version: 66.06
glider: 139
mission: 7
dive: 530
start: 6 15 110 19 38 50
data:
$ID,139
$MISSION,7
$DIVE,530
$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,-2140914.8
$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
$GPS1,193014,2107.523,-15757.190,27,1.8,27,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.3
$GPS2,193758,2107.473,-15757.243,11,4.5,30,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.181,-0.030
$KALMAN_X,-281240.6,-367.2,-573.5,278188.8,-1107.0
$KALMAN_Y,15354.2,-194.6,-35.8,-14080.5,215.8
$MHEAD_RNG_PITCHd_Wd,89.4,24942,-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,13,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,73,0.00,0.00,-55.05,0.000,2,0.000,0.000,428,1849,3282,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.9,-7.5,11,96,10.62,2.38,-1.70,0.000,4,0.136,0.052,2403,464,3370,0,0,0,0,0,0
$GC,102,-0.13,-77.9,13.9,-33.4,16,108,1.40,2.33,0.00,0.000,6,0.097,0.020,2683,1929,3371,0,0,0,0,0,0
$GC,311,-0.80,-77.9,29.6,-8.3,53,317,0.62,2.50,0.00,0.000,4,0.044,0.039,2532,467,3372,0,0,0,0,0,0
$GC,371,-0.99,-77.9,34.4,-7.6,60,376,0.15,2.30,0.00,0.000,6,0.056,0.019,2480,1922,3373,0,0,0,0,0,0
$GC,633,-0.99,-77.9,63.2,-11.1,84,637,0.00,2.50,0.00,0.000,4,0.000,0.044,2480,462,3374,0,0,0,0,0,0
$GC,694,-0.99,-77.9,70.5,-11.5,90,698,0.00,2.25,0.00,0.000,6,0.000,0.019,2480,1869,3373,0,0,0,0,0,0
$GC,957,-1.04,-77.9,97.9,-9.5,114,960,0.00,2.40,0.00,0.000,4,0.000,0.042,2480,469,3375,0,0,0,0,0,0
$GC,1088,-1.08,-77.9,111.7,-9.9,128,1092,0.00,2.22,0.00,0.000,6,0.000,0.019,2480,1879,3375,0,0,0,0,0,0
$GC,1351,-1.16,-77.9,132.5,-7.0,152,1355,0.00,2.40,0.00,0.000,4,0.000,0.042,2479,466,3376,0,0,0,0,0,0
$GC,1425,-1.25,-77.9,138.5,-8.1,159,1432,0.17,2.25,0.00,0.000,6,0.049,0.018,2423,1885,3376,0,0,0,0,0,0
$GC,1686,-1.25,-77.9,170.0,-13.1,184,1690,0.00,2.40,0.00,0.000,4,0.000,0.042,2423,469,3377,0,0,0,0,0,0
$GC,1741,-1.25,-77.9,177.2,-12.0,189,1747,0.00,2.22,0.00,0.000,6,0.000,0.019,2422,1883,3377,0,0,0,0,0,0
$GC,2013,-1.25,-77.9,204.0,-8.8,213,2017,0.00,2.40,0.00,0.000,4,0.000,0.042,2423,467,3377,0,0,0,0,0,0
$GC,2087,-1.25,-77.9,211.2,-9.0,216,2091,0.00,2.22,0.00,0.000,6,0.000,0.019,2422,1877,3377,0,0,0,0,0,0
$GC,2407,-1.30,-77.9,236.3,-8.3,232,2411,0.00,2.40,0.00,0.000,4,0.000,0.042,2423,460,3378,0,0,0,0,0,0
$GC,2450,-1.34,-77.9,240.2,-8.7,234,2455,0.00,2.25,0.00,0.000,6,0.000,0.021,2423,1882,3377,0,0,0,0,0,0
