version: 66.06
glider: 139
mission: 7
dive: 520
start: 6 14 110 12 59 19
data:
$ID,139
$MISSION,7
$DIVE,520
$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,-2140631
$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
$GPS1,124857,2107.064,-15756.668,75,8.1,94,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.5
$GPS2,125828,2107.054,-15756.721,12,5.8,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,0.011
$KALMAN_X,-260917.2,-212.5,443.4,257595.4,-2508.5
$KALMAN_Y,15016.9,-209.9,-22.6,-14512.2,-80.7
$MHEAD_RNG_PITCHd_Wd,76.8,23959,-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,-50.15,0.000,2,0.000,0.000,426,1859,3125,0,0,0,0,0,0
$GC,70,-1.40,-77.9,3.0,-4.5,10,94,10.60,2.42,-5.05,0.000,4,0.134,0.038,2406,3293,3370,0,0,0,0,0,0
$GC,128,-1.30,-77.9,17.6,-19.3,22,135,0.12,2.40,0.00,0.000,6,0.107,0.028,2431,1869,3371,0,0,0,0,0,0
$GC,338,-1.17,-77.9,47.4,-14.8,49,343,0.12,2.40,0.00,0.000,4,0.114,0.044,2455,473,3372,0,0,0,0,0,0
$GC,386,-1.08,-77.9,54.6,-14.5,53,392,0.10,2.30,0.00,0.000,6,0.118,0.019,2474,1914,3372,0,0,0,0,0,0
$GC,649,-1.08,-77.9,80.9,-9.5,78,653,0.00,2.47,0.00,0.000,4,0.000,0.043,2474,467,3374,0,0,0,0,0,0
$GC,742,-1.14,-77.9,91.4,-9.9,87,748,0.00,2.25,0.00,0.000,6,0.000,0.019,2474,1886,3373,0,0,0,0,0,0
$GC,1005,-1.23,-77.9,116.5,-10.6,112,1010,0.15,2.45,0.00,0.000,4,0.055,0.042,2424,469,3374,0,0,0,0,0,0
$GC,1089,-1.19,-77.9,128.8,-14.3,120,1095,0.15,2.22,0.00,0.000,6,0.092,0.019,2456,1881,3375,0,0,0,0,0,0
$GC,1350,-1.28,-77.9,153.5,-7.6,145,1354,0.00,2.40,0.00,0.000,4,0.000,0.042,2456,467,3376,0,0,0,0,0,0
$GC,1416,-1.35,-77.9,159.1,-8.5,151,1422,0.17,2.22,0.00,0.000,6,0.050,0.019,2401,1882,3376,0,0,0,0,0,0
$GC,1676,-1.35,-77.9,184.5,-9.1,176,1680,0.00,2.42,0.00,0.000,4,0.000,0.042,2401,466,3376,0,0,0,0,0,0
$GC,1695,-1.29,-77.9,186.3,-9.1,177,1702,0.10,2.25,0.00,0.000,6,0.073,0.020,2427,1893,3376,0,0,0,0,0,0
$GC,1968,-1.33,-77.9,206.1,-6.5,199,1972,0.00,2.42,0.00,0.000,4,0.000,0.042,2427,463,3376,0,0,0,0,0,0
$GC,2034,-1.33,-77.9,210.5,-6.2,202,2038,0.00,2.25,0.00,0.000,6,0.000,0.020,2427,1885,3376,0,0,0,0,0,0
$GC,2363,-1.40,-77.9,230.7,-8.1,218,2367,0.00,2.42,0.00,0.000,4,0.000,0.044,2427,467,3376,0,0,0,0,0,0
$GC,2415,-1.45,-77.9,235.5,-8.8,220,2420,0.12,2.28,0.00,0.000,6,0.063,0.021,2386,1884,3376,0,0,0,0,0,0
$GC,2737,-1.45,-77.9,266.2,-9.6,236,2742,0.00,2.42,0.00,0.000,4,0.000,0.044,2386,473,3376,0,0,0,0,0,0
