version: 66.06
glider: 139
mission: 7
dive: 487
start: 6 10 110 8 42 20
data:
$ID,139
$MISSION,7
$DIVE,487
$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,-2139383.8
$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
$GPS1,082536,2107.646,-15745.166,124,1.3,124,9.8
$_CALLS,4
$_XMS_NAKs,28
$_XMS_TOUTs,2
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-67.3
$GPS2,084126,2107.627,-15745.221,13,1.7,13,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.171,-0.067
$KALMAN_X,-231350.0,224.0,819.8,247081.2,-2428.5
$KALMAN_Y,15883.8,174.4,335.2,-15064.4,-832.4
$MHEAD_RNG_PITCHd_Wd,101.7,5206,-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,-77.9,0.0,0.0,0,70,0.00,0.00,-52.50,0.000,2,0.000,0.000,424,1857,3235,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.6,-5.9,10,95,10.57,2.42,-2.58,0.000,4,0.132,0.051,2403,464,3371,0,0,0,0,0,0
$GC,138,-1.14,-77.9,22.4,-23.3,23,144,0.30,2.30,0.00,0.000,6,0.087,0.021,2464,1894,3373,0,0,0,0,0,0
$GC,346,-1.14,-77.9,49.2,-11.6,46,350,0.00,2.47,0.00,0.000,4,0.000,0.042,2464,463,3373,0,0,0,0,0,0
$GC,399,-1.14,-77.9,56.2,-12.6,51,406,0.00,2.33,0.00,0.000,6,0.000,0.019,2462,1892,3373,0,0,0,0,0,0
$GC,660,-1.14,-77.9,83.6,-10.2,76,664,0.00,2.45,0.00,0.000,4,0.000,0.043,2464,459,3373,0,0,0,0,0,0
$GC,696,-1.11,-77.9,87.6,-11.3,79,702,0.00,2.28,0.00,0.000,6,0.000,0.019,2457,1886,3374,0,0,0,0,0,0
$GC,959,-1.18,-77.9,113.0,-11.0,104,963,0.00,2.42,0.00,0.000,4,0.000,0.042,2465,461,3375,0,0,0,0,0,0
$GC,1087,-1.24,-77.9,127.7,-10.8,117,1093,0.00,2.25,0.00,0.000,6,0.000,0.018,2461,1893,3374,0,0,0,0,0,0
$GC,1350,-1.35,-77.9,153.5,-8.9,142,1355,0.17,2.45,0.00,0.000,4,0.050,0.042,2408,467,3375,0,0,0,0,0,0
$GC,1421,-1.28,-77.9,161.4,-12.4,149,1426,0.12,2.25,0.00,0.000,6,0.097,0.019,2433,1875,3375,0,0,0,0,0,0
$GC,1687,-1.33,-77.9,183.9,-7.1,174,1691,0.00,2.40,0.00,0.000,4,0.000,0.042,2433,461,3376,0,0,0,0,0,0
$GC,1705,-1.33,-77.9,185.4,-8.0,175,1711,0.00,2.28,0.00,0.000,6,0.000,0.020,2425,1891,3376,0,0,0,0,0,0
$GC,1979,-1.38,-77.9,207.1,-8.3,197,1983,0.00,2.42,0.00,0.000,4,0.000,0.043,2434,464,3376,0,0,0,0,0,0
$GC,2002,-1.38,-77.9,209.7,-9.0,198,2006,0.00,2.22,0.00,0.000,6,0.000,0.020,2431,1878,3376,0,0,0,0,0,0
$GC,2333,-1.47,-77.9,240.2,-9.7,214,2338,0.17,2.42,0.00,0.000,4,0.051,0.044,2380,463,3375,0,0,0,0,0,0
$GC,2416,-1.40,-77.9,250.4,-12.3,217,2422,0.12,2.25,0.00,0.000,6,0.101,0.021,2407,1870,3375,0,0,0,0,0,0
$GC,2735,-1.44,-77.9,283.9,-10.2,233,2739,0.00,2.40,0.00,0.000,4,0.000,0.044,2407,464,3375,0,0,0,0,0,0
