version: 66.06
glider: 139
mission: 7
dive: 486
start: 6 10 110 5 25 57
data:
$ID,139
$MISSION,7
$DIVE,486
$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,-2139369.8
$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
$GPS1,050646,2108.044,-15746.055,186,2.5,205,9.8
$_CALLS,4
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.1
$GPS2,052506,2108.129,-15745.994,57,1.6,67,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.166,-0.080
$KALMAN_X,-230363.2,590.1,-11.3,245219.7,-779.1
$KALMAN_Y,15659.0,509.7,255.3,-14170.4,24.4
$MHEAD_RNG_PITCHd_Wd,105.9,6829,-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,-53.05,0.000,2,0.000,0.000,424,1900,3252,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.9,-7.0,10,96,10.57,2.53,-2.17,0.000,4,0.132,0.051,2403,459,3371,0,0,0,0,0,0
$GC,130,-1.14,-77.9,21.3,-23.9,21,136,0.30,2.35,0.00,0.000,6,0.091,0.019,2462,1914,3372,0,0,0,0,0,0
$GC,333,-1.14,-77.9,49.4,-13.6,45,337,0.00,2.47,0.00,0.000,4,0.000,0.043,2463,469,3372,0,0,0,0,0,0
$GC,397,-1.10,-77.9,58.8,-14.0,51,404,0.00,2.28,0.00,0.000,6,0.000,0.019,2461,1879,3372,0,0,0,0,0,0
$GC,657,-1.10,-77.9,89.0,-11.1,76,661,0.00,2.42,0.00,0.000,4,0.000,0.041,2464,467,3373,0,0,0,0,0,0
$GC,702,-1.10,-77.9,94.7,-12.5,80,709,0.00,2.28,0.00,0.000,6,0.000,0.019,2460,1877,3373,0,0,0,0,0,0
$GC,967,-1.16,-77.9,120.9,-8.9,105,971,0.00,2.25,0.00,0.000,4,0.000,0.024,2464,3261,3373,0,0,0,0,0,0
$GC,997,-1.30,-77.9,123.7,-8.4,108,1002,0.15,2.30,0.00,0.000,6,0.055,0.028,2414,1869,3373,0,0,0,0,0,0
$GC,1257,-1.30,-77.9,151.5,-12.4,132,1261,0.00,2.38,0.00,0.000,4,0.000,0.042,2414,473,3374,0,0,0,0,0,0
$GC,1317,-1.24,-77.9,159.1,-13.1,138,1322,0.15,2.25,0.00,0.000,6,0.092,0.019,2442,1885,3375,0,0,0,0,0,0
$GC,1577,-1.32,-77.9,184.6,-8.6,162,1582,0.00,2.42,0.00,0.000,4,0.000,0.043,2445,471,3374,0,0,0,0,0,0
$GC,1649,-1.36,-77.9,191.4,-9.3,169,1654,0.12,2.25,0.00,0.000,6,0.062,0.019,2401,1878,3374,0,0,0,0,0,0
$GC,1906,-1.36,-77.9,215.8,-9.7,185,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1883,3374,0,0,0,0,0,0
$GC,2215,-1.36,-77.9,243.2,-9.0,200,2220,0.00,2.42,0.00,0.000,4,0.000,0.044,2401,466,3374,0,0,0,0,0,0
$GC,2276,-1.33,-77.9,249.5,-10.3,202,2283,0.08,2.28,0.00,0.000,6,0.076,0.021,2419,1868,3375,0,0,0,0,0,0
$GC,2592,-1.40,-77.9,276.3,-9.0,218,2596,0.00,2.38,0.00,0.000,4,0.000,0.045,2422,475,3374,0,0,0,0,0,0
$GC,2653,-1.46,-77.9,281.9,-8.4,220,2660,0.10,2.28,0.00,0.000,6,0.037,0.022,2380,1875,3374,0,0,0,0,0,0
