version: 66.06
glider: 139
mission: 7
dive: 551
start: 6 18 110 13 17 43
data:
$ID,139
$MISSION,7
$DIVE,551
$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,-2141816
$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
$GPS1,130557,2106.514,-15752.714,103,2.6,122,9.8
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.8
$GPS2,131652,2106.473,-15752.784,15,3.1,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,0.010
$KALMAN_X,-317345.4,-42.1,258.6,320841.3,-1544.4
$KALMAN_Y,19350.0,-111.1,-42.6,-20000.4,-144.0
$MHEAD_RNG_PITCHd_Wd,77.2,17090,-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,-50.12,0.000,2,0.000,0.000,424,1899,3146,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.3,-5.6,10,94,10.68,2.50,-4.43,0.000,4,0.137,0.051,2403,468,3369,0,0,0,0,0,0
$GC,153,-1.21,-77.9,22.6,-17.8,27,159,0.22,2.33,0.00,0.000,6,0.099,0.020,2448,1899,3371,0,0,0,0,0,0
$GC,356,-1.15,-77.9,48.4,-11.8,50,357,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1903,3371,0,0,0,0,0,0
$GC,608,-1.11,-77.9,78.1,-10.7,74,613,0.12,2.47,0.00,0.000,4,0.105,0.044,2473,464,3372,0,0,0,0,0,0
$GC,680,-1.14,-77.9,85.9,-10.4,81,684,0.00,2.25,0.00,0.000,6,0.000,0.019,2473,1889,3372,0,0,0,0,0,0
$GC,943,-1.23,-77.9,108.4,-7.5,105,945,0.12,0.00,0.00,0.000,6,0.063,0.000,2429,1895,3373,0,0,0,0,0,0
$GC,1197,-1.23,-77.9,131.0,-10.7,129,1201,0.00,2.42,0.00,0.000,4,0.000,0.042,2428,466,3374,0,0,0,0,0,0
$GC,1348,-1.23,-77.9,149.9,-11.6,145,1353,0.00,2.22,0.00,0.000,6,0.000,0.019,2428,1876,3374,0,0,0,0,0,0
$GC,1611,-1.27,-77.9,175.7,-8.9,170,1615,0.00,2.40,0.00,0.000,4,0.000,0.042,2428,464,3375,0,0,0,0,0,0
$GC,1671,-1.27,-77.9,182.0,-10.1,176,1676,0.00,2.22,0.00,0.000,6,0.000,0.020,2427,1877,3375,0,0,0,0,0,0
$GC,1935,-1.31,-77.9,204.3,-8.5,198,1939,0.00,2.40,0.00,0.000,4,0.000,0.042,2426,463,3375,0,0,0,0,0,0
$GC,1981,-1.31,-77.9,209.3,-10.4,200,1985,0.00,2.22,0.00,0.000,6,0.000,0.021,2427,1872,3375,0,0,0,0,0,0
$GC,2308,-1.37,-77.9,240.8,-8.7,216,2312,0.00,2.42,0.00,0.000,4,0.000,0.045,2427,466,3375,0,0,0,0,0,0
$GC,2382,-1.37,-77.9,249.7,-11.1,219,2386,0.00,2.25,0.00,0.000,6,0.000,0.021,2425,1870,3375,0,0,0,0,0,0
$GC,2704,-1.46,-77.9,276.5,-7.3,235,2709,0.15,2.40,0.00,0.000,4,0.055,0.044,2379,467,3375,0,0,0,0,0,0
$GC,2757,-1.41,-77.9,281.2,-8.2,237,2762,0.12,2.25,0.00,0.000,6,0.100,0.021,2404,1881,3375,0,0,0,0,0,0
$GC,3097,-1.46,-77.9,311.2,-9.2,251,3101,0.00,2.42,0.00,0.000,4,0.000,0.046,2405,466,3374,0,0,0,0,0,0
