version: 66.06
glider: 139
mission: 7
dive: 482
start: 6 9 110 16 18 46
data:
$ID,139
$MISSION,7
$DIVE,482
$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,-2139157.8
$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
$GPS1,160007,2108.134,-15748.050,76,1.9,76,9.8
$_CALLS,3
$_XMS_NAKs,36
$_XMS_TOUTs,2
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-67.8
$GPS2,161755,2108.234,-15748.045,141,1.2,141,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.158,-0.094
$KALMAN_X,-224883.6,-479.8,-287.4,237545.4,-504.6
$KALMAN_Y,14630.7,-383.9,126.1,-11922.2,417.1
$MHEAD_RNG_PITCHd_Wd,111.0,9928,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.40,-77.9,0.0,0.0,0,73,0.00,0.00,-52.85,0.000,2,0.000,0.000,428,1862,3228,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.3,-5.4,10,98,10.57,2.42,-2.70,0.000,4,0.133,0.051,2403,463,3370,0,0,0,0,0,0
$GC,132,-1.11,-77.9,20.1,-22.6,21,138,0.32,2.33,0.00,0.000,6,0.090,0.020,2469,1906,3371,0,0,0,0,0,0
$GC,336,-1.11,-77.9,47.1,-12.2,45,337,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1910,3371,0,0,0,0,0,0
$GC,589,-1.11,-77.9,78.6,-12.2,69,593,0.00,2.45,0.00,0.000,4,0.000,0.043,2468,468,3372,0,0,0,0,0,0
$GC,659,-1.11,-77.9,88.0,-13.1,76,663,0.00,2.28,0.00,0.000,6,0.000,0.019,2468,1887,3372,0,0,0,0,0,0
$GC,921,-1.17,-77.9,119.7,-9.8,100,926,0.00,2.22,0.00,0.000,4,0.000,0.025,2469,3269,3372,0,0,0,0,0,0
$GC,989,-1.34,-77.9,124.8,-7.1,107,994,0.20,2.30,0.00,0.000,6,0.046,0.027,2404,1867,3373,0,0,0,0,0,0
$GC,1251,-1.31,-77.9,149.8,-10.2,131,1256,0.10,2.38,0.00,0.000,4,0.106,0.043,2427,470,3374,0,0,0,0,0,0
$GC,1314,-1.31,-77.9,156.2,-9.4,137,1318,0.00,2.25,0.00,0.000,6,0.000,0.018,2427,1882,3374,0,0,0,0,0,0
$GC,1576,-1.34,-77.9,181.4,-8.8,161,1580,0.00,2.40,0.00,0.000,4,0.000,0.042,2426,473,3374,0,0,0,0,0,0
$GC,1633,-1.34,-77.9,187.0,-10.3,166,1640,0.00,2.25,0.00,0.000,6,0.000,0.020,2427,1873,3374,0,0,0,0,0,0
$GC,1906,-1.39,-77.9,208.7,-7.4,187,1910,0.00,2.40,0.00,0.000,4,0.000,0.043,2426,473,3374,0,0,0,0,0,0
$GC,1926,-1.42,-77.9,210.5,-7.8,188,1930,0.00,2.25,0.00,0.000,6,0.000,0.020,2426,1882,3374,0,0,0,0,0,0
$GC,2255,-1.47,-77.9,239.6,-9.9,204,2261,0.15,2.45,0.00,0.000,4,0.055,0.044,2379,464,3374,0,0,0,0,0,0
$GC,2289,-1.37,-77.9,243.8,-12.4,205,2294,0.17,2.25,0.00,0.000,6,0.090,0.021,2413,1873,3374,0,0,0,0,0,0
$GC,2613,-1.40,-77.9,273.7,-9.6,221,2617,0.00,2.42,0.00,0.000,4,0.000,0.045,2416,466,3373,0,0,0,0,0,0
$GC,2686,-1.40,-77.9,281.6,-9.6,224,2690,0.00,2.28,0.00,0.000,6,0.000,0.021,2414,1879,3373,0,0,0,0,0,0
