version: 66.06
glider: 139
mission: 7
dive: 517
start: 6 14 110 3 47 18
data:
$ID,139
$MISSION,7
$DIVE,517
$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,-2140509.5
$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
$GPS1,034106,2107.910,-15757.717,91,1.4,91,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-69.6
$GPS2,034626,2107.930,-15757.785,10,1.7,10,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.178,-0.047
$KALMAN_X,-256487.5,368.3,-363.0,251552.1,-1174.7
$KALMAN_Y,15263.5,-5.2,-118.8,-13246.6,402.7
$MHEAD_RNG_PITCHd_Wd,95.0,25986,-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,-77.9,0.0,0.0,0,74,0.00,0.00,-55.20,0.000,2,0.000,0.000,427,1904,3183,0,0,0,0,0,0
$GC,77,-1.40,-77.9,3.3,-5.6,11,97,10.60,2.47,-3.72,0.000,4,0.134,0.051,2407,459,3368,0,0,0,0,0,0
$GC,108,-0.35,-77.9,14.0,-32.2,17,115,1.12,2.35,0.00,0.000,6,0.091,0.020,2635,1911,3370,0,0,0,0,0,0
$GC,324,-0.76,-77.9,30.6,-5.0,54,329,0.38,2.47,0.00,0.000,4,0.048,0.039,2539,463,3370,0,0,0,0,0,0
$GC,387,-0.93,-77.9,35.1,-7.8,60,392,0.12,2.25,0.00,0.000,6,0.064,0.019,2496,1886,3370,0,0,0,0,0,0
$GC,655,-0.97,-77.9,62.9,-11.3,85,659,0.00,2.45,0.00,0.000,4,0.000,0.042,2495,462,3371,0,0,0,0,0,0
$GC,725,-0.97,-77.9,72.1,-12.4,92,729,0.00,2.22,0.00,0.000,6,0.000,0.019,2495,1868,3371,0,0,0,0,0,0
$GC,988,-1.03,-77.9,104.0,-11.7,116,992,0.00,2.38,0.00,0.000,4,0.000,0.042,2495,469,3372,0,0,0,0,0,0
$GC,1052,-1.10,-77.9,111.2,-10.3,122,1058,0.00,2.22,0.00,0.000,6,0.000,0.019,2494,1876,3373,0,0,0,0,0,0
$GC,1315,-1.26,-77.9,131.5,-8.1,147,1320,0.25,2.40,0.00,0.000,4,0.041,0.041,2415,466,3373,0,0,0,0,0,0
$GC,1445,-1.23,-77.9,146.5,-9.8,160,1452,0.15,2.25,0.00,0.000,6,0.093,0.019,2447,1878,3374,0,0,0,0,0,0
$GC,1707,-1.31,-77.9,165.8,-7.9,185,1711,0.00,2.40,0.00,0.000,4,0.000,0.042,2447,461,3375,0,0,0,0,0,0
$GC,1777,-1.37,-77.9,172.4,-9.7,192,1782,0.15,2.25,0.00,0.000,6,0.055,0.019,2398,1886,3375,0,0,0,0,0,0
$GC,2038,-1.37,-77.9,197.5,-9.2,216,2042,0.00,2.40,0.00,0.000,4,0.000,0.042,2398,468,3375,0,0,0,0,0,0
$GC,2084,-1.31,-77.9,202.2,-9.7,220,2089,0.15,2.25,0.00,0.000,6,0.093,0.020,2429,1877,3375,0,0,0,0,0,0
$GC,2411,-1.37,-77.9,230.1,-9.2,236,2415,0.00,2.42,0.00,0.000,4,0.000,0.044,2429,460,3375,0,0,0,0,0,0
$GC,2468,-1.40,-77.9,236.1,-10.1,238,2472,0.00,2.25,0.00,0.000,6,0.000,0.021,2429,1883,3375,0,0,0,0,0,0
$GC,2784,-1.48,-77.9,265.6,-9.7,253,2789,0.17,2.45,0.00,0.000,4,0.051,0.044,2375,465,3375,0,0,0,0,0,0
