version: 66.06
glider: 139
mission: 7
dive: 522
start: 6 14 110 19 4 30
data:
$ID,139
$MISSION,7
$DIVE,522
$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,-2140681.8
$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
$GPS1,185837,2106.789,-15757.105,58,1.5,64,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-69.8
$GPS2,190338,2106.769,-15757.115,16,1.5,16,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.014
$KALMAN_X,-264433.2,-528.0,-525.8,261716.9,-695.1
$KALMAN_Y,14509.8,-138.3,-83.5,-14543.8,59.6
$MHEAD_RNG_PITCHd_Wd,84.6,24594,-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,-77.9,0.0,0.0,0,73,0.00,0.00,-55.00,0.000,2,0.000,0.000,426,1867,3279,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.9,-7.3,11,92,10.60,0.00,-1.70,0.000,6,0.134,0.000,2401,1868,3370,0,0,0,0,0,0
$GC,295,-1.22,-77.9,50.0,-18.5,41,300,0.22,2.42,0.00,0.000,4,0.095,0.043,2447,463,3372,0,0,0,0,0,0
$GC,329,-1.08,-77.9,56.1,-18.3,44,334,0.15,2.30,0.00,0.000,6,0.099,0.019,2477,1911,3372,0,0,0,0,0,0
$GC,591,-1.08,-77.9,88.4,-11.2,68,596,0.00,2.47,0.00,0.000,4,0.000,0.043,2477,462,3373,0,0,0,0,0,0
$GC,665,-1.08,-77.9,96.8,-10.3,75,670,0.00,2.25,0.00,0.000,6,0.000,0.019,2477,1885,3373,0,0,0,0,0,0
$GC,929,-1.13,-77.9,120.1,-9.3,100,933,0.00,2.42,0.00,0.000,4,0.000,0.043,2476,463,3374,0,0,0,0,0,0
$GC,1059,-1.18,-77.9,134.1,-11.2,113,1065,0.00,2.25,0.00,0.000,6,0.000,0.018,2477,1893,3375,0,0,0,0,0,0
$GC,1322,-1.30,-77.9,161.9,-9.7,138,1327,0.20,2.45,0.00,0.000,4,0.046,0.041,2415,466,3375,0,0,0,0,0,0
$GC,1388,-1.24,-77.9,170.9,-14.6,144,1394,0.12,2.25,0.00,0.000,6,0.099,0.019,2441,1877,3376,0,0,0,0,0,0
$GC,1649,-1.31,-77.9,195.4,-7.7,169,1653,0.00,2.38,0.00,0.000,4,0.000,0.041,2441,469,3377,0,0,0,0,0,0
$GC,1710,-1.38,-77.9,200.6,-8.1,175,1717,0.12,2.22,0.00,0.000,6,0.063,0.019,2398,1877,3377,0,0,0,0,0,0
$GC,2026,-1.38,-77.9,230.3,-9.4,191,2030,0.00,2.25,0.00,0.000,4,0.000,0.025,2398,3258,3377,0,0,0,0,0,0
$GC,2039,-1.38,-77.9,231.9,-9.6,191,2044,0.00,2.30,0.00,0.000,6,0.000,0.028,2398,1866,3377,0,0,0,0,0,0
$GC,2355,-1.38,-77.9,267.4,-11.6,206,2359,0.00,2.38,0.00,0.000,4,0.000,0.044,2397,471,3377,0,0,0,0,0,0
$GC,2382,-1.32,-77.9,271.1,-13.2,207,2387,0.15,2.25,0.00,0.000,6,0.091,0.021,2429,1877,3377,0,0,0,0,0,0
$GC,2725,-1.41,-77.9,304.0,-9.9,223,2730,0.10,2.42,0.00,0.000,4,0.074,0.045,2392,463,3377,0,0,0,0,0,0
