version: 66.06
glider: 139
mission: 7
dive: 546
start: 6 17 110 21 40 19
data:
$ID,139
$MISSION,7
$DIVE,546
$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,-2141666.5
$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
$GPS1,213306,2107.734,-15754.487,83,1.9,83,9.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-68.8
$GPS2,213926,2107.720,-15754.528,19,1.8,19,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.173,-0.063
$KALMAN_X,-309218.3,-318.5,-559.4,310793.2,-290.2
$KALMAN_Y,20061.9,-160.9,-60.6,-18336.0,413.7
$MHEAD_RNG_PITCHd_Wd,100.2,20369,-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,12,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,67,0.00,0.00,-50.22,0.000,2,0.000,0.000,426,1907,3118,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.0,-4.1,10,94,10.60,2.53,-5.28,0.000,4,0.134,0.054,2405,464,3370,0,0,0,0,0,0
$GC,148,-1.18,-77.9,20.7,-18.2,26,154,0.25,2.33,0.00,0.000,6,0.093,0.020,2455,1906,3372,0,0,0,0,0,0
$GC,353,-1.12,-77.9,49.9,-13.8,50,357,0.00,2.47,0.00,0.000,4,0.000,0.044,2455,466,3372,0,0,0,0,0,0
$GC,381,-1.01,-77.9,54.6,-14.5,52,388,0.20,2.28,0.00,0.000,6,0.091,0.019,2494,1886,3373,0,0,0,0,0,0
$GC,644,-1.09,-77.9,79.5,-9.6,77,648,0.00,2.42,0.00,0.000,4,0.000,0.042,2496,466,3374,0,0,0,0,0,0
$GC,737,-1.18,-77.9,90.0,-10.8,86,743,0.17,2.25,0.00,0.000,6,0.051,0.019,2440,1879,3374,0,0,0,0,0,0
$GC,1002,-1.15,-77.9,120.1,-11.6,111,1007,0.10,2.45,0.00,0.000,4,0.108,0.044,2461,467,3374,0,0,0,0,0,0
$GC,1049,-1.15,-77.9,126.0,-10.6,115,1054,0.00,2.25,0.00,0.000,6,0.000,0.019,2461,1876,3375,0,0,0,0,0,0
$GC,1312,-1.22,-77.9,148.5,-8.4,140,1316,0.00,2.42,0.00,0.000,4,0.000,0.041,2460,461,3376,0,0,0,0,0,0
$GC,1369,-1.29,-77.9,153.3,-8.3,145,1375,0.12,2.25,0.00,0.000,6,0.062,0.019,2417,1883,3376,0,0,0,0,0,0
$GC,1632,-1.29,-77.9,179.4,-9.0,170,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1887,3376,0,0,0,0,0,0
$GC,1896,-1.29,-77.9,202.4,-8.1,194,1900,0.00,2.42,0.00,0.000,4,0.000,0.043,2415,469,3377,0,0,0,0,0,0
$GC,1970,-1.25,-77.9,209.4,-10.2,197,1975,0.12,2.22,0.00,0.000,6,0.096,0.020,2442,1876,3377,0,0,0,0,0,0
$GC,2293,-1.33,-77.9,232.5,-7.0,213,2297,0.00,2.40,0.00,0.000,4,0.000,0.043,2442,465,3377,0,0,0,0,0,0
$GC,2367,-1.40,-77.9,238.8,-8.1,216,2372,0.15,2.25,0.00,0.000,6,0.055,0.021,2392,1877,3377,0,0,0,0,0,0
$GC,2694,-1.40,-77.9,275.6,-12.6,232,2698,0.00,2.40,0.00,0.000,4,0.000,0.044,2393,467,3377,0,0,0,0,0,0
