version: 66.06
glider: 139
mission: 7
dive: 552
start: 6 18 110 16 23 13
data:
$ID,139
$MISSION,7
$DIVE,552
$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,-2141854.5
$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
$GPS1,161627,2106.648,-15752.533,78,6.1,97,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.9
$GPS2,162222,2106.699,-15752.611,17,5.7,36,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,-0.007
$KALMAN_X,-319086.1,-299.2,494.2,322901.0,-2538.5
$KALMAN_Y,19527.2,-33.3,7.0,-19893.5,129.8
$MHEAD_RNG_PITCHd_Wd,82.5,16829,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,74,0.00,0.00,-55.65,0.000,2,0.000,0.000,425,1859,3291,0,0,0,0,0,0
$GC,77,-1.40,-77.9,3.8,-6.3,11,97,10.62,2.40,-1.52,0.000,4,0.134,0.052,2405,457,3370,0,0,0,0,0,0
$GC,137,-1.15,-77.9,20.9,-20.9,23,144,0.28,2.33,0.00,0.000,6,0.091,0.021,2460,1900,3371,0,0,0,0,0,0
$GC,340,-1.09,-77.9,50.2,-14.4,47,341,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1905,3372,0,0,0,0,0,0
$GC,594,-1.09,-77.9,83.0,-12.4,71,598,0.00,2.45,0.00,0.000,4,0.000,0.041,2460,463,3372,0,0,0,0,0,0
$GC,654,-1.09,-77.9,91.2,-12.9,77,658,0.00,2.28,0.00,0.000,6,0.000,0.019,2460,1887,3373,0,0,0,0,0,0
$GC,922,-1.14,-77.9,116.5,-7.9,102,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1893,3374,0,0,0,0,0,0
$GC,1176,-1.23,-77.9,136.6,-7.4,126,1180,0.00,2.42,0.00,0.000,4,0.000,0.042,2460,460,3374,0,0,0,0,0,0
$GC,1260,-1.30,-77.9,144.2,-8.7,134,1266,0.12,2.28,0.00,0.000,6,0.063,0.019,2415,1888,3375,0,0,0,0,0,0
$GC,1520,-1.30,-77.9,173.8,-11.2,159,1525,0.00,2.42,0.00,0.000,4,0.000,0.041,2416,468,3376,0,0,0,0,0,0
$GC,1567,-1.27,-77.9,179.2,-12.0,163,1574,0.10,2.25,0.00,0.000,6,0.107,0.019,2436,1879,3376,0,0,0,0,0,0
$GC,1829,-1.33,-77.9,198.4,-5.3,188,1833,0.00,2.40,0.00,0.000,4,0.000,0.042,2437,464,3376,0,0,0,0,0,0
$GC,1848,-1.36,-77.9,199.6,-5.9,189,1854,0.00,2.22,0.00,0.000,6,0.000,0.020,2434,1878,3376,0,0,0,0,0,0
$GC,2113,-1.43,-77.9,216.9,-7.5,203,2118,0.15,2.42,0.00,0.000,4,0.055,0.044,2389,461,3376,0,0,0,0,0,0
$GC,2157,-1.35,-77.9,222.0,-12.2,205,2162,0.17,2.25,0.00,0.000,6,0.088,0.021,2421,1878,3376,0,0,0,0,0,0
$GC,2490,-1.42,-77.9,256.9,-9.4,221,2494,0.00,2.42,0.00,0.000,4,0.000,0.044,2425,466,3376,0,0,0,0,0,0
$GC,2550,-1.47,-77.9,263.3,-9.4,223,2557,0.12,2.25,0.00,0.000,6,0.063,0.021,2381,1882,3376,0,0,0,0,0,0
$GC,2865,-1.47,-77.9,291.0,-8.3,239,2867,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1885,3376,0,0,0,0,0,0