$GC,3253,-1.46,-77.9,326.7,-10.2,254,3257,0.00,2.25,0.00,0.000,6,0.000,0.023,2405,1870,3373,0,0,0,0,0,0
$GC,3599,-1.50,-77.9,356.0,-8.9,263,3603,0.00,2.42,0.00,0.000,4,0.000,0.048,2405,470,3372,0,0,0,0,0,0
$GC,3672,-1.50,-77.9,363.5,-10.4,264,3676,0.00,2.28,0.00,0.000,6,0.000,0.025,2405,1881,3371,0,0,0,0,0,0
$GC,4008,-1.54,-77.9,394.6,-9.3,273,4013,0.12,2.45,0.00,0.000,4,0.067,0.050,2367,471,3369,0,0,0,0,0,0
$GC,4069,-1.48,-77.9,401.7,-11.5,274,4074,0.10,2.28,0.00,0.000,6,0.109,0.026,2389,1872,3369,0,0,0,0,0,0
$GC,4421,-1.48,-77.9,435.6,-9.4,283,4425,0.00,2.45,0.00,0.000,4,0.000,0.051,2389,471,3366,0,0,0,0,0,0
$GC,4460,-1.48,-77.9,439.4,-10.3,283,4465,0.00,2.30,0.00,0.000,6,0.000,0.027,2389,1871,3366,0,0,0,0,0,0
$STATE,4585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4585,begin apogee
$GC,4591,-0.31,0.0,451.3,9.3,287,4659,1.20,0.00,64.03,0.867,6,0.073,0.000,2646,2036,3050,0,0,0,0,0,0
$STATE,4659,end apogee,CONTROL_FINISHED_OK
$STATE,4659,begin climb
$GC,4662,1.40,77.9,452.6,0.0,288,4737,1.60,2.42,64.22,0.846,4,0.031,0.040,3022,3385,2732,0,0,0,0,0,0
$GC,5002,1.21,106.8,441.5,6.0,295,5035,0.22,2.35,24.73,0.823,6,0.112,0.035,2981,2007,2614,0,0,0,0,0,0
$GC,5354,1.11,116.9,416.8,7.3,304,5371,0.15,2.47,9.38,0.740,4,0.121,0.038,2941,3387,2572,0,0,0,0,0,0
$GC,5454,1.08,135.7,409.9,6.7,306,5479,0.00,2.35,17.20,0.798,6,0.000,0.035,2955,2012,2496,0,0,0,0,0,0
$GC,5816,1.05,136.8,381.3,7.9,315,5820,0.00,2.38,0.00,0.000,4,0.000,0.038,2951,3384,2491,0,0,0,0,0,0
$GC,5840,1.01,136.8,379.2,8.3,315,5844,0.00,2.38,0.00,0.000,6,0.000,0.036,2955,2009,2491,0,0,0,0,0,0
$GC,6180,1.05,163.3,356.4,6.2,324,6209,0.00,2.53,24.05,0.807,4,0.000,0.051,2954,605,2383,0,0,0,0,0,0
$GC,6339,0.97,163.3,343.7,9.3,327,6344,0.15,2.33,0.00,0.000,6,0.119,0.029,2928,1990,2377,0,0,0,0,0,0
$GC,6680,1.04,172.6,317.7,7.4,336,6691,0.00,0.00,8.52,0.707,6,0.000,0.000,2928,1995,2346,0,0,0,0,0,0
$GC,6986,1.13,186.3,295.3,7.1,345,7009,0.15,2.53,13.38,0.743,4,0.071,0.050,2964,606,2289,0,0,0,0,0,0
$GC,7116,1.06,186.3,282.7,10.1,350,7120,0.00,2.38,0.00,0.000,6,0.000,0.029,2963,2013,2285,0,0,0,0,0,0
$GC,7432,1.06,186.3,254.4,8.6,365,7436,0.00,2.45,0.00,0.000,4,0.000,0.049,2963,604,2285,0,0,0,0,0,0
$GC,7501,1.02,186.3,248.4,8.2,368,7506,0.15,2.35,0.00,0.000,6,0.118,0.028,2937,2015,2283,0,0,0,0,0,0
