version: 66.06
glider: 139
mission: 7
dive: 485
start: 6 10 110 2 2 33
data:
$ID,139
$MISSION,7
$DIVE,485
$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,-2139301.5
$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
$GPS1,015022,2108.016,-15746.774,56,4.3,75,9.8
$_CALLS,1
$_XMS_NAKs,80
$_XMS_TOUTs,2
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.8
$GPS2,020140,2108.101,-15746.835,72,1.3,74,9.8
$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,-229368.9,605.5,-690.4,243440.0,-950.4
$KALMAN_Y,15123.3,505.4,-298.5,-13124.7,533.4
$MHEAD_RNG_PITCHd_Wd,110.8,7983,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,66,0.00,0.00,-48.50,0.000,2,0.000,0.000,426,1872,3133,0,0,0,0,0,0
$GC,68,-1.40,-77.9,3.3,-5.6,9,91,10.60,0.00,-4.68,0.000,6,0.132,0.000,2406,1872,3370,0,0,0,0,0,0
$GC,293,-1.23,-77.9,46.8,-17.2,41,298,0.20,2.40,0.00,0.000,4,0.097,0.042,2447,468,3371,0,0,0,0,0,0
$GC,319,-1.04,-77.9,51.6,-18.9,43,324,0.20,2.33,0.00,0.000,6,0.096,0.020,2487,1919,3371,0,0,0,0,0,0
$GC,582,-1.09,-77.9,80.1,-10.4,67,587,0.00,2.50,0.00,0.000,4,0.000,0.043,2486,460,3372,0,0,0,0,0,0
$GC,664,-1.13,-77.9,89.9,-11.9,75,669,0.00,2.28,0.00,0.000,6,0.000,0.019,2487,1882,3373,0,0,0,0,0,0
$GC,927,-1.24,-77.9,114.9,-8.8,100,931,0.20,2.28,0.00,0.000,4,0.048,0.024,2425,3269,3374,0,0,0,0,0,0
$GC,991,-1.35,-77.9,122.2,-11.7,106,998,0.00,2.35,0.00,0.000,6,0.000,0.028,2425,1875,3374,0,0,0,0,0,0
$GC,1254,-1.35,-77.9,149.7,-9.7,131,1258,0.00,2.38,0.00,0.000,4,0.000,0.042,2425,467,3375,0,0,0,0,0,0
$GC,1327,-1.35,-77.9,157.5,-10.2,138,1333,0.00,2.28,0.00,0.000,6,0.000,0.019,2425,1879,3375,0,0,0,0,0,0
$GC,1591,-1.35,-77.9,180.9,-9.3,163,1595,0.00,2.40,0.00,0.000,4,0.000,0.043,2425,468,3375,0,0,0,0,0,0
$GC,1671,-1.35,-77.9,189.3,-10.7,171,1675,0.00,2.25,0.00,0.000,6,0.000,0.020,2425,1875,3375,0,0,0,0,0,0
$GC,1940,-1.42,-77.9,212.9,-8.9,189,1944,0.00,2.40,0.00,0.000,4,0.000,0.043,2425,464,3375,0,0,0,0,0,0
$GC,1972,-1.42,-77.9,216.3,-9.8,190,1976,0.00,2.28,0.00,0.000,6,0.000,0.021,2424,1882,3375,0,0,0,0,0,0
$GC,2288,-1.48,-77.9,243.3,-8.3,205,2293,0.15,2.45,0.00,0.000,4,0.057,0.045,2378,470,3375,0,0,0,0,0,0
$GC,2368,-1.41,-77.9,252.5,-11.5,208,2373,0.15,2.28,0.00,0.000,6,0.094,0.021,2407,1884,3375,0,0,0,0,0,0
$GC,2685,-1.46,-77.9,278.1,-8.5,223,2690,0.00,2.45,0.00,0.000,4,0.000,0.045,2409,466,3374,0,0,0,0,0,0
$GC,2755,-1.50,-77.9,285.5,-10.2,226,2760,0.00,2.28,0.00,0.000,6,0.000,0.022,2409,1878,3374,0,0,0,0,0,0
$GC,3077,-1.53,-77.9,316.3,-9.5,238,3082,0.12,2.42,0.00,0.000,4,0.065,0.044,2369,467,3372,0,0,0,0,0,0
