version: 66.06
glider: 139
mission: 7
dive: 504
start: 6 12 110 13 21 37
data:
$ID,139
$MISSION,7
$DIVE,504
$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,-2140075
$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
$GPS1,131104,2103.047,-15755.256,57,4.8,76,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-68.2
$GPS2,132046,2103.091,-15755.298,13,4.2,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.021,0.183
$KALMAN_X,-244035.4,-505.9,71.7,243838.5,-1391.9
$KALMAN_Y,12043.2,-305.6,-20.8,-18793.4,-700.2
$MHEAD_RNG_PITCHd_Wd,343.7,15196,-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,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-52.38,0.000,2,0.000,0.000,430,1877,3226,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.8,-7.2,10,96,10.55,2.40,-2.72,0.000,4,0.133,0.038,2401,3301,3370,0,0,0,0,0,0
$GC,233,-1.34,-77.9,31.1,-13.5,44,237,0.00,2.42,0.00,0.000,6,0.000,0.031,2401,1869,3371,0,0,0,0,0,0
$GC,496,-1.18,-77.9,73.2,-16.5,68,501,0.25,2.40,0.00,0.000,4,0.093,0.043,2454,462,3372,0,0,0,0,0,0
$GC,541,-1.11,-77.9,79.8,-14.0,72,545,0.00,2.30,0.00,0.000,6,0.000,0.020,2455,1905,3372,0,0,0,0,0,0
$GC,803,-1.11,-77.9,108.3,-7.9,96,807,0.00,2.47,0.00,0.000,4,0.000,0.043,2454,469,3373,0,0,0,0,0,0
$GC,894,-1.11,-77.9,117.6,-10.2,105,900,0.00,2.22,0.00,0.000,6,0.000,0.019,2455,1882,3373,0,0,0,0,0,0
$GC,1156,-1.18,-77.9,146.6,-9.9,130,1161,0.00,2.42,0.00,0.000,4,0.000,0.043,2454,469,3374,0,0,0,0,0,0
$GC,1288,-1.25,-77.9,159.1,-10.4,144,1292,0.00,2.22,0.00,0.000,6,0.000,0.019,2455,1874,3374,0,0,0,0,0,0
$GC,1549,-1.34,-77.9,184.0,-8.5,168,1554,0.15,2.42,0.00,0.000,4,0.055,0.044,2405,460,3375,0,0,0,0,0,0
$GC,1603,-1.30,-77.9,189.1,-10.6,173,1608,0.12,2.28,0.00,0.000,6,0.098,0.020,2431,1880,3375,0,0,0,0,0,0
$GC,1863,-1.37,-77.9,207.6,-6.9,192,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,1883,3376,0,0,0,0,0,0
$GC,2172,-1.45,-77.9,234.1,-8.7,207,2176,0.15,2.45,0.00,0.000,4,0.058,0.045,2383,466,3376,0,0,0,0,0,0
$GC,2282,-1.39,-77.9,246.6,-12.4,212,2287,0.15,2.25,0.00,0.000,6,0.093,0.021,2414,1878,3376,0,0,0,0,0,0
$GC,2613,-1.45,-77.9,276.3,-9.2,228,2618,0.00,2.42,0.00,0.000,4,0.000,0.045,2414,462,3375,0,0,0,0,0,0
$GC,2696,-1.45,-77.9,284.5,-9.4,231,2702,0.00,2.25,0.00,0.000,6,0.000,0.022,2414,1872,3375,0,0,0,0,0,0
$GC,3010,-1.52,-77.9,311.1,-8.9,244,3015,0.15,2.45,0.00,0.000,4,0.059,0.048,2369,466,3374,0,0,0,0,0,0
