version: 66.06
glider: 139
mission: 7
dive: 483
start: 6 9 110 19 46 58
data:
$ID,139
$MISSION,7
$DIVE,483
$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,637.77997
$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,-2139211.8
$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
$GPS1,191844,2107.940,-15747.101,69,1.9,69,9.8
$_CALLS,5
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.5
$GPS2,194606,2107.957,-15747.210,36,1.1,53,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,-0.005
$KALMAN_X,-226528.2,-172.5,723.0,239316.4,-1652.8
$KALMAN_Y,14707.5,-159.4,370.5,-12979.2,-160.4
$MHEAD_RNG_PITCHd_Wd,81.8,8411,-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,-53.00,0.000,2,0.000,0.000,423,1870,3254,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.7,-6.1,10,92,10.57,2.45,-2.15,0.000,4,0.132,0.051,2400,466,3370,0,0,0,0,0,0
$GC,142,-1.15,-77.9,23.3,-19.5,24,150,0.25,2.35,0.00,0.000,6,0.084,0.020,2455,1908,3372,0,0,0,0,0,0
$GC,347,-1.12,-77.9,51.4,-13.3,46,351,0.00,2.50,0.00,0.000,4,0.000,0.044,2456,464,3372,0,0,0,0,0,0
$GC,383,-1.02,-77.9,57.5,-15.8,49,390,0.12,2.28,0.00,0.000,6,0.078,0.019,2484,1876,3372,0,0,0,0,0,0
$GC,645,-1.07,-77.9,86.2,-9.8,74,650,0.00,2.40,0.00,0.000,4,0.000,0.043,2486,469,3373,0,0,0,0,0,0
$GC,752,-1.11,-77.9,97.1,-9.3,85,756,0.00,2.25,0.00,0.000,6,0.000,0.018,2486,1880,3373,0,0,0,0,0,0
$GC,1017,-1.23,-77.9,115.5,-6.6,109,1021,0.17,2.42,0.00,0.000,4,0.049,0.042,2427,464,3373,0,0,0,0,0,0
$GC,1066,-1.23,-77.9,120.3,-11.2,113,1071,0.00,2.22,0.00,0.000,6,0.000,0.019,2427,1872,3373,0,0,0,0,0,0
$GC,1328,-1.23,-77.9,148.7,-9.9,138,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1877,3373,0,0,0,0,0,0
$GC,1581,-1.23,-77.9,174.0,-10.6,162,1585,0.00,2.42,0.00,0.000,4,0.000,0.043,2427,459,3373,0,0,0,0,0,0
$GC,1616,-1.23,-77.9,177.7,-11.3,165,1620,0.00,2.25,0.00,0.000,6,0.000,0.020,2428,1881,3374,0,0,0,0,0,0
$GC,1888,-1.29,-77.9,202.0,-7.3,189,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1885,3374,0,0,0,0,0,0
$GC,2197,-1.35,-77.9,225.2,-8.2,204,2202,0.00,2.40,0.00,0.000,4,0.000,0.044,2427,469,3374,0,0,0,0,0,0
$GC,2266,-1.35,-77.9,231.9,-9.3,207,2270,0.00,2.22,0.00,0.000,6,0.000,0.021,2428,1874,3373,0,0,0,0,0,0
$GC,2593,-1.40,-77.9,258.6,-7.8,223,2597,0.00,2.42,0.00,0.000,4,0.000,0.045,2428,467,3372,0,0,0,0,0,0
$GC,2663,-1.45,-77.9,265.6,-9.7,226,2668,0.12,2.28,0.00,0.000,6,0.063,0.021,2386,1878,3372,0,0,0,0,0,0
