version: 66.06
glider: 139
mission: 7
dive: 488
start: 6 10 110 11 43 30
data:
$ID,139
$MISSION,7
$DIVE,488
$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,-2139423.5
$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
$GPS1,113615,2106.987,-15745.591,140,2.6,159,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.2
$GPS2,114237,2107.005,-15745.672,38,2.0,38,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,-0.001
$KALMAN_X,-232595.4,-287.3,-114.7,248997.1,-2218.0
$KALMAN_Y,16430.9,-213.9,-228.1,-15815.7,84.6
$MHEAD_RNG_PITCHd_Wd,80.5,5245,-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,-77.9,0.0,0.0,0,65,0.00,0.00,-48.28,0.000,2,0.000,0.000,425,1890,3109,0,0,0,0,0,0
$GC,69,-1.40,-77.9,3.2,-5.6,9,90,10.55,2.33,-5.18,0.000,4,0.133,0.035,2403,3300,3367,0,0,0,0,0,0
$GC,132,-1.34,-77.9,18.2,-15.9,22,138,0.00,2.45,0.00,0.000,6,0.000,0.031,2403,1868,3368,0,0,0,0,0,0
$GC,336,-1.17,-77.9,51.0,-16.8,47,341,0.25,2.40,0.00,0.000,4,0.095,0.044,2457,471,3369,0,0,0,0,0,0
$GC,363,-1.02,-77.9,55.4,-15.8,49,368,0.17,2.30,0.00,0.000,6,0.097,0.019,2490,1912,3369,0,0,0,0,0,0
$GC,626,-1.09,-77.9,82.1,-9.5,73,630,0.00,2.50,0.00,0.000,4,0.000,0.043,2491,463,3370,0,0,0,0,0,0
$GC,681,-1.14,-77.9,88.2,-10.1,78,688,0.00,2.28,0.00,0.000,6,0.000,0.019,2485,1875,3370,0,0,0,0,0,0
$GC,945,-1.25,-77.9,110.8,-7.4,103,950,0.20,2.40,0.00,0.000,4,0.048,0.041,2427,466,3372,0,0,0,0,0,0
$GC,1073,-1.21,-77.9,126.3,-12.1,116,1081,0.08,2.28,0.00,0.000,6,0.076,0.019,2446,1880,3372,0,0,0,0,0,0
$GC,1336,-1.28,-77.9,151.4,-9.5,141,1340,0.00,2.40,0.00,0.000,4,0.000,0.042,2449,466,3373,0,0,0,0,0,0
$GC,1380,-1.32,-77.9,155.9,-10.0,145,1385,0.10,2.25,0.00,0.000,6,0.074,0.019,2410,1878,3373,0,0,0,0,0,0
$GC,1642,-1.32,-77.9,184.0,-10.0,169,1646,0.00,2.40,0.00,0.000,4,0.000,0.042,2411,471,3374,0,0,0,0,0,0
$GC,1668,-1.27,-77.9,186.9,-12.0,171,1672,0.12,2.22,0.00,0.000,6,0.096,0.020,2437,1877,3374,0,0,0,0,0,0
$GC,1928,-1.33,-77.9,211.9,-9.1,189,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1881,3374,0,0,0,0,0,0
$GC,2234,-1.42,-77.9,239.5,-8.9,204,2239,0.15,2.40,0.00,0.000,4,0.055,0.044,2388,472,3373,0,0,0,0,0,0
$GC,2290,-1.38,-77.9,246.0,-12.9,206,2295,0.12,2.22,0.00,0.000,6,0.099,0.021,2413,1872,3374,0,0,0,0,0,0
$GC,2609,-1.42,-77.9,276.8,-9.1,221,2613,0.00,2.40,0.00,0.000,4,0.000,0.044,2414,473,3373,0,0,0,0,0,0
$GC,2645,-1.42,-77.9,280.5,-8.9,222,2652,0.00,2.28,0.00,0.000,6,0.000,0.021,2413,1871,3373,0,0,0,0,0,0