$GC,2817,-1.39,-77.9,269.2,-11.4,254,2822,0.17,2.22,0.00,0.000,6,0.089,0.021,2412,1876,3375,0,0,0,0,0,0
$GC,3134,-1.46,-77.9,298.1,-9.0,269,3138,0.00,2.40,0.00,0.000,4,0.000,0.045,2412,467,3375,0,0,0,0,0,0
$GC,3260,-1.46,-77.9,309.7,-8.8,272,3265,0.00,2.28,0.00,0.000,6,0.000,0.022,2412,1877,3374,0,0,0,0,0,0
$GC,3596,-1.51,-77.9,339.2,-9.0,281,3601,0.12,2.45,0.00,0.000,4,0.064,0.048,2373,470,3373,0,0,0,0,0,0
$GC,3634,-1.43,-77.9,342.9,-10.3,281,3641,0.15,2.25,0.00,0.000,6,0.097,0.024,2404,1873,3373,0,0,0,0,0,0
$GC,3966,-1.47,-77.9,368.6,-7.7,290,3970,0.00,2.42,0.00,0.000,4,0.000,0.048,2403,464,3371,0,0,0,0,0,0
$GC,4028,-1.47,-77.9,373.7,-8.3,291,4032,0.00,2.30,0.00,0.000,6,0.000,0.025,2403,1872,3370,0,0,0,0,0,0
$GC,4378,-1.52,-77.9,400.7,-7.6,300,4383,0.00,2.42,0.00,0.000,4,0.000,0.049,2403,467,3368,0,0,0,0,0,0
$GC,4476,-1.52,-77.9,410.9,-10.2,302,4480,0.00,2.30,0.00,0.000,6,0.000,0.026,2404,1871,3367,0,0,0,0,0,0
$GC,4795,-1.57,-77.9,441.4,-9.4,310,4800,0.15,2.38,0.00,0.000,4,0.061,0.036,2358,3274,3365,0,0,0,0,0,0
$GC,4833,-1.57,-77.9,445.2,-10.4,310,4838,0.00,2.40,0.00,0.000,6,0.000,0.038,2360,1870,3364,0,0,0,0,0,0
$STATE,4917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4917,begin apogee
$GC,4924,-0.31,0.0,453.0,9.1,313,4992,1.33,0.00,64.22,0.874,6,0.077,0.000,2642,2023,3050,0,0,0,0,0,0
$STATE,4992,end apogee,CONTROL_FINISHED_OK
$STATE,4993,begin climb
$GC,4995,1.40,77.9,453.8,0.0,314,5070,1.65,2.45,64.57,0.851,4,0.034,0.041,3024,3386,2732,0,0,0,0,0,0
$GC,5248,1.20,101.2,444.7,6.4,319,5276,0.28,2.38,20.25,0.816,6,0.113,0.035,2977,2006,2637,0,0,0,0,0,0
$GC,5595,1.10,118.5,421.0,6.8,328,5616,0.12,2.45,15.35,0.798,4,0.127,0.040,2953,3387,2566,0,0,0,0,0,0
$GC,5718,1.05,118.5,411.4,8.7,330,5722,0.00,2.38,0.00,0.000,6,0.000,0.035,2956,2005,2565,0,0,0,0,0,0
$GC,6054,1.00,118.5,384.1,8.2,339,6059,0.12,2.47,0.00,0.000,4,0.123,0.052,2933,604,2562,0,0,0,0,0,0
$GC,6155,0.95,131.4,376.8,7.1,341,6171,0.00,2.33,11.30,0.763,6,0.000,0.028,2934,2008,2514,0,0,0,0,0,0
$GC,6517,0.97,153.4,352.6,6.5,350,6542,0.00,2.53,20.02,0.798,4,0.000,0.051,2934,598,2424,0,0,0,0,0,0
$GC,6756,0.95,163.5,332.8,7.3,355,6772,0.00,2.35,9.68,0.723,6,0.000,0.029,2934,2008,2383,0,0,0,0,0,0
$GC,7114,1.02,174.8,308.4,7.2,364,7131,0.00,2.53,11.00,0.729,4,0.000,0.050,2934,600,2337,0,0,0,0,0,0
$GC,7232,1.02,174.8,299.0,8.2,366,7236,0.00,2.35,0.00,0.000,6,0.000,0.030,2934,2006,2333,0,0,0,0,0,0
$GC,7561,1.15,228.6,281.2,4.3,382,7618,0.12,2.55,48.35,0.774,4,0.077,0.049,2966,597,2117,0,0,0,0,0,0
