version: 66.06
glider: 139
mission: 7
dive: 559
start: 6 19 110 14 38 21
data:
$ID,139
$MISSION,7
$DIVE,559
$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,-2142136.8
$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
$GPS1,143057,2106.255,-15748.670,131,4.4,150,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-69.5
$GPS2,143729,2106.256,-15748.690,46,2.3,65,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.021
$KALMAN_X,-326749.5,-167.5,394.0,337302.1,-1140.2
$KALMAN_Y,18278.9,-94.6,-57.2,-19337.6,161.7
$MHEAD_RNG_PITCHd_Wd,86.8,10008,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,73,0.00,0.00,-55.58,0.000,2,0.000,0.000,428,1895,3301,0,0,0,0,0,0
$GC,76,-1.40,-77.9,4.0,-7.6,11,96,10.60,2.47,-1.33,0.000,4,0.135,0.050,2406,466,3370,0,0,0,0,0,0
$GC,116,-0.69,-77.9,17.5,-30.1,19,123,0.75,2.35,0.00,0.000,6,0.087,0.020,2559,1912,3371,0,0,0,0,0,0
$GC,330,-0.88,-77.9,35.7,-8.0,51,335,0.17,2.50,0.00,0.000,4,0.049,0.043,2502,463,3372,0,0,0,0,0,0
$GC,393,-0.95,-77.9,42.8,-11.3,57,397,0.00,2.28,0.00,0.000,6,0.000,0.019,2501,1885,3373,0,0,0,0,0,0
$GC,655,-1.03,-77.9,70.7,-9.3,81,659,0.00,2.45,0.00,0.000,4,0.000,0.041,2502,461,3374,0,0,0,0,0,0
$GC,693,-1.09,-77.9,74.8,-10.9,84,699,0.12,2.25,0.00,0.000,6,0.064,0.019,2459,1885,3374,0,0,0,0,0,0
$GC,954,-1.09,-77.9,103.5,-10.2,109,959,0.00,2.42,0.00,0.000,4,0.000,0.041,2458,469,3375,0,0,0,0,0,0
$GC,992,-1.12,-77.9,107.7,-10.8,112,998,0.00,2.25,0.00,0.000,6,0.000,0.019,2458,1879,3375,0,0,0,0,0,0
$GC,1255,-1.20,-77.9,131.5,-8.7,137,1259,0.00,2.42,0.00,0.000,4,0.000,0.042,2459,464,3376,0,0,0,0,0,0
$GC,1326,-1.26,-77.9,138.1,-9.1,144,1330,0.00,2.25,0.00,0.000,6,0.000,0.019,2458,1890,3376,0,0,0,0,0,0
$GC,1589,-1.35,-77.9,157.5,-7.4,168,1594,0.17,2.45,0.00,0.000,4,0.051,0.042,2403,458,3377,0,0,0,0,0,0
$GC,1672,-1.27,-77.9,166.2,-11.4,176,1677,0.17,2.28,0.00,0.000,6,0.090,0.019,2440,1881,3377,0,0,0,0,0,0
$GC,1933,-1.34,-77.9,189.9,-8.2,200,1937,0.00,2.42,0.00,0.000,4,0.000,0.043,2440,466,3377,0,0,0,0,0,0
$GC,1962,-1.34,-77.9,192.5,-9.5,202,1967,0.00,2.25,0.00,0.000,6,0.000,0.020,2440,1877,3377,0,0,0,0,0,0
$GC,2228,-1.42,-77.9,213.8,-8.3,220,2233,0.15,2.45,0.00,0.000,4,0.056,0.044,2391,460,3377,0,0,0,0,0,0
$GC,2291,-1.35,-77.9,220.5,-11.0,222,2297,0.12,2.22,0.00,0.000,6,0.100,0.021,2416,1875,3377,0,0,0,0,0,0
$GC,2606,-1.38,-77.9,249.3,-9.1,238,2610,0.00,2.42,0.00,0.000,4,0.000,0.044,2416,462,3377,0,0,0,0,0,0
$GC,2667,-1.38,-77.9,255.2,-9.3,240,2673,0.00,2.25,0.00,0.000,6,0.000,0.021,2416,1872,3377,0,0,0,0,0,0
