version: 66.06
glider: 139
mission: 7
dive: 548
start: 6 18 110 3 45 24
data:
$ID,139
$MISSION,7
$DIVE,548
$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,-2141717.2
$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
$GPS1,033904,2106.994,-15753.084,62,2.1,81,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-69.4
$GPS2,034432,2106.972,-15753.135,11,2.0,11,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.182,-0.023
$KALMAN_X,-312316.8,203.5,545.5,314671.5,-2130.6
$KALMAN_Y,19990.6,-33.2,-98.1,-19737.4,273.5
$MHEAD_RNG_PITCHd_Wd,87.5,17782,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.40,-77.9,0.0,0.0,0,70,0.00,0.00,-50.78,0.000,2,0.000,0.000,424,1860,3146,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.4,-5.5,10,97,10.62,2.45,-4.45,0.000,4,0.135,0.056,2405,466,3370,0,0,0,0,0,0
$GC,131,-1.17,-77.9,18.2,-18.7,22,138,0.25,2.33,0.00,0.000,6,0.096,0.020,2455,1919,3371,0,0,0,0,0,0
$GC,335,-1.13,-77.9,46.3,-13.1,48,340,0.00,2.53,0.00,0.000,4,0.000,0.043,2455,461,3372,0,0,0,0,0,0
$GC,383,-1.04,-77.9,53.4,-14.2,52,389,0.15,2.25,0.00,0.000,6,0.096,0.020,2485,1872,3372,0,0,0,0,0,0
$GC,645,-1.12,-77.9,81.3,-10.3,77,650,0.00,2.40,0.00,0.000,4,0.000,0.042,2486,465,3374,0,0,0,0,0,0
$GC,689,-1.19,-77.9,85.8,-10.1,81,694,0.15,2.28,0.00,0.000,6,0.057,0.019,2436,1885,3374,0,0,0,0,0,0
$GC,949,-1.19,-77.9,113.3,-9.6,105,954,0.00,2.45,0.00,0.000,4,0.000,0.042,2436,460,3375,0,0,0,0,0,0
$GC,1011,-1.19,-77.9,119.0,-8.6,111,1015,0.00,2.25,0.00,0.000,6,0.000,0.019,2436,1879,3376,0,0,0,0,0,0
$GC,1272,-1.23,-77.9,142.5,-10.1,135,1276,0.00,2.25,0.00,0.000,4,0.000,0.025,2437,3261,3377,0,0,0,0,0,0
$GC,1287,-1.29,-77.9,143.9,-9.2,136,1291,0.00,2.30,0.00,0.000,6,0.000,0.026,2438,1867,3376,0,0,0,0,0,0
$GC,1554,-1.34,-77.9,170.4,-9.9,161,1558,0.00,2.35,0.00,0.000,4,0.000,0.042,2436,473,3376,0,0,0,0,0,0
$GC,1632,-1.34,-77.9,178.7,-9.7,169,1638,0.00,2.25,0.00,0.000,6,0.000,0.019,2435,1889,3377,0,0,0,0,0,0
$GC,1896,-1.40,-77.9,199.8,-7.4,194,1901,0.12,2.42,0.00,0.000,4,0.062,0.042,2394,473,3377,0,0,0,0,0,0
$GC,1932,-1.32,-77.9,203.3,-10.2,196,1936,0.15,2.22,0.00,0.000,6,0.091,0.020,2425,1877,3377,0,0,0,0,0,0
$GC,2255,-1.37,-77.9,232.4,-9.5,212,2259,0.00,2.40,0.00,0.000,4,0.000,0.043,2426,474,3378,0,0,0,0,0,0
$GC,2287,-1.37,-77.9,236.1,-10.3,213,2291,0.00,2.25,0.00,0.000,6,0.000,0.021,2424,1880,3377,0,0,0,0,0,0
$GC,2605,-1.44,-77.9,262.8,-7.9,228,2610,0.12,2.42,0.00,0.000,4,0.064,0.044,2383,474,3377,0,0,0,0,0,0
