version: 66.06
glider: 139
mission: 7
dive: 516
start: 6 14 110 0 40 29
data:
$ID,139
$MISSION,7
$DIVE,516
$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,-2140498.2
$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
$GPS1,003252,2108.088,-15757.897,87,2.7,106,9.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-69.3
$GPS2,003937,2108.079,-15757.944,43,1.1,43,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.180,-0.035
$KALMAN_X,-255239.3,72.5,429.7,249528.2,-1732.4
$KALMAN_Y,15016.2,-11.3,18.2,-12854.2,351.1
$MHEAD_RNG_PITCHd_Wd,91.3,26300,-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,15,-1.40,-77.9,0.0,0.0,0,73,0.00,0.00,-55.78,0.000,2,0.000,0.000,425,1859,3291,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.8,-6.5,11,96,10.62,2.40,-1.52,0.000,4,0.135,0.038,2405,3299,3371,0,0,0,0,0,0
$GC,112,-0.59,-77.9,16.5,-33.6,18,118,0.85,2.42,0.00,0.000,6,0.079,0.029,2582,1864,3372,0,0,0,0,0,0
$GC,320,-0.84,-77.9,30.8,-6.4,54,325,0.22,2.38,0.00,0.000,4,0.044,0.041,2512,467,3373,0,0,0,0,0,0
$GC,396,-0.92,-77.9,38.5,-10.2,61,401,0.00,2.30,0.00,0.000,6,0.000,0.019,2512,1913,3373,0,0,0,0,0,0
$GC,658,-1.02,-77.9,64.6,-9.8,86,662,0.00,2.47,0.00,0.000,4,0.000,0.042,2512,471,3374,0,0,0,0,0,0
$GC,742,-1.12,-77.9,74.0,-11.4,94,749,0.17,2.22,0.00,0.000,6,0.051,0.019,2455,1883,3374,0,0,0,0,0,0
$GC,1007,-1.17,-77.9,106.5,-11.4,119,1011,0.00,2.40,0.00,0.000,4,0.000,0.041,2455,470,3375,0,0,0,0,0,0
$GC,1098,-1.17,-77.9,117.5,-10.5,128,1104,0.00,2.25,0.00,0.000,6,0.000,0.018,2455,1882,3375,0,0,0,0,0,0
$GC,1362,-1.26,-77.9,140.7,-8.4,153,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1887,3376,0,0,0,0,0,0
$GC,1614,-1.36,-77.9,162.5,-8.5,177,1619,0.17,2.45,0.00,0.000,4,0.050,0.044,2398,465,3377,0,0,0,0,0,0
$GC,1661,-1.30,-77.9,168.0,-12.4,181,1667,0.15,2.25,0.00,0.000,6,0.094,0.020,2431,1877,3377,0,0,0,0,0,0
$GC,1922,-1.37,-77.9,196.7,-11.6,206,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,1881,3377,0,0,0,0,0,0
$GC,2181,-1.44,-77.9,228.0,-12.0,220,2186,0.12,2.40,0.00,0.000,4,0.064,0.043,2388,470,3378,0,0,0,0,0,0
$GC,2228,-1.38,-77.9,234.5,-13.4,222,2233,0.12,2.25,0.00,0.000,6,0.099,0.021,2414,1878,3377,0,0,0,0,0,0
$GC,2556,-1.43,-77.9,271.8,-11.2,238,2560,0.00,2.42,0.00,0.000,4,0.000,0.044,2414,464,3377,0,0,0,0,0,0
$GC,2634,-1.43,-77.9,280.6,-9.8,241,2638,0.00,2.22,0.00,0.000,6,0.000,0.021,2414,1874,3377,0,0,0,0,0,0
$GC,2949,-1.50,-77.9,305.7,-6.6,254,2954,0.12,2.45,0.00,0.000,4,0.065,0.046,2375,463,3376,0,0,0,0,0,0
