version: 66.06
glider: 139
mission: 7
dive: 550
start: 6 18 110 10 8 7
data:
$ID,139
$MISSION,7
$DIVE,550
$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,-2141778.2
$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
$GPS1,095743,2106.725,-15753.220,103,1.8,115,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.5
$GPS2,100716,2106.747,-15753.311,20,2.9,39,9.8
$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,-315656.0,217.1,-541.3,318779.6,-947.7
$KALMAN_Y,19689.4,-61.7,6.7,-19934.9,-40.9
$MHEAD_RNG_PITCHd_Wd,82.0,18039,-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,-77.9,0.0,0.0,0,67,0.00,0.00,-50.05,0.000,2,0.000,0.000,426,1864,3131,0,0,0,0,0,0
$GC,70,-1.40,-77.9,3.1,-4.8,10,91,10.60,0.00,-4.82,0.000,6,0.133,0.000,2401,1865,3367,0,0,0,0,0,0
$GC,289,-1.21,-77.9,43.8,-15.6,42,294,0.22,2.40,0.00,0.000,4,0.099,0.041,2446,468,3370,0,0,0,0,0,0
$GC,308,-1.05,-77.9,46.9,-15.1,43,314,0.17,2.30,0.00,0.000,6,0.102,0.019,2481,1916,3370,0,0,0,0,0,0
$GC,571,-1.09,-77.9,75.3,-10.4,68,575,0.00,2.47,0.00,0.000,4,0.000,0.043,2481,468,3371,0,0,0,0,0,0
$GC,613,-1.09,-77.9,80.0,-9.8,72,618,0.00,2.22,0.00,0.000,6,0.000,0.019,2481,1877,3371,0,0,0,0,0,0
$GC,876,-1.15,-77.9,103.3,-8.6,96,880,0.00,2.42,0.00,0.000,4,0.000,0.042,2481,466,3373,0,0,0,0,0,0
$GC,941,-1.20,-77.9,109.4,-9.1,102,947,0.12,2.25,0.00,0.000,6,0.063,0.019,2438,1879,3372,0,0,0,0,0,0
$GC,1204,-1.23,-77.9,134.5,-8.6,127,1209,0.00,2.42,0.00,0.000,4,0.000,0.041,2437,463,3373,0,0,0,0,0,0
$GC,1287,-1.23,-77.9,142.7,-10.0,135,1292,0.00,2.22,0.00,0.000,6,0.000,0.019,2438,1874,3374,0,0,0,0,0,0
$GC,1550,-1.28,-77.9,167.0,-9.8,160,1554,0.00,2.40,0.00,0.000,4,0.000,0.042,2437,460,3374,0,0,0,0,0,0
$GC,1605,-1.28,-77.9,173.0,-10.5,165,1610,0.00,2.25,0.00,0.000,6,0.000,0.019,2438,1873,3374,0,0,0,0,0,0
$GC,1868,-1.33,-77.9,197.0,-9.1,190,1872,0.00,2.40,0.00,0.000,4,0.000,0.042,2436,469,3374,0,0,0,0,0,0
$GC,1887,-1.33,-77.9,199.0,-9.0,192,1891,0.00,2.22,0.00,0.000,6,0.000,0.020,2437,1878,3375,0,0,0,0,0,0
$GC,2153,-1.39,-77.9,220.7,-8.3,205,2158,0.12,2.42,0.00,0.000,4,0.063,0.044,2394,461,3375,0,0,0,0,0,0
$GC,2211,-1.32,-77.9,227.2,-11.1,207,2216,0.15,2.25,0.00,0.000,6,0.094,0.020,2425,1871,3374,0,0,0,0,0,0
$GC,2527,-1.38,-77.9,253.4,-8.2,222,2532,0.00,2.42,0.00,0.000,4,0.000,0.043,2426,460,3375,0,0,0,0,0,0
$GC,2584,-1.42,-77.9,258.3,-8.5,224,2588,0.00,2.25,0.00,0.000,6,0.000,0.021,2424,1871,3374,0,0,0,0,0,0