$GC,3192,-1.47,-77.9,318.8,-8.2,250,3196,0.00,2.45,0.00,0.000,4,0.000,0.047,2383,465,3374,0,0,0,0,0,0
$GC,3321,-1.43,-77.9,329.6,-9.4,252,3327,0.00,2.25,0.00,0.000,6,0.000,0.023,2383,1869,3374,0,0,0,0,0,0
$GC,3652,-1.43,-77.9,359.7,-9.8,261,3656,0.00,2.42,0.00,0.000,4,0.000,0.048,2384,469,3372,0,0,0,0,0,0
$GC,3704,-1.39,-77.9,365.5,-11.5,262,3709,0.12,2.30,0.00,0.000,6,0.100,0.025,2409,1880,3372,0,0,0,0,0,0
$GC,4029,-1.45,-77.9,394.4,-8.7,270,4033,0.00,2.45,0.00,0.000,4,0.000,0.049,2409,461,3370,0,0,0,0,0,0
$GC,4080,-1.45,-77.9,399.2,-8.9,271,4084,0.00,2.33,0.00,0.000,6,0.000,0.026,2409,1881,3370,0,0,0,0,0,0
$GC,4401,-1.51,-77.9,422.5,-6.8,279,4405,0.10,2.47,0.00,0.000,4,0.077,0.052,2377,463,3368,0,0,0,0,0,0
$GC,4480,-1.47,-77.9,429.8,-8.8,280,4484,0.00,2.33,0.00,0.000,6,0.000,0.027,2377,1872,3367,0,0,0,0,0,0
$STATE,4727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4727,begin apogee
$GC,4734,-0.31,0.0,452.6,9.2,286,4802,1.25,0.00,64.18,0.876,6,0.074,0.000,2644,2035,3050,0,0,0,0,0,0
$STATE,4802,end apogee,CONTROL_FINISHED_OK
$STATE,4803,begin climb
$GC,4805,1.40,77.9,454.3,0.0,287,4880,1.62,2.42,64.47,0.854,4,0.032,0.041,3024,3386,2732,0,0,0,0,0,0
$GC,4951,1.26,158.4,457.0,2.5,290,5030,0.17,2.40,68.65,0.851,6,0.114,0.035,2991,1999,2404,0,0,0,0,0,0
$GC,5353,1.15,158.4,421.7,9.4,300,5358,0.15,2.40,0.00,0.000,4,0.117,0.039,2964,3383,2394,0,0,0,0,0,0
$GC,5368,1.06,158.4,419.9,9.7,300,5373,0.10,2.35,0.00,0.000,6,0.127,0.036,2949,2013,2395,0,0,0,0,0,0
$GC,5719,1.06,158.4,385.5,10.0,309,5723,0.00,2.47,0.00,0.000,4,0.000,0.051,2949,595,2391,0,0,0,0,0,0
$GC,5762,0.99,158.4,380.8,10.5,310,5766,0.00,2.35,0.00,0.000,6,0.000,0.029,2948,1996,2390,0,0,0,0,0,0
$GC,6093,0.99,161.0,352.5,7.8,318,6098,0.00,2.47,0.00,0.000,4,0.000,0.051,2948,596,2388,0,0,0,0,0,0
$GC,6191,0.92,161.0,343.7,9.4,320,6197,0.17,2.38,0.00,0.000,6,0.109,0.030,2916,2007,2386,0,0,0,0,0,0
$GC,6511,1.02,178.1,321.7,6.8,328,6531,0.00,2.55,14.95,0.765,4,0.000,0.051,2916,597,2324,0,0,0,0,0,0
$GC,6560,1.02,178.1,318.0,8.0,329,6564,0.00,2.38,0.00,0.000,6,0.000,0.030,2916,2011,2321,0,0,0,0,0,0
$GC,6883,1.10,184.4,294.8,7.6,338,6896,0.17,2.55,6.75,0.651,4,0.065,0.050,2958,576,2297,0,0,0,0,0,0
$GC,7026,1.05,184.4,281.1,9.1,344,7030,0.00,2.40,0.00,0.000,6,0.000,0.029,2958,2014,2295,0,0,0,0,0,0
$GC,7350,1.05,184.4,256.4,8.0,360,7354,0.00,2.38,0.00,0.000,4,0.000,0.038,2958,3408,2294,0,0,0,0,0,0
$GC,7397,1.08,185.2,252.6,8.0,362,7401,0.00,2.40,0.00,0.000,6,0.000,0.035,2958,2009,2295,0,0,0,0,0,0