$GC,2996,-1.44,-77.9,309.6,-8.2,255,3001,0.12,2.28,0.00,0.000,6,0.100,0.022,2400,1878,3376,0,0,0,0,0,0
$GC,3321,-1.48,-77.9,331.1,-7.1,263,3326,0.00,2.42,0.00,0.000,4,0.000,0.047,2400,472,3375,0,0,0,0,0,0
$GC,3364,-1.48,-77.9,335.4,-9.4,264,3368,0.00,2.28,0.00,0.000,6,0.000,0.024,2400,1875,3375,0,0,0,0,0,0
$GC,3696,-1.52,-77.9,363.4,-8.3,272,3700,0.00,2.42,0.00,0.000,4,0.000,0.049,2400,467,3373,0,0,0,0,0,0
$GC,3767,-1.52,-77.9,369.5,-8.7,273,3771,0.00,2.28,0.00,0.000,6,0.000,0.025,2400,1872,3372,0,0,0,0,0,0
$GC,4107,-1.56,-77.9,394.1,-6.6,282,4112,0.12,2.47,0.00,0.000,4,0.068,0.051,2363,465,3370,0,0,0,0,0,0
$GC,4183,-1.48,-77.9,400.2,-8.4,283,4188,0.12,2.33,0.00,0.000,6,0.104,0.027,2389,1880,3369,0,0,0,0,0,0
$GC,4521,-1.48,-77.9,424.4,-7.7,292,4525,0.00,2.45,0.00,0.000,4,0.000,0.051,2388,467,3366,0,0,0,0,0,0
$GC,4544,-1.45,-77.9,426.6,-8.8,292,4548,0.00,2.30,0.00,0.000,6,0.000,0.028,2389,1874,3366,0,0,0,0,0,0
$STATE,4882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4882,begin apogee
$GC,4888,-0.31,0.0,451.5,7.0,301,4956,1.20,0.00,64.45,0.880,6,0.074,0.000,2644,2034,3050,0,0,0,0,0,0
$STATE,4957,end apogee,CONTROL_FINISHED_OK
$STATE,4957,begin climb
$GC,4959,1.40,77.9,451.7,0.0,302,5034,1.62,2.42,64.88,0.856,4,0.031,0.042,3025,3384,2731,0,0,0,0,0,0
$GC,5105,1.22,119.1,448.2,5.2,305,5146,0.20,2.38,35.50,0.838,6,0.115,0.035,2986,2010,2564,0,0,0,0,0,0
$GC,5460,1.09,119.1,416.0,8.8,314,5465,0.17,2.40,0.00,0.000,4,0.117,0.039,2946,3393,2557,0,0,0,0,0,0
$GC,5526,1.05,119.1,409.9,9.9,315,5530,0.00,2.40,0.00,0.000,6,0.000,0.036,2957,2004,2557,0,0,0,0,0,0
$GC,5871,1.00,122.3,381.0,7.8,324,5876,0.12,2.40,0.00,0.000,4,0.123,0.040,2932,3393,2554,0,0,0,0,0,0
$GC,5886,1.01,128.6,379.8,7.6,324,5899,0.00,2.40,7.85,0.713,6,0.000,0.036,2934,2002,2525,0,0,0,0,0,0
$GC,6235,1.04,153.7,357.4,6.3,333,6263,0.00,2.55,22.62,0.809,4,0.000,0.053,2933,605,2423,0,0,0,0,0,0
$GC,6422,0.99,153.7,340.6,9.1,337,6427,0.00,2.33,0.00,0.000,6,0.000,0.029,2934,1997,2418,0,0,0,0,0,0
$GC,6745,1.01,163.9,315.9,7.3,345,6757,0.00,0.00,9.60,0.722,6,0.000,0.000,2934,2002,2381,0,0,0,0,0,0
$GC,7052,1.05,166.0,292.4,7.9,354,7056,0.00,2.47,0.00,0.000,4,0.000,0.051,2934,596,2378,0,0,0,0,0,0
$GC,7126,1.06,171.4,286.5,7.7,357,7140,0.00,2.38,7.47,0.668,6,0.000,0.030,2934,2025,2351,0,0,0,0,0,0
$GC,7451,1.13,177.5,263.8,7.6,373,7464,0.12,2.55,6.93,0.644,4,0.077,0.051,2965,597,2326,0,0,0,0,0,0
$GC,7552,1.08,177.5,253.7,11.0,377,7557,0.00,2.35,0.00,0.000,6,0.000,0.029,2965,2008,2323,0,0,0,0,0,0