$GC,3076,-1.44,-77.9,318.9,-11.1,245,3081,0.15,2.28,0.00,0.000,6,0.094,0.024,2400,1878,3373,0,0,0,0,0,0
$GC,3422,-1.48,-77.9,353.0,-9.6,254,3426,0.00,2.45,0.00,0.000,4,0.000,0.048,2400,467,3372,0,0,0,0,0,0
$GC,3459,-1.48,-77.9,356.7,-9.2,254,3464,0.00,2.30,0.00,0.000,6,0.000,0.025,2400,1875,3372,0,0,0,0,0,0
$GC,3791,-1.53,-77.9,383.0,-7.5,263,3796,0.00,2.42,0.00,0.000,4,0.000,0.051,2400,471,3369,0,0,0,0,0,0
$GC,3860,-1.53,-77.9,389.5,-9.7,264,3865,0.00,2.28,0.00,0.000,6,0.000,0.026,2400,1872,3369,0,0,0,0,0,0
$GC,4201,-1.57,-77.9,419.9,-9.1,273,4207,0.12,2.45,0.00,0.000,4,0.069,0.051,2364,473,3366,0,0,0,0,0,0
$GC,4258,-1.51,-77.9,427.2,-13.1,274,4262,0.00,2.33,0.00,0.000,6,0.000,0.027,2364,1881,3366,0,0,0,0,0,0
$STATE,4452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4452,begin apogee
$GC,4458,-0.31,0.0,452.3,13.0,279,4526,1.33,0.00,64.38,0.871,6,0.078,0.000,2645,2031,3050,0,0,0,0,0,0
$STATE,4527,end apogee,CONTROL_FINISHED_OK
$STATE,4527,begin climb
$GC,4529,1.40,77.9,454.7,0.0,280,4604,1.62,2.42,64.80,0.853,4,0.033,0.042,3023,3383,2731,0,0,0,0,0,0
$GC,4868,1.22,120.0,448.5,5.1,287,4910,0.22,2.38,35.95,0.845,6,0.113,0.036,2983,2007,2560,0,0,0,0,0,0
$GC,5255,1.11,120.0,414.7,9.4,297,5260,0.15,2.40,0.00,0.000,4,0.119,0.040,2955,3384,2553,0,0,0,0,0,0
$GC,5335,1.06,124.1,408.0,7.7,298,5345,0.00,2.35,4.05,0.537,6,0.000,0.037,2957,2009,2542,0,0,0,0,0,0
$GC,5671,1.03,135.2,382.7,7.3,307,5683,0.00,0.00,10.43,0.755,6,0.000,0.000,2958,2009,2498,0,0,0,0,0,0
$GC,5997,1.01,154.2,359.0,6.7,315,6017,0.12,0.00,17.62,0.793,6,0.121,0.000,2935,2009,2421,0,0,0,0,0,0
$GC,6322,1.03,166.5,336.8,7.2,323,6339,0.00,2.55,11.45,0.747,4,0.000,0.054,2934,597,2371,0,0,0,0,0,0
$GC,6357,1.03,166.5,333.5,8.7,323,6362,0.00,2.35,0.00,0.000,6,0.000,0.030,2933,1989,2369,0,0,0,0,0,0
$GC,6689,1.07,167.5,306.3,7.9,331,6693,0.00,2.42,0.00,0.000,4,0.000,0.051,2934,605,2367,0,0,0,0,0,0
$GC,6782,1.07,167.5,297.3,9.0,333,6786,0.00,2.38,0.00,0.000,6,0.000,0.029,2934,2017,2366,0,0,0,0,0,0
$GC,7108,1.17,208.0,275.6,5.2,349,7151,0.15,2.55,37.30,0.775,4,0.071,0.050,2972,605,2200,0,0,0,0,0,0
$GC,7294,1.11,208.0,259.5,8.1,357,7299,0.00,2.35,0.00,0.000,6,0.000,0.028,2972,2015,2193,0,0,0,0,0,0
$GC,7620,1.11,208.0,231.8,9.2,373,7624,0.00,2.50,0.00,0.000,4,0.000,0.050,2971,602,2192,0,0,0,0,0,0
$GC,7721,1.05,208.0,221.4,10.2,377,7726,0.15,2.38,0.00,0.000,6,0.120,0.028,2945,2023,2189,0,0,0,0,0,0