$GC,2780,-1.42,-77.9,276.6,-11.0,250,2784,0.00,2.42,0.00,0.000,4,0.000,0.044,2422,463,3377,0,0,0,0,0,0
$GC,2877,-1.46,-77.9,287.1,-9.9,254,2882,0.12,2.25,0.00,0.000,6,0.063,0.021,2380,1872,3377,0,0,0,0,0,0
$GC,3220,-1.46,-77.9,318.2,-8.3,266,3224,0.00,2.42,0.00,0.000,4,0.000,0.046,2380,466,3376,0,0,0,0,0,0
$GC,3238,-1.40,-77.9,319.7,-8.5,266,3243,0.15,2.25,0.00,0.000,6,0.098,0.023,2410,1873,3375,0,0,0,0,0,0
$GC,3555,-1.45,-77.9,341.2,-7.1,274,3559,0.00,2.42,0.00,0.000,4,0.000,0.047,2410,470,3375,0,0,0,0,0,0
$GC,3653,-1.48,-77.9,349.3,-8.3,276,3657,0.00,2.28,0.00,0.000,6,0.000,0.024,2411,1871,3374,0,0,0,0,0,0
$GC,3975,-1.54,-77.9,376.5,-9.1,284,3977,0.15,0.00,0.00,0.000,6,0.059,0.000,2367,1876,3372,0,0,0,0,0,0
$GC,4303,-1.50,-77.9,417.0,-13.4,292,4308,0.10,2.47,0.00,0.000,4,0.115,0.051,2386,462,3370,0,0,0,0,0,0
$GC,4331,-1.45,-77.9,421.0,-13.2,292,4335,0.00,2.30,0.00,0.000,6,0.000,0.026,2386,1875,3369,0,0,0,0,0,0
$STATE,4624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4624,begin apogee
$GC,4630,-0.31,0.0,453.2,10.6,300,4698,1.20,0.00,64.68,0.863,6,0.074,0.000,2642,2030,3050,0,0,0,0,0,0
$STATE,4699,end apogee,CONTROL_FINISHED_OK
$STATE,4699,begin climb
$GC,4701,1.40,77.9,455.0,0.0,301,4776,1.62,2.42,64.50,0.846,4,0.032,0.041,3023,3381,2731,0,0,0,0,0,0
$GC,5040,1.24,130.0,449.4,4.4,308,5091,0.20,2.38,44.03,0.843,6,0.114,0.035,2986,2003,2519,0,0,0,0,0,0
$GC,5427,1.16,158.7,425.0,6.1,318,5459,0.00,2.45,25.15,0.824,4,0.000,0.038,2985,3383,2402,0,0,0,0,0,0
$GC,5539,1.10,174.5,417.6,6.9,320,5562,0.17,2.38,14.95,0.786,6,0.117,0.037,2956,2004,2338,0,0,0,0,0,0
$GC,5887,1.14,202.5,395.2,6.1,329,5920,0.00,2.58,25.48,0.817,4,0.000,0.054,2956,601,2223,0,0,0,0,0,0
$GC,5948,1.07,202.5,390.5,8.4,330,5953,0.00,2.33,0.00,0.000,6,0.000,0.029,2956,1986,2219,0,0,0,0,0,0
$GC,6297,1.07,202.5,360.7,9.1,339,6302,0.00,2.42,0.00,0.000,4,0.000,0.052,2956,605,2216,0,0,0,0,0,0
$GC,6416,1.02,202.5,346.7,13.2,341,6420,0.00,2.38,0.00,0.000,6,0.000,0.029,2956,2015,2213,0,0,0,0,0,0
$GC,6756,1.02,202.5,309.3,10.7,350,6761,0.00,2.47,0.00,0.000,4,0.000,0.052,2956,604,2213,0,0,0,0,0,0
$GC,6895,0.99,202.5,293.0,10.4,354,6900,0.15,2.35,0.00,0.000,6,0.118,0.028,2930,2018,2210,0,0,0,0,0,0
$GC,7222,1.07,202.5,268.5,8.1,370,7226,0.00,2.47,0.00,0.000,4,0.000,0.051,2929,600,2210,0,0,0,0,0,0
$GC,7246,1.11,208.1,266.6,7.6,371,7251,0.12,2.38,0.00,0.000,6,0.075,0.028,2961,2020,2209,0,0,0,0,0,0
