version: 66.06
glider: 139
mission: 7
dive: 553
start: 6 18 110 19 26 30
data:
$ID,139
$MISSION,7
$DIVE,553
$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,-2141874
$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
$GPS1,191931,2106.557,-15752.432,35,1.5,35,9.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.8
$GPS2,192537,2106.598,-15752.481,13,1.8,18,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,0.005
$KALMAN_X,-320238.6,-289.9,-206.0,324961.0,-1542.5
$KALMAN_Y,19326.4,24.0,51.1,-19976.4,-99.1
$MHEAD_RNG_PITCHd_Wd,78.7,16588,-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,12,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-55.30,0.000,2,0.000,0.000,425,1867,3292,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.9,-7.2,11,95,10.57,2.42,-1.52,0.000,4,0.133,0.051,2403,455,3371,0,0,0,0,0,0
$GC,101,-0.10,-77.9,14.0,-33.1,16,108,1.42,2.35,0.00,0.000,6,0.097,0.020,2688,1922,3372,0,0,0,0,0,0
$GC,312,-0.78,-77.9,30.1,-9.6,53,321,0.62,2.50,0.00,0.000,4,0.044,0.038,2538,460,3373,0,0,0,0,0,0
$GC,363,-1.03,-77.9,35.0,-9.0,58,370,0.22,2.28,0.00,0.000,6,0.044,0.019,2468,1892,3374,0,0,0,0,0,0
$GC,626,-1.03,-77.9,68.3,-13.2,83,630,0.00,2.22,0.00,0.000,4,0.000,0.024,2468,3253,3374,0,0,0,0,0,0
$GC,654,-1.12,-77.9,71.7,-11.1,85,659,0.00,2.30,0.00,0.000,6,0.000,0.028,2469,1871,3374,0,0,0,0,0,0
$GC,916,-1.17,-77.9,99.5,-8.8,110,921,0.00,2.38,0.00,0.000,4,0.000,0.041,2469,463,3375,0,0,0,0,0,0
$GC,1014,-1.22,-77.9,110.3,-11.0,120,1020,0.00,2.25,0.00,0.000,6,0.000,0.018,2469,1878,3376,0,0,0,0,0,0
$GC,1277,-1.31,-77.9,136.9,-9.5,145,1282,0.17,2.25,0.00,0.000,4,0.051,0.025,2409,3258,3376,0,0,0,0,0,0
$GC,1297,-1.35,-77.9,139.2,-10.1,146,1302,0.00,2.28,0.00,0.000,6,0.000,0.025,2412,1871,3376,0,0,0,0,0,0
$GC,1559,-1.35,-77.9,163.8,-8.4,171,1563,0.00,2.35,0.00,0.000,4,0.000,0.041,2411,474,3377,0,0,0,0,0,0
$GC,1624,-1.35,-77.9,170.2,-9.7,177,1631,0.00,2.20,0.00,0.000,6,0.000,0.019,2412,1875,3377,0,0,0,0,0,0
$GC,1887,-1.35,-77.9,198.3,-11.3,202,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1880,3377,0,0,0,0,0,0
$GC,2134,-1.35,-77.9,223.4,-9.6,215,2138,0.00,2.38,0.00,0.000,4,0.000,0.041,2411,473,3377,0,0,0,0,0,0
$GC,2166,-1.35,-77.9,226.6,-9.6,216,2170,0.00,2.22,0.00,0.000,6,0.000,0.020,2409,1882,3378,0,0,0,0,0,0
$GC,2481,-1.35,-77.9,250.2,-8.0,231,2485,0.00,2.40,0.00,0.000,4,0.000,0.043,2411,469,3378,0,0,0,0,0,0