$GC,2817,-1.44,-77.9,293.2,-10.1,236,2821,0.00,2.28,0.00,0.000,6,0.000,0.021,2407,1875,3374,0,0,0,0,0,0
$GC,3151,-1.48,-77.9,321.4,-7.7,246,3155,0.00,2.42,0.00,0.000,4,0.000,0.047,2408,470,3373,0,0,0,0,0,0
$GC,3206,-1.48,-77.9,326.4,-8.6,247,3210,0.00,2.28,0.00,0.000,6,0.000,0.023,2407,1876,3373,0,0,0,0,0,0
$GC,3524,-1.52,-77.9,352.8,-8.5,255,3529,0.12,2.45,0.00,0.000,4,0.065,0.048,2368,461,3371,0,0,0,0,0,0
$GC,3549,-1.44,-77.9,355.5,-10.9,255,3554,0.15,2.28,0.00,0.000,6,0.094,0.025,2399,1870,3371,0,0,0,0,0,0
$GC,3891,-1.48,-77.9,388.3,-9.5,264,3895,0.00,2.45,0.00,0.000,4,0.000,0.050,2399,464,3368,0,0,0,0,0,0
$GC,3965,-1.48,-77.9,395.7,-9.9,265,3970,0.00,2.30,0.00,0.000,6,0.000,0.026,2399,1881,3368,0,0,0,0,0,0
$GC,4301,-1.52,-77.9,426.3,-9.1,274,4305,0.00,2.45,0.00,0.000,4,0.000,0.051,2399,472,3365,0,0,0,0,0,0
$GC,4416,-1.52,-77.9,438.1,-9.8,276,4421,0.00,2.33,0.00,0.000,6,0.000,0.026,2399,1881,3364,0,0,0,0,0,0
$STATE,4551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4551,begin apogee
$GC,4557,-0.31,0.0,450.2,9.0,280,4625,1.15,0.00,64.03,0.864,6,0.071,0.000,2648,2031,3050,0,0,0,0,0,0
$STATE,4626,end apogee,CONTROL_FINISHED_OK
$STATE,4626,begin climb
$GC,4628,1.40,77.9,451.5,0.0,281,4703,1.60,2.42,64.60,0.844,4,0.031,0.042,3022,3380,2732,0,0,0,0,0,0
$GC,4762,1.26,154.6,453.0,2.8,284,4838,0.12,2.35,65.70,0.841,6,0.123,0.035,2993,2007,2418,0,0,0,0,0,0
$GC,5174,1.14,154.6,414.1,10.0,294,5179,0.17,2.47,0.00,0.000,4,0.114,0.051,2970,602,2409,0,0,0,0,0,0
$GC,5226,1.01,154.6,408.6,10.3,295,5231,0.17,2.33,0.00,0.000,6,0.115,0.028,2939,1997,2407,0,0,0,0,0,0
$GC,5545,1.01,155.8,383.4,7.9,303,5549,0.00,2.45,0.00,0.000,4,0.000,0.051,2939,605,2405,0,0,0,0,0,0
$GC,5656,0.97,155.8,373.3,8.3,305,5660,0.00,2.38,0.00,0.000,6,0.000,0.028,2938,2018,2403,0,0,0,0,0,0
$GC,6005,0.97,155.8,344.7,8.2,314,6009,0.00,2.50,0.00,0.000,4,0.000,0.051,2939,599,2402,0,0,0,0,0,0
$GC,6065,0.93,155.8,339.4,8.0,315,6070,0.12,2.35,0.00,0.000,6,0.123,0.029,2917,2018,2400,0,0,0,0,0,0
$GC,6416,1.05,185.3,317.1,6.0,324,6448,0.12,2.53,24.48,0.783,4,0.075,0.050,2948,607,2293,0,0,0,0,0,0
$GC,6536,1.01,185.3,307.5,8.4,326,6541,0.00,2.35,0.00,0.000,6,0.000,0.029,2947,2012,2289,0,0,0,0,0,0
$GC,6856,1.03,204.8,285.8,6.7,339,6881,0.00,2.60,17.70,0.742,4,0.000,0.050,2948,598,2214,0,0,0,0,0,0
$GC,6977,1.03,204.8,273.9,10.5,344,6981,0.00,2.38,0.00,0.000,6,0.000,0.028,2947,2021,2210,0,0,0,0,0,0
$GC,7298,1.08,204.8,246.4,8.4,360,7301,0.00,2.47,0.00,0.000,4,0.000,0.050,2947,605,2209,0,0,0,0,0,0
