,0,0,0,0,0
$GC,3458,-1.46,-77.9,324.3,-9.9,295,3462,0.00,2.42,0.00,0.000,4,0.000,0.047,2393,470,3373,0,0,0,0,0,0
$GC,3513,-1.46,-77.9,330.1,-10.8,296,3517,0.00,2.30,0.00,0.000,6,0.000,0.023,2392,1883,3372,0,0,0,0,0,0
$GC,3826,-1.46,-77.9,358.6,-8.8,304,3830,0.00,2.45,0.00,0.000,4,0.000,0.049,2393,471,3370,0,0,0,0,0,0
$GC,3853,-1.46,-77.9,361.1,-9.8,304,3858,0.00,2.28,0.00,0.000,6,0.000,0.025,2392,1878,3370,0,0,0,0,0,0
$GC,4193,-1.46,-77.9,386.3,-7.1,313,4198,0.00,2.42,0.00,0.000,4,0.000,0.049,2392,471,3368,0,0,0,0,0,0
$GC,4276,-1.46,-77.9,393.2,-8.6,314,4282,0.00,2.30,0.00,0.000,6,0.000,0.026,2392,1872,3367,0,0,0,0,0,0
$GC,4608,-1.50,-77.9,421.9,-9.5,323,4613,0.00,2.42,0.00,0.000,4,0.000,0.052,2392,473,3365,0,0,0,0,0,0
$GC,4682,-1.50,-77.9,430.4,-11.3,324,4687,0.00,2.30,0.00,0.000,6,0.000,0.027,2392,1880,3364,0,0,0,0,0,0
$STATE,4893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4894,begin apogee
$GC,4899,-0.31,0.0,454.0,11.1,330,4967,1.17,0.00,64.22,0.874,6,0.071,0.000,2645,2029,3050,0,0,0,0,0,0
$STATE,4968,end apogee,CONTROL_FINISHED_OK
$STATE,4968,begin climb
$GC,4970,1.40,77.9,455.9,0.0,331,5045,1.62,2.42,65.22,0.853,4,0.033,0.043,3020,3373,2732,0,0,0,0,0,0
$GC,5310,1.20,103.4,449.5,6.3,338,5339,0.25,2.35,22.20,0.827,6,0.113,0.035,2976,2008,2627,0,0,0,0,0,0
$GC,5662,1.10,103.4,421.1,8.3,347,5664,0.12,0.00,0.00,0.000,6,0.123,0.000,2955,2008,2622,0,0,0,0,0,0
$GC,5987,1.07,129.5,398.6,6.2,355,6015,0.00,2.55,21.90,0.824,4,0.000,0.051,2955,608,2521,0,0,0,0,0,0
$GC,6049,0.99,153.1,394.9,6.4,356,6078,0.12,2.33,22.30,0.812,6,0.128,0.029,2933,1992,2424,0,0,0,0,0,0
$GC,6406,1.03,187.1,373.8,5.7,365,6442,0.00,2.55,29.98,0.820,4,0.000,0.051,2933,601,2287,0,0,0,0,0,0
$GC,6506,1.03,187.1,364.6,10.6,367,6511,0.00,2.38,0.00,0.000,6,0.000,0.029,2932,2014,2281,0,0,0,0,0,0
$GC,6820,1.07,187.1,334.1,9.8,375,6824,0.00,2.50,0.00,0.000,4,0.000,0.051,2933,604,2280,0,0,0,0,0,0
$GC,6880,1.07,187.1,327.7,10.7,376,6885,0.00,2.35,0.00,0.000,6,0.000,0.029,2933,2013,2277,0,0,0,0,0,0
$GC,7231,1.14,191.6,299.9,7.7,385,7236,0.12,2.50,0.00,0.000,4,0.076,0.051,2965,604,2277,0,0,0,0,0,0
$GC,7374,1.07,191.6,283.8,12.2,391,7378,0.00,2.35,0.00,0.000,6,0.000,0.029,2964,2019,2274,0,0,0,0,0,0
$GC,7695,1.07,191.6,250.6,8.9,407,7699,0.00,2.50,0.00,0.000,4,0.000,0.051,2965,598,2274,0,0,0,0,0,0
$GC,7739,1.03,191.6,246.9,8.3,409,7744,0.15,2.35,0.00,0.000,6,0.117,0.029,2938,2014,2273,0,0,0,0,0,0
