version: 66.06
glider: 139
mission: 7
dive: 481
start: 6 9 110 13 3 57
data:
$ID,139
$MISSION,7
$DIVE,481
$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,-2139015.8
$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
$GPS1,125457,2108.087,-15748.308,111,7.3,130,9.8
$_CALLS,1
$_XMS_NAKs,30
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-69.5
$GPS2,130306,2108.164,-15748.421,63,1.1,73,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.181,-0.033
$KALMAN_X,-223213.9,-435.1,-622.0,235517.4,-1744.2
$KALMAN_Y,14531.9,-347.4,-311.8,-11548.4,243.4
$MHEAD_RNG_PITCHd_Wd,90.6,10458,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-52.65,0.000,2,0.000,0.000,426,1852,3230,0,0,0,0,0,0
$GC,75,-1.40,-77.9,4.0,-7.0,10,97,10.62,2.40,-2.62,0.000,4,0.135,0.050,2402,467,3372,0,0,0,0,0,0
$GC,140,-1.17,-77.9,22.0,-20.9,23,146,0.28,2.33,0.00,0.000,6,0.087,0.021,2458,1902,3372,0,0,0,0,0,0
$GC,343,-1.13,-77.9,50.6,-13.6,46,347,0.00,2.47,0.00,0.000,4,0.000,0.043,2458,459,3373,0,0,0,0,0,0
$GC,370,-1.03,-77.9,55.3,-16.1,48,377,0.10,2.33,0.00,0.000,6,0.080,0.020,2484,1892,3373,0,0,0,0,0,0
$GC,634,-1.03,-77.9,87.4,-11.3,73,638,0.00,2.45,0.00,0.000,4,0.000,0.043,2483,459,3374,0,0,0,0,0,0
$GC,695,-1.08,-77.9,95.5,-12.8,79,700,0.00,2.25,0.00,0.000,6,0.000,0.019,2483,1871,3374,0,0,0,0,0,0
$GC,961,-1.18,-77.9,124.5,-9.8,103,966,0.12,0.00,0.00,0.000,6,0.064,0.000,2440,1878,3375,0,0,0,0,0,0
$GC,1223,-1.22,-77.9,150.1,-9.0,128,1227,0.00,2.42,0.00,0.000,4,0.000,0.042,2438,459,3376,0,0,0,0,0,0
$GC,1283,-1.25,-77.9,156.1,-9.3,134,1288,0.00,2.28,0.00,0.000,6,0.000,0.019,2439,1885,3377,0,0,0,0,0,0
$GC,1544,-1.32,-77.9,182.1,-9.1,158,1548,0.00,2.42,0.00,0.000,4,0.000,0.041,2439,468,3377,0,0,0,0,0,0
$GC,1579,-1.32,-77.9,185.6,-10.4,161,1583,0.00,2.22,0.00,0.000,6,0.000,0.019,2439,1878,3377,0,0,0,0,0,0
$GC,1842,-1.40,-77.9,206.1,-7.4,181,1847,0.15,2.45,0.00,0.000,4,0.055,0.043,2389,460,3377,0,0,0,0,0,0
$GC,1898,-1.33,-77.9,212.1,-10.7,183,1903,0.15,2.25,0.00,0.000,6,0.093,0.020,2422,1878,3377,0,0,0,0,0,0
$GC,2215,-1.38,-77.9,240.2,-9.5,198,2220,0.00,2.40,0.00,0.000,4,0.000,0.044,2421,468,3377,0,0,0,0,0,0
$GC,2288,-1.38,-77.9,248.3,-11.0,201,2293,0.00,2.25,0.00,0.000,6,0.000,0.021,2422,1877,3377,0,0,0,0,0,0
$GC,2609,-1.46,-77.9,277.0,-8.1,217,2611,0.12,0.00,0.00,0.000,6,0.064,0.000,2381,1881,3377,0,0,0,0,0,0