$GC,3024,-1.47,-77.9,311.9,-8.6,238,3029,0.00,2.42,0.00,0.000,4,0.000,0.046,2417,473,3372,0,0,0,0,0,0
$GC,3103,-1.47,-77.9,318.9,-8.8,239,3107,0.00,2.28,0.00,0.000,6,0.000,0.022,2416,1881,3372,0,0,0,0,0,0
$GC,3435,-1.53,-77.9,343.9,-7.5,247,3440,0.15,2.45,0.00,0.000,4,0.057,0.048,2371,475,3370,0,0,0,0,0,0
$GC,3486,-1.47,-77.9,349.2,-10.7,248,3491,0.12,2.28,0.00,0.000,6,0.097,0.024,2395,1874,3371,0,0,0,0,0,0
$GC,3807,-1.50,-77.9,374.0,-7.5,256,3811,0.00,2.42,0.00,0.000,4,0.000,0.049,2396,475,3368,0,0,0,0,0,0
$GC,3862,-1.50,-77.9,379.1,-9.7,257,3866,0.00,2.28,0.00,0.000,6,0.000,0.025,2396,1872,3368,0,0,0,0,0,0
$GC,4181,-1.54,-77.9,409.3,-10.0,265,4185,0.00,2.45,0.00,0.000,4,0.000,0.051,2396,470,3365,0,0,0,0,0,0
$GC,4250,-1.54,-77.9,416.2,-9.2,266,4254,0.00,2.30,0.00,0.000,6,0.000,0.026,2395,1878,3365,0,0,0,0,0,0
$GC,4590,-1.59,-77.9,444.2,-7.6,275,4595,0.12,2.47,0.00,0.000,4,0.068,0.053,2359,474,3363,0,0,0,0,0,0
$STATE,4654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4654,begin apogee
$GC,4662,-0.31,0.0,450.4,9.5,276,4730,1.33,0.00,63.78,0.867,6,0.081,0.000,2641,2007,3050,0,0,0,0,0,0
$STATE,4731,end apogee,CONTROL_FINISHED_OK
$STATE,4731,begin climb
$GC,4733,1.40,77.9,451.4,0.0,278,4808,1.65,2.53,64.90,0.844,4,0.031,0.043,3028,3410,2731,0,0,0,0,0,0
$GC,4874,1.20,112.1,448.1,5.7,281,4911,0.25,2.42,29.55,0.824,6,0.110,0.035,2978,2005,2592,0,0,0,0,0,0
$GC,5239,1.11,131.5,423.0,6.7,290,5263,0.12,2.50,16.88,0.798,4,0.123,0.051,2958,601,2513,0,0,0,0,0,0
$GC,5348,0.99,134.0,414.5,7.8,292,5353,0.15,2.38,0.00,0.000,6,0.120,0.028,2932,2013,2511,0,0,0,0,0,0
$GC,5698,1.03,164.1,392.9,5.9,301,5734,0.00,2.53,29.23,0.824,4,0.000,0.051,2932,605,2378,0,0,0,0,0,0
$GC,5799,0.99,164.1,385.5,8.3,303,5803,0.00,2.38,0.00,0.000,6,0.000,0.030,2930,2020,2373,0,0,0,0,0,0
$GC,6112,1.03,165.9,361.8,7.9,311,6117,0.00,2.50,0.00,0.000,4,0.000,0.051,2932,596,2372,0,0,0,0,0,0
$GC,6205,1.03,165.9,352.9,10.2,313,6209,0.00,2.38,0.00,0.000,6,0.000,0.030,2930,2015,2370,0,0,0,0,0,0
$GC,6528,1.09,171.6,326.9,7.6,321,6540,0.00,2.55,5.88,0.637,4,0.000,0.051,2932,601,2350,0,0,0,0,0,0
$GC,6559,1.09,171.6,324.3,8.2,321,6563,0.00,2.38,0.00,0.000,6,0.000,0.029,2929,2011,2349,0,0,0,0,0,0
$GC,6895,1.14,171.6,297.3,8.3,330,6900,0.12,2.50,0.00,0.000,4,0.076,0.050,2964,604,2348,0,0,0,0,0,0
$GC,7061,1.07,171.6,283.0,8.6,337,7065,0.00,2.33,0.00,0.000,6,0.000,0.028,2963,2013,2346,0,0,0,0,0,0
$GC,7383,1.07,175.3,260.4,7.8,353,7389,0.00,0.00,4.10,0.504,6,0.000,0.000,2964,2017,2335,0,0,0,0,0,0