$GC,2989,-1.45,-77.9,295.3,-8.6,242,2993,0.00,2.42,0.00,0.000,4,0.000,0.045,2385,470,3371,0,0,0,0,0,0
$GC,3017,-1.38,-77.9,298.2,-10.2,243,3022,0.12,2.28,0.00,0.000,6,0.098,0.022,2411,1878,3371,0,0,0,0,0,0
$GC,3333,-1.43,-77.9,326.1,-9.4,252,3337,0.00,2.42,0.00,0.000,4,0.000,0.047,2411,463,3369,0,0,0,0,0,0
$GC,3416,-1.43,-77.9,334.7,-9.8,253,3422,0.00,2.30,0.00,0.000,6,0.000,0.024,2411,1880,3369,0,0,0,0,0,0
$GC,3747,-1.49,-77.9,366.3,-9.8,262,3752,0.00,2.42,0.00,0.000,4,0.000,0.048,2411,470,3366,0,0,0,0,0,0
$GC,3827,-1.49,-77.9,374.5,-10.6,263,3831,0.00,2.28,0.00,0.000,6,0.000,0.025,2411,1879,3366,0,0,0,0,0,0
$GC,4160,-1.56,-77.9,400.9,-7.1,271,4165,0.17,2.45,0.00,0.000,4,0.055,0.051,2362,471,3364,0,0,0,0,0,0
$GC,4259,-1.47,-77.9,410.1,-9.2,273,4264,0.15,2.28,0.00,0.000,6,0.097,0.026,2393,1871,3363,0,0,0,0,0,0
$GC,4578,-1.51,-77.9,435.4,-8.2,281,4583,0.00,2.45,0.00,0.000,4,0.000,0.052,2391,471,3361,0,0,0,0,0,0
$GC,4633,-1.51,-77.9,441.2,-10.5,282,4637,0.00,2.30,0.00,0.000,6,0.000,0.027,2393,1879,3360,0,0,0,0,0,0
$STATE,4741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4741,begin apogee
$GC,4747,-0.31,0.0,451.4,9.3,285,4814,1.17,0.00,63.20,0.871,6,0.071,0.000,2646,2031,3050,0,0,0,0,0,0
$STATE,4815,end apogee,CONTROL_FINISHED_OK
$STATE,4815,begin climb
$GC,4817,1.40,77.9,453.0,0.0,286,4891,1.60,2.42,64.62,0.850,4,0.029,0.042,3021,3377,2732,0,0,0,0,0,0
$GC,5005,1.25,141.4,454.8,3.7,290,5066,0.05,2.35,54.05,0.845,6,0.169,0.036,3003,2003,2472,0,0,0,0,0,0
$GC,5409,1.10,141.4,417.5,10.0,300,5414,0.25,2.45,0.00,0.000,4,0.106,0.051,2960,604,2464,0,0,0,0,0,0
$GC,5465,0.99,141.4,411.3,10.6,301,5470,0.17,2.30,0.00,0.000,6,0.114,0.029,2929,1988,2462,0,0,0,0,0,0
$GC,5779,0.99,141.4,385.0,8.4,309,5783,0.00,2.45,0.00,0.000,4,0.000,0.051,2929,604,2460,0,0,0,0,0,0
$GC,5869,0.95,141.4,376.4,10.1,311,5873,0.00,2.35,0.00,0.000,6,0.000,0.030,2928,2014,2459,0,0,0,0,0,0
$GC,6198,0.99,144.1,349.1,7.8,319,6202,0.00,2.50,0.00,0.000,4,0.000,0.051,2929,598,2458,0,0,0,0,0,0
$GC,6300,0.95,144.1,340.0,8.7,321,6304,0.00,2.38,0.00,0.000,6,0.000,0.030,2927,2011,2457,0,0,0,0,0,0
$GC,6614,1.03,178.9,319.6,5.6,329,6651,0.00,2.58,30.40,0.796,4,0.000,0.051,2929,610,2319,0,0,0,0,0,0
$GC,6657,1.09,225.0,317.4,4.9,330,6707,0.10,2.38,42.35,0.785,6,0.084,0.030,2953,2021,2131,0,0,0,0,0,0
$GC,7033,1.12,225.0,282.2,10.1,343,7038,0.00,2.50,0.00,0.000,4,0.000,0.052,2954,597,2122,0,0,0,0,0,0
$GC,7177,1.12,225.0,265.6,11.5,349,7182,0.00,2.35,0.00,0.000,6,0.000,0.029,2954,2005,2118,0,0,0,0,0,0