$GC,2904,-1.50,-77.9,286.7,-8.3,240,2909,0.17,2.42,0.00,0.000,4,0.051,0.045,2373,460,3374,0,0,0,0,0,0
$GC,2985,-1.44,-77.9,296.3,-11.7,243,2990,0.12,2.25,0.00,0.000,6,0.100,0.022,2399,1871,3374,0,0,0,0,0,0
$GC,3317,-1.44,-77.9,328.6,-9.3,252,3321,0.00,2.42,0.00,0.000,4,0.000,0.045,2399,466,3373,0,0,0,0,0,0
$GC,3332,-1.44,-77.9,330.0,-9.1,252,3336,0.00,2.30,0.00,0.000,6,0.000,0.023,2399,1884,3373,0,0,0,0,0,0
$GC,3682,-1.47,-77.9,359.8,-8.6,261,3687,0.00,2.42,0.00,0.000,4,0.000,0.047,2399,466,3371,0,0,0,0,0,0
$GC,3730,-1.47,-77.9,364.6,-10.2,262,3734,0.00,2.28,0.00,0.000,6,0.000,0.024,2399,1877,3371,0,0,0,0,0,0
$GC,4058,-1.51,-77.9,395.3,-9.4,270,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1881,3369,0,0,0,0,0,0
$GC,4385,-1.56,-77.9,422.2,-8.0,278,4390,0.12,2.45,0.00,0.000,4,0.067,0.051,2363,471,3367,0,0,0,0,0,0
$GC,4485,-1.50,-77.9,432.4,-10.4,280,4490,0.12,2.28,0.00,0.000,6,0.103,0.027,2388,1873,3366,0,0,0,0,0,0
$STATE,4681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4681,begin apogee
$GC,4687,-0.31,0.0,450.5,9.1,285,4754,1.20,0.00,64.00,0.873,6,0.074,0.000,2645,2038,3050,0,0,0,0,0,0
$STATE,4755,end apogee,CONTROL_FINISHED_OK
$STATE,4755,begin climb
$GC,4757,1.40,77.9,451.6,0.0,286,4833,1.62,2.40,64.20,0.854,4,0.031,0.040,3026,3374,2731,0,0,0,0,0,0
$GC,4950,1.21,120.5,449.2,5.1,290,4992,0.25,2.35,36.12,0.841,6,0.107,0.034,2979,1999,2558,0,0,0,0,0,0
$GC,5306,1.10,125.4,423.3,7.7,299,5319,0.12,2.47,4.90,0.604,4,0.121,0.050,2956,605,2537,0,0,0,0,0,0
$GC,5379,1.00,146.1,418.4,6.6,300,5405,0.15,2.33,19.02,0.819,6,0.120,0.029,2932,2001,2453,0,0,0,0,0,0
$GC,5732,1.00,146.1,391.5,8.1,309,5736,0.00,2.45,0.00,0.000,4,0.000,0.051,2931,604,2448,0,0,0,0,0,0
$GC,5863,0.95,146.1,379.9,9.3,311,5869,0.00,2.38,0.00,0.000,6,0.000,0.030,2931,2015,2446,0,0,0,0,0,0
$GC,6194,0.96,149.3,352.2,7.8,320,6198,0.00,2.50,0.00,0.000,4,0.000,0.051,2930,601,2445,0,0,0,0,0,0
$GC,6398,0.98,169.3,338.0,6.6,324,6422,0.00,2.38,19.48,0.801,6,0.000,0.030,2931,2018,2359,0,0,0,0,0,0
$GC,6752,1.03,169.4,312.0,8.0,333,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2019,2355,0,0,0,0,0,0
$GC,7058,1.10,175.6,288.0,7.6,344,7071,0.10,2.55,6.18,0.637,4,0.086,0.051,2955,606,2333,0,0,0,0,0,0
$GC,7142,1.05,175.6,280.2,9.2,347,7147,0.00,2.38,0.00,0.000,6,0.000,0.029,2956,2017,2331,0,0,0,0,0,0
$GC,7458,1.06,183.9,258.9,7.5,362,7473,0.00,2.53,8.52,0.677,4,0.000,0.048,2955,602,2299,0,0,0,0,0,0
$GC,7530,1.03,188.1,253.0,7.7,365,7542,0.00,2.35,5.05,0.565,6,0.000,0.028,2956,2020,2283,0,0,0,0,0,0
