version: 66.06
glider: 139
mission: 7
dive: 523
start: 6 14 110 22 0 24
data:
$ID,139
$MISSION,7
$DIVE,523
$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,-2140695
$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
$GPS1,215226,2106.723,-15756.414,48,5.4,67,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-72.1
$GPS2,215932,2106.680,-15756.456,12,1.8,12,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,0.006
$KALMAN_X,-266364.8,-258.7,215.7,263775.9,-1253.4
$KALMAN_Y,14254.9,-17.4,39.2,-14701.0,-118.6
$MHEAD_RNG_PITCHd_Wd,78.4,23447,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.40,-77.9,0.0,0.0,0,69,0.00,0.00,-50.00,0.000,2,0.000,0.000,429,1909,3152,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.6,-6.7,10,93,10.62,0.00,-4.30,0.000,6,0.134,0.000,2404,1910,3370,0,0,0,0,0,0
$GC,296,-1.22,-77.9,46.5,-17.5,42,301,0.22,2.50,0.00,0.000,4,0.098,0.043,2449,465,3372,0,0,0,0,0,0
$GC,334,-1.07,-77.9,53.1,-16.3,45,340,0.15,2.33,0.00,0.000,6,0.104,0.020,2478,1913,3372,0,0,0,0,0,0
$GC,597,-1.10,-77.9,85.7,-11.6,70,601,0.00,2.50,0.00,0.000,4,0.000,0.042,2477,465,3373,0,0,0,0,0,0
$GC,770,-1.15,-77.9,105.6,-10.4,88,774,0.00,2.25,0.00,0.000,6,0.000,0.019,2478,1889,3374,0,0,0,0,0,0
$GC,1032,-1.26,-77.9,130.8,-8.1,112,1037,0.17,2.42,0.00,0.000,4,0.051,0.041,2422,469,3375,0,0,0,0,0,0
$GC,1098,-1.21,-77.9,137.0,-9.6,118,1105,0.10,2.22,0.00,0.000,6,0.074,0.019,2447,1881,3375,0,0,0,0,0,0
$GC,1359,-1.28,-77.9,159.1,-9.3,143,1363,0.00,2.40,0.00,0.000,4,0.000,0.041,2447,465,3376,0,0,0,0,0,0
$GC,1402,-1.32,-77.9,163.1,-10.0,147,1406,0.00,2.25,0.00,0.000,6,0.000,0.019,2447,1880,3376,0,0,0,0,0,0
$GC,1664,-1.40,-77.9,190.1,-11.2,171,1669,0.17,2.42,0.00,0.000,4,0.051,0.043,2392,463,3377,0,0,0,0,0,0
$GC,1755,-1.34,-77.9,203.0,-14.7,179,1760,0.15,2.25,0.00,0.000,6,0.094,0.020,2423,1877,3377,0,0,0,0,0,0
$GC,2092,-1.41,-77.9,229.3,-4.9,195,2096,0.00,2.40,0.00,0.000,4,0.000,0.044,2422,464,3377,0,0,0,0,0,0
$GC,2148,-1.44,-77.9,232.8,-6.5,197,2153,0.12,2.28,0.00,0.000,6,0.063,0.021,2381,1885,3377,0,0,0,0,0,0
$GC,2463,-1.44,-77.9,258.8,-8.4,212,2467,0.00,2.45,0.00,0.000,4,0.000,0.044,2381,463,3377,0,0,0,0,0,0
$GC,2520,-1.38,-77.9,264.3,-9.8,214,2524,0.15,2.25,0.00,0.000,6,0.094,0.021,2412,1871,3377,0,0,0,0,0,0
$GC,2837,-1.43,-77.9,290.1,-8.0,229,2841,0.00,2.42,0.00,0.000,4,0.000,0.045,2413,464,3375,0,0,0,0,0,0
