version: 66.06
glider: 139
mission: 7
dive: 514
start: 6 13 110 19 4 40
data:
$ID,139
$MISSION,7
$DIVE,514
$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,-2140421.8
$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
$GPS1,185755,2108.819,-15759.396,43,1.8,48,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-68.8
$GPS2,190349,2108.784,-15759.413,20,1.8,37,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.145,-0.113
$KALMAN_X,-252945.9,-488.9,-303.0,245997.6,114.1
$KALMAN_Y,14535.7,-129.1,-121.1,-10811.5,931.6
$MHEAD_RNG_PITCHd_Wd,118.1,29027,-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,16,-1.40,-77.9,0.0,0.0,0,69,0.00,0.00,-50.85,0.000,2,0.000,0.000,427,1858,3141,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.0,-3.9,10,96,10.60,2.42,-4.70,0.000,4,0.135,0.053,2406,466,3370,0,0,0,0,0,0
$GC,199,-1.20,-77.9,29.8,-17.5,37,205,0.22,2.33,0.00,0.000,6,0.094,0.019,2451,1909,3371,0,0,0,0,0,0
$GC,397,-1.14,-77.9,58.1,-13.7,56,401,0.00,2.50,0.00,0.000,4,0.000,0.043,2452,461,3372,0,0,0,0,0,0
$GC,453,-1.03,-77.9,67.0,-15.1,61,459,0.17,2.28,0.00,0.000,6,0.094,0.019,2486,1882,3372,0,0,0,0,0,0
$GC,715,-1.03,-77.9,98.3,-11.6,86,719,0.00,2.42,0.00,0.000,4,0.000,0.042,2487,458,3373,0,0,0,0,0,0
$GC,790,-1.08,-77.9,107.7,-12.3,93,795,0.00,2.28,0.00,0.000,6,0.000,0.019,2486,1887,3373,0,0,0,0,0,0
$GC,1052,-1.19,-77.9,131.9,-8.3,118,1057,0.15,2.45,0.00,0.000,4,0.057,0.042,2438,462,3374,0,0,0,0,0,0
$GC,1186,-1.19,-77.9,149.4,-12.3,132,1190,0.00,2.25,0.00,0.000,6,0.000,0.019,2437,1879,3374,0,0,0,0,0,0
$GC,1449,-1.23,-77.9,173.6,-7.8,156,1454,0.00,2.40,0.00,0.000,4,0.000,0.041,2438,462,3375,0,0,0,0,0,0
$GC,1519,-1.23,-77.9,179.6,-8.6,163,1523,0.00,2.25,0.00,0.000,6,0.000,0.019,2437,1876,3375,0,0,0,0,0,0
$GC,1790,-1.29,-77.9,202.2,-8.4,187,1794,0.00,2.40,0.00,0.000,4,0.000,0.041,2438,467,3376,0,0,0,0,0,0
$GC,1827,-1.32,-77.9,205.5,-8.8,188,1833,0.00,2.22,0.00,0.000,6,0.000,0.020,2437,1875,3376,0,0,0,0,0,0
$GC,2143,-1.41,-77.9,229.4,-6.6,204,2148,0.15,2.40,0.00,0.000,4,0.056,0.043,2389,469,3376,0,0,0,0,0,0
$GC,2195,-1.36,-77.9,233.8,-8.4,206,2200,0.15,2.25,0.00,0.000,6,0.094,0.020,2420,1880,3376,0,0,0,0,0,0
$GC,2518,-1.42,-77.9,253.8,-7.3,222,2522,0.00,2.42,0.00,0.000,4,0.000,0.043,2421,464,3376,0,0,0,0,0,0
$GC,2561,-1.42,-77.9,257.7,-8.6,224,2565,0.00,2.25,0.00,0.000,6,0.000,0.021,2420,1873,3376,0,0,0,0,0,0
$GC,2891,-1.49,-77.9,292.4,-8.7,240,2896,0.15,2.45,0.00,0.000,4,0.058,0.045,2374,459,3376,0,0,0,0,0,0
$GC,2964,-1.42,-77.9,300.1,-11.2,243,2969,0.15,2.28,0.00,0.000,6,0.096,0.022,2405,1875,3375,0,0,0,0,0,0
$GC,3306,-1.46,-77.9,329.4,-7.9,252,3310,0.00,2.42,0.00,0.000,4,0.000,0.047,2405,470,3373,0,0,0,0,0,0
$GC,3371,-1.46,-77.9,335.9,-10.6,253,3375,0.00,2.28,0.00,0.000,6,0.000,0.024,2405,1875,3373,0,0,0,0,0,0
$GC,3715,-1.51,-77.9,368.9,-9.3,262,3719,0.00,2.42,0.00,0.000,4,0.000,0.049,2405,466,3371,0,0,0,0,0,0
$GC,3757,-1.51,-77.9,372.9,-9.6,263,3762,0.00,2.30,0.00,0.000,6,0.000,0.025,2405,1871,3371,0,0,0,0,0,0
$GC,4085,-1.55,-77.9,401.7,-9.2,271,4090,0.12,2.47,0.00,0.000,4,0.068,0.051,2367,464,3369,0,0,0,0,0,0
$STATE,4103,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4103,begin apogee
$GC,4111,-0.31,0.0,403.9,10.2,271,4179,1.30,0.00,64.07,0.825,6,0.084,0.000,2643,2017,3050,0,0,0,0,0,0
$STATE,4179,end apogee,CONTROL_FINISHED_OK
$STATE,4180,begin climb
$GC,4182,1.40,77.9,406.4,0.0,273,4257,1.62,2.47,64.18,0.805,4,0.031,0.039,3024,3408,2731,0,0,0,0,0,0