$GC,3106,-1.45,-77.9,319.2,-10.6,238,3111,0.12,2.28,0.00,0.000,6,0.099,0.024,2395,1875,3372,0,0,0,0,0,0
$GC,3442,-1.45,-77.9,351.8,-9.1,247,3446,0.00,2.42,0.00,0.000,4,0.000,0.048,2395,468,3370,0,0,0,0,0,0
$GC,3488,-1.45,-77.9,356.1,-10.0,248,3492,0.00,2.30,0.00,0.000,6,0.000,0.025,2395,1878,3370,0,0,0,0,0,0
$GC,3814,-1.49,-77.9,380.1,-7.2,256,3818,0.00,2.45,0.00,0.000,4,0.000,0.051,2394,466,3367,0,0,0,0,0,0
$GC,3888,-1.49,-77.9,386.1,-7.9,257,3892,0.00,2.33,0.00,0.000,6,0.000,0.026,2395,1882,3367,0,0,0,0,0,0
$GC,4224,-1.52,-77.9,408.9,-6.9,266,4228,0.00,2.47,0.00,0.000,4,0.000,0.052,2395,472,3364,0,0,0,0,0,0
$GC,4275,-1.52,-77.9,413.3,-7.7,267,4279,0.00,2.33,0.00,0.000,6,0.000,0.028,2395,1879,3364,0,0,0,0,0,0
$GC,4594,-1.56,-77.9,438.7,-8.1,275,4598,0.00,2.47,0.00,0.000,4,0.000,0.053,2395,470,3362,0,0,0,0,0,0
$GC,4649,-1.56,-77.9,443.9,-9.4,276,4653,0.00,2.33,0.00,0.000,6,0.000,0.028,2395,1872,3362,0,0,0,0,0,0
$STATE,4757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4757,begin apogee
$GC,4762,-0.31,0.0,453.0,8.2,279,4830,1.17,0.00,63.97,0.880,6,0.073,0.000,2647,2032,3050,0,0,0,0,0,0
$STATE,4831,end apogee,CONTROL_FINISHED_OK
$STATE,4831,begin climb
$GC,4833,1.40,77.9,453.8,0.0,280,4908,1.62,2.42,65.18,0.858,4,0.031,0.044,3027,3374,2732,0,0,0,0,0,0
$GC,5172,1.22,122.6,444.1,4.9,287,5217,0.20,2.35,38.42,0.848,6,0.114,0.035,2985,2009,2549,0,0,0,0,0,0
$GC,5563,1.11,132.6,416.0,7.3,297,5579,0.15,2.42,8.88,0.741,4,0.118,0.038,2961,3386,2508,0,0,0,0,0,0
$GC,5686,1.07,144.8,407.1,7.2,299,5704,0.00,2.38,12.15,0.779,6,0.000,0.037,2963,2005,2459,0,0,0,0,0,0
$GC,6029,1.02,144.8,379.4,8.4,308,6030,0.12,0.00,0.00,0.000,6,0.121,0.000,2940,2005,2454,0,0,0,0,0,0
$GC,6352,1.04,155.8,355.7,7.3,316,6368,0.00,2.55,9.95,0.749,4,0.000,0.054,2940,602,2414,0,0,0,0,0,0
$GC,6463,0.99,155.8,346.2,9.1,318,6467,0.00,2.33,0.00,0.000,6,0.000,0.030,2938,1991,2411,0,0,0,0,0,0
$GC,6812,1.01,171.1,321.7,7.0,327,6832,0.00,2.55,14.18,0.764,4,0.000,0.052,2939,603,2351,0,0,0,0,0,0
$GC,6870,0.97,171.1,316.8,8.9,328,6874,0.00,2.40,0.00,0.000,6,0.000,0.030,2939,2018,2349,0,0,0,0,0,0
$GC,7185,1.01,171.1,290.0,8.7,338,7189,0.00,2.50,0.00,0.000,4,0.000,0.051,2940,604,2348,0,0,0,0,0,0
$GC,7217,0.97,171.1,286.8,10.2,339,7221,0.00,2.35,0.00,0.000,6,0.000,0.030,2939,2019,2346,0,0,0,0,0,0
$GC,7533,1.02,181.4,259.9,7.3,354,7549,0.00,2.58,9.65,0.690,4,0.000,0.051,2939,601,2309,0,0,0,0,0,0
$GC,7663,1.03,191.2,249.4,7.3,359,7680,0.00,2.35,10.02,0.687,6,0.000,0.029,2939,2015,2270,0,0,0,0,0,0