$GC,7829,1.14,218.1,228.4,5.8,384,7865,0.12,2.53,28.52,0.726,4,0.076,0.048,2969,599,2159,0,0,0,0,0,0
$GC,8042,1.14,218.1,207.2,11.0,393,8046,0.00,2.35,0.00,0.000,6,0.000,0.027,2969,2020,2153,0,0,0,0,0,0
$GC,8369,1.15,227.5,177.8,7.4,420,8386,0.00,2.50,8.55,0.601,4,0.000,0.046,2969,598,2122,0,0,0,0,0,0
$GC,8576,1.15,227.5,158.7,11.1,442,8582,0.00,2.33,0.00,0.000,6,0.000,0.025,2969,2014,2119,0,0,0,0,0,0
$GC,8839,1.20,230.1,136.3,7.8,467,8843,0.00,2.45,0.00,0.000,4,0.000,0.045,2969,600,2119,0,0,0,0,0,0
$GC,8938,1.21,234.3,128.4,7.7,477,8950,0.00,2.30,7.22,0.542,6,0.000,0.024,2969,2020,2093,0,0,0,0,0,0
$GC,9212,1.31,243.9,108.7,7.4,503,9230,0.12,2.50,10.12,0.559,4,0.069,0.044,3005,608,2054,0,0,0,0,0,0
$GC,9328,1.27,243.9,97.9,10.4,515,9334,0.00,2.30,0.00,0.000,6,0.000,0.023,3005,2007,2052,0,0,0,0,0,0
$GC,9591,1.31,246.4,77.5,7.8,540,9592,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2012,2052,0,0,0,0,0,0
$GC,9844,1.37,256.4,57.7,7.3,564,9862,0.00,2.47,12.07,0.528,4,0.000,0.044,3005,599,2004,0,0,0,0,0,0
$GC,9923,1.37,256.4,51.0,8.8,572,9929,0.00,2.30,0.00,0.000,6,0.000,0.021,3005,2022,2001,0,0,0,0,0,0
$GC,10186,1.42,257.5,31.4,7.9,597,10190,0.00,2.25,0.00,0.000,4,0.000,0.028,3005,3393,2001,0,0,0,0,0,0
$GC,10215,1.48,257.5,28.8,8.2,601,10222,0.15,2.30,0.00,0.000,6,0.059,0.028,3050,2006,2001,0,0,0,0,0,0
$GC,10424,1.43,257.5,10.6,10.0,638,10430,0.12,0.00,0.00,0.000,6,0.104,0.000,3025,2006,2001,0,0,0,0,0,0
$STATE,10506,end climb,SURFACE_DEPTH_REACHED
$STATE,10507,begin surface coast
$FINISH,0.7,1.023291
$STATE,10543,end surface coast,CONTROL_FINISHED_OK
$STATE,10543,begin surface
$SM_CCo,10564,24.23,0.502,0,0,1826,300.00
$SM_GC,1.03,0.00,0.00,24.23,0.000,0.000,0.502,425,1859,1826,-10.53,-0.45,300.00
$IRIDIUM_FIX,2059.45,-15750.89,120999,131339
$TT8_MAMPS,0.029913
$HUMID,51.92
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,48.869
$10V_AH,10.0,45.085
$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,26.900,109.500,292.000,24.225,0.000,56.941,76.168,314.681,4.500,0.000,36.904,1279.087,7276.318,386.902,1618.579,681.077,33.379,1248.882,0.000,1555.784,0.000,29.251,0.000
$DEVICE_MAMPS,136.526,56.758,866.710,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.568,430.315,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,34883,659
$CAP_FILE_SIZE,126889,0
$CFSIZE,260165632,226390016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180610,161627,2106.648,-15752.533,78,6.1,97,9.8