version: 66.06
glider: 139
mission: 7
dive: 549
start: 6 18 110 6 58 6
data:
$ID,139
$MISSION,7
$DIVE,549
$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,-2141736.8
$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
$GPS1,064431,2106.669,-15753.222,72,1.9,72,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.5
$GPS2,065713,2106.720,-15753.447,17,1.7,17,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,0.006
$KALMAN_X,-314199.2,295.4,-246.7,316718.3,-2045.9
$KALMAN_Y,19710.9,-44.4,-13.7,-19999.1,-65.7
$MHEAD_RNG_PITCHd_Wd,78.4,18271,-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,-77.9,0.0,0.0,0,72,0.00,0.00,-55.33,0.000,2,0.000,0.000,428,1863,3282,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.6,-6.4,11,95,10.60,2.38,-1.75,0.000,4,0.134,0.048,2406,460,3371,0,0,0,0,0,0
$GC,116,-0.73,-77.9,16.1,-27.5,19,122,0.70,2.33,0.00,0.000,6,0.085,0.020,2550,1906,3372,0,0,0,0,0,0
$GC,329,-0.90,-77.9,35.7,-8.5,51,334,0.15,2.47,0.00,0.000,4,0.054,0.041,2501,469,3372,0,0,0,0,0,0
$GC,386,-0.97,-77.9,41.9,-10.3,56,392,0.00,2.25,0.00,0.000,6,0.000,0.019,2501,1892,3372,0,0,0,0,0,0
$GC,648,-1.05,-77.9,66.7,-9.7,81,653,0.00,2.42,0.00,0.000,4,0.000,0.042,2502,469,3373,0,0,0,0,0,0
$GC,701,-1.15,-77.9,72.2,-9.3,86,706,0.17,2.22,0.00,0.000,6,0.051,0.019,2446,1880,3374,0,0,0,0,0,0
$GC,961,-1.15,-77.9,102.9,-11.7,110,966,0.00,2.42,0.00,0.000,4,0.000,0.041,2445,466,3374,0,0,0,0,0,0
$GC,998,-1.15,-77.9,107.1,-10.6,113,1004,0.00,2.25,0.00,0.000,6,0.000,0.019,2446,1882,3375,0,0,0,0,0,0
$GC,1261,-1.19,-77.9,133.3,-10.0,138,1265,0.00,2.40,0.00,0.000,4,0.000,0.042,2445,468,3375,0,0,0,0,0,0
$GC,1354,-1.24,-77.9,144.2,-11.9,147,1360,0.00,2.25,0.00,0.000,6,0.000,0.019,2445,1878,3375,0,0,0,0,0,0
$GC,1619,-1.30,-77.9,168.3,-7.5,172,1623,0.00,2.40,0.00,0.000,4,0.000,0.041,2445,463,3376,0,0,0,0,0,0
$GC,1671,-1.34,-77.9,172.7,-8.4,177,1676,0.10,2.25,0.00,0.000,6,0.073,0.019,2407,1887,3376,0,0,0,0,0,0
$GC,1932,-1.34,-77.9,196.5,-9.6,201,1936,0.00,2.25,0.00,0.000,4,0.000,0.025,2407,3266,3376,0,0,0,0,0,0
$GC,1951,-1.34,-77.9,198.4,-9.9,202,1957,0.00,2.30,0.00,0.000,6,0.000,0.028,2407,1868,3376,0,0,0,0,0,0
$GC,2216,-1.34,-77.9,228.4,-12.2,216,2219,0.00,2.38,0.00,0.000,4,0.000,0.043,2406,471,3376,0,0,0,0,0,0
$GC,2240,-1.28,-77.9,231.3,-12.2,217,2245,0.15,2.25,0.00,0.000,6,0.092,0.020,2437,1882,3376,0,0,0,0,0,0
$GC,2574,-1.38,-77.9,260.5,-6.9,233,2579,0.12,2.45,0.00,0.000,4,0.063,0.044,2395,467,3376,0,0,0,0,0,0
$GC,2618,-1.34,-77.9,264.3,-8.0,235,2623,0.12,2.25,0.00,0.000,6,0.098,0.021,2420,1882,3376,0,0,0,0,0,0