$GC,2549,-1.35,-77.9,256.5,-9.9,234,2553,0.00,2.25,0.00,0.000,6,0.000,0.021,2410,1873,3378,0,0,0,0,0,0
$GC,2880,-1.40,-77.9,285.6,-9.1,250,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1878,3377,0,0,0,0,0,0
$GC,3207,-1.45,-77.9,313.1,-7.8,262,3211,0.00,2.40,0.00,0.000,4,0.000,0.046,2411,471,3376,0,0,0,0,0,0
$GC,3324,-1.49,-77.9,322.9,-8.2,264,3328,0.00,2.28,0.00,0.000,6,0.000,0.023,2411,1874,3376,0,0,0,0,0,0
$GC,3665,-1.55,-77.9,348.6,-7.6,273,3667,0.17,0.00,0.00,0.000,6,0.054,0.000,2362,1879,3374,0,0,0,0,0,0
$GC,3990,-1.51,-77.9,384.4,-11.3,281,3995,0.12,2.45,0.00,0.000,4,0.105,0.050,2387,477,3372,0,0,0,0,0,0
$GC,4065,-1.51,-77.9,393.1,-11.0,282,4069,0.00,2.28,0.00,0.000,6,0.000,0.025,2387,1878,3371,0,0,0,0,0,0
$GC,4400,-1.51,-77.9,426.0,-9.6,291,4405,0.00,2.45,0.00,0.000,4,0.000,0.050,2387,474,3369,0,0,0,0,0,0
$GC,4423,-1.51,-77.9,428.5,-10.4,291,4428,0.00,2.30,0.00,0.000,6,0.000,0.027,2387,1873,3369,0,0,0,0,0,0
$STATE,4680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4680,begin apogee
$GC,4686,-0.31,0.0,451.8,9.0,298,4755,1.20,0.00,64.68,0.871,6,0.073,0.000,2643,2036,3050,0,0,0,0,0,0
$STATE,4755,end apogee,CONTROL_FINISHED_OK
$STATE,4755,begin climb
$GC,4758,1.40,77.9,453.1,0.0,299,4833,1.62,2.42,64.45,0.850,4,0.033,0.041,3024,3383,2731,0,0,0,0,0,0
$GC,5098,1.22,116.9,442.2,5.3,306,5139,0.22,2.35,32.97,0.841,6,0.112,0.035,2982,2007,2573,0,0,0,0,0,0
$GC,5448,1.12,130.8,416.4,7.1,315,5468,0.12,2.42,12.50,0.775,4,0.125,0.037,2954,3383,2515,0,0,0,0,0,0
$GC,5529,1.09,153.1,411.5,6.5,316,5556,0.00,2.38,20.52,0.810,6,0.000,0.036,2962,2012,2425,0,0,0,0,0,0
$GC,5871,1.05,153.1,383.9,8.6,325,5875,0.00,2.47,0.00,0.000,4,0.000,0.051,2961,604,2419,0,0,0,0,0,0
$GC,5885,0.98,153.1,382.4,8.7,325,5890,0.17,2.35,0.00,0.000,6,0.117,0.029,2931,1998,2418,0,0,0,0,0,0
$GC,6200,1.00,168.1,359.5,7.0,333,6220,0.00,2.53,13.32,0.775,4,0.000,0.051,2930,599,2362,0,0,0,0,0,0
$GC,6331,1.00,168.1,348.5,8.9,335,6337,0.00,2.40,0.00,0.000,6,0.000,0.030,2931,2018,2359,0,0,0,0,0,0
$GC,6663,1.06,177.3,324.3,7.4,344,6679,0.00,2.53,8.62,0.706,4,0.000,0.051,2930,600,2326,0,0,0,0,0,0
$GC,6711,1.06,177.3,319.7,9.5,345,6716,0.00,2.38,0.00,0.000,6,0.000,0.030,2930,2016,2324,0,0,0,0,0,0
$GC,7036,1.12,177.3,293.5,8.2,354,7041,0.12,2.50,0.00,0.000,4,0.077,0.052,2961,604,2323,0,0,0,0,0,0
$GC,7231,1.06,177.3,275.7,9.1,362,7235,0.00,2.38,0.00,0.000,6,0.000,0.029,2961,2017,2321,0,0,0,0,0,0