$GC,2860,-1.43,-77.9,292.3,-9.1,230,2865,0.00,2.28,0.00,0.000,6,0.000,0.023,2412,1880,3375,0,0,0,0,0,0
$GC,3207,-1.48,-77.9,322.7,-9.4,241,3212,0.10,2.45,0.00,0.000,4,0.075,0.048,2379,470,3374,0,0,0,0,0,0
$GC,3270,-1.43,-77.9,330.1,-12.4,242,3275,0.10,2.28,0.00,0.000,6,0.108,0.024,2399,1865,3374,0,0,0,0,0,0
$GC,3623,-1.48,-77.9,363.4,-9.0,251,3627,0.00,2.40,0.00,0.000,4,0.000,0.048,2399,470,3372,0,0,0,0,0,0
$GC,3706,-1.48,-77.9,370.4,-7.4,252,3712,0.00,2.30,0.00,0.000,6,0.000,0.025,2399,1883,3371,0,0,0,0,0,0
$GC,4038,-1.51,-77.9,394.6,-7.6,261,4043,0.00,2.45,0.00,0.000,4,0.000,0.050,2399,466,3370,0,0,0,0,0,0
$GC,4119,-1.51,-77.9,400.6,-7.3,262,4123,0.00,2.33,0.00,0.000,6,0.000,0.026,2399,1883,3369,0,0,0,0,0,0
$GC,4451,-1.55,-77.9,419.6,-5.7,270,4456,0.00,2.47,0.00,0.000,4,0.000,0.051,2399,466,3366,0,0,0,0,0,0
$GC,4490,-1.55,-77.9,423.4,-9.6,270,4494,0.00,2.30,0.00,0.000,6,0.000,0.027,2400,1878,3367,0,0,0,0,0,0
$GC,4822,-1.60,-77.9,449.9,-8.4,278,4827,0.15,1.98,0.00,0.000,3,0.062,0.051,2358,748,3364,0,0,0,0,0,0
$STATE,4828,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4828,begin apogee
$GC,4836,-0.31,0.0,450.6,8.9,278,4904,1.33,0.00,63.90,0.879,6,0.081,0.000,2641,2018,3050,0,0,0,0,0,0
$STATE,4905,end apogee,CONTROL_FINISHED_OK
$STATE,4905,begin climb
$GC,4907,1.40,77.9,452.3,0.0,279,4982,1.65,2.47,64.97,0.857,4,0.033,0.042,3018,3398,2732,0,0,0,0,0,0
$GC,5152,1.23,126.4,447.8,4.7,284,5201,0.20,2.40,41.53,0.848,6,0.114,0.035,2987,2001,2533,0,0,0,0,0,0
$GC,5546,1.12,126.4,417.9,8.5,294,5551,0.15,2.45,0.00,0.000,4,0.123,0.040,2961,3403,2527,0,0,0,0,0,0
$GC,5751,1.06,127.3,401.4,8.0,298,5755,0.00,2.40,0.00,0.000,6,0.000,0.036,2962,2005,2526,0,0,0,0,0,0
$GC,6101,1.01,129.3,374.8,7.9,307,6106,0.15,2.47,0.00,0.000,4,0.119,0.051,2934,594,2523,0,0,0,0,0,0
$GC,6116,0.96,130.4,373.5,7.9,307,6120,0.00,2.35,0.00,0.000,6,0.000,0.029,2934,2009,2522,0,0,0,0,0,0
$GC,6466,1.00,168.1,352.4,5.4,316,6508,0.00,2.58,35.00,0.821,4,0.000,0.052,2934,597,2363,0,0,0,0,0,0
$GC,6666,1.00,168.1,338.1,8.3,320,6670,0.00,2.38,0.00,0.000,6,0.000,0.030,2934,2010,2357,0,0,0,0,0,0
$GC,6979,1.11,219.6,321.1,4.5,328,7032,0.10,2.58,45.72,0.803,4,0.087,0.051,2959,611,2153,0,0,0,0,0,0
$GC,7106,1.08,219.6,310.1,11.2,330,7112,0.00,2.38,0.00,0.000,6,0.000,0.030,2958,2011,2148,0,0,0,0,0,0
$GC,7419,1.08,219.6,278.9,10.4,343,7424,0.00,2.50,0.00,0.000,4,0.000,0.052,2959,604,2146,0,0,0,0,0,0