$GC,2961,-1.48,-77.9,303.2,-6.9,237,2963,0.10,0.00,0.00,0.000,6,0.074,0.000,2381,1877,3372,0,0,0,0,0,0
$GC,3285,-1.48,-77.9,334.6,-9.8,245,3289,0.00,2.42,0.00,0.000,4,0.000,0.047,2381,469,3372,0,0,0,0,0,0
$GC,3363,-1.44,-77.9,341.9,-9.1,246,3367,0.00,2.25,0.00,0.000,6,0.000,0.024,2380,1868,3371,0,0,0,0,0,0
$GC,3696,-1.44,-77.9,368.2,-7.8,254,3701,0.00,2.42,0.00,0.000,4,0.000,0.048,2380,470,3369,0,0,0,0,0,0
$GC,3756,-1.41,-77.9,374.0,-8.6,255,3761,0.12,2.28,0.00,0.000,6,0.101,0.025,2406,1875,3369,0,0,0,0,0,0
$GC,4111,-1.47,-77.9,400.0,-7.3,264,4115,0.00,2.42,0.00,0.000,4,0.000,0.051,2405,472,3366,0,0,0,0,0,0
$GC,4204,-1.51,-77.9,407.4,-7.5,266,4208,0.00,2.30,0.00,0.000,6,0.000,0.027,2406,1872,3365,0,0,0,0,0,0
$GC,4528,-1.58,-77.9,427.4,-6.2,274,4533,0.17,2.47,0.00,0.000,4,0.057,0.053,2358,471,3363,0,0,0,0,0,0
$GC,4580,-1.50,-77.9,432.5,-9.8,275,4585,0.15,2.30,0.00,0.000,6,0.100,0.028,2388,1871,3362,0,0,0,0,0,0
$STATE,4815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4815,begin apogee
$GC,4821,-0.31,0.0,452.7,8.7,281,4888,1.20,0.00,63.58,0.883,6,0.074,0.000,2646,2032,3050,0,0,0,0,0,0
$STATE,4889,end apogee,CONTROL_FINISHED_OK
$STATE,4889,begin climb
$GC,4891,1.40,77.9,453.8,0.0,282,4967,1.62,2.42,64.93,0.858,4,0.031,0.044,3025,3373,2732,0,0,0,0,0,0
$GC,5212,1.22,121.3,444.1,5.0,289,5258,0.22,2.35,37.03,0.849,6,0.112,0.038,2982,2012,2555,0,0,0,0,0,0
$GC,5580,1.11,121.3,412.6,9.2,298,5585,0.15,2.40,0.00,0.000,4,0.119,0.041,2957,3388,2549,0,0,0,0,0,0
$GC,5803,1.08,141.0,396.4,6.7,302,5826,0.00,2.40,16.88,0.807,6,0.000,0.038,2958,2005,2475,0,0,0,0,0,0
$GC,6137,1.07,165.0,374.4,6.4,311,6165,0.00,2.58,21.67,0.815,4,0.000,0.054,2958,605,2376,0,0,0,0,0,0
$GC,6214,0.98,165.0,368.0,9.4,312,6219,0.15,2.35,0.00,0.000,6,0.123,0.031,2931,1997,2373,0,0,0,0,0,0
$GC,6551,1.02,166.8,342.4,7.9,321,6555,0.00,2.47,0.00,0.000,4,0.000,0.052,2931,604,2371,0,0,0,0,0,0
$GC,6671,1.02,166.8,331.3,9.7,323,6675,0.00,2.35,0.00,0.000,6,0.000,0.031,2931,2014,2368,0,0,0,0,0,0
$GC,7011,1.10,183.2,306.9,6.9,332,7032,0.00,2.55,15.88,0.772,4,0.000,0.053,2931,597,2303,0,0,0,0,0,0
$GC,7168,1.10,183.2,292.9,9.4,337,7172,0.00,2.38,0.00,0.000,6,0.000,0.030,2931,2014,2298,0,0,0,0,0,0
$GC,7498,1.18,183.2,265.7,8.2,353,7503,0.17,2.50,0.00,0.000,4,0.065,0.051,2974,598,2298,0,0,0,0,0,0
$GC,7593,1.11,183.2,255.8,11.2,357,7597,0.00,2.38,0.00,0.000,6,0.000,0.030,2974,2012,2296,0,0,0,0,0,0
$GC,7919,1.11,184.7,227.7,7.9,373,7923,0.00,2.45,0.00,0.000,4,0.000,0.049,2974,602,2295,0,0,0,0,0,0