$GC,2781,-1.41,-77.9,310.4,-11.2,224,2785,0.00,2.28,0.00,0.000,6,0.000,0.021,2392,1878,3377,0,0,0,0,0,0
$GC,3098,-1.41,-77.9,339.6,-8.5,232,3103,0.00,2.42,0.00,0.000,4,0.000,0.046,2393,473,3375,0,0,0,0,0,0
$GC,3250,-1.41,-77.9,350.8,-7.6,235,3255,0.00,2.25,0.00,0.000,6,0.000,0.023,2393,1875,3375,0,0,0,0,0,0
$GC,3599,-1.41,-77.9,379.2,-8.7,244,3604,0.00,2.40,0.00,0.000,4,0.000,0.048,2392,474,3373,0,0,0,0,0,0
$GC,3697,-1.41,-77.9,389.3,-10.2,246,3701,0.00,2.28,0.00,0.000,6,0.000,0.025,2393,1878,3373,0,0,0,0,0,0
$GC,4019,-1.41,-77.9,416.8,-8.1,254,4023,0.00,2.45,0.00,0.000,4,0.000,0.049,2392,470,3370,0,0,0,0,0,0
$GC,4047,-1.41,-77.9,419.1,-8.8,254,4051,0.00,2.30,0.00,0.000,6,0.000,0.025,2392,1878,3370,0,0,0,0,0,0
$GC,4387,-1.45,-77.9,446.7,-8.4,263,4391,0.00,2.45,0.00,0.000,4,0.000,0.051,2392,474,3367,0,0,0,0,0,0
$STATE,4422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4422,begin apogee
$GC,4430,-0.31,0.0,450.2,9.3,263,4498,1.17,0.00,64.78,0.863,6,0.083,0.000,2642,2007,3050,0,0,0,0,0,0
$STATE,4499,end apogee,CONTROL_FINISHED_OK
$STATE,4499,begin climb
$GC,4502,1.40,77.9,451.7,0.0,265,4576,1.67,2.50,64.70,0.843,4,0.041,0.040,3009,3405,2732,0,0,0,0,0,0
$GC,4684,1.25,146.3,450.9,3.3,269,4750,0.17,2.40,58.25,0.841,6,0.118,0.034,2989,2007,2452,0,0,0,0,0,0
$GC,5092,1.15,150.2,421.0,7.8,279,5097,0.12,2.47,0.00,0.000,4,0.126,0.052,2968,602,2444,0,0,0,0,0,0
$GC,5140,1.03,158.8,417.4,7.4,280,5157,0.17,2.35,10.68,0.750,6,0.120,0.028,2938,2015,2401,0,0,0,0,0,0
$GC,5467,1.04,168.0,395.1,7.4,288,5484,0.00,2.53,9.23,0.735,4,0.000,0.051,2938,598,2363,0,0,0,0,0,0
$GC,5514,0.98,168.0,390.9,9.6,289,5518,0.00,2.38,0.00,0.000,6,0.000,0.030,2938,2012,2360,0,0,0,0,0,0
$GC,5841,1.00,180.9,365.8,7.1,297,5858,0.00,2.55,11.90,0.754,4,0.000,0.052,2938,601,2312,0,0,0,0,0,0
$GC,5969,0.96,180.9,353.7,10.5,299,5975,0.00,2.38,0.00,0.000,6,0.000,0.029,2938,2011,2309,0,0,0,0,0,0
$GC,6300,1.00,180.9,324.9,8.1,308,6304,0.00,2.47,0.00,0.000,4,0.000,0.052,2937,602,2307,0,0,0,0,0,0
$GC,6411,1.00,180.9,314.5,9.4,310,6416,0.00,2.38,0.00,0.000,6,0.000,0.030,2938,2022,2305,0,0,0,0,0,0
$GC,6738,1.06,199.6,291.7,6.7,321,6760,0.00,2.53,17.02,0.752,4,0.000,0.050,2938,607,2235,0,0,0,0,0,0
$GC,6913,1.06,199.6,272.3,13.2,328,6917,0.00,2.35,0.00,0.000,6,0.000,0.029,2938,2010,2230,0,0,0,0,0,0
$GC,7228,1.12,199.6,242.5,8.6,343,7232,0.00,2.47,0.00,0.000,4,0.000,0.050,2938,604,2230,0,0,0,0,0,0
