version: 66.06
glider: 139
mission: 7
dive: 599
start: 6 24 110 23 16 31
data:
$ID,139
$MISSION,7
$DIVE,599
$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,-2143588.2
$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
$GPS1,225657,2108.588,-15759.714,197,2.6,216,9.8
$_CALLS,4
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.1
$GPS2,231540,2108.694,-15759.873,21,2.5,40,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.152,-0.104
$KALMAN_X,-354013.9,44.7,444.2,344985.7,-1603.2
$KALMAN_Y,35810.5,304.9,-139.0,-32672.8,1148.1
$MHEAD_RNG_PITCHd_Wd,114.6,29777,-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,-50.25,0.000,2,0.000,0.000,422,1907,3158,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.3,-5.8,10,96,10.57,2.38,-4.18,0.000,4,0.132,0.038,2406,3305,3370,0,0,0,0,0,0
$GC,171,-1.40,-77.9,24.9,-16.6,30,176,0.00,2.42,0.00,0.000,6,0.000,0.030,2406,1867,3371,0,0,0,0,0,0
$GC,376,-1.20,-77.9,57.3,-16.6,52,381,0.22,2.40,0.00,0.000,4,0.100,0.039,2451,463,3372,0,0,0,0,0,0
$GC,393,-1.00,-77.9,60.5,-17.7,53,398,0.22,2.30,0.00,0.000,6,0.096,0.019,2497,1917,3372,0,0,0,0,0,0
$GC,655,-1.10,-77.9,87.7,-9.9,77,660,0.00,2.47,0.00,0.000,4,0.000,0.041,2496,470,3372,0,0,0,0,0,0
$GC,741,-1.17,-77.9,95.6,-8.5,85,747,0.17,2.22,0.00,0.000,6,0.050,0.018,2440,1877,3373,0,0,0,0,0,0
$GC,1003,-1.17,-77.9,117.3,-7.2,110,1008,0.00,2.40,0.00,0.000,4,0.000,0.041,2438,463,3373,0,0,0,0,0,0
$GC,1046,-1.17,-77.9,120.7,-7.5,114,1051,0.00,2.25,0.00,0.000,6,0.000,0.019,2439,1875,3373,0,0,0,0,0,0
$GC,1308,-1.17,-77.9,141.4,-8.3,138,1313,0.00,2.40,0.00,0.000,4,0.000,0.041,2439,470,3373,0,0,0,0,0,0
$GC,1346,-1.17,-77.9,144.9,-9.6,141,1351,0.00,2.25,0.00,0.000,6,0.000,0.019,2439,1883,3374,0,0,0,0,0,0
$GC,1608,-1.21,-77.9,167.6,-8.7,166,1613,0.00,2.42,0.00,0.000,4,0.000,0.041,2438,467,3374,0,0,0,0,0,0
$GC,1672,-1.21,-77.9,173.9,-10.6,172,1676,0.00,2.25,0.00,0.000,6,0.000,0.019,2439,1878,3374,0,0,0,0,0,0
$GC,1937,-1.29,-77.9,198.7,-7.9,196,1941,0.00,2.42,0.00,0.000,4,0.000,0.041,2438,460,3374,0,0,0,0,0,0
$GC,2007,-1.35,-77.9,204.5,-7.9,200,2011,0.00,2.25,0.00,0.000,6,0.000,0.020,2439,1876,3374,0,0,0,0,0,0
$GC,2336,-1.43,-77.9,227.4,-7.4,216,2341,0.17,2.40,0.00,0.000,4,0.051,0.043,2382,470,3374,0,0,0,0,0,0
$GC,2407,-1.35,-77.9,235.0,-11.4,219,2412,0.17,2.22,0.00,0.000,6,0.087,0.020,2420,1876,3374,0,0,0,0,0,0
$GC,2737,-1.41,-77.9,260.4,-7.9,235,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,1880,3373,0,0,0,0,0,0
$GC,3043,-1.46,-77.9,284.3,-7.5,250,3048,0.10,2.42,0.00,0.000,4,0.073,0.045,2383,464,3372,0,0,0,0,0,0
$GC,3087,-1.40,-77.9,288.2,-9.5,252,3092,0.12,2.28,0.00,0.000,6,0.100,0.022,2408,1870,3372,0,0,0,0,0,0
$GC,3417,-1.44,-77.9,311.8,-6.6,264,3421,0.00,2.40,0.00,0.000,4,0.000,0.046,2409,465,3371,0,0,0,0,0,0
$GC,3534,-1.47,-77.9,321.8,-8.6,266,3539,0.00,2.28,0.00,0.000,6,0.000,0.023,2409,1878,3370,0,0,0,0,0,0
$GC,3880,-1.53,-77.9,345.3,-6.0,275,3885,0.12,2.45,0.00,0.000,4,0.065,0.048,2369,471,3369,0,0,0,0,0,0
$GC,3932,-1.44,-77.9,349.9,-9.0,276,3937,0.15,2.30,0.00,0.000,6,0.094,0.024,2400,1883,3368,0,0,0,0,0,0
$GC,4251,-1.44,-77.9,374.9,-7.7,284,4255,0.00,2.45,0.00,0.000,4,0.000,0.048,2400,468,3365,0,0,0,0,0,0
$STATE,4309,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4309,begin apogee
$GC,4318,-0.31,0.0,380.1,8.8,285,4388,1.12,0.00,63.50,0.802,6,0.074,0.000,2644,2011,3049,0,0,0,0,0,0
$STATE,4389,end apogee,CONTROL_FINISHED_OK
$STATE,4389,begin climb
$GC,4391,1.40,77.9,381.7,0.0,287,4467,1.62,2.47,63.95,0.784,4,0.030,0.035,3023,3407,2731,0,0,0,0,0,0