$GC,2951,-1.40,-77.9,290.5,-8.7,251,2955,0.00,2.40,0.00,0.000,4,0.000,0.044,2422,473,3375,0,0,0,0,0,0
$GC,3034,-1.45,-77.9,298.6,-9.9,254,3040,0.10,2.22,0.00,0.000,6,0.074,0.022,2386,1871,3375,0,0,0,0,0,0
$GC,3345,-1.45,-77.9,330.3,-10.2,263,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1876,3373,0,0,0,0,0,0
$GC,3671,-1.45,-77.9,355.8,-7.5,271,3675,0.00,2.40,0.00,0.000,4,0.000,0.047,2386,473,3372,0,0,0,0,0,0
$GC,3768,-1.45,-77.9,363.8,-8.0,273,3772,0.00,2.25,0.00,0.000,6,0.000,0.025,2385,1871,3372,0,0,0,0,0,0
$GC,4086,-1.45,-77.9,386.5,-6.9,281,4090,0.00,2.42,0.00,0.000,4,0.000,0.048,2386,474,3369,0,0,0,0,0,0
$GC,4128,-1.42,-77.9,389.9,-8.1,281,4134,0.00,2.28,0.00,0.000,6,0.000,0.025,2386,1878,3369,0,0,0,0,0,0
$GC,4459,-1.42,-77.9,414.2,-7.5,290,4463,0.00,2.42,0.00,0.000,4,0.000,0.051,2386,476,3366,0,0,0,0,0,0
$GC,4542,-1.42,-77.9,423.5,-12.2,291,4548,0.00,2.28,0.00,0.000,6,0.000,0.027,2386,1875,3366,0,0,0,0,0,0
$STATE,4789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4789,begin apogee
$GC,4795,-0.31,0.0,452.3,11.8,298,4863,1.20,0.00,64.22,0.876,6,0.075,0.000,2642,2041,3050,0,0,0,0,0,0
$STATE,4864,end apogee,CONTROL_FINISHED_OK
$STATE,4864,begin climb
$GC,4867,1.40,77.9,454.6,0.0,299,4942,1.62,2.40,64.70,0.856,4,0.032,0.041,3023,3373,2732,0,0,0,0,0,0
$GC,5205,1.21,108.2,448.4,5.9,306,5239,0.22,2.35,26.10,0.839,6,0.110,0.035,2981,2009,2608,0,0,0,0,0,0
$GC,5558,1.10,123.5,424.1,7.0,315,5579,0.12,2.55,13.50,0.795,4,0.123,0.049,2958,602,2545,0,0,0,0,0,0
$GC,5594,1.00,134.9,421.5,7.2,315,5611,0.15,2.33,11.12,0.765,6,0.121,0.028,2933,1998,2499,0,0,0,0,0,0
$GC,5938,1.01,144.6,397.8,7.4,324,5954,0.00,2.53,9.57,0.751,4,0.000,0.052,2932,608,2459,0,0,0,0,0,0
$GC,6025,0.96,144.6,390.4,8.4,325,6031,0.00,2.35,0.00,0.000,6,0.000,0.030,2933,2011,2457,0,0,0,0,0,0
$GC,6356,1.00,174.6,369.8,6.0,334,6388,0.00,2.58,26.60,0.825,4,0.000,0.052,2932,609,2337,0,0,0,0,0,0
$GC,6422,1.00,174.6,364.9,8.9,335,6426,0.00,2.38,0.00,0.000,6,0.000,0.030,2933,2019,2334,0,0,0,0,0,0
$GC,6767,1.04,179.0,337.6,7.7,344,6778,0.00,2.53,4.62,0.578,4,0.000,0.051,2932,607,2319,0,0,0,0,0,0
$GC,6944,1.04,179.0,322.5,8.8,347,6950,0.00,2.38,0.00,0.000,6,0.000,0.030,2933,2019,2316,0,0,0,0,0,0
$GC,7276,1.10,181.7,297.6,7.8,356,7280,0.00,2.47,0.00,0.000,4,0.000,0.051,2932,605,2316,0,0,0,0,0,0
$GC,7319,1.10,181.7,293.6,9.1,358,7323,0.00,2.35,0.00,0.000,6,0.000,0.030,2933,2015,2315,0,0,0,0,0,0
$GC,7653,1.22,220.2,271.5,5.4,374,7696,0.20,2.60,37.22,0.775,4,0.062,0.051,2981,608,2151,0,0,0,0,0,0