$GC,7307,1.12,199.6,234.6,10.0,346,7311,0.00,2.35,0.00,0.000,6,0.000,0.028,2938,2012,2228,0,0,0,0,0,0
$GC,7623,1.22,208.1,206.3,7.4,361,7636,0.20,2.47,7.85,0.621,4,0.058,0.048,2989,605,2201,0,0,0,0,0,0
$GC,7777,1.18,228.1,194.6,6.6,372,7804,0.00,2.35,19.33,0.686,6,0.000,0.027,2989,2025,2118,0,0,0,0,0,0
$GC,8059,1.18,228.1,174.5,8.7,399,8063,0.00,2.47,0.00,0.000,4,0.000,0.048,2989,598,2115,0,0,0,0,0,0
$GC,8180,1.13,228.1,160.2,13.4,411,8187,0.15,2.33,0.00,0.000,6,0.117,0.026,2963,2014,2112,0,0,0,0,0,0
$GC,8443,1.21,228.1,133.3,9.8,436,8448,0.00,2.47,0.00,0.000,4,0.000,0.047,2963,599,2113,0,0,0,0,0,0
$GC,8565,1.30,266.2,123.6,5.4,448,8605,0.15,2.33,33.50,0.632,6,0.064,0.025,3004,2021,1964,0,0,0,0,0,0
$GC,8859,1.33,266.2,100.0,8.6,477,8863,0.00,2.47,0.00,0.000,4,0.000,0.047,3004,602,1960,0,0,0,0,0,0
$GC,8922,1.29,266.2,94.7,9.2,483,8926,0.00,2.33,0.00,0.000,6,0.000,0.023,3004,2015,1958,0,0,0,0,0,0
$GC,9185,1.35,266.2,66.0,9.6,507,9189,0.00,2.42,0.00,0.000,4,0.000,0.044,3004,604,1957,0,0,0,0,0,0
$GC,9296,1.35,266.2,55.1,9.2,519,9300,0.00,2.28,0.00,0.000,6,0.000,0.022,3004,2015,1957,0,0,0,0,0,0
$GC,9559,1.43,275.4,36.4,7.4,543,9576,0.00,2.47,8.60,0.482,4,0.000,0.041,3004,594,1925,0,0,0,0,0,0
$GC,9658,1.43,275.4,27.2,9.6,556,9664,0.00,2.30,0.00,0.000,6,0.000,0.021,3004,2012,1924,0,0,0,0,0,0
$GC,9866,1.49,275.4,8.0,9.0,593,9872,0.15,2.45,0.00,0.000,4,0.058,0.041,3052,595,1924,0,0,0,0,0,0
$STATE,9909,end climb,SURFACE_DEPTH_REACHED
$STATE,9909,begin surface coast
$FINISH,0.5,1.022925
$STATE,9935,end surface coast,CONTROL_FINISHED_OK
$STATE,9935,begin surface
$SM_CCo,9957,13.43,0.482,0,0,1827,300.00
$SM_GC,2.00,0.00,0.00,13.43,0.000,0.000,0.482,429,1907,1827,-10.51,0.90,300.00
$IRIDIUM_FIX,2059.45,-15753.90,080999,161607
$TT8_MAMPS,0.029146
$HUMID,52.44
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,23.4,46.318
$10V_AH,10.1,43.490
$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,26.975,123.775,305.825,13.425,0.000,24.609,28.406,134.203,4.500,0.000,16.887,1196.842,6789.388,381.702,1514.092,390.484,33.380,1213.170,0.000,1469.488,0.000,29.243,0.000
$DEVICE_MAMPS,134.225,52.156,862.875,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.899,388.188,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,31628,607
$CAP_FILE_SIZE,117437,0
$CFSIZE,260165632,228151296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140610,215226,2106.723,-15756.414,48,5.4,67,9.8