version: 66.06
glider: 139
mission: 7
dive: 484
start: 6 9 110 22 51 6
data:
$ID,139
$MISSION,7
$DIVE,484
$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,-2139226.2
$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
$GPS1,223927,2107.971,-15746.794,57,3.0,76,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-60.9
$GPS2,225014,2108.019,-15746.917,13,1.6,13,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,-0.008
$KALMAN_X,-228008.0,306.4,168.4,241378.7,-2190.5
$KALMAN_Y,14961.5,260.4,-133.9,-13035.2,166.7
$MHEAD_RNG_PITCHd_Wd,82.7,8027,-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,16,-1.40,-77.9,0.0,0.0,0,119,0.00,0.00,-100.65,0.000,2,0.000,0.000,425,1858,3160,0,0,0,0,0,0
$GC,122,-1.40,-77.9,3.1,-4.5,19,144,10.52,0.00,-4.18,0.000,6,0.131,0.000,2402,1860,3371,0,0,0,0,0,0
$GC,342,-1.23,-77.9,47.3,-18.3,50,347,0.22,2.40,0.00,0.000,4,0.094,0.043,2449,469,3372,0,0,0,0,0,0
$GC,377,-1.10,-77.9,53.0,-16.1,53,382,0.12,2.33,0.00,0.000,6,0.106,0.020,2473,1921,3372,0,0,0,0,0,0
$GC,640,-1.10,-77.9,84.8,-11.3,77,644,0.00,2.50,0.00,0.000,4,0.000,0.044,2473,462,3372,0,0,0,0,0,0
$GC,738,-1.10,-77.9,95.7,-10.4,87,742,0.00,2.28,0.00,0.000,6,0.000,0.019,2473,1881,3372,0,0,0,0,0,0
$GC,1001,-1.22,-77.9,117.0,-8.3,111,1006,0.00,2.42,0.00,0.000,4,0.000,0.042,2472,469,3373,0,0,0,0,0,0
$GC,1028,-1.30,-77.9,119.4,-8.5,113,1033,0.17,2.22,0.00,0.000,6,0.049,0.019,2415,1881,3373,0,0,0,0,0,0
$GC,1294,-1.30,-77.9,146.2,-10.2,138,1298,0.00,2.42,0.00,0.000,4,0.000,0.042,2416,466,3373,0,0,0,0,0,0
$GC,1366,-1.27,-77.9,154.3,-12.1,145,1371,0.10,2.22,0.00,0.000,6,0.107,0.019,2437,1873,3373,0,0,0,0,0,0
$GC,1628,-1.32,-77.9,180.0,-10.0,169,1633,0.00,2.40,0.00,0.000,4,0.000,0.043,2437,468,3373,0,0,0,0,0,0
$GC,1651,-1.32,-77.9,182.3,-10.9,171,1655,0.00,2.22,0.00,0.000,6,0.000,0.020,2437,1878,3373,0,0,0,0,0,0
$GC,1914,-1.39,-77.9,208.1,-9.2,191,1916,0.12,0.00,0.00,0.000,6,0.062,0.000,2394,1882,3373,0,0,0,0,0,0
$GC,2219,-1.39,-77.9,235.7,-8.8,206,2223,0.00,2.42,0.00,0.000,4,0.000,0.044,2394,468,3373,0,0,0,0,0,0
$GC,2263,-1.35,-77.9,239.7,-8.7,208,2268,0.12,2.25,0.00,0.000,6,0.098,0.021,2419,1870,3373,0,0,0,0,0,0
$GC,2599,-1.41,-77.9,270.1,-9.4,224,2603,0.00,2.40,0.00,0.000,4,0.000,0.045,2419,463,3372,0,0,0,0,0,0
$GC,2692,-1.45,-77.9,278.6,-9.2,228,2696,0.00,2.28,0.00,0.000,6,0.000,0.021,2420,1882,3372,0,0,0,0,0,0
$GC,3017,-1.52,-77.9,305.3,-8.7,243,3022,0.17,2.47,0.00,0.000,4,0.053,0.047,2368,461,3370,0,0,0,0,0,0
$GC,3098,-1.43,-77.9,314.6,-12.0,244,3103,0.15,2.30,0.00,0.000,6,0.095,0.023,2399,1878,3370,0,0,0,0,0,0
