version: 66.06
glider: 139
mission: 7
dive: 521
start: 6 14 110 16 2 34
data:
$ID,139
$MISSION,7
$DIVE,521
$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,-2140664
$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
$GPS1,155527,2106.996,-15757.073,64,3.8,83,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.6
$GPS2,160143,2107.037,-15757.113,15,1.7,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.015
$KALMAN_X,-262600.4,-513.7,-310.0,259656.8,-1784.4
$KALMAN_Y,14933.1,-202.5,-105.8,-14387.2,138.7
$MHEAD_RNG_PITCHd_Wd,84.8,24632,-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,17,-1.40,-77.9,0.0,0.0,0,69,0.00,0.00,-50.55,0.000,2,0.000,0.000,428,1854,3156,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.4,-5.9,10,96,10.57,2.45,-4.20,0.000,4,0.134,0.053,2403,458,3370,0,0,0,0,0,0
$GC,175,-1.17,-77.9,28.2,-19.2,31,181,0.28,2.33,0.00,0.000,6,0.096,0.020,2458,1909,3372,0,0,0,0,0,0
$GC,379,-1.13,-77.9,55.1,-12.4,51,383,0.00,2.50,0.00,0.000,4,0.000,0.044,2458,467,3372,0,0,0,0,0,0
$GC,413,-1.01,-77.9,59.3,-12.9,54,418,0.17,2.25,0.00,0.000,6,0.102,0.019,2492,1878,3372,0,0,0,0,0,0
$GC,675,-1.06,-77.9,87.7,-10.8,78,680,0.00,2.45,0.00,0.000,4,0.000,0.044,2492,460,3373,0,0,0,0,0,0
$GC,750,-1.10,-77.9,97.2,-12.4,85,756,0.00,2.25,0.00,0.000,6,0.000,0.019,2492,1885,3373,0,0,0,0,0,0
$GC,1012,-1.21,-77.9,123.5,-9.1,110,1017,0.20,2.42,0.00,0.000,4,0.047,0.041,2430,466,3374,0,0,0,0,0,0
$GC,1151,-1.15,-77.9,140.0,-11.1,124,1156,0.15,2.25,0.00,0.000,6,0.094,0.019,2462,1876,3375,0,0,0,0,0,0
$GC,1412,-1.24,-77.9,161.0,-7.8,148,1416,0.00,2.42,0.00,0.000,4,0.000,0.042,2461,459,3376,0,0,0,0,0,0
$GC,1440,-1.29,-77.9,163.5,-9.0,150,1446,0.12,2.25,0.00,0.000,6,0.062,0.019,2418,1884,3376,0,0,0,0,0,0
$GC,1700,-1.29,-77.9,188.6,-10.7,175,1704,0.00,2.42,0.00,0.000,4,0.000,0.042,2418,469,3376,0,0,0,0,0,0
$GC,1741,-1.29,-77.9,193.4,-11.8,179,1747,0.00,2.25,0.00,0.000,6,0.000,0.019,2417,1879,3377,0,0,0,0,0,0
$GC,1996,-1.29,-77.9,217.3,-9.2,195,2000,0.00,2.40,0.00,0.000,4,0.000,0.042,2417,464,3376,0,0,0,0,0,0
$GC,2025,-1.26,-77.9,220.0,-9.7,196,2030,0.10,2.22,0.00,0.000,6,0.107,0.020,2438,1877,3376,0,0,0,0,0,0
$GC,2351,-1.34,-77.9,250.0,-10.0,212,2355,0.00,2.42,0.00,0.000,4,0.000,0.043,2438,460,3377,0,0,0,0,0,0
$GC,2388,-1.43,-77.9,254.1,-10.4,213,2395,0.17,2.25,0.00,0.000,6,0.050,0.021,2383,1878,3377,0,0,0,0,0,0
$GC,2704,-1.43,-77.9,287.4,-9.6,229,2708,0.00,2.42,0.00,0.000,4,0.000,0.044,2383,465,3376,0,0,0,0,0,0