$GC,7872,1.11,198.2,226.9,6.6,393,7897,0.00,2.53,19.45,0.722,4,0.000,0.049,2965,604,2242,0,0,0,0,0,0
$GC,7953,1.11,198.2,220.7,8.5,396,7957,0.00,2.38,0.00,0.000,6,0.000,0.028,2966,2013,2237,0,0,0,0,0,0
$GC,8269,1.16,214.3,197.1,6.9,412,8290,0.00,2.55,15.20,0.679,4,0.000,0.048,2965,607,2176,0,0,0,0,0,0
$GC,8323,1.16,214.3,192.7,8.1,418,8328,0.00,2.38,0.00,0.000,6,0.000,0.027,2965,2021,2172,0,0,0,0,0,0
$GC,8587,1.21,224.2,173.8,7.3,442,8605,0.00,2.55,9.88,0.620,4,0.000,0.047,2965,602,2135,0,0,0,0,0,0
$GC,8818,1.21,224.2,156.0,8.2,467,8822,0.00,2.33,0.00,0.000,6,0.000,0.025,2965,2020,2130,0,0,0,0,0,0
$GC,9080,1.29,239.5,136.8,7.0,491,9102,0.12,2.55,14.52,0.613,4,0.071,0.045,2999,598,2072,0,0,0,0,0,0
$GC,9130,1.22,239.5,132.6,8.8,496,9136,0.00,2.35,0.00,0.000,6,0.000,0.024,2999,2019,2070,0,0,0,0,0,0
$GC,9392,1.22,239.5,111.1,8.6,521,9397,0.00,2.47,0.00,0.000,4,0.000,0.044,2999,596,2070,0,0,0,0,0,0
$GC,9475,1.22,239.5,103.5,8.7,529,9481,0.00,2.30,0.00,0.000,6,0.000,0.022,2999,2017,2068,0,0,0,0,0,0
$GC,9737,1.27,239.5,84.0,9.9,554,9742,0.00,2.42,0.00,0.000,4,0.000,0.043,2999,600,2068,0,0,0,0,0,0
$GC,9874,1.27,239.5,67.1,15.0,568,9878,0.00,2.30,0.00,0.000,6,0.000,0.021,3000,2006,2067,0,0,0,0,0,0
$GC,10136,1.33,239.5,37.9,8.1,592,10141,0.00,2.42,0.00,0.000,4,0.000,0.041,3000,596,2067,0,0,0,0,0,0
$GC,10226,1.34,252.3,30.7,7.1,601,10244,0.00,2.30,12.07,0.507,6,0.000,0.021,2999,2021,2021,0,0,0,0,0,0
$GC,10516,1.48,313.9,12.0,3.8,651,10577,0.15,2.53,53.70,0.525,4,0.060,0.044,3043,592,1768,0,0,0,0,0,0
$STATE,10606,end climb,SURFACE_DEPTH_REACHED
$STATE,10606,begin surface coast
$FINISH,0.5,1.011761
$STATE,10629,end surface coast,CONTROL_FINISHED_OK
$STATE,10629,begin surface
$SM_CCo,10712,0.00,0.000,0,0,1757,317.17
$SM_GC,1.35,11.35,0.00,0.00,0.028,0.000,0.000,428,1906,1757,-10.44,0.88,317.17
$IRIDIUM_FIX,2101.76,-15800.33,070999,212145
$TT8_MAMPS,0.029146
$HUMID,50.23
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,45.793
$10V_AH,10.0,43.169
$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,28.025,124.225,344.125,0.000,0.000,25.060,35.515,204.820,4.500,0.000,44.833,1279.823,7399.328,400.113,1567.079,468.942,33.373,1251.256,0.000,1498.175,0.000,31.050,0.000
$DEVICE_MAMPS,134.992,52.923,879.749,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.534,438.642,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34970,676
$CAP_FILE_SIZE,124816,0
$CFSIZE,260165632,228499456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140610,034106,2107.910,-15757.717,91,1.4,91,9.8