$GC,2767,-1.40,-77.9,285.8,-12.8,235,2772,0.00,2.25,0.00,0.000,6,0.000,0.021,2393,1881,3377,0,0,0,0,0,0
$GC,3106,-1.40,-77.9,315.4,-7.1,247,3110,0.00,2.42,0.00,0.000,4,0.000,0.045,2393,461,3376,0,0,0,0,0,0
$GC,3134,-1.35,-77.9,317.8,-8.5,247,3138,0.12,2.28,0.00,0.000,6,0.098,0.022,2419,1880,3376,0,0,0,0,0,0
$GC,3476,-1.43,-77.9,343.4,-9.1,256,3480,0.00,2.42,0.00,0.000,4,0.000,0.047,2419,465,3375,0,0,0,0,0,0
$GC,3584,-1.47,-77.9,355.5,-12.0,258,3589,0.12,2.30,0.00,0.000,6,0.064,0.024,2379,1883,3374,0,0,0,0,0,0
$GC,3936,-1.47,-77.9,397.2,-11.4,267,3940,0.00,2.47,0.00,0.000,4,0.000,0.049,2379,461,3372,0,0,0,0,0,0
$GC,3979,-1.43,-77.9,402.3,-11.4,268,3984,0.12,2.30,0.00,0.000,6,0.100,0.025,2404,1869,3372,0,0,0,0,0,0
$GC,4308,-1.48,-77.9,434.4,-10.0,276,4312,0.00,2.45,0.00,0.000,4,0.000,0.051,2404,462,3369,0,0,0,0,0,0
$GC,4332,-1.48,-77.9,437.0,-10.3,276,4336,0.00,2.30,0.00,0.000,6,0.000,0.026,2404,1874,3369,0,0,0,0,0,0
$STATE,4508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4509,begin apogee
$GC,4514,-0.31,0.0,452.0,8.4,281,4583,1.12,0.00,65.10,0.871,6,0.071,0.000,2647,2029,3050,0,0,0,0,0,0
$STATE,4584,end apogee,CONTROL_FINISHED_OK
$STATE,4584,begin climb
$GC,4586,1.40,77.9,452.9,0.0,282,4662,1.60,2.42,64.55,0.850,4,0.030,0.040,3025,3378,2731,0,0,0,0,0,0
$GC,4847,1.21,113.2,446.9,5.6,287,4884,0.25,2.38,30.23,0.832,6,0.110,0.035,2980,2002,2587,0,0,0,0,0,0
$GC,5225,1.12,136.7,422.3,6.4,297,5249,0.00,0.00,20.20,0.815,6,0.000,0.000,2980,2002,2492,0,0,0,0,0,0
$GC,5595,1.05,148.0,394.1,7.2,306,5608,0.20,0.00,10.65,0.759,6,0.109,0.000,2944,2000,2446,0,0,0,0,0,0
$GC,5919,1.10,186.3,375.9,5.4,314,5961,0.00,2.55,34.33,0.830,4,0.000,0.053,2942,612,2289,0,0,0,0,0,0
$GC,5996,1.05,186.3,370.4,8.9,315,6001,0.00,2.35,0.00,0.000,6,0.000,0.030,2944,1993,2285,0,0,0,0,0,0
$GC,6332,1.06,190.7,344.6,7.7,324,6341,0.00,2.50,4.07,0.529,4,0.000,0.052,2943,600,2272,0,0,0,0,0,0
$GC,6448,1.06,190.7,333.2,9.3,326,6453,0.00,2.40,0.00,0.000,6,0.000,0.030,2943,2018,2269,0,0,0,0,0,0
$GC,6789,1.10,190.7,303.6,9.6,335,6793,0.00,2.47,0.00,0.000,4,0.000,0.051,2943,606,2268,0,0,0,0,0,0
$GC,6921,1.10,190.7,288.4,11.4,339,6927,0.00,2.35,0.00,0.000,6,0.000,0.029,2944,2019,2266,0,0,0,0,0,0
$GC,7237,1.18,212.1,264.8,6.5,355,7260,0.12,0.00,19.92,0.747,6,0.077,0.000,2975,2024,2185,0,0,0,0,0,0
$GC,7566,1.18,212.1,235.4,10.5,371,7570,0.00,2.47,0.00,0.000,4,0.000,0.049,2975,603,2181,0,0,0,0,0,0