$GC,7690,1.07,175.3,235.3,8.8,368,7694,0.00,2.47,0.00,0.000,4,0.000,0.048,2964,597,2335,0,0,0,0,0,0
$GC,7894,1.02,175.3,218.2,8.5,377,7899,0.15,2.33,0.00,0.000,6,0.115,0.027,2936,2013,2333,0,0,0,0,0,0
$GC,8217,1.12,199.1,199.0,6.4,393,8245,0.00,2.50,22.40,0.691,4,0.000,0.046,2936,601,2236,0,0,0,0,0,0
$GC,8392,1.17,203.5,184.1,7.7,412,8404,0.15,2.33,4.68,0.491,6,0.066,0.025,2976,2019,2219,0,0,0,0,0,0
$GC,8658,1.17,203.5,161.0,8.9,437,8660,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2021,2220,0,0,0,0,0,0
$GC,8913,1.17,203.5,138.5,8.7,461,8917,0.00,2.45,0.00,0.000,4,0.000,0.044,2976,602,2219,0,0,0,0,0,0
$GC,8965,1.13,203.5,133.9,8.3,466,8969,0.00,2.30,0.00,0.000,6,0.000,0.025,2977,2016,2217,0,0,0,0,0,0
$GC,9227,1.17,203.5,113.6,8.2,490,9231,0.00,2.45,0.00,0.000,4,0.000,0.044,2977,601,2217,0,0,0,0,0,0
$GC,9490,1.21,239.0,92.6,5.6,518,9532,0.00,2.33,32.00,0.598,6,0.000,0.023,2977,2026,2075,0,0,0,0,0,0
$GC,9787,1.35,275.7,75.9,5.5,547,9827,0.15,0.00,32.78,0.576,6,0.059,0.000,3020,2026,1924,0,0,0,0,0,0
$GC,10082,1.35,275.7,51.4,8.8,575,10086,0.00,2.45,0.00,0.000,4,0.000,0.043,3021,594,1921,0,0,0,0,0,0
$GC,10163,1.31,275.7,42.9,11.3,583,10170,0.08,2.33,0.00,0.000,6,0.080,0.021,3002,2006,1918,0,0,0,0,0,0
$GC,10430,1.38,275.8,21.6,8.0,618,10437,0.00,2.45,0.00,0.000,4,0.000,0.042,3001,598,1918,0,0,0,0,0,0
$GC,10492,1.38,275.8,15.9,9.6,631,10498,0.00,2.28,0.00,0.000,6,0.000,0.020,3001,2022,1917,0,0,0,0,0,0
$STATE,10631,end climb,SURFACE_DEPTH_REACHED
$STATE,10631,begin surface coast
$FINISH,0.7,1.023141
$STATE,10659,end surface coast,CONTROL_FINISHED_OK
$STATE,10659,begin surface
$SM_CCo,10679,12.95,0.478,0,0,1827,300.00
$SM_GC,2.30,0.00,0.00,12.95,0.000,0.000,0.478,424,1869,1827,-10.53,-0.17,300.00
$IRIDIUM_FIX,2101.76,-15738.45,030999,161608
$TT8_MAMPS,0.029146
$HUMID,49.72
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,42.595
$10V_AH,10.0,40.406
$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,27.125,119.500,306.150,12.950,0.000,85.462,122.553,473.663,4.500,0.000,141.257,1291.730,7045.420,369.149,2120.889,932.014,33.391,1252.313,0.000,1967.194,0.000,29.269,0.000
$DEVICE_MAMPS,133.458,53.690,866.710,477.841,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,445.714,426.895,830.345,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,37971,661
$CAP_FILE_SIZE,134212,0
$CFSIZE,260165632,230510592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090610,191844,2107.940,-15747.101,69,1.9,69,9.8