$GC,7853,1.15,220.2,251.5,11.7,382,7859,0.00,2.35,0.00,0.000,6,0.000,0.028,2982,2015,2144,0,0,0,0,0,0
$GC,8168,1.15,220.2,219.7,10.3,398,8172,0.00,2.47,0.00,0.000,4,0.000,0.050,2982,605,2143,0,0,0,0,0,0
$GC,8229,1.10,220.2,212.5,12.1,400,8235,0.15,2.35,0.00,0.000,6,0.114,0.028,2955,2013,2141,0,0,0,0,0,0
$GC,8551,1.18,220.2,183.4,8.4,424,8555,0.00,2.47,0.00,0.000,4,0.000,0.048,2955,603,2142,0,0,0,0,0,0
$GC,8640,1.20,232.8,176.0,7.2,433,8659,0.00,2.35,10.85,0.632,6,0.000,0.026,2955,2022,2100,0,0,0,0,0,0
$GC,8914,1.29,245.2,157.3,7.2,459,8933,0.17,2.53,12.55,0.622,4,0.061,0.046,3000,598,2049,0,0,0,0,0,0
$GC,8995,1.23,245.2,149.0,11.4,467,9001,0.00,2.35,0.00,0.000,6,0.000,0.025,3000,2007,2045,0,0,0,0,0,0
$GC,9258,1.23,245.2,123.7,9.3,492,9262,0.00,2.45,0.00,0.000,4,0.000,0.045,3000,602,2045,0,0,0,0,0,0
$GC,9388,1.23,245.2,111.0,10.6,505,9394,0.00,2.33,0.00,0.000,6,0.000,0.024,3000,2021,2043,0,0,0,0,0,0
$GC,9652,1.28,250.5,91.7,7.7,530,9662,0.00,2.47,5.47,0.469,4,0.000,0.042,3000,601,2028,0,0,0,0,0,0
$GC,9673,1.28,255.9,89.7,7.7,532,9686,0.00,2.30,6.57,0.494,6,0.000,0.023,2999,2030,2005,0,0,0,0,0,0
$GC,9947,1.33,258.4,67.9,7.9,558,9957,0.00,2.50,3.95,0.382,4,0.000,0.044,3000,598,1995,0,0,0,0,0,0
$GC,10036,1.33,258.4,60.3,9.4,567,10042,0.00,2.28,0.00,0.000,6,0.000,0.021,2999,2010,1994,0,0,0,0,0,0
$GC,10299,1.44,288.6,36.3,5.9,592,10335,0.12,2.47,27.50,0.544,4,0.066,0.043,3038,599,1873,0,0,0,0,0,0
$GC,10537,1.35,288.6,7.3,15.2,634,10543,0.15,2.30,0.00,0.000,6,0.098,0.021,3010,2014,1868,0,0,0,0,0,0
$STATE,10570,end climb,SURFACE_DEPTH_REACHED
$STATE,10570,begin surface coast
$FINISH,0.7,1.023402
$STATE,10594,end surface coast,CONTROL_FINISHED_OK
$STATE,10594,begin surface
$SM_CCo,10614,8.80,0.462,0,0,1827,300.00
$SM_GC,2.85,0.00,0.00,8.80,0.000,0.000,0.462,427,1864,1827,-10.52,-0.31,300.00
$IRIDIUM_FIX,2059.45,-15756.04,120999,060633
$TT8_MAMPS,0.029146
$HUMID,51.81
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,23.4,48.685
$10V_AH,10.0,44.971
$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,27.575,128.800,324.575,8.800,0.000,87.488,89.042,332.115,4.750,0.000,18.776,1255.609,7416.764,406.588,1554.427,753.534,33.382,1268.118,0.000,1509.450,0.000,29.254,0.000
$DEVICE_MAMPS,134.225,56.758,875.914,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,431.909,414.241,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,34947,644
$CAP_FILE_SIZE,131580,0
$CFSIZE,260165632,226504704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180610,095743,2106.725,-15753.220,103,1.8,115,9.8