version: 66.06
glider: 139
mission: 7
dive: 511
start: 6 13 110 10 11 52
data:
$ID,139
$MISSION,7
$DIVE,511
$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,-2140303.2
$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
$GPS1,100437,2108.800,-15800.445,74,1.5,74,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.7
$GPS2,101101,2108.797,-15800.438,14,1.8,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,-0.001
$KALMAN_X,-250599.7,271.7,679.7,240131.8,-1600.0
$KALMAN_Y,12613.8,94.0,280.0,-9498.0,-67.5
$MHEAD_RNG_PITCHd_Wd,80.7,30771,-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,-77.9,0.0,0.0,0,72,0.00,0.00,-52.67,0.000,2,0.000,0.000,430,1851,3199,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.3,-4.6,10,96,10.55,2.42,-3.35,0.000,4,0.132,0.038,2405,3292,3370,0,0,0,0,0,0
$GC,153,-1.32,-77.9,20.7,-15.1,26,159,0.00,2.42,0.00,0.000,6,0.000,0.030,2405,1872,3371,0,0,0,0,0,0
$GC,355,-1.15,-77.9,53.5,-17.0,50,360,0.25,2.42,0.00,0.000,4,0.092,0.044,2459,466,3372,0,0,0,0,0,0
$GC,400,-1.06,-77.9,61.0,-16.1,54,405,0.10,2.33,0.00,0.000,6,0.114,0.019,2478,1909,3372,0,0,0,0,0,0
$GC,662,-1.12,-77.9,91.5,-10.6,78,667,0.00,2.47,0.00,0.000,4,0.000,0.042,2479,470,3373,0,0,0,0,0,0
$GC,745,-1.16,-77.9,100.6,-10.4,86,752,0.00,2.28,0.00,0.000,6,0.000,0.019,2478,1882,3373,0,0,0,0,0,0
$GC,1010,-1.30,-77.9,120.8,-7.6,111,1015,0.20,2.40,0.00,0.000,4,0.047,0.041,2416,470,3374,0,0,0,0,0,0
$GC,1119,-1.25,-77.9,133.2,-11.4,122,1124,0.12,2.22,0.00,0.000,6,0.097,0.019,2443,1878,3375,0,0,0,0,0,0
$GC,1380,-1.32,-77.9,154.7,-8.7,146,1384,0.00,2.40,0.00,0.000,4,0.000,0.042,2443,463,3376,0,0,0,0,0,0
$GC,1442,-1.32,-77.9,160.7,-9.7,152,1449,0.00,2.28,0.00,0.000,6,0.000,0.020,2443,1878,3376,0,0,0,0,0,0
$GC,1706,-1.39,-77.9,182.7,-9.0,177,1711,0.15,2.42,0.00,0.000,4,0.056,0.043,2394,467,3376,0,0,0,0,0,0
$GC,1725,-1.39,-77.9,185.4,-11.4,178,1732,0.00,2.25,0.00,0.000,6,0.000,0.021,2394,1871,3377,0,0,0,0,0,0
$GC,1985,-1.35,-77.9,214.2,-11.5,197,1990,0.12,2.40,0.00,0.000,4,0.099,0.043,2420,466,3377,0,0,0,0,0,0
$GC,2024,-1.35,-77.9,218.8,-11.1,198,2030,0.00,2.28,0.00,0.000,6,0.000,0.021,2420,1870,3377,0,0,0,0,0,0
$GC,2339,-1.41,-77.9,250.6,-10.4,214,2343,0.00,2.38,0.00,0.000,4,0.000,0.044,2420,470,3377,0,0,0,0,0,0
$GC,2432,-1.44,-77.9,260.2,-9.3,218,2436,0.00,2.25,0.00,0.000,6,0.000,0.021,2420,1879,3377,0,0,0,0,0,0
$GC,2758,-1.50,-77.9,287.0,-7.7,234,2763,0.15,2.45,0.00,0.000,4,0.058,0.045,2374,466,3376,0,0,0,0,0,0