$GC,2724,-1.39,-77.9,289.4,-9.8,230,2728,0.15,2.28,0.00,0.000,6,0.094,0.021,2414,1882,3377,0,0,0,0,0,0
$GC,3075,-1.45,-77.9,317.1,-7.8,242,3079,0.00,2.42,0.00,0.000,4,0.000,0.046,2414,463,3376,0,0,0,0,0,0
$GC,3165,-1.49,-77.9,324.6,-7.5,244,3170,0.12,2.28,0.00,0.000,6,0.064,0.023,2374,1870,3376,0,0,0,0,0,0
$GC,3495,-1.49,-77.9,352.4,-8.0,252,3499,0.00,2.42,0.00,0.000,4,0.000,0.048,2374,470,3373,0,0,0,0,0,0
$GC,3527,-1.42,-77.9,355.5,-9.1,252,3532,0.15,2.28,0.00,0.000,6,0.096,0.024,2405,1882,3373,0,0,0,0,0,0
$GC,3859,-1.47,-77.9,377.0,-6.6,260,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1885,3372,0,0,0,0,0,0
$GC,4183,-1.53,-77.9,405.9,-10.4,268,4188,0.10,2.47,0.00,0.000,4,0.078,0.051,2373,471,3369,0,0,0,0,0,0
$GC,4249,-1.47,-77.9,414.7,-13.9,269,4253,0.00,2.28,0.00,0.000,6,0.000,0.026,2374,1870,3369,0,0,0,0,0,0
$STATE,4550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4551,begin apogee
$GC,4557,-0.31,0.0,452.2,11.8,277,4625,1.27,0.00,64.85,0.872,6,0.077,0.000,2644,2034,3049,0,0,0,0,0,0
$STATE,4626,end apogee,CONTROL_FINISHED_OK
$STATE,4626,begin climb
$GC,4628,1.40,77.9,453.7,0.0,278,4704,1.62,2.42,64.62,0.852,4,0.031,0.041,3023,3381,2732,0,0,0,0,0,0
$GC,4954,1.25,150.4,449.4,3.0,285,5025,0.20,2.38,61.97,0.854,6,0.116,0.035,2989,2001,2435,0,0,0,0,0,0
$GC,5357,1.14,150.4,414.3,9.4,295,5362,0.12,2.45,0.00,0.000,4,0.124,0.052,2965,607,2427,0,0,0,0,0,0
$GC,5423,1.02,150.4,407.2,11.1,296,5428,0.15,2.33,0.00,0.000,6,0.119,0.029,2939,1990,2424,0,0,0,0,0,0
$GC,5768,1.02,150.4,378.7,8.6,305,5773,0.00,2.45,0.00,0.000,4,0.000,0.051,2939,606,2423,0,0,0,0,0,0
$GC,5862,0.96,150.4,370.6,8.1,307,5866,0.00,2.35,0.00,0.000,6,0.000,0.030,2939,2014,2421,0,0,0,0,0,0
$GC,6184,0.99,176.3,350.0,6.2,315,6212,0.00,2.53,21.17,0.801,4,0.000,0.051,2939,608,2330,0,0,0,0,0,0
$GC,6338,0.95,176.3,335.1,11.8,318,6342,0.00,2.35,0.00,0.000,6,0.000,0.030,2939,2009,2325,0,0,0,0,0,0
$GC,6687,0.99,177.9,304.7,7.9,327,6689,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2013,2324,0,0,0,0,0,0
$GC,6996,1.03,177.9,279.1,8.0,340,7000,0.00,2.47,0.00,0.000,4,0.000,0.051,2939,607,2323,0,0,0,0,0,0
$GC,7127,1.04,185.1,268.8,7.5,345,7139,0.00,2.38,7.62,0.659,6,0.000,0.029,2939,2027,2295,0,0,0,0,0,0
$GC,7466,1.13,193.9,241.0,7.4,362,7482,0.00,2.53,9.45,0.667,4,0.000,0.048,2939,603,2258,0,0,0,0,0,0
$GC,7715,1.20,223.0,228.3,6.0,372,7749,0.15,2.35,26.77,0.725,6,0.069,0.028,2978,2013,2140,0,0,0,0,0,0
$GC,8063,1.20,223.0,197.3,9.4,390,8067,0.00,2.47,0.00,0.000,4,0.000,0.048,2977,601,2135,0,0,0,0,0,0