$GC,8039,1.16,240.7,199.7,5.8,392,8076,0.00,2.58,28.38,0.699,4,0.000,0.048,2945,607,2067,0,0,0,0,0,0
$GC,8099,1.17,251.3,195.6,7.3,398,8116,0.08,2.38,10.40,0.627,6,0.052,0.026,2971,2015,2025,0,0,0,0,0,0
$GC,8370,1.22,251.3,168.2,11.1,424,8374,0.00,2.47,0.00,0.000,4,0.000,0.047,2971,601,2022,0,0,0,0,0,0
$GC,8531,1.22,251.3,150.8,11.5,441,8537,0.00,2.33,0.00,0.000,6,0.000,0.025,2971,2006,2019,0,0,0,0,0,0
$GC,8794,1.30,251.3,124.5,8.9,466,8799,0.12,2.45,0.00,0.000,4,0.069,0.046,3007,596,2018,0,0,0,0,0,0
$GC,8873,1.26,251.3,115.9,10.5,474,8878,0.00,2.33,0.00,0.000,6,0.000,0.024,3007,2017,2018,0,0,0,0,0,0
$GC,9136,1.26,251.3,94.6,8.2,498,9140,0.00,2.45,0.00,0.000,4,0.000,0.044,3007,601,2017,0,0,0,0,0,0
$GC,9264,1.27,260.4,83.7,7.4,511,9279,0.00,2.28,8.43,0.520,6,0.000,0.022,3007,2017,1988,0,0,0,0,0,0
$GC,9534,1.31,260.4,63.9,8.5,537,9539,0.00,2.42,0.00,0.000,4,0.000,0.042,3007,600,1988,0,0,0,0,0,0
$GC,9578,1.31,260.4,59.6,9.4,541,9585,0.00,2.30,0.00,0.000,6,0.000,0.021,3007,2001,1986,0,0,0,0,0,0
$GC,9842,1.34,260.4,37.1,9.6,566,9846,0.00,2.38,0.00,0.000,4,0.000,0.041,3007,600,1986,0,0,0,0,0,0
$GC,9904,1.34,260.4,30.3,9.3,572,9910,0.00,2.30,0.00,0.000,6,0.000,0.021,3007,2014,1986,0,0,0,0,0,0
$GC,10178,1.39,260.4,9.9,8.5,621,10183,0.00,2.42,0.00,0.000,4,0.000,0.040,3007,591,1986,0,0,0,0,0,0
$STATE,10244,end climb,SURFACE_DEPTH_REACHED
$STATE,10244,begin surface coast
$FINISH,0.5,1.023267
$STATE,10265,end surface coast,CONTROL_FINISHED_OK
$STATE,10265,begin surface
$SM_CCo,10287,20.33,0.497,0,0,1826,300.00
$SM_GC,1.02,0.00,0.00,20.33,0.000,0.000,0.497,427,1847,1826,-10.52,-0.76,300.00
$IRIDIUM_FIX,2054.83,-15756.91,060999,131353
$TT8_MAMPS,0.029146
$HUMID,49.44
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.4,44.791
$10V_AH,10.0,42.290
$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,26.825,114.275,293.175,20.325,0.000,52.727,88.232,230.743,4.500,0.000,33.470,1241.841,6729.133,372.210,1934.629,610.032,33.379,1207.555,0.000,1891.306,0.000,29.263,0.000
$DEVICE_MAMPS,132.691,54.457,871.312,497.016,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,431.557,413.441,791.781,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355612
$DATA_FILE_SIZE,34971,640
$CAP_FILE_SIZE,121073,0
$CFSIZE,260165632,229203968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120610,161627,2103.864,-15756.672,126,4.6,145,9.8