$GC,2696,-1.39,-77.9,272.0,-10.0,232,2701,0.12,2.22,0.00,0.000,6,0.099,0.021,2409,1874,3377,0,0,0,0,0,0
$GC,3029,-1.43,-77.9,300.9,-8.6,248,3033,0.00,2.40,0.00,0.000,4,0.000,0.045,2409,474,3377,0,0,0,0,0,0
$GC,3061,-1.43,-77.9,304.0,-8.7,248,3065,0.00,2.25,0.00,0.000,6,0.000,0.022,2409,1873,3377,0,0,0,0,0,0
$GC,3397,-1.48,-77.9,328.9,-7.3,257,3401,0.00,2.42,0.00,0.000,4,0.000,0.047,2410,468,3376,0,0,0,0,0,0
$GC,3453,-1.48,-77.9,333.8,-8.1,258,3457,0.00,2.25,0.00,0.000,6,0.000,0.023,2410,1869,3375,0,0,0,0,0,0
$GC,3771,-1.54,-77.9,358.9,-8.2,266,3776,0.15,2.42,0.00,0.000,4,0.058,0.048,2365,469,3374,0,0,0,0,0,0
$GC,3880,-1.46,-77.9,371.2,-11.9,268,3885,0.15,2.30,0.00,0.000,6,0.095,0.024,2396,1878,3374,0,0,0,0,0,0
$GC,4232,-1.49,-77.9,403.4,-8.2,277,4236,0.00,2.45,0.00,0.000,4,0.000,0.049,2396,471,3371,0,0,0,0,0,0
$GC,4256,-1.49,-77.9,405.5,-8.6,277,4260,0.00,2.28,0.00,0.000,6,0.000,0.025,2396,1878,3371,0,0,0,0,0,0
$GC,4596,-1.53,-77.9,425.9,-5.6,286,4600,0.00,2.42,0.00,0.000,4,0.000,0.050,2396,477,3369,0,0,0,0,0,0
$GC,4687,-1.53,-77.9,433.3,-8.7,288,4691,0.00,2.30,0.00,0.000,6,0.000,0.027,2396,1871,3368,0,0,0,0,0,0
$STATE,4892,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4892,begin apogee
$GC,4898,-0.31,0.0,450.0,8.1,293,4966,1.17,0.00,65.10,0.874,6,0.074,0.000,2648,2037,3050,0,0,0,0,0,0
$STATE,4967,end apogee,CONTROL_FINISHED_OK
$STATE,4967,begin climb
$GC,4969,1.40,77.9,451.1,0.0,294,5045,1.60,2.40,64.65,0.854,4,0.031,0.041,3024,3373,2731,0,0,0,0,0,0
$GC,5093,1.27,157.5,451.1,2.6,297,5169,0.17,2.33,68.00,0.851,6,0.117,0.033,2992,2012,2407,0,0,0,0,0,0
$GC,5515,1.15,157.5,414.2,9.6,308,5520,0.12,2.35,0.00,0.000,4,0.125,0.038,2962,3380,2398,0,0,0,0,0,0
$GC,5539,1.11,157.5,411.9,9.8,308,5543,0.00,2.38,0.00,0.000,6,0.000,0.037,2970,2012,2397,0,0,0,0,0,0
$GC,5880,1.07,171.3,387.0,7.1,317,5897,0.12,2.55,10.90,0.759,4,0.120,0.053,2948,597,2351,0,0,0,0,0,0
$GC,5976,1.02,171.3,377.3,10.7,319,5980,0.00,2.33,0.00,0.000,6,0.000,0.029,2948,1987,2348,0,0,0,0,0,0
$GC,6299,1.02,171.3,348.2,9.1,327,6303,0.00,2.45,0.00,0.000,4,0.000,0.051,2948,602,2346,0,0,0,0,0,0
$GC,6364,0.96,171.3,341.8,10.2,328,6369,0.12,2.38,0.00,0.000,6,0.121,0.030,2926,2012,2345,0,0,0,0,0,0
$GC,6710,1.03,171.3,311.3,9.0,337,6714,0.00,2.50,0.00,0.000,4,0.000,0.051,2926,598,2344,0,0,0,0,0,0
$GC,6978,1.05,189.2,291.9,6.8,344,6999,0.00,2.38,15.85,0.755,6,0.000,0.029,2926,2018,2278,0,0,0,0,0,0
$GC,7312,1.14,195.1,270.4,7.6,360,7325,0.17,2.55,6.20,0.617,4,0.065,0.051,2968,604,2254,0,0,0,0,0,0