$GC,2938,-1.46,-77.9,304.7,-8.1,232,2942,0.00,2.42,0.00,0.000,4,0.000,0.045,2381,470,3376,0,0,0,0,0,0
$GC,2993,-1.41,-77.9,309.5,-8.5,233,2998,0.12,2.28,0.00,0.000,6,0.099,0.023,2406,1872,3376,0,0,0,0,0,0
$GC,3307,-1.47,-77.9,334.2,-8.0,241,3311,0.00,2.42,0.00,0.000,4,0.000,0.048,2407,470,3374,0,0,0,0,0,0
$GC,3354,-1.47,-77.9,338.5,-9.3,242,3358,0.00,2.28,0.00,0.000,6,0.000,0.025,2406,1881,3374,0,0,0,0,0,0
$GC,3676,-1.53,-77.9,367.8,-9.4,250,3681,0.12,2.47,0.00,0.000,4,0.066,0.050,2368,470,3372,0,0,0,0,0,0
$GC,3756,-1.47,-77.9,377.8,-12.9,251,3761,0.12,2.28,0.00,0.000,6,0.099,0.025,2394,1871,3371,0,0,0,0,0,0
$GC,4089,-1.50,-77.9,413.4,-10.8,259,4093,0.00,2.45,0.00,0.000,4,0.000,0.051,2393,470,3369,0,0,0,0,0,0
$GC,4163,-1.50,-77.9,421.9,-11.2,260,4167,0.00,2.30,0.00,0.000,6,0.000,0.027,2394,1878,3369,0,0,0,0,0,0
$STATE,4455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4455,begin apogee
$GC,4461,-0.31,0.0,451.2,9.9,268,4529,1.17,0.00,65.03,0.869,6,0.071,0.000,2647,2028,3050,0,0,0,0,0,0
$STATE,4530,end apogee,CONTROL_FINISHED_OK
$STATE,4530,begin climb
$GC,4532,1.40,77.9,453.0,0.0,269,4607,1.62,2.42,65.07,0.848,4,0.031,0.043,3025,3377,2732,0,0,0,0,0,0
$GC,4872,1.24,135.5,448.9,4.1,276,4929,0.20,2.38,49.05,0.850,6,0.115,0.036,2989,2005,2497,0,0,0,0,0,0
$GC,5261,1.12,135.5,415.8,9.3,286,5262,0.15,0.00,0.00,0.000,6,0.120,0.000,2961,2005,2490,0,0,0,0,0,0
$GC,5586,1.07,135.5,388.0,8.9,294,5587,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2005,2488,0,0,0,0,0,0
$GC,5911,1.03,135.5,361.3,8.2,302,5915,0.12,2.45,0.00,0.000,4,0.124,0.053,2940,604,2485,0,0,0,0,0,0
$GC,5958,0.96,135.5,357.2,8.7,303,5962,0.00,2.33,0.00,0.000,6,0.000,0.029,2939,1989,2484,0,0,0,0,0,0
$GC,6281,0.99,159.1,334.6,6.4,311,6305,0.00,2.53,19.12,0.788,4,0.000,0.052,2940,597,2401,0,0,0,0,0,0
$GC,6348,0.95,165.1,330.0,7.6,312,6360,0.00,2.38,6.57,0.653,6,0.000,0.030,2939,2013,2376,0,0,0,0,0,0
$GC,6697,0.98,165.1,302.8,8.1,321,6701,0.00,2.50,0.00,0.000,4,0.000,0.051,2940,597,2373,0,0,0,0,0,0
$GC,6838,0.98,165.1,290.6,8.8,326,6842,0.00,2.38,0.00,0.000,6,0.000,0.030,2939,2018,2371,0,0,0,0,0,0
$GC,7159,1.04,177.5,268.4,7.2,342,7175,0.00,2.53,11.55,0.713,4,0.000,0.051,2940,601,2326,0,0,0,0,0,0
$GC,7314,1.05,179.1,255.9,7.9,348,7318,0.00,2.38,0.00,0.000,6,0.000,0.029,2938,2014,2322,0,0,0,0,0,0
$GC,7644,1.13,203.7,235.0,6.3,364,7673,0.00,2.58,24.17,0.730,4,0.000,0.050,2940,579,2219,0,0,0,0,0,0