$GC,7719,1.14,212.1,217.2,12.0,377,7724,0.00,2.35,0.00,0.000,6,0.000,0.028,2975,2022,2178,0,0,0,0,0,0
$GC,8039,1.14,212.1,186.3,8.2,400,8043,0.00,2.45,0.00,0.000,4,0.000,0.048,2975,605,2178,0,0,0,0,0,0
$GC,8241,1.10,212.1,166.7,9.9,421,8247,0.10,2.30,0.00,0.000,6,0.123,0.025,2957,2015,2176,0,0,0,0,0,0
$GC,8504,1.17,212.1,146.8,8.1,446,8508,0.00,2.42,0.00,0.000,4,0.000,0.046,2957,605,2176,0,0,0,0,0,0
$GC,8560,1.20,212.1,141.3,10.1,451,8566,0.00,2.30,0.00,0.000,6,0.000,0.025,2957,2014,2176,0,0,0,0,0,0
$GC,8824,1.33,242.4,123.1,5.9,476,8859,0.20,2.55,26.67,0.628,4,0.056,0.045,3009,602,2060,0,0,0,0,0,0
$GC,8939,1.28,242.4,113.4,9.2,488,8944,0.00,2.33,0.00,0.000,6,0.000,0.023,3008,2017,2056,0,0,0,0,0,0
$GC,9201,1.28,242.4,90.1,10.7,513,9202,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2021,2056,0,0,0,0,0,0
$GC,9454,1.28,242.4,64.7,8.6,537,9458,0.00,2.45,0.00,0.000,4,0.000,0.042,3008,599,2056,0,0,0,0,0,0
$GC,9553,1.28,242.4,56.0,8.9,547,9557,0.00,2.30,0.00,0.000,6,0.000,0.021,3009,2014,2054,0,0,0,0,0,0
$GC,9816,1.38,299.2,40.9,4.1,571,9874,0.00,2.50,49.33,0.552,4,0.000,0.042,3009,601,1828,0,0,0,0,0,0
$GC,9941,1.38,299.2,30.4,11.0,585,9945,0.00,2.30,0.00,0.000,6,0.000,0.021,3008,2020,1824,0,0,0,0,0,0
$GC,10217,1.45,299.2,4.0,9.4,633,10223,0.10,2.45,0.00,0.000,4,0.076,0.044,3041,604,1824,0,0,0,0,0,0
$STATE,10227,end climb,SURFACE_DEPTH_REACHED
$STATE,10227,begin surface coast
$FINISH,0.5,1.010083
$STATE,10265,end surface coast,CONTROL_FINISHED_OK
$STATE,10265,begin surface
$SM_CCo,10348,0.00,0.000,0,0,1816,302.45
$SM_GC,1.40,11.27,0.00,0.00,0.026,0.000,0.000,430,1910,1816,-10.43,0.99,302.45
$IRIDIUM_FIX,2101.76,-15753.03,110999,181846
$TT8_MAMPS,0.028379
$HUMID,51.29
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.20
$XPDR_PINGS,10
$24V_AH,23.4,48.415
$10V_AH,10.0,44.805
$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,27.075,109.425,325.050,0.000,0.000,23.378,29.212,206.272,7.000,0.000,21.541,1228.190,7151.385,391.631,1479.516,473.589,33.385,1199.105,0.000,1439.314,0.000,29.246,0.000
$DEVICE_MAMPS,134.225,53.690,871.312,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,431.625,420.693,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34920,643
$CAP_FILE_SIZE,115937,0
$CFSIZE,260165632,226701312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180610,003537,2107.456,-15753.754,135,2.0,135,9.8