$GC,2759,-1.40,-77.9,268.5,-10.5,237,2764,0.12,2.25,0.00,0.000,6,0.100,0.021,2411,1878,3376,0,0,0,0,0,0
$GC,3091,-1.46,-77.9,299.9,-9.7,253,3095,0.00,2.40,0.00,0.000,4,0.000,0.045,2411,471,3375,0,0,0,0,0,0
$GC,3142,-1.46,-77.9,305.7,-10.9,255,3146,0.00,2.22,0.00,0.000,6,0.000,0.023,2411,1864,3376,0,0,0,0,0,0
$GC,3466,-1.52,-77.9,339.9,-10.6,263,3472,0.12,2.40,0.00,0.000,4,0.065,0.048,2371,478,3373,0,0,0,0,0,0
$GC,3532,-1.46,-77.9,348.5,-12.9,264,3537,0.12,2.25,0.00,0.000,6,0.101,0.024,2397,1874,3374,0,0,0,0,0,0
$GC,3884,-1.49,-77.9,384.0,-8.9,273,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1879,3371,0,0,0,0,0,0
$GC,4207,-1.53,-77.9,412.8,-9.3,281,4212,0.00,2.42,0.00,0.000,4,0.000,0.051,2396,473,3369,0,0,0,0,0,0
$GC,4297,-1.53,-77.9,422.3,-11.1,283,4301,0.00,2.30,0.00,0.000,6,0.000,0.027,2396,1874,3368,0,0,0,0,0,0
$STATE,4622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4622,begin apogee
$GC,4627,-0.31,0.0,452.8,8.7,291,4696,1.15,0.00,64.70,0.874,6,0.074,0.000,2642,2027,3050,0,0,0,0,0,0
$STATE,4697,end apogee,CONTROL_FINISHED_OK
$STATE,4697,begin climb
$GC,4699,1.40,77.9,454.0,0.0,292,4774,1.62,2.42,65.03,0.851,4,0.032,0.042,3016,3376,2732,0,0,0,0,0,0
$GC,5039,1.21,108.7,443.9,5.9,299,5073,0.22,2.35,26.67,0.834,6,0.116,0.035,2980,2005,2605,0,0,0,0,0,0
$GC,5391,1.09,108.7,415.5,8.3,308,5396,0.15,2.40,0.00,0.000,4,0.121,0.039,2951,3384,2600,0,0,0,0,0,0
$GC,5515,1.09,145.9,407.7,5.5,310,5552,0.00,2.35,31.67,0.834,6,0.000,0.037,2956,2007,2455,0,0,0,0,0,0
$GC,5892,1.07,160.1,382.0,7.0,320,5912,0.00,2.53,13.05,0.781,4,0.000,0.053,2952,604,2396,0,0,0,0,0,0
$GC,6060,0.98,160.1,364.3,12.2,323,6065,0.15,2.33,0.00,0.000,6,0.120,0.029,2927,1986,2393,0,0,0,0,0,0
$GC,6397,1.02,160.1,330.0,9.8,332,6402,0.00,2.45,0.00,0.000,4,0.000,0.041,2928,3410,2391,0,0,0,0,0,0
$GC,6448,1.07,160.1,325.5,8.3,333,6453,0.00,2.42,0.00,0.000,6,0.000,0.038,2929,2007,2392,0,0,0,0,0,0
$GC,6767,1.18,210.0,306.6,4.6,341,6820,0.20,2.53,44.45,0.802,4,0.064,0.053,2974,599,2192,0,0,0,0,0,0
$GC,6873,1.09,210.0,297.9,11.1,343,6879,0.12,2.40,0.00,0.000,6,0.123,0.030,2955,2013,2187,0,0,0,0,0,0
$GC,7188,1.09,210.0,270.8,8.3,359,7192,0.00,2.50,0.00,0.000,4,0.000,0.053,2954,604,2184,0,0,0,0,0,0
$GC,7249,1.06,210.0,264.6,10.4,361,7254,0.00,2.38,0.00,0.000,6,0.000,0.030,2954,2014,2182,0,0,0,0,0,0
$GC,7564,1.10,210.0,237.7,8.9,377,7569,0.00,2.50,0.00,0.000,4,0.000,0.051,2954,601,2181,0,0,0,0,0,0
$GC,7648,1.10,210.0,230.0,8.6,380,7653,0.00,2.38,0.00,0.000,6,0.000,0.029,2955,2017,2179,0,0,0,0,0,0