$GC,7421,1.08,204.8,234.1,9.8,365,7425,0.00,2.33,0.00,0.000,6,0.000,0.027,2947,2015,2207,0,0,0,0,0,0
$GC,7745,1.18,226.9,210.1,6.5,381,7770,0.10,2.53,19.80,0.689,4,0.084,0.049,2974,598,2124,0,0,0,0,0,0
$GC,7912,1.18,226.9,192.7,10.0,392,7919,0.00,2.40,0.00,0.000,6,0.000,0.026,2975,2016,2119,0,0,0,0,0,0
$GC,8175,1.18,226.9,168.0,9.4,417,8176,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2021,2118,0,0,0,0,0,0
$GC,8429,1.18,226.9,147.5,8.4,441,8433,0.00,2.47,0.00,0.000,4,0.000,0.046,2975,598,2118,0,0,0,0,0,0
$GC,8547,1.18,226.9,135.7,10.4,453,8551,0.00,2.33,0.00,0.000,6,0.000,0.024,2975,2021,2117,0,0,0,0,0,0
$GC,8810,1.26,245.1,117.2,6.8,477,8832,0.00,2.53,16.08,0.595,4,0.000,0.044,2975,608,2051,0,0,0,0,0,0
$GC,8879,1.26,245.1,111.3,8.5,484,8886,0.00,2.33,0.00,0.000,6,0.000,0.023,2975,2016,2048,0,0,0,0,0,0
$GC,9142,1.37,254.7,92.2,7.4,509,9162,0.17,2.50,9.93,0.538,4,0.057,0.044,3024,608,2010,0,0,0,0,0,0
$GC,9215,1.31,254.7,85.2,10.5,516,9222,0.10,2.33,0.00,0.000,6,0.084,0.022,3001,2013,2007,0,0,0,0,0,0
$GC,9479,1.36,254.7,65.5,8.9,541,9483,0.00,2.42,0.00,0.000,4,0.000,0.041,3001,602,2007,0,0,0,0,0,0
$GC,9497,1.40,254.7,63.8,9.4,542,9501,0.00,2.30,0.00,0.000,6,0.000,0.021,3001,2015,2006,0,0,0,0,0,0
$GC,9762,1.50,280.9,42.3,6.2,566,9793,0.17,2.53,23.83,0.537,4,0.054,0.043,3053,601,1904,0,0,0,0,0,0
$GC,9810,1.39,280.9,38.1,10.1,571,9815,0.17,2.30,0.00,0.000,6,0.096,0.021,3018,2023,1902,0,0,0,0,0,0
$GC,10075,1.44,280.9,13.4,8.6,610,10081,0.00,2.47,0.00,0.000,4,0.000,0.041,3018,599,1901,0,0,0,0,0,0
$STATE,10172,end climb,SURFACE_DEPTH_REACHED
$STATE,10172,begin surface coast
$FINISH,0.7,1.017814
$STATE,10204,end surface coast,CONTROL_FINISHED_OK
$STATE,10205,begin surface
$SM_CCo,10226,10.55,0.462,0,0,1826,300.00
$SM_GC,2.21,0.00,0.00,10.55,0.000,0.000,0.462,426,1890,1826,-10.53,0.37,300.00
$IRIDIUM_FIX,2059.45,-15746.61,040999,080816
$TT8_MAMPS,0.029146
$HUMID,49.76
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.4,43.161
$10V_AH,10.0,40.852
$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,27.025,128.825,306.125,10.550,0.000,126.216,177.819,330.983,4.500,0.000,13.236,1247.040,6775.288,374.705,1899.953,892.206,33.378,1226.978,0.000,1882.814,0.000,29.256,0.000
$DEVICE_MAMPS,131.924,53.690,864.409,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,429.673,414.635,810.365,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,34903,638
$CAP_FILE_SIZE,127209,0
$CFSIZE,260165632,230207488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100610,113615,2106.987,-15745.591,140,2.6,159,9.8