$GC,8073,1.14,223.2,230.1,5.8,425,8110,0.10,2.58,30.65,0.729,4,0.087,0.049,2964,604,2140,0,0,0,0,0,0
$GC,8247,1.14,223.2,214.0,9.7,432,8254,0.00,2.38,0.00,0.000,6,0.000,0.027,2964,2009,2134,0,0,0,0,0,0
$GC,8568,1.14,223.2,182.1,11.5,455,8572,0.00,2.47,0.00,0.000,4,0.000,0.047,2964,596,2133,0,0,0,0,0,0
$GC,8594,1.14,223.2,178.8,13.9,457,8598,0.00,2.35,0.00,0.000,6,0.000,0.027,2964,2019,2132,0,0,0,0,0,0
$GC,8857,1.17,223.2,149.4,10.2,481,8861,0.00,2.47,0.00,0.000,4,0.000,0.046,2964,599,2131,0,0,0,0,0,0
$GC,8872,1.17,223.2,147.5,10.9,482,8877,0.00,2.35,0.00,0.000,6,0.000,0.025,2964,2018,2131,0,0,0,0,0,0
$GC,9135,1.25,229.4,122.4,7.6,506,9146,0.00,2.47,5.90,0.509,4,0.000,0.044,2964,602,2113,0,0,0,0,0,0
$GC,9350,1.28,229.4,102.4,10.3,529,9356,0.12,2.30,0.00,0.000,6,0.071,0.024,2998,2021,2111,0,0,0,0,0,0
$GC,9613,1.38,275.5,83.8,4.9,554,9660,0.00,2.50,41.22,0.599,4,0.000,0.042,2999,602,1925,0,0,0,0,0,0
$GC,9752,1.38,275.5,73.6,11.3,569,9757,0.00,2.30,0.00,0.000,6,0.000,0.022,2998,2015,1919,0,0,0,0,0,0
$GC,10016,1.45,275.5,45.5,10.5,593,10021,0.15,2.47,0.00,0.000,4,0.059,0.044,3042,598,1919,0,0,0,0,0,0
$GC,10086,1.37,275.5,37.6,11.4,600,10091,0.15,2.28,0.00,0.000,6,0.104,0.021,3014,2013,1917,0,0,0,0,0,0
$GC,10352,1.41,275.5,8.4,11.1,642,10358,0.00,2.30,0.00,0.000,4,0.000,0.028,3014,3387,1917,0,0,0,0,0,0
$GC,10373,1.47,275.5,5.8,12.1,646,10381,0.00,2.35,0.00,0.000,6,0.000,0.028,3013,2000,1917,0,0,0,0,0,0
$STATE,10396,end climb,SURFACE_DEPTH_REACHED
$STATE,10396,begin surface coast
$FINISH,0.8,1.023256
$STATE,10419,end surface coast,CONTROL_FINISHED_OK
$STATE,10419,begin surface
$SM_CCo,10440,12.27,0.484,0,0,1827,300.00
$SM_GC,2.11,0.00,0.00,12.27,0.000,0.000,0.484,428,1862,1827,-10.52,-0.37,300.00
$IRIDIUM_FIX,2059.45,-15748.75,030999,030314
$TT8_MAMPS,0.029146
$HUMID,51.02
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,23.4,42.220
$10V_AH,10.0,40.065
$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,28.875,129.250,303.600,12.275,0.000,80.501,102.015,461.605,4.500,0.000,44.009,1279.402,6832.148,367.053,1995.057,902.801,33.385,1245.865,0.000,1946.808,0.000,29.255,0.000
$DEVICE_MAMPS,134.992,57.525,873.613,483.977,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,441.031,421.168,810.194,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,38096,654
$CAP_FILE_SIZE,133890,0
$CFSIZE,260165632,230752256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090610,064725,2107.688,-15746.967,139,1.7,139,9.8