$GC,2985,-1.43,-77.9,280.9,-7.9,256,2989,0.00,2.42,0.00,0.000,4,0.000,0.044,2416,464,3376,0,0,0,0,0,0
$GC,3013,-1.43,-77.9,283.7,-9.8,257,3017,0.00,2.25,0.00,0.000,6,0.000,0.022,2416,1880,3376,0,0,0,0,0,0
$GC,3331,-1.49,-77.9,312.6,-8.9,270,3336,0.12,2.42,0.00,0.000,4,0.064,0.046,2376,470,3375,0,0,0,0,0,0
$GC,3417,-1.43,-77.9,322.1,-11.3,271,3423,0.12,2.25,0.00,0.000,6,0.100,0.023,2401,1875,3375,0,0,0,0,0,0
$GC,3749,-1.46,-77.9,350.9,-8.5,280,3753,0.00,2.45,0.00,0.000,4,0.000,0.048,2401,460,3374,0,0,0,0,0,0
$GC,3827,-1.46,-77.9,359.1,-9.9,281,3831,0.00,2.28,0.00,0.000,6,0.000,0.025,2401,1871,3373,0,0,0,0,0,0
$GC,4159,-1.51,-77.9,389.1,-9.0,289,4163,0.00,2.45,0.00,0.000,4,0.000,0.049,2402,463,3371,0,0,0,0,0,0
$GC,4242,-1.51,-77.9,396.9,-8.2,290,4247,0.00,2.30,0.00,0.000,6,0.000,0.025,2402,1875,3371,0,0,0,0,0,0
$GC,4574,-1.55,-77.9,421.6,-7.2,299,4579,0.12,2.47,0.00,0.000,4,0.067,0.051,2364,467,3368,0,0,0,0,0,0
$GC,4619,-1.48,-77.9,425.6,-9.7,300,4624,0.12,2.30,0.00,0.000,6,0.104,0.026,2389,1880,3368,0,0,0,0,0,0
$STATE,4905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4905,begin apogee
$GC,4911,-0.31,0.0,451.3,9.3,307,4979,1.20,0.00,64.70,0.871,6,0.074,0.000,2646,2030,3049,0,0,0,0,0,0
$STATE,4980,end apogee,CONTROL_FINISHED_OK
$STATE,4980,begin climb
$GC,4983,1.40,77.9,452.8,0.0,308,5058,1.62,2.42,64.65,0.851,4,0.031,0.041,3024,3380,2731,0,0,0,0,0,0
$GC,5248,1.21,112.0,448.5,5.7,313,5285,0.25,2.35,29.08,0.832,6,0.114,0.035,2980,2002,2593,0,0,0,0,0,0
$GC,5621,1.10,121.6,422.0,7.4,323,5638,0.12,2.40,9.00,0.736,4,0.130,0.039,2958,3379,2553,0,0,0,0,0,0
$GC,5740,1.06,131.5,412.8,7.3,325,5758,0.00,2.35,9.90,0.749,6,0.000,0.036,2959,2007,2513,0,0,0,0,0,0
$GC,6084,1.03,145.9,387.3,7.0,334,6099,0.00,0.00,13.30,0.782,6,0.000,0.000,2959,2007,2454,0,0,0,0,0,0
$GC,6408,1.01,167.3,366.4,6.5,342,6434,0.12,2.53,19.77,0.802,4,0.127,0.053,2936,605,2367,0,0,0,0,0,0
$GC,6532,0.97,167.3,355.0,9.7,344,6536,0.00,2.30,0.00,0.000,6,0.000,0.029,2938,1987,2362,0,0,0,0,0,0
$GC,6863,0.97,167.3,327.0,8.4,352,6867,0.00,2.42,0.00,0.000,4,0.000,0.051,2937,604,2361,0,0,0,0,0,0
$GC,6923,0.93,167.3,320.6,10.7,353,6928,0.00,2.35,0.00,0.000,6,0.000,0.029,2938,2011,2359,0,0,0,0,0,0
$GC,7255,0.98,172.8,289.6,7.6,364,7267,0.00,2.50,4.88,0.574,4,0.000,0.050,2938,605,2344,0,0,0,0,0,0
$GC,7466,0.98,172.8,273.5,8.2,373,7470,0.00,2.35,0.00,0.000,6,0.000,0.029,2938,2016,2342,0,0,0,0,0,0
$GC,7795,1.07,201.5,251.9,6.0,389,7828,0.00,2.58,26.52,0.748,4,0.000,0.051,2938,607,2227,0,0,0,0,0,0