$GC,4355,1.25,143.1,406.6,3.5,276,4417,0.17,2.40,55.08,0.801,6,0.114,0.031,2989,2005,2465,0,0,0,0,0,0
$GC,4732,1.13,143.1,370.1,11.2,286,4737,0.15,2.42,0.00,0.000,4,0.117,0.049,2963,608,2458,0,0,0,0,0,0
$GC,4752,1.02,143.1,368.0,10.2,286,4758,0.15,2.38,0.00,0.000,6,0.119,0.027,2939,2022,2456,0,0,0,0,0,0
$GC,5098,1.02,143.1,337.9,9.0,295,5102,0.00,2.50,0.00,0.000,4,0.000,0.049,2937,601,2455,0,0,0,0,0,0
$GC,5136,0.95,143.1,333.7,10.9,295,5141,0.00,2.35,0.00,0.000,6,0.000,0.028,2939,2012,2453,0,0,0,0,0,0
$GC,5467,0.96,148.5,304.8,7.7,304,5471,0.00,2.47,0.00,0.000,4,0.000,0.048,2938,601,2452,0,0,0,0,0,0
$GC,5538,0.93,161.3,299.6,7.1,305,5559,0.12,2.35,14.40,0.729,6,0.120,0.028,2916,2019,2391,0,0,0,0,0,0
$GC,5889,1.04,180.0,279.8,6.7,322,5912,0.10,2.53,17.20,0.731,4,0.084,0.048,2941,608,2315,0,0,0,0,0,0
$GC,6084,1.04,180.0,261.2,11.1,330,6088,0.00,2.35,0.00,0.000,6,0.000,0.028,2942,2008,2309,0,0,0,0,0,0
$GC,6404,1.11,195.6,235.3,7.0,346,6426,0.00,2.55,14.10,0.693,4,0.000,0.049,2941,604,2251,0,0,0,0,0,0
$GC,6555,1.13,212.0,223.5,6.9,352,6576,0.00,2.35,15.60,0.688,6,0.000,0.027,2942,2015,2185,0,0,0,0,0,0
$GC,6897,1.22,212.0,197.7,9.3,370,6902,0.17,2.47,0.00,0.000,4,0.063,0.048,2986,600,2182,0,0,0,0,0,0
$GC,6999,1.16,212.0,186.5,10.6,380,7003,0.00,2.35,0.00,0.000,6,0.000,0.027,2986,2010,2178,0,0,0,0,0,0
$GC,7262,1.17,219.2,165.6,7.5,404,7271,0.00,0.00,6.62,0.555,6,0.000,0.000,2986,2015,2156,0,0,0,0,0,0
$GC,7526,1.17,219.2,143.4,8.3,429,7530,0.00,2.45,0.00,0.000,4,0.000,0.044,2986,600,2155,0,0,0,0,0,0
$GC,7554,1.13,219.2,141.0,8.9,431,7560,0.12,2.33,0.00,0.000,6,0.116,0.025,2963,2019,2153,0,0,0,0,0,0
$GC,7817,1.26,253.1,123.6,5.7,456,7854,0.12,2.55,30.67,0.621,4,0.071,0.044,2998,604,2018,0,0,0,0,0,0
$GC,7890,1.28,273.5,119.1,6.6,464,7916,0.00,2.30,19.17,0.592,6,0.000,0.023,2997,2018,1933,0,0,0,0,0,0
$GC,8171,1.36,273.5,99.6,9.2,491,8175,0.00,2.42,0.00,0.000,4,0.000,0.044,2998,604,1930,0,0,0,0,0,0
$GC,8302,1.36,273.5,87.1,10.1,504,8308,0.00,2.28,0.00,0.000,6,0.000,0.021,2998,2008,1927,0,0,0,0,0,0
$GC,8565,1.43,273.5,65.3,8.6,529,8569,0.12,2.45,0.00,0.000,4,0.067,0.042,3035,599,1926,0,0,0,0,0,0
$GC,8732,1.36,273.5,45.6,11.6,546,8738,0.12,2.28,0.00,0.000,6,0.104,0.020,3012,2011,1926,0,0,0,0,0,0
$GC,8997,1.40,273.5,21.1,9.2,579,9003,0.00,2.40,0.00,0.000,4,0.000,0.041,3011,601,1926,0,0,0,0,0,0
$GC,9156,1.40,273.5,4.1,11.4,613,9161,0.00,2.28,0.00,0.000,6,0.000,0.019,3010,2018,1926,0,0,0,0,0,0
$STATE,9165,end climb,SURFACE_DEPTH_REACHED
$STATE,9165,begin surface coast
$FINISH,0.5,1.009019
$STATE,9196,end surface coast,CONTROL_FINISHED_OK
$STATE,9196,begin surface
$SM_CCo,9218,13.48,0.476,0,0,1826,300.00
$SM_GC,1.35,0.00,0.00,13.48,0.000,0.000,0.476,427,1858,1826,-10.52,-0.51,300.00
$IRIDIUM_FIX,2101.76,-15758.18,070999,161641
$TT8_MAMPS,0.029913
$HUMID,50.82
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,23.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,361.3,72.1
$24V_AH,23.4,45.622
$10V_AH,10.0,43.062
$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,27.325,114.675,301.100,13.475,0.000,24.216,35.964,160.160,3.750,0.000,38.050,1181.995,6172.667,371.733,1436.570,421.767,33.371,1156.234,0.000,1374.993,0.000,27.538,0.000
$DEVICE_MAMPS,134.992,52.923,825.292,476.307,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.638,416.406,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,31745,620
$CAP_FILE_SIZE,113292,0
$CFSIZE,260165632,228630528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,130610,214114,2108.383,-15758.662,106,4.1,125,9.8