$GC,7861,1.13,203.7,216.8,8.3,373,7866,0.00,2.40,0.00,0.000,6,0.000,0.028,2939,2016,2213,0,0,0,0,0,0
$GC,8183,1.22,204.8,190.8,7.9,393,8188,0.17,2.50,0.00,0.000,4,0.062,0.048,2984,601,2213,0,0,0,0,0,0
$GC,8253,1.15,204.8,183.4,10.3,400,8258,0.00,2.33,0.00,0.000,6,0.000,0.026,2985,2015,2211,0,0,0,0,0,0
$GC,8515,1.15,204.8,158.2,9.4,424,8519,0.00,2.47,0.00,0.000,4,0.000,0.046,2984,597,2211,0,0,0,0,0,0
$GC,8642,1.09,204.8,147.2,8.6,437,8647,0.17,2.33,0.00,0.000,6,0.110,0.025,2953,2016,2210,0,0,0,0,0,0
$GC,8906,1.19,204.8,128.8,8.2,461,8910,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2021,2210,0,0,0,0,0,0
$GC,9167,1.33,239.2,113.0,5.7,486,9205,0.22,2.50,31.30,0.617,4,0.051,0.044,3012,597,2072,0,0,0,0,0,0
$GC,9307,1.26,239.2,100.3,8.5,501,9312,0.12,2.33,0.00,0.000,6,0.109,0.023,2989,2023,2068,0,0,0,0,0,0
$GC,9570,1.37,284.3,89.5,4.9,525,9612,0.10,0.00,39.38,0.589,6,0.077,0.000,3020,2029,1891,0,0,0,0,0,0
$GC,9863,1.37,284.3,60.5,10.7,553,9868,0.00,2.45,0.00,0.000,4,0.000,0.042,3020,598,1887,0,0,0,0,0,0
$GC,9997,1.34,284.3,45.6,8.9,567,10004,0.00,2.33,0.00,0.000,6,0.000,0.021,3020,2006,1883,0,0,0,0,0,0
$GC,10262,1.38,284.3,19.4,10.4,601,10268,0.00,2.28,0.00,0.000,4,0.000,0.025,3020,3402,1883,0,0,0,0,0,0
$GC,10288,1.44,284.3,16.7,10.3,606,10294,0.00,2.38,0.00,0.000,6,0.000,0.028,3019,2004,1883,0,0,0,0,0,0
$STATE,10405,end climb,SURFACE_DEPTH_REACHED
$STATE,10405,begin surface coast
$FINISH,0.6,1.023183
$STATE,10428,end surface coast,CONTROL_FINISHED_OK
$STATE,10428,begin surface
$SM_CCo,10448,8.07,0.445,0,0,1826,300.00
$SM_GC,2.18,0.00,0.00,8.07,0.000,0.000,0.445,429,1863,1826,-10.51,-0.34,300.00
$IRIDIUM_FIX,2101.76,-15847.96,030999,101010
$TT8_MAMPS,0.029146
$HUMID,49.92
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,42.489
$10V_AH,10.1,40.314
$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,27.175,105.300,311.250,8.075,0.000,28.402,27.301,259.034,4.500,0.000,74.032,1226.983,6883.363,365.532,1942.465,527.279,33.385,1194.488,0.000,1858.846,0.000,30.474,0.000
$DEVICE_MAMPS,134.992,56.758,869.011,444.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,425.736,409.041,777.497,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34930,631
$CAP_FILE_SIZE,119081,0
$CFSIZE,260165632,230584320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090610,160007,2108.134,-15748.050,76,1.9,76,9.8