$GC,2968,-1.46,-77.9,311.7,-9.4,233,2972,0.00,2.40,0.00,0.000,4,0.000,0.046,2382,472,3372,0,0,0,0,0,0
$GC,2982,-1.42,-77.9,313.3,-9.5,233,2987,0.12,2.28,0.00,0.000,6,0.101,0.023,2407,1879,3372,0,0,0,0,0,0
$GC,3336,-1.46,-77.9,341.4,-8.2,242,3340,0.00,2.42,0.00,0.000,4,0.000,0.047,2407,475,3371,0,0,0,0,0,0
$GC,3373,-1.46,-77.9,345.2,-9.5,242,3378,0.00,2.28,0.00,0.000,6,0.000,0.025,2406,1871,3370,0,0,0,0,0,0
$GC,3706,-1.52,-77.9,372.9,-8.4,251,3711,0.10,2.42,0.00,0.000,4,0.077,0.049,2375,474,3368,0,0,0,0,0,0
$GC,3771,-1.47,-77.9,379.9,-10.4,252,3778,0.00,2.30,0.00,0.000,6,0.000,0.025,2375,1879,3367,0,0,0,0,0,0
$GC,4123,-1.47,-77.9,414.8,-9.9,261,4127,0.00,2.42,0.00,0.000,4,0.000,0.051,2374,476,3364,0,0,0,0,0,0
$GC,4236,-1.42,-77.9,426.8,-9.6,263,4241,0.15,2.30,0.00,0.000,6,0.094,0.027,2406,1870,3364,0,0,0,0,0,0
$STATE,4538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4538,begin apogee
$GC,4545,-0.31,0.0,451.2,7.9,271,4612,1.10,0.00,63.70,0.874,6,0.071,0.000,2643,2032,3050,0,0,0,0,0,0
$STATE,4613,end apogee,CONTROL_FINISHED_OK
$STATE,4613,begin climb
$GC,4615,1.40,77.9,452.2,0.0,272,4690,1.62,2.42,64.60,0.851,4,0.031,0.044,3023,3374,2732,0,0,0,0,0,0
$GC,4954,1.22,115.8,440.0,5.4,279,4992,0.20,2.33,32.17,0.837,6,0.112,0.036,2984,2015,2578,0,0,0,0,0,0
$GC,5301,1.12,130.6,415.5,7.0,288,5317,0.12,0.00,13.32,0.781,6,0.121,0.000,2962,2014,2517,0,0,0,0,0,0
$GC,5626,1.09,157.6,394.9,6.2,296,5658,0.00,2.55,24.60,0.820,4,0.000,0.051,2964,601,2405,0,0,0,0,0,0
$GC,5687,0.97,157.6,390.6,9.0,297,5692,0.20,2.35,0.00,0.000,6,0.109,0.029,2926,1999,2402,0,0,0,0,0,0
$GC,6037,1.02,168.3,366.1,7.3,306,6054,0.00,2.50,9.77,0.736,4,0.000,0.051,2928,598,2362,0,0,0,0,0,0
$GC,6169,1.02,168.3,355.0,9.6,308,6174,0.00,2.38,0.00,0.000,6,0.000,0.030,2927,2018,2358,0,0,0,0,0,0
$GC,6500,1.08,169.4,328.4,7.9,317,6504,0.00,2.50,0.00,0.000,4,0.000,0.051,2928,603,2358,0,0,0,0,0,0
$GC,6546,1.08,169.4,324.2,9.1,318,6550,0.00,2.38,0.00,0.000,6,0.000,0.030,2927,2015,2357,0,0,0,0,0,0
$GC,6869,1.14,171.5,298.9,7.9,326,6874,0.15,2.50,0.00,0.000,4,0.070,0.052,2964,604,2356,0,0,0,0,0,0
$GC,6891,1.11,171.5,297.0,9.3,327,6895,0.00,2.35,0.00,0.000,6,0.000,0.030,2964,2014,2355,0,0,0,0,0,0
$GC,7222,1.11,171.9,268.7,8.0,343,7226,0.00,2.47,0.00,0.000,4,0.000,0.050,2964,604,2354,0,0,0,0,0,0
$GC,7360,1.05,171.9,257.2,8.8,349,7365,0.12,2.35,0.00,0.000,6,0.121,0.028,2942,2011,2353,0,0,0,0,0,0
$GC,7693,1.15,211.4,238.5,5.3,365,7738,0.10,2.53,37.45,0.745,4,0.086,0.049,2968,605,2187,0,0,0,0,0,0