$GC,3429,-1.43,-77.9,343.5,-8.2,252,3433,0.00,2.45,0.00,0.000,4,0.000,0.048,2400,466,3368,0,0,0,0,0,0
$GC,3480,-1.43,-77.9,348.1,-8.8,253,3484,0.00,2.28,0.00,0.000,6,0.000,0.025,2399,1876,3367,0,0,0,0,0,0
$GC,3798,-1.47,-77.9,371.8,-7.5,261,3802,0.00,2.45,0.00,0.000,4,0.000,0.049,2400,468,3365,0,0,0,0,0,0
$GC,3846,-1.47,-77.9,376.0,-8.9,262,3850,0.00,2.30,0.00,0.000,6,0.000,0.025,2399,1874,3365,0,0,0,0,0,0
$GC,4174,-1.51,-77.9,403.5,-8.6,270,4178,0.00,2.42,0.00,0.000,4,0.000,0.051,2399,471,3363,0,0,0,0,0,0
$GC,4239,-1.51,-77.9,409.7,-9.1,271,4243,0.00,2.30,0.00,0.000,6,0.000,0.027,2400,1880,3362,0,0,0,0,0,0
$GC,4584,-1.55,-77.9,439.4,-8.6,280,4589,0.12,2.50,0.00,0.000,4,0.069,0.053,2364,465,3359,0,0,0,0,0,0
$GC,4641,-1.49,-77.9,445.7,-11.3,281,4646,0.12,2.33,0.00,0.000,6,0.103,0.028,2389,1872,3359,0,0,0,0,0,0
$STATE,4709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4709,begin apogee
$GC,4715,-0.31,0.0,452.4,9.6,283,4782,1.20,0.00,63.30,0.871,6,0.080,0.000,2642,2033,3050,0,0,0,0,0,0
$STATE,4783,end apogee,CONTROL_FINISHED_OK
$STATE,4783,begin climb
$GC,4785,1.40,77.9,453.9,0.0,284,4860,1.65,2.42,64.88,0.850,4,0.036,0.042,3026,3383,2732,0,0,0,0,0,0
$GC,4981,1.21,112.7,453.2,5.6,288,5018,0.20,2.35,30.15,0.831,6,0.113,0.035,2982,2009,2590,0,0,0,0,0,0
$GC,5337,1.08,112.7,424.5,8.9,297,5342,0.20,2.38,0.00,0.000,4,0.110,0.038,2949,3384,2583,0,0,0,0,0,0
$GC,5446,1.03,113.4,415.9,8.0,299,5450,0.00,2.35,0.00,0.000,6,0.000,0.036,2953,2010,2583,0,0,0,0,0,0
$GC,5796,1.00,127.1,390.2,7.1,308,5813,0.00,2.53,11.98,0.775,4,0.000,0.053,2952,602,2530,0,0,0,0,0,0
$GC,5880,0.90,127.1,383.3,9.0,309,5886,0.20,2.33,0.00,0.000,6,0.113,0.029,2913,1994,2528,0,0,0,0,0,0
$GC,6211,0.97,156.3,363.5,6.0,318,6244,0.00,2.55,26.02,0.815,4,0.000,0.051,2915,604,2412,0,0,0,0,0,0
$GC,6310,0.97,156.3,355.4,9.8,320,6314,0.00,2.35,0.00,0.000,6,0.000,0.029,2912,2009,2407,0,0,0,0,0,0
$GC,6628,1.05,161.6,330.6,7.7,328,6641,0.12,2.50,5.03,0.594,4,0.076,0.050,2947,604,2391,0,0,0,0,0,0
$GC,6729,1.00,161.6,320.8,10.4,330,6733,0.00,2.38,0.00,0.000,6,0.000,0.029,2945,2021,2388,0,0,0,0,0,0
$GC,7049,1.00,161.6,293.3,8.2,339,7053,0.00,2.50,0.00,0.000,4,0.000,0.051,2947,602,2388,0,0,0,0,0,0
$GC,7140,0.95,161.6,284.9,9.4,343,7145,0.12,2.35,0.00,0.000,6,0.118,0.030,2924,2016,2387,0,0,0,0,0,0
$GC,7469,1.04,179.0,263.5,6.8,359,7491,0.00,2.55,16.27,0.739,4,0.000,0.050,2924,598,2319,0,0,0,0,0,0
$GC,7584,1.06,190.8,254.7,7.2,364,7601,0.00,2.38,11.43,0.697,6,0.000,0.029,2923,2015,2271,0,0,0,0,0,0
$GC,7919,1.16,191.3,227.6,8.0,380,7924,0.20,2.47,0.00,0.000,4,0.060,0.048,2973,599,2268,0,0,0,0,0,0