$GC,2820,-1.44,-77.9,293.4,-10.7,236,2826,0.08,2.28,0.00,0.000,6,0.078,0.022,2394,1867,3376,0,0,0,0,0,0
$GC,3152,-1.44,-77.9,322.4,-9.0,247,3156,0.00,2.40,0.00,0.000,4,0.000,0.046,2394,464,3375,0,0,0,0,0,0
$GC,3198,-1.44,-77.9,326.7,-9.6,248,3202,0.00,2.25,0.00,0.000,6,0.000,0.023,2395,1870,3375,0,0,0,0,0,0
$GC,3523,-1.47,-77.9,351.9,-7.9,256,3527,0.00,2.45,0.00,0.000,4,0.000,0.048,2394,471,3373,0,0,0,0,0,0
$GC,3546,-1.47,-77.9,354.7,-11.0,256,3550,0.00,2.28,0.00,0.000,6,0.000,0.025,2394,1881,3373,0,0,0,0,0,0
$GC,3888,-1.50,-77.9,386.1,-8.6,265,3892,0.00,2.42,0.00,0.000,4,0.000,0.049,2395,472,3371,0,0,0,0,0,0
$GC,3916,-1.50,-77.9,388.8,-9.4,265,3920,0.00,2.30,0.00,0.000,6,0.000,0.026,2394,1880,3371,0,0,0,0,0,0
$GC,4257,-1.54,-77.9,414.7,-7.4,274,4261,0.00,2.45,0.00,0.000,4,0.000,0.051,2394,467,3368,0,0,0,0,0,0
$GC,4341,-1.54,-77.9,421.1,-7.9,275,4347,0.00,2.33,0.00,0.000,6,0.000,0.027,2394,1878,3368,0,0,0,0,0,0
$GC,4673,-1.54,-77.9,449.3,-9.2,284,4677,0.00,2.47,0.00,0.000,4,0.000,0.053,2394,470,3365,0,0,0,0,0,0
$STATE,4680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4680,begin apogee
$GC,4688,-0.31,0.0,450.4,9.5,284,4758,1.15,0.00,64.18,0.877,6,0.076,0.000,2643,2017,3050,0,0,0,0,0,0
$STATE,4759,end apogee,CONTROL_FINISHED_OK
$STATE,4759,begin climb
$GC,4761,1.40,77.9,452.5,0.0,286,4836,1.65,2.50,64.57,0.857,4,0.033,0.044,3023,3399,2731,0,0,0,0,0,0
$GC,4950,1.23,131.0,451.4,4.4,290,5004,0.20,2.40,45.33,0.848,6,0.117,0.035,2987,2010,2515,0,0,0,0,0,0
$GC,5314,1.11,131.0,415.6,11.1,299,5319,0.17,2.50,0.00,0.000,4,0.116,0.051,2957,603,2508,0,0,0,0,0,0
$GC,5384,0.98,131.0,408.4,10.4,300,5389,0.15,2.38,0.00,0.000,6,0.121,0.029,2931,2012,2506,0,0,0,0,0,0
$GC,5725,0.99,136.7,381.2,7.6,309,5736,0.00,2.53,4.70,0.586,4,0.000,0.050,2931,597,2491,0,0,0,0,0,0
$GC,5840,0.94,136.7,371.3,9.5,311,5844,0.00,2.38,0.00,0.000,6,0.000,0.030,2931,2010,2489,0,0,0,0,0,0
$GC,6189,0.98,166.0,347.6,6.0,320,6221,0.00,2.47,25.90,0.813,4,0.000,0.038,2931,3401,2373,0,0,0,0,0,0
$GC,6246,1.02,174.2,344.0,7.5,321,6262,0.00,2.42,8.95,0.709,6,0.000,0.036,2932,2009,2339,0,0,0,0,0,0
$GC,6605,1.11,208.7,321.7,5.6,330,6643,0.10,0.00,31.62,0.798,6,0.087,0.000,2956,2009,2198,0,0,0,0,0,0
$GC,6949,1.11,208.7,292.4,10.3,340,6953,0.00,2.47,0.00,0.000,4,0.000,0.052,2955,604,2192,0,0,0,0,0,0
$GC,7084,1.07,208.7,274.6,13.1,346,7088,0.00,2.35,0.00,0.000,6,0.000,0.029,2956,2013,2189,0,0,0,0,0,0
$GC,7413,1.07,208.7,242.2,9.6,362,7417,0.00,2.47,0.00,0.000,4,0.000,0.051,2955,600,2188,0,0,0,0,0,0