$GC,7547,1.09,201.6,253.3,6.4,377,7571,0.00,0.00,22.23,0.744,6,0.000,0.000,2961,2021,2228,0,0,0,0,0,0
$GC,7876,1.13,201.6,224.7,8.5,393,7880,0.00,2.47,0.00,0.000,4,0.000,0.049,2961,601,2223,0,0,0,0,0,0
$GC,8144,1.13,201.6,195.7,11.2,406,8149,0.00,2.35,0.00,0.000,6,0.000,0.027,2961,2024,2220,0,0,0,0,0,0
$GC,8407,1.22,239.3,177.2,5.4,431,8450,0.00,2.55,33.75,0.684,4,0.000,0.046,2961,601,2072,0,0,0,0,0,0
$GC,8511,1.23,246.9,169.9,7.5,442,8525,0.00,2.35,7.43,0.567,6,0.000,0.026,2961,2025,2043,0,0,0,0,0,0
$GC,8780,1.32,246.9,148.8,9.8,468,8785,0.17,2.50,0.00,0.000,4,0.060,0.048,3007,604,2041,0,0,0,0,0,0
$GC,9004,1.26,246.9,122.4,9.3,491,9009,0.00,2.30,0.00,0.000,6,0.000,0.024,3007,2012,2038,0,0,0,0,0,0
$GC,9264,1.26,246.9,101.5,9.1,516,9268,0.00,2.45,0.00,0.000,4,0.000,0.044,3007,599,2037,0,0,0,0,0,0
$GC,9329,1.22,246.9,94.5,11.7,522,9335,0.15,2.30,0.00,0.000,6,0.105,0.023,2979,2016,2037,0,0,0,0,0,0
$GC,9592,1.36,274.8,78.7,6.1,547,9627,0.15,2.50,25.30,0.573,4,0.061,0.043,3021,601,1928,0,0,0,0,0,0
$GC,9716,1.32,274.8,65.3,11.7,560,9721,0.00,2.30,0.00,0.000,6,0.000,0.021,3021,2016,1924,0,0,0,0,0,0
$GC,9978,1.32,274.8,38.3,9.9,585,9983,0.00,2.45,0.00,0.000,4,0.000,0.042,3021,598,1924,0,0,0,0,0,0
$GC,10043,1.28,274.8,30.9,11.5,591,10049,0.15,2.28,0.00,0.000,6,0.100,0.021,2992,2018,1923,0,0,0,0,0,0
$GC,10318,1.36,274.8,7.3,9.0,639,10324,0.00,2.45,0.00,0.000,4,0.000,0.042,2992,592,1923,0,0,0,0,0,0
$STATE,10365,end climb,SURFACE_DEPTH_REACHED
$STATE,10365,begin surface coast
$FINISH,1.0,1.023222
$STATE,10402,end surface coast,CONTROL_FINISHED_OK
$STATE,10404,begin surface
$SM_CCo,10426,14.12,0.485,0,0,1826,300.00
$SM_GC,1.72,0.00,0.00,14.12,0.000,0.000,0.485,423,1898,1826,-10.54,0.65,300.00
$IRIDIUM_FIX,2059.45,-15750.89,120999,161602
$TT8_MAMPS,0.029146
$HUMID,51.41
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,23.4,49.035
$10V_AH,10.0,45.191
$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,28.450,113.825,305.775,14.125,0.000,28.116,29.125,188.457,4.500,0.000,18.698,1254.417,7107.250,400.153,1564.962,481.277,33.385,1252.513,0.000,1525.610,0.000,29.253,0.000
$DEVICE_MAMPS,133.458,52.156,871.312,484.744,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,440.895,433.350,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34897,657
$CAP_FILE_SIZE,119701,0
$CFSIZE,260165632,226271232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180610,222307,2106.470,-15751.970,118,1.4,118,9.8