$GC,8002,1.10,191.2,222.2,8.2,376,8007,0.00,2.47,0.00,0.000,4,0.000,0.050,2940,597,2268,0,0,0,0,0,0
$GC,8178,1.11,199.7,207.7,7.4,383,8192,0.00,2.35,8.60,0.642,6,0.000,0.028,2939,2021,2235,0,0,0,0,0,0
$GC,8518,1.20,202.0,182.8,7.9,410,8523,0.15,2.50,0.00,0.000,4,0.067,0.048,2978,601,2233,0,0,0,0,0,0
$GC,8590,1.15,202.0,175.5,11.4,417,8594,0.00,2.33,0.00,0.000,6,0.000,0.026,2979,2014,2231,0,0,0,0,0,0
$GC,8854,1.15,202.0,151.0,8.1,441,8858,0.00,2.45,0.00,0.000,4,0.000,0.046,2978,596,2231,0,0,0,0,0,0
$GC,8987,1.10,202.0,139.2,8.6,455,8992,0.12,2.35,0.00,0.000,6,0.117,0.025,2957,2019,2231,0,0,0,0,0,0
$GC,9251,1.17,202.0,120.9,8.4,479,9256,0.00,2.45,0.00,0.000,4,0.000,0.044,2957,594,2231,0,0,0,0,0,0
$GC,9350,1.18,209.9,112.8,7.5,489,9370,0.00,2.30,9.85,0.569,6,0.000,0.024,2957,2026,2194,0,0,0,0,0,0
$GC,9625,1.34,247.4,96.5,5.4,515,9666,0.22,2.35,34.00,0.605,4,0.051,0.029,3015,3383,2040,0,0,0,0,0,0
$GC,9708,1.35,260.0,91.7,7.2,524,9727,0.00,2.35,12.50,0.554,6,0.000,0.028,3015,1996,1989,0,0,0,0,0,0
$GC,9983,1.35,260.0,67.3,9.0,550,9987,0.00,2.38,0.00,0.000,4,0.000,0.043,3016,602,1985,0,0,0,0,0,0
$GC,10133,1.31,260.0,51.7,10.8,566,10140,0.00,2.30,0.00,0.000,6,0.000,0.021,3016,2002,1982,0,0,0,0,0,0
$GC,10395,1.31,260.0,28.3,9.7,592,10403,0.00,2.42,0.00,0.000,4,0.000,0.039,3016,602,1982,0,0,0,0,0,0
$GC,10433,1.25,260.0,23.9,11.9,599,10439,0.15,2.28,0.00,0.000,6,0.099,0.021,2987,2028,1982,0,0,0,0,0,0
$GC,10640,1.35,260.0,9.7,8.6,636,10647,0.00,2.47,0.00,0.000,4,0.000,0.041,2987,604,1982,0,0,0,0,0,0
$STATE,10728,end climb,SURFACE_DEPTH_REACHED
$STATE,10728,begin surface coast
$FINISH,0.4,1.011186
$STATE,10767,end surface coast,CONTROL_FINISHED_OK
$STATE,10767,begin surface
$SM_CCo,10789,20.62,0.498,0,0,1827,300.00
$SM_GC,2.16,0.00,0.00,20.62,0.000,0.000,0.498,425,1900,1827,-10.53,0.71,300.00
$IRIDIUM_FIX,2104.07,-15747.88,030999,222239
$TT8_MAMPS,0.029146
$HUMID,49.80
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,42.951
$10V_AH,10.0,40.673
$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,26.575,128.550,297.350,20.625,0.000,24.898,31.101,451.228,4.500,0.000,74.554,1304.942,6973.366,376.591,2098.786,733.832,33.384,1282.603,0.000,2007.415,0.000,31.041,0.000
$DEVICE_MAMPS,131.924,53.690,879.749,497.783,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.534,423.793,815.361,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355660
$DATA_FILE_SIZE,38171,663
$CAP_FILE_SIZE,134005,0
$CFSIZE,260165632,230326272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100610,050646,2108.044,-15746.055,186,2.5,205,9.8