$GC,7644,1.10,230.4,275.9,7.9,385,7649,0.00,2.38,0.00,0.000,6,0.000,0.029,2965,2010,2113,0,0,0,0,0,0
$GC,7959,1.14,230.4,250.1,8.4,401,7963,0.00,2.50,0.00,0.000,4,0.000,0.049,2965,595,2110,0,0,0,0,0,0
$GC,8031,1.14,230.4,243.2,10.7,404,8035,0.00,2.38,0.00,0.000,6,0.000,0.028,2965,2012,2107,0,0,0,0,0,0
$GC,8355,1.18,230.4,216.3,8.3,420,8360,0.00,2.47,0.00,0.000,4,0.000,0.048,2965,601,2107,0,0,0,0,0,0
$GC,8436,1.18,230.4,207.3,11.9,423,8440,0.00,2.35,0.00,0.000,6,0.000,0.025,2965,2017,2105,0,0,0,0,0,0
$GC,8760,1.23,230.4,169.2,10.0,450,8764,0.00,2.45,0.00,0.000,4,0.000,0.046,2965,598,2104,0,0,0,0,0,0
$GC,8922,1.23,230.4,156.0,8.2,467,8926,0.00,2.33,0.00,0.000,6,0.000,0.025,2965,2015,2103,0,0,0,0,0,0
$GC,9185,1.31,233.4,138.1,7.8,491,9187,0.15,0.00,0.00,0.000,6,0.064,0.000,3007,2020,2103,0,0,0,0,0,0
$GC,9437,1.31,233.4,111.3,10.2,515,9442,0.00,2.42,0.00,0.000,4,0.000,0.043,3006,598,2103,0,0,0,0,0,0
$GC,9632,1.28,233.4,92.5,8.7,535,9637,0.00,2.30,0.00,0.000,6,0.000,0.022,3006,2025,2103,0,0,0,0,0,0
$GC,9894,1.35,268.3,77.5,5.6,560,9933,0.00,0.00,33.62,0.574,6,0.000,0.000,3007,2030,1955,0,0,0,0,0,0
$GC,10189,1.41,268.3,51.8,8.7,588,10193,0.00,2.45,0.00,0.000,4,0.000,0.042,3007,592,1953,0,0,0,0,0,0
$GC,10328,1.41,268.3,38.2,10.9,602,10333,0.00,2.30,0.00,0.000,6,0.000,0.021,3007,2020,1950,0,0,0,0,0,0
$GC,10598,1.46,268.3,12.8,8.4,643,10605,0.12,2.45,0.00,0.000,4,0.066,0.043,3047,595,1950,0,0,0,0,0,0
$STATE,10679,end climb,SURFACE_DEPTH_REACHED
$STATE,10680,begin surface coast
$FINISH,0.5,1.002869
$STATE,10703,end surface coast,CONTROL_FINISHED_OK
$STATE,10703,begin surface
$SM_CCo,10725,18.02,0.490,0,0,1826,300.00
$SM_GC,1.23,0.00,0.00,18.02,0.000,0.000,0.490,428,1907,1826,-10.52,0.88,300.00
$IRIDIUM_FIX,2059.45,-15756.04,080999,000022
$TT8_MAMPS,0.029146
$HUMID,49.92
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,45.875
$10V_AH,10.0,43.223
$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,28.900,123.550,298.375,18.025,0.000,25.970,26.791,159.999,4.500,0.000,10.393,1314.285,7281.967,388.987,1638.465,440.074,33.365,1276.060,0.000,1601.881,0.000,29.248,0.000
$DEVICE_MAMPS,134.225,52.156,873.613,490.113,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.491,434.621,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34818,665
$CAP_FILE_SIZE,126308,0
$CFSIZE,260165632,228438016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140610,064816,2107.654,-15757.428,57,3.7,76,9.8