$GC,7571,1.13,222.9,244.2,7.0,387,7594,0.00,2.53,16.80,0.716,4,0.000,0.048,2961,600,2140,0,0,0,0,0,0
$GC,7816,1.13,222.9,218.7,11.7,397,7820,0.00,2.38,0.00,0.000,6,0.000,0.028,2961,2020,2135,0,0,0,0,0,0
$GC,8134,1.18,222.9,187.5,10.0,417,8139,0.00,2.33,0.00,0.000,4,0.000,0.032,2953,3413,2134,0,0,0,0,0,0
$GC,8159,1.27,222.9,184.9,10.8,419,8164,0.12,2.40,0.00,0.000,6,0.071,0.035,2996,2001,2135,0,0,0,0,0,0
$GC,8421,1.27,222.9,157.1,9.5,443,8425,0.00,2.42,0.00,0.000,4,0.000,0.047,2995,600,2135,0,0,0,0,0,0
$GC,8520,1.21,222.9,146.9,9.6,453,8524,0.00,2.33,0.00,0.000,6,0.000,0.025,2996,2021,2133,0,0,0,0,0,0
$GC,8782,1.21,222.9,127.3,8.2,477,8786,0.00,2.47,0.00,0.000,4,0.000,0.046,2996,597,2133,0,0,0,0,0,0
$GC,9022,1.18,222.9,101.7,10.4,502,9028,0.12,2.33,0.00,0.000,6,0.111,0.023,2973,2018,2133,0,0,0,0,0,0
$GC,9285,1.38,318.6,87.3,1.4,527,9379,0.17,2.55,82.32,0.601,4,0.058,0.044,3021,603,1749,0,0,0,0,0,0
$GC,9482,1.38,318.6,74.3,10.0,549,9486,0.00,2.30,0.00,0.000,6,0.000,0.021,3021,2015,1743,0,0,0,0,0,0
$GC,9745,1.43,318.6,44.9,11.3,573,9749,0.00,2.45,0.00,0.000,4,0.000,0.044,3021,601,1742,0,0,0,0,0,0
$GC,9877,1.43,318.6,28.3,12.4,587,9883,0.00,2.28,0.00,0.000,6,0.000,0.021,3021,2014,1740,0,0,0,0,0,0
$GC,10085,1.48,318.6,4.0,12.1,624,10091,0.00,2.42,0.00,0.000,4,0.000,0.042,3021,597,1740,0,0,0,0,0,0
$STATE,10095,end climb,SURFACE_DEPTH_REACHED
$STATE,10095,begin surface coast
$FINISH,0.5,1.011454
$STATE,10118,end surface coast,CONTROL_FINISHED_OK
$STATE,10118,begin surface
$SM_CCo,10201,0.00,0.000,0,0,1736,322.32
$SM_GC,1.37,11.10,0.00,0.00,0.023,0.000,0.000,429,1898,1736,-10.43,0.65,322.32
$IRIDIUM_FIX,2059.45,-15756.04,090999,161606
$TT8_MAMPS,0.029146
$HUMID,51.37
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,23.4,47.013
$10V_AH,10.0,43.917
$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,28.500,118.700,337.900,0.000,0.000,27.426,26.141,281.075,4.500,0.000,31.813,1224.395,6919.243,384.622,1590.081,543.848,33.375,1244.777,0.000,1527.484,0.000,29.263,0.000
$DEVICE_MAMPS,135.759,53.690,862.875,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,423.879,408.716,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355744
$DATA_FILE_SIZE,31865,631
$CAP_FILE_SIZE,120583,0
$CFSIZE,260165632,227667968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150610,223036,2107.601,-15756.726,71,1.7,71,9.8