$GC,7836,1.11,211.4,225.3,11.1,371,7840,0.00,2.38,0.00,0.000,6,0.000,0.028,2968,2016,2181,0,0,0,0,0,0
$GC,8162,1.11,211.4,193.3,10.0,390,8166,0.00,2.50,0.00,0.000,4,0.000,0.049,2967,594,2179,0,0,0,0,0,0
$GC,8180,1.11,211.4,191.2,11.3,391,8186,0.00,2.38,0.00,0.000,6,0.000,0.027,2968,2021,2178,0,0,0,0,0,0
$GC,8443,1.14,212.5,168.6,8.0,416,8444,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2025,2178,0,0,0,0,0,0
$GC,8695,1.19,214.0,149.2,7.9,440,8700,0.00,2.47,0.00,0.000,4,0.000,0.046,2968,602,2178,0,0,0,0,0,0
$GC,8723,1.19,214.0,146.6,9.9,442,8730,0.00,2.35,0.00,0.000,6,0.000,0.025,2968,2008,2176,0,0,0,0,0,0
$GC,8986,1.25,214.0,123.6,8.2,467,8990,0.00,2.45,0.00,0.000,4,0.000,0.045,2968,597,2176,0,0,0,0,0,0
$GC,9032,1.27,228.3,119.9,7.0,471,9056,0.10,2.30,14.32,0.597,6,0.081,0.024,2996,2019,2118,0,0,0,0,0,0
$GC,9310,1.29,245.9,105.8,6.8,498,9329,0.00,0.00,16.62,0.588,6,0.000,0.000,2997,2020,2047,0,0,0,0,0,0
$GC,9587,1.35,247.0,83.7,7.9,524,9588,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2019,2044,0,0,0,0,0,0
$GC,9841,1.41,247.7,63.8,8.0,548,9846,0.10,2.47,0.00,0.000,4,0.077,0.044,3028,594,2044,0,0,0,0,0,0
$GC,9920,1.34,247.7,55.7,11.0,556,9924,0.12,2.30,0.00,0.000,6,0.105,0.021,3004,2012,2042,0,0,0,0,0,0
$GC,10182,1.38,247.7,32.5,8.4,580,10186,0.00,2.40,0.00,0.000,4,0.000,0.039,3004,599,2042,0,0,0,0,0,0
$GC,10346,1.44,296.8,20.4,4.6,612,10398,0.05,2.30,44.15,0.528,6,0.051,0.021,3030,2011,1839,0,0,0,0,0,0
$STATE,10569,end climb,SURFACE_DEPTH_REACHED
$STATE,10569,begin surface coast
$FINISH,0.3,1.011169
$STATE,10596,end surface coast,CONTROL_FINISHED_OK
$STATE,10597,begin surface
$SM_CCo,10617,-0.03,0.000,0,0,1827,300.00
$SM_GC,2.27,0.00,0.00,-0.03,0.000,0.000,0.000,425,1858,1827,-10.53,-0.48,300.00
$IRIDIUM_FIX,2101.76,-15745.74,040999,050512
$TT8_MAMPS,0.029146
$HUMID,49.44
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.4,43.059
$10V_AH,10.0,40.765
$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,27.075,114.675,320.725,0.000,0.000,113.545,139.675,455.456,4.500,0.000,67.578,1257.139,7176.596,375.428,1935.157,971.949,33.382,1212.070,0.000,1858.648,0.000,29.265,0.000
$DEVICE_MAMPS,131.924,52.156,873.613,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.790,424.197,815.355,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,38178,658
$CAP_FILE_SIZE,131313,0
$CFSIZE,260165632,230260736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100610,082536,2107.646,-15745.166,124,1.3,124,9.8