$GC,7860,1.09,199.7,231.5,7.2,381,7877,0.00,2.55,12.02,0.691,4,0.000,0.050,2956,598,2234,0,0,0,0,0,0
$GC,8040,1.09,199.7,214.1,10.9,388,8044,0.00,2.35,0.00,0.000,6,0.000,0.028,2956,2015,2230,0,0,0,0,0,0
$GC,8367,1.14,201.9,186.3,7.9,411,8371,0.00,2.47,0.00,0.000,4,0.000,0.048,2957,602,2230,0,0,0,0,0,0
$GC,8437,1.14,201.9,179.6,9.5,418,8441,0.00,2.33,0.00,0.000,6,0.000,0.026,2957,2016,2229,0,0,0,0,0,0
$GC,8702,1.21,201.9,156.1,8.6,442,8706,0.00,2.47,0.00,0.000,4,0.000,0.046,2957,597,2229,0,0,0,0,0,0
$GC,8800,1.21,201.9,146.9,9.0,452,8804,0.00,2.35,0.00,0.000,6,0.000,0.025,2956,2021,2228,0,0,0,0,0,0
$GC,9063,1.29,215.3,128.6,7.1,476,9084,0.17,2.53,14.30,0.609,4,0.060,0.044,3002,605,2171,0,0,0,0,0,0
$GC,9260,1.22,215.3,108.9,10.0,497,9267,0.12,2.33,0.00,0.000,6,0.107,0.023,2979,2020,2168,0,0,0,0,0,0
$GC,9523,1.36,267.7,95.8,4.4,522,9572,0.12,0.00,46.50,0.604,6,0.068,0.000,3016,2025,1958,0,0,0,0,0,0
$GC,9826,1.36,267.7,68.1,11.0,551,9830,0.00,2.47,0.00,0.000,4,0.000,0.043,3015,597,1953,0,0,0,0,0,0
$GC,9841,1.36,267.7,66.3,10.8,552,9845,0.00,2.30,0.00,0.000,6,0.000,0.022,3015,2016,1952,0,0,0,0,0,0
$GC,10103,1.39,267.7,37.5,11.2,576,10107,0.00,2.45,0.00,0.000,4,0.000,0.043,3015,599,1951,0,0,0,0,0,0
$GC,10187,1.39,267.7,27.4,12.3,587,10192,0.00,2.28,0.00,0.000,6,0.000,0.021,3015,2012,1950,0,0,0,0,0,0
$GC,10397,1.44,281.6,7.7,7.1,624,10415,0.00,2.47,12.25,0.489,4,0.000,0.043,3015,599,1901,0,0,0,0,0,0
$STATE,10438,end climb,SURFACE_DEPTH_REACHED
$STATE,10438,begin surface coast
$FINISH,0.5,1.021218
$STATE,10473,end surface coast,CONTROL_FINISHED_OK
$STATE,10473,begin surface
$SM_CCo,10495,13.75,0.491,0,0,1826,300.00
$SM_GC,2.11,0.00,0.00,13.75,0.000,0.000,0.491,425,1899,1826,-10.53,0.71,300.00
$IRIDIUM_FIX,2059.45,-15750.89,120999,101011
$TT8_MAMPS,0.029146
$HUMID,52.59
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,23.4,48.775
$10V_AH,10.0,45.027
$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,27.000,118.875,312.550,13.750,0.000,46.839,55.258,261.166,4.500,0.000,40.703,1255.071,7276.429,393.162,1552.828,603.666,33.382,1229.899,0.000,1491.377,0.000,29.254,0.000
$DEVICE_MAMPS,133.458,51.389,872.846,490.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.442,422.163,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34878,640
$CAP_FILE_SIZE,125034,0
$CFSIZE,260165632,226451456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180610,130557,2106.514,-15752.714,103,2.6,122,9.8