$GC,7498,1.18,225.0,235.4,9.4,365,7503,0.00,2.45,0.00,0.000,4,0.000,0.050,2954,604,2118,0,0,0,0,0,0
$GC,7657,1.18,225.0,219.0,10.5,372,7661,0.00,2.35,0.00,0.000,6,0.000,0.028,2954,2014,2115,0,0,0,0,0,0
$GC,7982,1.25,225.0,187.7,8.9,393,7987,0.12,2.47,0.00,0.000,4,0.071,0.049,2987,602,2116,0,0,0,0,0,0
$GC,8022,1.19,225.0,183.3,11.1,396,8028,0.00,2.35,0.00,0.000,6,0.000,0.027,2988,2003,2114,0,0,0,0,0,0
$GC,8284,1.19,225.0,156.0,10.5,421,8288,0.00,2.42,0.00,0.000,4,0.000,0.047,2988,599,2114,0,0,0,0,0,0
$GC,8329,1.13,225.0,150.7,11.2,425,8336,0.15,2.35,0.00,0.000,6,0.110,0.025,2961,2022,2113,0,0,0,0,0,0
$GC,8591,1.19,225.0,124.2,10.1,450,8596,0.00,2.47,0.00,0.000,4,0.000,0.046,2960,596,2113,0,0,0,0,0,0
$GC,8662,1.19,225.0,117.3,10.1,457,8666,0.00,2.33,0.00,0.000,6,0.000,0.025,2961,2014,2113,0,0,0,0,0,0
$GC,8926,1.32,238.3,96.6,7.1,481,8947,0.17,2.50,9.60,0.552,4,0.057,0.045,3008,605,2078,0,0,0,0,0,0
$GC,9177,1.33,275.7,78.3,5.4,508,9217,0.00,2.30,33.67,0.587,6,0.000,0.022,3008,2028,1925,0,0,0,0,0,0
$GC,9473,1.37,275.7,54.1,9.0,536,9477,0.00,2.47,0.00,0.000,4,0.000,0.043,3008,595,1922,0,0,0,0,0,0
$GC,9595,1.37,275.7,41.6,10.9,549,9599,0.00,2.30,0.00,0.000,6,0.000,0.021,3008,2011,1919,0,0,0,0,0,0
$GC,9862,1.43,275.7,16.8,10.4,585,9867,0.00,2.42,0.00,0.000,4,0.000,0.042,3008,600,1919,0,0,0,0,0,0
$GC,9909,1.43,275.7,11.9,10.0,595,9915,0.00,2.25,0.00,0.000,6,0.000,0.021,3008,2013,1919,0,0,0,0,0,0
$STATE,9998,end climb,SURFACE_DEPTH_REACHED
$STATE,9998,begin surface coast
$FINISH,1.1,1.023122
$STATE,10027,end surface coast,CONTROL_FINISHED_OK
$STATE,10027,begin surface
$SM_CCo,10047,187.00,0.509,0,0,449,637.78
$SM_GC,1.12,0.00,0.00,187.00,0.000,0.000,0.509,426,1859,449,-10.52,-0.45,637.78
$IRIDIUM_FIX,2101.76,-15753.03,030999,191953
$TT8_MAMPS,0.029146
$HUMID,47.83
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,23.4,42.755
$10V_AH,10.0,40.500
$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,26.625,119.350,297.900,187.000,0.000,147.936,182.039,849.783,5.000,0.000,53.236,1225.989,6718.967,535.512,1940.212,1455.070,33.381,1378.500,0.000,1869.256,0.000,32.109,0.000
$DEVICE_MAMPS,168.740,54.457,870.545,508.521,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.616,393.268,775.342,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355840
$DATA_FILE_SIZE,34890,616
$CAP_FILE_SIZE,140646,0
$CFSIZE,260165632,230436864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090610,223927,2107.971,-15746.794,57,3.0,76,9.8