$GC,7952,1.10,191.3,224.2,9.8,381,7956,0.00,2.35,0.00,0.000,6,0.000,0.028,2973,2014,2267,0,0,0,0,0,0
$GC,8269,1.10,195.5,197.8,7.7,397,8280,0.00,2.50,5.22,0.542,4,0.000,0.048,2973,602,2251,0,0,0,0,0,0
$GC,8402,1.06,201.4,187.1,7.6,411,8418,0.15,2.35,6.68,0.581,6,0.114,0.027,2947,2018,2228,0,0,0,0,0,0
$GC,8673,1.14,203.3,168.2,7.9,437,8677,0.00,2.45,0.00,0.000,4,0.000,0.048,2946,601,2227,0,0,0,0,0,0
$GC,8727,1.17,203.3,162.9,10.0,442,8734,0.08,2.35,0.00,0.000,6,0.050,0.026,2973,2006,2225,0,0,0,0,0,0
$GC,8990,1.19,218.7,142.5,7.0,467,9012,0.00,2.53,16.38,0.631,4,0.000,0.046,2973,600,2157,0,0,0,0,0,0
$GC,9131,1.16,221.6,131.1,7.8,482,9137,0.00,2.35,0.00,0.000,6,0.000,0.025,2973,2012,2153,0,0,0,0,0,0
$GC,9395,1.20,221.6,111.2,8.4,507,9399,0.00,2.45,0.00,0.000,4,0.000,0.041,2973,591,2153,0,0,0,0,0,0
$GC,9413,1.20,221.6,109.0,9.5,508,9419,0.00,2.35,0.00,0.000,6,0.000,0.024,2973,2004,2151,0,0,0,0,0,0
$GC,9677,1.38,291.1,92.5,3.2,533,9751,0.20,2.42,62.40,0.604,4,0.053,0.028,3027,3404,1863,0,0,0,0,0,0
$GC,9773,1.38,291.1,86.0,9.1,543,9777,0.00,2.38,0.00,0.000,6,0.000,0.029,3025,2000,1862,0,0,0,0,0,0
$GC,10038,1.38,291.1,60.3,9.5,567,10042,0.00,2.42,0.00,0.000,4,0.000,0.044,3028,595,1858,0,0,0,0,0,0
$GC,10134,1.33,291.1,48.9,12.8,577,10139,0.12,2.30,0.00,0.000,6,0.103,0.021,3004,2023,1854,0,0,0,0,0,0
$GC,10397,1.40,291.1,22.1,10.1,608,10403,0.00,2.47,0.00,0.000,4,0.000,0.044,3004,608,1854,0,0,0,0,0,0
$GC,10515,1.40,291.1,8.2,10.6,633,10520,0.00,2.25,0.00,0.000,6,0.000,0.020,3004,2022,1853,0,0,0,0,0,0
$STATE,10571,end climb,SURFACE_DEPTH_REACHED
$STATE,10571,begin surface coast
$FINISH,0.5,1.011601
$STATE,10618,end surface coast,CONTROL_FINISHED_OK
$STATE,10618,begin surface
$SM_CCo,10638,4.43,0.364,0,0,1826,300.00
$SM_GC,2.51,0.00,0.00,4.43,0.000,0.000,0.364,426,1872,1826,-10.52,-0.08,300.00
$IRIDIUM_FIX,2101.76,-15745.74,030999,222200
$TT8_MAMPS,0.029146
$HUMID,51.26
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.4,42.851
$10V_AH,10.0,40.585
$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,27.550,129.325,319.725,4.425,0.000,55.347,62.224,347.155,4.500,0.000,13.870,1269.131,6948.734,405.361,1956.295,709.436,33.379,1304.018,0.000,1934.131,0.000,30.625,0.000
$DEVICE_MAMPS,131.157,52.923,871.312,364.325,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.794,414.269,795.031,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355796
$DATA_FILE_SIZE,38144,651
$CAP_FILE_SIZE,131668,0
$CFSIZE,260165632,230387712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100610,015022,2108.016,-15746.774,56,4.3,75,9.8