$GC,7722,1.11,185.2,224.6,9.1,378,7726,0.00,2.42,0.00,0.000,4,0.000,0.048,2957,603,2293,0,0,0,0,0,0
$GC,7903,1.11,185.2,209.1,8.1,386,7907,0.00,2.33,0.00,0.000,6,0.000,0.028,2958,2015,2291,0,0,0,0,0,0
$GC,8230,1.19,207.0,188.5,6.5,409,8256,0.00,2.53,20.58,0.683,4,0.000,0.046,2958,602,2205,0,0,0,0,0,0
$GC,8270,1.21,220.3,185.4,7.1,413,8292,0.00,2.35,13.00,0.642,6,0.000,0.027,2958,2021,2151,0,0,0,0,0,0
$GC,8548,1.29,231.4,164.9,7.3,440,8566,0.17,2.53,10.93,0.614,4,0.061,0.047,3004,602,2105,0,0,0,0,0,0
$GC,8697,1.21,231.4,148.0,12.9,456,8702,0.15,2.33,0.00,0.000,6,0.107,0.025,2976,2008,2102,0,0,0,0,0,0
$GC,8959,1.29,238.0,124.6,7.6,480,8971,0.00,2.53,6.93,0.529,4,0.000,0.046,2976,596,2078,0,0,0,0,0,0
$GC,9129,1.30,246.0,111.0,7.5,498,9144,0.00,2.33,8.43,0.540,6,0.000,0.023,2976,2025,2046,0,0,0,0,0,0
$GC,9399,1.38,246.0,89.1,8.7,524,9404,0.17,2.47,0.00,0.000,4,0.057,0.044,3024,591,2046,0,0,0,0,0,0
$GC,9495,1.31,248.3,80.4,7.9,533,9501,0.12,2.30,0.00,0.000,6,0.109,0.022,3001,2009,2043,0,0,0,0,0,0
$GC,9757,1.39,262.2,64.4,7.1,558,9778,0.00,2.50,15.48,0.544,4,0.000,0.043,3001,591,1980,0,0,0,0,0,0
$GC,9840,1.39,262.2,57.5,9.0,567,9844,0.00,2.33,0.00,0.000,6,0.000,0.021,3000,2009,1977,0,0,0,0,0,0
$GC,10103,1.46,265.9,37.6,7.8,591,10111,0.15,0.00,4.50,0.386,6,0.058,0.000,3046,2014,1965,0,0,0,0,0,0
$GC,10376,1.46,265.9,10.0,11.1,633,10381,0.00,2.40,0.00,0.000,4,0.000,0.042,3046,600,1965,0,0,0,0,0,0
$GC,10407,1.37,265.9,6.4,12.3,639,10413,0.17,2.28,0.00,0.000,6,0.097,0.020,3012,2022,1965,0,0,0,0,0,0
$STATE,10434,end climb,SURFACE_DEPTH_REACHED
$STATE,10434,begin surface coast
$FINISH,0.5,1.023297
$STATE,10465,end surface coast,CONTROL_FINISHED_OK
$STATE,10465,begin surface
$SM_CCo,10486,19.33,0.497,0,0,1827,300.00
$SM_GC,1.52,0.00,0.00,19.33,0.000,0.000,0.497,426,1866,1827,-10.53,-0.23,300.00
$IRIDIUM_FIX,2057.14,-15759.05,120999,131340
$TT8_MAMPS,0.029146
$HUMID,51.85
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,48.950
$10V_AH,10.0,45.139
$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,27.450,119.750,298.825,19.325,0.000,23.664,35.492,157.129,4.750,0.000,37.734,1255.043,7242.535,390.583,1530.983,439.819,33.381,1223.316,0.000,1470.707,0.000,32.094,0.000
$DEVICE_MAMPS,134.225,52.156,875.914,497.016,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.836,430.255,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,34932,649
$CAP_FILE_SIZE,122622,0
$CFSIZE,260165632,226332672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180610,191931,2106.557,-15752.432,35,1.5,35,9.8