$GC,4575,1.24,141.5,381.0,3.7,291,4637,0.22,2.40,53.47,0.780,6,0.112,0.031,2987,2001,2472,0,0,0,0,0,0
$GC,4984,1.14,141.5,347.0,9.0,301,4989,0.12,2.45,0.00,0.000,4,0.124,0.048,2966,598,2464,0,0,0,0,0,0
$GC,5046,1.01,141.5,341.4,9.2,302,5051,0.17,2.38,0.00,0.000,6,0.115,0.027,2935,2017,2462,0,0,0,0,0,0
$GC,5397,1.02,151.1,315.9,7.4,311,5406,0.00,0.00,7.70,0.650,6,0.000,0.000,2935,2021,2433,0,0,0,0,0,0
$GC,5702,1.10,184.7,297.4,5.7,319,5737,0.00,2.53,30.00,0.755,4,0.000,0.048,2935,604,2296,0,0,0,0,0,0
$GC,5819,1.10,189.3,289.6,7.7,323,5832,0.00,2.33,4.88,0.539,6,0.000,0.028,2935,2018,2278,0,0,0,0,0,0
$GC,6143,1.18,192.8,266.4,7.8,339,6155,0.17,2.47,4.68,0.525,4,0.062,0.048,2979,607,2262,0,0,0,0,0,0
$GC,6171,1.10,192.8,263.7,9.0,340,6176,0.12,2.35,0.00,0.000,6,0.120,0.028,2958,2002,2260,0,0,0,0,0,0
$GC,6496,1.10,192.8,235.1,8.3,356,6500,0.00,2.38,0.00,0.000,4,0.000,0.035,2955,3407,2259,0,0,0,0,0,0
$GC,6530,1.16,192.8,232.3,8.6,357,6534,0.00,2.40,0.00,0.000,6,0.000,0.033,2956,2005,2259,0,0,0,0,0,0
$GC,6845,1.22,211.8,210.8,6.7,372,6868,0.10,2.55,17.38,0.679,4,0.084,0.048,2984,598,2186,0,0,0,0,0,0
$GC,6986,1.15,211.8,196.8,10.6,380,6991,0.00,2.35,0.00,0.000,6,0.000,0.027,2985,2017,2181,0,0,0,0,0,0
$GC,7248,1.15,211.8,172.9,8.2,404,7253,0.00,2.45,0.00,0.000,4,0.000,0.048,2986,602,2180,0,0,0,0,0,0
$GC,7414,1.12,221.6,159.5,7.4,421,7430,0.15,2.33,8.93,0.584,6,0.112,0.025,2958,2027,2146,0,0,0,0,0,0
$GC,7684,1.24,246.8,145.0,6.3,447,7714,0.12,2.55,23.73,0.627,4,0.071,0.046,2993,598,2043,0,0,0,0,0,0
$GC,7779,1.21,246.8,136.2,10.3,457,7784,0.00,2.33,0.00,0.000,6,0.000,0.025,2993,2014,2038,0,0,0,0,0,0
$GC,8042,1.25,249.0,113.9,7.9,482,8047,0.00,2.45,0.00,0.000,4,0.000,0.044,2993,602,2037,0,0,0,0,0,0
$GC,8131,1.25,249.0,105.5,9.5,491,8135,0.00,2.30,0.00,0.000,6,0.000,0.023,2992,2017,2035,0,0,0,0,0,0
$GC,8395,1.33,252.5,84.0,7.8,515,8405,0.00,2.47,5.45,0.453,4,0.000,0.043,2993,598,2019,0,0,0,0,0,0
$GC,8510,1.36,279.2,75.5,6.2,527,8540,0.00,2.33,24.65,0.565,6,0.000,0.022,2993,2029,1911,0,0,0,0,0,0
$GC,8795,1.46,279.2,54.3,8.9,554,8797,0.17,0.00,0.00,0.000,6,0.054,0.000,3043,2029,1908,0,0,0,0,0,0
$GC,9051,1.46,279.2,29.3,8.7,578,9057,0.00,2.40,0.00,0.000,4,0.000,0.042,3042,607,1908,0,0,0,0,0,0
$GC,9142,1.38,279.2,19.4,11.4,597,9149,0.15,2.28,0.00,0.000,6,0.101,0.021,3013,2012,1905,0,0,0,0,0,0
$STATE,9315,end climb,SURFACE_DEPTH_REACHED
$STATE,9315,begin surface coast
$FINISH,0.7,1.009795
$STATE,9352,end surface coast,CONTROL_FINISHED_OK
$STATE,9352,begin surface
$SM_CCo,9373,11.90,0.469,0,0,1827,300.00
$SM_GC,2.03,0.00,0.00,11.90,0.000,0.000,0.469,426,1844,1827,-10.52,-0.88,300.00
$IRIDIUM_FIX,2101.76,-15800.33,180999,232324
$TT8_MAMPS,0.029146
$HUMID,53.78
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,23.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,340.5,69.2
$24V_AH,23.4,53.542
$10V_AH,10.0,47.877
$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,27.475,109.800,308.300,11.900,0.000,120.935,128.947,513.629,3.500,0.000,41.700,1203.636,6480.478,373.889,1418.668,1028.534,33.376,1151.349,0.000,1360.349,0.000,24.453,0.000
$DEVICE_MAMPS,131.924,48.321,801.515,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,425.720,438.183,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355728
$DATA_FILE_SIZE,31713,634
$CAP_FILE_SIZE,126348,0
$CFSIZE,260165632,223444992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250610,015526,2108.654,-15759.408,92,2.9,111,9.8