$GC,7455,1.07,208.7,237.6,10.9,364,7460,0.00,2.38,0.00,0.000,6,0.000,0.029,2956,2016,2187,0,0,0,0,0,0
$GC,7785,1.11,208.7,208.3,8.9,380,7790,0.00,2.50,0.00,0.000,4,0.000,0.050,2956,595,2186,0,0,0,0,0,0
$GC,7893,1.11,212.4,199.0,7.8,384,7899,0.00,2.38,0.00,0.000,6,0.000,0.028,2956,2010,2185,0,0,0,0,0,0
$GC,8219,1.17,212.4,171.0,9.6,415,8223,0.00,2.45,0.00,0.000,4,0.000,0.048,2956,595,2184,0,0,0,0,0,0
$GC,8234,1.17,212.4,169.4,10.2,416,8238,0.00,2.38,0.00,0.000,6,0.000,0.027,2956,2022,2185,0,0,0,0,0,0
$GC,8496,1.23,212.4,143.7,9.6,440,8501,0.12,2.47,0.00,0.000,4,0.072,0.047,2989,600,2185,0,0,0,0,0,0
$GC,8720,1.19,212.4,122.3,9.3,464,8724,0.00,2.30,0.00,0.000,6,0.000,0.025,2990,2016,2183,0,0,0,0,0,0
$GC,8983,1.20,222.7,106.1,7.3,488,8995,0.00,0.00,10.85,0.573,6,0.000,0.000,2989,2020,2142,0,0,0,0,0,0
$GC,9249,1.27,244.4,84.7,6.5,513,9272,0.00,0.00,20.67,0.585,6,0.000,0.000,2990,2021,2053,0,0,0,0,0,0
$GC,9529,1.35,244.4,62.7,8.5,539,9533,0.00,2.45,0.00,0.000,4,0.000,0.042,2990,600,2050,0,0,0,0,0,0
$GC,9590,1.35,244.4,56.6,9.7,545,9597,0.00,2.33,0.00,0.000,6,0.000,0.021,2990,2013,2048,0,0,0,0,0,0
$GC,9854,1.42,244.4,34.4,9.1,570,9859,0.15,2.45,0.00,0.000,4,0.059,0.043,3033,601,2048,0,0,0,0,0,0
$GC,9991,1.33,244.4,20.9,11.0,595,9997,0.15,2.28,0.00,0.000,6,0.103,0.021,3005,2016,2047,0,0,0,0,0,0
$GC,10196,1.33,245.6,6.1,7.9,632,10203,0.00,2.45,0.00,0.000,4,0.000,0.040,3004,598,2047,0,0,0,0,0,0
$STATE,10230,end climb,SURFACE_DEPTH_REACHED
$STATE,10230,begin surface coast
$FINISH,0.7,1.023331
$STATE,10268,end surface coast,CONTROL_FINISHED_OK
$STATE,10268,begin surface
$SM_CCo,10290,28.08,0.506,0,0,1826,300.00
$SM_GC,1.28,0.00,0.00,28.08,0.000,0.000,0.506,425,1892,1826,-10.53,0.42,300.00
$IRIDIUM_FIX,2101.76,-15803.33,070999,070734
$TT8_MAMPS,0.029146
$HUMID,49.96
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,45.377
$10V_AH,10.0,42.848
$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,26.650,124.075,276.775,28.075,0.000,24.346,32.279,173.323,4.750,0.000,31.883,1250.514,6709.784,381.977,1885.030,473.844,33.375,1206.617,0.000,1841.584,0.000,32.124,0.000
$DEVICE_MAMPS,131.924,52.923,877.448,506.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,436.594,414.530,797.467,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,35047,647
$CAP_FILE_SIZE,117974,0
$CFSIZE,260165632,228802560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130610,130545,2109.005,-15800.078,57,3.6,76,9.8