$GC,7657,1.05,219.6,250.7,11.8,353,7661,0.00,2.35,0.00,0.000,6,0.000,0.029,2958,2018,2142,0,0,0,0,0,0
$GC,7977,1.12,241.7,224.9,6.5,369,8003,0.00,2.55,19.17,0.713,4,0.000,0.049,2959,602,2063,0,0,0,0,0,0
$GC,8022,1.12,241.7,221.2,8.3,371,8026,0.00,2.38,0.00,0.000,6,0.000,0.028,2959,2017,2060,0,0,0,0,0,0
$GC,8351,1.18,241.7,188.5,10.7,392,8355,0.00,2.50,0.00,0.000,4,0.000,0.050,2958,599,2059,0,0,0,0,0,0
$GC,8417,1.18,241.7,180.9,10.7,398,8423,0.00,2.35,0.00,0.000,6,0.000,0.027,2959,2014,2056,0,0,0,0,0,0
$GC,8680,1.29,267.4,160.3,6.3,423,8709,0.15,2.58,23.23,0.663,4,0.065,0.048,2997,574,1959,0,0,0,0,0,0
$GC,8830,1.23,267.4,142.1,13.8,439,8836,0.00,2.40,0.00,0.000,6,0.000,0.025,2998,2014,1954,0,0,0,0,0,0
$GC,9093,1.27,267.4,110.3,9.8,464,9097,0.00,2.47,0.00,0.000,4,0.000,0.046,2998,597,1953,0,0,0,0,0,0
$GC,9182,1.30,286.0,102.7,6.7,473,9204,0.00,2.33,16.65,0.595,6,0.000,0.024,2999,2028,1884,0,0,0,0,0,0
$GC,9460,1.37,299.9,86.4,7.1,499,9479,0.00,2.58,13.62,0.565,4,0.000,0.044,2998,595,1826,0,0,0,0,0,0
$GC,9600,1.41,299.9,72.1,9.4,514,9605,0.00,2.33,0.00,0.000,6,0.000,0.022,2998,2011,1822,0,0,0,0,0,0
$GC,9864,1.49,301.6,51.6,7.9,538,9869,0.17,2.45,0.00,0.000,4,0.054,0.044,3048,597,1822,0,0,0,0,0,0
$GC,9994,1.40,301.6,36.5,12.0,551,10001,0.15,2.30,0.00,0.000,6,0.100,0.021,3020,2013,1822,0,0,0,0,0,0
$GC,10267,1.45,301.6,9.3,10.3,594,10272,0.00,2.42,0.00,0.000,4,0.000,0.043,3019,595,1821,0,0,0,0,0,0
$STATE,10322,end climb,SURFACE_DEPTH_REACHED
$STATE,10322,begin surface coast
$FINISH,0.4,1.002989
$STATE,10357,end surface coast,CONTROL_FINISHED_OK
$STATE,10357,begin surface
$SM_CCo,10440,0.00,0.000,0,0,1817,302.21
$SM_GC,1.42,11.18,0.00,0.00,0.027,0.000,0.000,426,1910,1817,-10.45,0.96,302.21
$IRIDIUM_FIX,2059.45,-15801.19,080999,191905
$TT8_MAMPS,0.029146
$HUMID,51.22
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,23.4,46.405
$10V_AH,10.0,43.542
$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,27.450,123.725,323.800,0.000,0.000,62.767,59.644,133.363,4.750,0.000,12.579,1224.007,7220.406,371.298,1566.713,481.791,33.373,1236.513,0.000,1528.655,0.000,32.115,0.000
$DEVICE_MAMPS,134.225,52.156,878.982,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.567,395.903,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,31733,613
$CAP_FILE_SIZE,121556,0
$CFSIZE,260165632,228089856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150610,005656,2106.790,-15755.969,98,8.6,117,9.8