$GC,7963,1.18,217.0,207.5,7.5,396,7975,0.00,2.50,5.15,0.547,4,0.000,0.049,2955,597,2164,0,0,0,0,0,0
$GC,8079,1.18,217.0,196.7,10.3,402,8085,0.00,2.38,0.00,0.000,6,0.000,0.028,2955,2016,2162,0,0,0,0,0,0
$GC,8343,1.27,237.2,177.5,6.6,427,8369,0.17,2.55,19.25,0.673,4,0.061,0.048,2999,598,2082,0,0,0,0,0,0
$GC,8420,1.20,237.2,170.7,9.7,435,8425,0.12,2.38,0.00,0.000,6,0.114,0.026,2977,2017,2079,0,0,0,0,0,0
$GC,8681,1.25,237.2,149.3,9.1,459,8682,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2022,2078,0,0,0,0,0,0
$GC,8937,1.34,271.6,129.2,5.7,483,8974,0.12,2.55,31.15,0.634,4,0.070,0.045,3012,604,1941,0,0,0,0,0,0
$GC,9039,1.28,271.6,120.5,9.5,494,9045,0.00,2.35,0.00,0.000,6,0.000,0.024,3012,2027,1937,0,0,0,0,0,0
$GC,9302,1.32,276.9,98.2,7.7,519,9309,0.00,0.00,5.25,0.459,6,0.000,0.000,3012,2031,1921,0,0,0,0,0,0
$GC,9567,1.37,278.3,76.7,7.9,544,9571,0.00,2.47,0.00,0.000,4,0.000,0.044,3012,598,1921,0,0,0,0,0,0
$GC,9624,1.37,278.3,71.9,8.4,549,9630,0.00,2.33,0.00,0.000,6,0.000,0.021,3012,2021,1918,0,0,0,0,0,0
$GC,9887,1.41,278.3,50.8,8.9,574,9891,0.00,2.45,0.00,0.000,4,0.000,0.042,3012,600,1918,0,0,0,0,0,0
$GC,9983,1.41,278.3,40.5,11.0,584,9988,0.00,2.30,0.00,0.000,6,0.000,0.021,3012,2019,1918,0,0,0,0,0,0
$GC,10252,1.46,284.9,16.6,7.6,623,10267,0.00,2.45,8.68,0.466,4,0.000,0.039,3012,589,1887,0,0,0,0,0,0
$GC,10337,1.46,284.9,7.4,11.1,641,10343,0.00,2.28,0.00,0.000,6,0.000,0.021,3012,2015,1885,0,0,0,0,0,0
$STATE,10381,end climb,SURFACE_DEPTH_REACHED
$STATE,10381,begin surface coast
$FINISH,0.7,1.023278
$STATE,10416,end surface coast,CONTROL_FINISHED_OK
$STATE,10416,begin surface
$SM_CCo,10437,9.48,0.459,0,0,1826,300.00
$SM_GC,1.93,0.00,0.00,9.48,0.000,0.000,0.459,429,1854,1826,-10.52,-0.59,300.00
$IRIDIUM_FIX,2059.45,-15758.18,080999,131330
$TT8_MAMPS,0.029146
$HUMID,51.33
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,46.153
$10V_AH,10.0,43.387
$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,27.200,119.600,315.050,9.475,0.000,62.211,62.579,244.661,4.750,0.000,31.974,1266.116,7196.923,389.677,1567.167,597.336,33.377,1242.531,0.000,1506.211,0.000,33.481,0.000
$DEVICE_MAMPS,134.225,53.690,873.613,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,439.798,429.133,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34916,655
$CAP_FILE_SIZE,126432,0
$CFSIZE,260165632,228261888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140610,155527,2106.996,-15757.073,64,3.8,83,9.8