$GC,7585,1.10,199.7,245.6,7.7,371,7597,0.00,2.33,5.00,0.555,6,0.000,0.028,2968,2012,2236,0,0,0,0,0,0
$GC,7924,1.11,207.2,221.2,7.5,388,7934,0.00,0.00,8.70,0.646,6,0.000,0.000,2968,2012,2205,0,0,0,0,0,0
$GC,8232,1.15,214.2,197.9,7.5,404,8245,0.00,2.53,7.75,0.610,4,0.000,0.048,2968,604,2175,0,0,0,0,0,0
$GC,8372,1.15,214.2,185.5,9.4,419,8376,0.00,2.33,0.00,0.000,6,0.000,0.025,2968,2011,2172,0,0,0,0,0,0
$GC,8639,1.22,234.4,163.7,6.6,444,8665,0.00,2.55,18.80,0.654,4,0.000,0.047,2968,603,2093,0,0,0,0,0,0
$GC,8769,1.22,234.4,153.8,9.3,458,8773,0.00,2.33,0.00,0.000,6,0.000,0.025,2968,2020,2090,0,0,0,0,0,0
$GC,9032,1.30,248.6,133.4,7.0,482,9053,0.12,2.55,13.62,0.604,4,0.071,0.045,3004,601,2035,0,0,0,0,0,0
$GC,9063,1.25,248.6,130.7,8.3,485,9068,0.00,2.35,0.00,0.000,6,0.000,0.024,3004,2018,2034,0,0,0,0,0,0
$GC,9325,1.25,248.6,107.8,9.2,510,9329,0.00,2.47,0.00,0.000,4,0.000,0.044,3003,591,2033,0,0,0,0,0,0
$GC,9441,1.25,248.6,96.7,9.1,522,9445,0.00,2.33,0.00,0.000,6,0.000,0.022,3003,2011,2031,0,0,0,0,0,0
$GC,9704,1.31,258.2,78.7,7.4,546,9722,0.00,2.53,9.65,0.527,4,0.000,0.043,3004,599,1995,0,0,0,0,0,0
$GC,9894,1.31,258.2,57.8,9.2,566,9899,0.00,2.30,0.00,0.000,6,0.000,0.021,3004,2017,1993,0,0,0,0,0,0
$GC,10157,1.38,268.9,38.8,7.3,591,10175,0.00,2.50,10.75,0.502,4,0.000,0.043,3004,604,1952,0,0,0,0,0,0
$GC,10399,1.40,289.0,15.4,6.6,632,10423,0.00,2.25,18.55,0.511,6,0.000,0.021,3003,2012,1871,0,0,0,0,0,0
$STATE,10573,end climb,SURFACE_DEPTH_REACHED
$STATE,10573,begin surface coast
$FINISH,0.5,1.015689
$STATE,10608,end surface coast,CONTROL_FINISHED_OK
$STATE,10608,begin surface
$SM_CCo,10629,7.57,0.442,0,0,1827,300.00
$SM_GC,2.42,0.00,0.00,7.57,0.000,0.000,0.442,429,1863,1827,-10.51,-0.34,300.00
$IRIDIUM_FIX,2101.76,-15756.04,120999,000016
$TT8_MAMPS,0.03068
$HUMID,51.02
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,23.4,48.585
$10V_AH,10.0,44.915
$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,26.800,123.850,323.525,7.575,0.000,27.762,28.494,160.321,4.750,0.000,11.684,1295.971,7222.084,391.956,1599.953,455.487,33.390,1271.213,0.000,1565.032,0.000,30.755,0.000
$DEVICE_MAMPS,134.992,55.991,874.380,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,450.256,443.130,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34891,670
$CAP_FILE_SIZE,124886,0
$CFSIZE,260165632,226574336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180610,064431,2106.669,-15753.222,72,1.9,72,9.8