$GC,8058,1.06,184.7,215.9,8.4,379,8063,0.15,2.35,0.00,0.000,6,0.117,0.028,2947,2012,2294,0,0,0,0,0,0
$GC,8387,1.14,195.2,194.6,7.3,398,8406,0.00,2.50,10.65,0.648,4,0.000,0.047,2947,602,2253,0,0,0,0,0,0
$GC,8448,1.14,195.2,189.4,8.8,404,8455,0.00,2.38,0.00,0.000,6,0.000,0.027,2948,2012,2251,0,0,0,0,0,0
$GC,8713,1.24,210.2,171.7,7.0,429,8731,0.17,0.00,14.68,0.644,6,0.061,0.000,2993,2016,2193,0,0,0,0,0,0
$GC,8985,1.24,210.2,147.7,9.2,455,8989,0.00,2.47,0.00,0.000,4,0.000,0.045,2993,592,2191,0,0,0,0,0,0
$GC,9103,1.18,210.2,136.3,10.2,467,9108,0.10,2.35,0.00,0.000,6,0.118,0.024,2975,2019,2188,0,0,0,0,0,0
$GC,9366,1.26,234.5,119.0,6.4,491,9394,0.00,2.50,22.27,0.609,4,0.000,0.043,2974,601,2093,0,0,0,0,0,0
$GC,9409,1.29,234.5,115.6,8.1,495,9414,0.00,2.35,0.00,0.000,6,0.000,0.023,2974,2018,2091,0,0,0,0,0,0
$GC,9671,1.42,264.6,98.4,5.9,520,9708,0.22,2.50,27.33,0.588,4,0.050,0.044,3035,597,1969,0,0,0,0,0,0
$GC,9721,1.35,264.6,94.5,9.6,525,9726,0.12,2.33,0.00,0.000,6,0.107,0.022,3012,2015,1967,0,0,0,0,0,0
$GC,9983,1.35,264.6,70.1,9.1,549,9987,0.00,2.45,0.00,0.000,4,0.000,0.044,3011,592,1966,0,0,0,0,0,0
$GC,10094,1.35,264.6,58.4,10.6,561,10101,0.00,2.33,0.00,0.000,6,0.000,0.021,3012,2008,1964,0,0,0,0,0,0
$GC,10358,1.40,264.6,31.8,11.5,586,10359,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2013,1963,0,0,0,0,0,0
$GC,10616,1.49,279.3,9.8,7.0,632,10638,0.12,2.47,13.30,0.486,4,0.064,0.038,3050,598,1910,0,0,0,0,0,0
$STATE,10694,end climb,SURFACE_DEPTH_REACHED
$STATE,10694,begin surface coast
$FINISH,0.5,1.012217
$STATE,10718,end surface coast,CONTROL_FINISHED_OK
$STATE,10718,begin surface
$SM_CCo,10740,11.88,0.469,0,0,1826,300.00
$SM_GC,2.19,0.00,0.00,11.88,0.000,0.000,0.469,419,1877,1826,-10.56,0.03,300.00
$IRIDIUM_FIX,2059.45,-15743.60,040999,080837
$TT8_MAMPS,0.029913
$HUMID,49.92
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,43.245
$10V_AH,10.0,40.937
$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,27.975,119.225,308.175,11.875,0.000,28.035,30.735,187.599,4.500,0.000,38.977,1280.136,6982.413,369.930,2016.214,485.007,33.373,1256.726,0.000,1970.258,0.000,29.254,0.000
$DEVICE_MAMPS,132.691,54.457,882.817,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,439.738,418.315,801.981,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,38046,653
$CAP_FILE_SIZE,125749,0
$CFSIZE,260165632,230146048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100610,144627,2106.812,-15745.935,168,2.2,187,9.8