$GC,7934,1.08,208.0,242.0,7.6,395,7947,0.00,2.38,6.53,0.606,6,0.000,0.028,2938,2023,2201,0,0,0,0,0,0
$GC,8265,1.20,226.2,219.9,6.8,411,8290,0.17,2.58,17.67,0.700,4,0.064,0.049,2983,604,2127,0,0,0,0,0,0
$GC,8434,1.14,226.2,203.3,9.4,418,8438,0.00,2.35,0.00,0.000,6,0.000,0.027,2983,2009,2122,0,0,0,0,0,0
$GC,8766,1.15,229.2,177.8,7.8,447,8770,0.00,2.45,0.00,0.000,4,0.000,0.048,2983,599,2121,0,0,0,0,0,0
$GC,8884,1.11,229.2,166.7,9.9,459,8890,0.15,2.33,0.00,0.000,6,0.115,0.025,2957,2013,2120,0,0,0,0,0,0
$GC,9146,1.19,233.2,146.8,7.7,483,9158,0.00,2.50,6.43,0.539,4,0.000,0.046,2956,607,2098,0,0,0,0,0,0
$GC,9331,1.22,233.2,130.7,8.7,503,9336,0.10,2.30,0.00,0.000,6,0.083,0.024,2985,2016,2096,0,0,0,0,0,0
$GC,9598,1.29,245.1,109.8,7.2,528,9615,0.00,0.00,12.10,0.576,6,0.000,0.000,2984,2021,2049,0,0,0,0,0,0
$GC,9873,1.39,274.9,89.9,6.0,554,9908,0.15,2.53,27.10,0.591,4,0.061,0.044,3028,609,1928,0,0,0,0,0,0
$GC,9943,1.33,274.9,84.4,8.4,561,9949,0.12,2.33,0.00,0.000,6,0.107,0.022,3005,2021,1926,0,0,0,0,0,0
$GC,10204,1.40,274.9,65.0,8.6,586,10208,0.00,2.42,0.00,0.000,4,0.000,0.042,3005,602,1925,0,0,0,0,0,0
$GC,10223,1.43,274.9,63.2,9.4,587,10228,0.00,2.30,0.00,0.000,6,0.000,0.021,3004,2016,1923,0,0,0,0,0,0
$GC,10487,1.49,274.9,41.2,9.1,612,10492,0.15,2.47,0.00,0.000,4,0.058,0.042,3049,592,1923,0,0,0,0,0,0
$GC,10597,1.39,274.9,28.8,8.9,624,10603,0.17,2.28,0.00,0.000,6,0.097,0.021,3015,2009,1923,0,0,0,0,0,0
$GC,10806,1.42,274.9,9.0,9.7,661,10811,0.00,2.42,0.00,0.000,4,0.000,0.041,3015,598,1923,0,0,0,0,0,0
$STATE,10857,end climb,SURFACE_DEPTH_REACHED
$STATE,10857,begin surface coast
$FINISH,0.7,1.013324
$STATE,10881,end surface coast,CONTROL_FINISHED_OK
$STATE,10881,begin surface
$SM_CCo,10904,13.75,0.485,0,0,1826,300.00
$SM_GC,2.12,0.00,0.00,13.75,0.000,0.000,0.485,428,1897,1826,-10.52,0.62,300.00
$IRIDIUM_FIX,2059.45,-15746.61,130999,111141
$TT8_MAMPS,0.029146
$HUMID,51.77
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,49.567
$10V_AH,10.0,45.537
$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,28.250,128.450,311.625,13.750,0.000,30.955,27.512,163.693,4.500,0.000,66.879,1321.502,7446.647,406.017,1671.130,464.241,33.377,1292.479,0.000,1579.083,0.000,29.243,0.000
$DEVICE_MAMPS,134.992,52.923,870.545,484.744,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,455.264,447.525,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34907,677
$CAP_FILE_SIZE,129327,0
$CFSIZE,260165632,225886208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190610,174144,2106.046,-15747.826,47,1.9,47,9.8