$GC,8147,1.16,223.0,190.2,8.5,398,8153,0.00,2.33,0.00,0.000,6,0.000,0.027,2978,2010,2133,0,0,0,0,0,0
$GC,8410,1.23,228.3,172.6,7.7,423,8417,0.00,0.00,5.10,0.510,6,0.000,0.000,2978,2015,2119,0,0,0,0,0,0
$GC,8675,1.32,256.9,152.5,6.1,448,8710,0.10,2.55,26.73,0.646,4,0.080,0.045,3007,601,2001,0,0,0,0,0,0
$GC,8725,1.26,256.9,148.5,9.1,453,8730,0.00,2.33,0.00,0.000,6,0.000,0.024,3007,2027,1999,0,0,0,0,0,0
$GC,8987,1.26,256.9,128.5,8.3,478,8992,0.00,2.47,0.00,0.000,4,0.000,0.043,3007,601,1998,0,0,0,0,0,0
$GC,9021,1.21,256.9,124.9,10.4,481,9026,0.15,2.28,0.00,0.000,6,0.102,0.022,2978,2012,1996,0,0,0,0,0,0
$GC,9286,1.30,256.9,102.0,8.3,505,9290,0.00,2.45,0.00,0.000,4,0.000,0.043,2978,597,1996,0,0,0,0,0,0
$GC,9394,1.34,256.9,91.6,8.6,516,9399,0.12,2.28,0.00,0.000,6,0.068,0.021,3015,2011,1996,0,0,0,0,0,0
$GC,9655,1.35,263.7,70.8,7.6,540,9668,0.00,2.47,6.85,0.475,4,0.000,0.042,3015,607,1973,0,0,0,0,0,0
$GC,9762,1.35,263.7,60.5,11.0,551,9767,0.00,2.25,0.00,0.000,6,0.000,0.021,3015,2011,1971,0,0,0,0,0,0
$GC,10025,1.38,263.7,36.5,9.0,576,10029,0.00,2.42,0.00,0.000,4,0.000,0.042,3015,600,1971,0,0,0,0,0,0
$GC,10109,1.34,263.7,28.5,9.6,586,10114,0.00,2.25,0.00,0.000,6,0.000,0.020,3015,2012,1971,0,0,0,0,0,0
$GC,10317,1.38,263.7,10.9,8.3,623,10322,0.00,2.42,0.00,0.000,4,0.000,0.041,3015,595,1971,0,0,0,0,0,0
$GC,10381,1.34,263.7,4.3,11.1,636,10387,0.00,2.28,0.00,0.000,6,0.000,0.020,3015,2008,1971,0,0,0,0,0,0
$STATE,10391,end climb,SURFACE_DEPTH_REACHED
$STATE,10391,begin surface coast
$FINISH,0.5,1.010405
$STATE,10420,end surface coast,CONTROL_FINISHED_OK
$STATE,10420,begin surface
$SM_CCo,10441,19.38,0.490,0,0,1826,300.00
$SM_GC,1.13,0.00,0.00,19.38,0.000,0.000,0.490,426,1867,1826,-10.52,-0.23,300.00
$IRIDIUM_FIX,2057.14,-15756.04,080999,131352
$TT8_MAMPS,0.029146
$HUMID,50.47
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,46.237
$10V_AH,10.0,43.440
$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,27.325,119.050,295.150,19.375,0.000,24.183,43.131,176.883,4.500,0.000,32.288,1258.709,7181.302,385.417,1546.348,464.130,33.374,1223.484,0.000,1490.628,0.000,29.236,0.000
$DEVICE_MAMPS,134.225,55.224,872.079,490.113,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,432.040,418.389,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34918,643
$CAP_FILE_SIZE,121867,0
$CFSIZE,260165632,228204544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140610,185837,2106.789,-15757.105,58,1.5,64,9.8