version: 66.06
glider: 139
mission: 7
dive: 518
start: 6 14 110 7 5 45
data:
$ID,139
$MISSION,7
$DIVE,518
$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,-2140577.8
$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
$GPS1,064816,2107.654,-15757.428,57,3.7,76,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-69.4
$GPS2,070454,2107.654,-15757.521,67,1.3,67,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.177,-0.049
$KALMAN_X,-258033.2,456.1,-446.8,253553.6,-737.4
$KALMAN_Y,15320.3,-55.0,-116.8,-13766.0,377.9
$MHEAD_RNG_PITCHd_Wd,95.6,25461,-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,-77.9,0.0,0.0,0,67,0.00,0.00,-50.00,0.000,2,0.000,0.000,427,1906,3145,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.2,-5.1,10,95,10.52,2.50,-4.47,0.000,4,0.132,0.052,2404,473,3370,0,0,0,0,0,0
$GC,124,-1.10,-77.9,18.2,-22.0,21,130,0.32,2.33,0.00,0.000,6,0.091,0.019,2470,1921,3371,0,0,0,0,0,0
$GC,333,-1.10,-77.9,46.5,-13.9,47,337,0.00,2.53,0.00,0.000,4,0.000,0.043,2470,460,3372,0,0,0,0,0,0
$GC,377,-1.04,-77.9,52.8,-14.6,51,381,0.00,2.25,0.00,0.000,6,0.000,0.019,2470,1876,3371,0,0,0,0,0,0
$GC,639,-1.07,-77.9,81.8,-9.6,75,644,0.00,2.40,0.00,0.000,4,0.000,0.043,2470,468,3372,0,0,0,0,0,0
$GC,751,-1.11,-77.9,95.9,-12.5,86,756,0.00,2.25,0.00,0.000,6,0.000,0.019,2470,1886,3372,0,0,0,0,0,0
$GC,1014,-1.20,-77.9,121.4,-8.6,111,1018,0.00,2.42,0.00,0.000,4,0.000,0.041,2470,459,3373,0,0,0,0,0,0
$GC,1085,-1.27,-77.9,128.7,-9.6,118,1090,0.15,2.25,0.00,0.000,6,0.055,0.019,2420,1878,3373,0,0,0,0,0,0
$GC,1346,-1.27,-77.9,158.4,-9.3,142,1350,0.00,2.25,0.00,0.000,4,0.000,0.025,2420,3262,3374,0,0,0,0,0,0
$GC,1366,-1.27,-77.9,160.1,-8.5,143,1372,0.00,2.30,0.00,0.000,6,0.000,0.028,2420,1865,3374,0,0,0,0,0,0
$GC,1629,-1.27,-77.9,177.8,-7.7,168,1633,0.00,2.38,0.00,0.000,4,0.000,0.042,2420,466,3374,0,0,0,0,0,0
$GC,1679,-1.27,-77.9,182.6,-9.6,173,1684,0.00,2.25,0.00,0.000,6,0.000,0.019,2420,1881,3374,0,0,0,0,0,0
$GC,1950,-1.30,-77.9,208.1,-9.4,195,1954,0.00,2.40,0.00,0.000,4,0.000,0.042,2419,473,3374,0,0,0,0,0,0
$GC,2066,-1.30,-77.9,219.8,-9.1,200,2071,0.00,2.25,0.00,0.000,6,0.000,0.020,2420,1882,3374,0,0,0,0,0,0
$GC,2402,-1.34,-77.9,249.6,-8.1,216,2406,0.00,2.40,0.00,0.000,4,0.000,0.044,2420,469,3374,0,0,0,0,0,0
$GC,2430,-1.34,-77.9,252.4,-9.3,217,2434,0.00,2.25,0.00,0.000,6,0.000,0.021,2419,1875,3374,0,0,0,0,0,0
$GC,2750,-1.41,-77.9,281.4,-9.4,233,2755,0.00,2.40,0.00,0.000,4,0.000,0.044,2419,466,3373,0,0,0,0,0,0
$GC,2844,-1.45,-77.9,291.3,-10.6,237,2849,0.10,2.28,0.00,0.000,6,0.074,0.021,2384,1878,3373,0,0,0,0,0,0
$GC,3186,-1.45,-77.9,322.8,-8.4,248,3190,0.00,2.40,0.00,0.000,4,0.000,0.046,2384,473,3372,0,0,0,0,0,0
$GC,3261,-1.41,-77.9,330.2,-9.5,249,3266,0.10,2.25,0.00,0.000,6,0.111,0.023,2404,1878,3372,0,0,0,0,0,0
$GC,3598,-1.46,-77.9,355.9,-6.9,258,3602,0.00,2.40,0.00,0.000,4,0.000,0.047,2404,474,3370,0,0,0,0,0,0
$GC,3616,-1.46,-77.9,357.5,-8.2,258,3620,0.00,2.25,0.00,0.000,6,0.000,0.025,2404,1872,3370,0,0,0,0,0,0
$GC,3963,-1.51,-77.9,390.3,-10.6,267,3967,0.00,2.40,0.00,0.000,4,0.000,0.048,2404,476,3367,0,0,0,0,0,0
$GC,4043,-1.51,-77.9,400.7,-12.7,268,4047,0.00,2.25,0.00,0.000,6,0.000,0.025,2404,1870,3367,0,0,0,0,0,0
$GC,4376,-1.56,-77.9,438.1,-11.2,276,4381,0.15,2.45,0.00,0.000,4,0.061,0.051,2361,474,3364,0,0,0,0,0,0
$GC,4410,-1.47,-77.9,442.6,-12.8,276,4415,0.15,2.30,0.00,0.000,6,0.097,0.027,2391,1871,3364,0,0,0,0,0,0
$STATE,4494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4494,begin apogee
$GC,4501,-0.31,0.0,451.1,10.0,278,4568,1.17,0.00,64.00,0.866,6,0.072,0.000,2644,2038,3050,0,0,0,0,0,0
$STATE,4569,end apogee,CONTROL_FINISHED_OK
$STATE,4569,begin climb
$GC,4572,1.40,77.9,452.7,0.0,279,4646,1.62,2.40,64.45,0.847,4,0.031,0.041,3022,3379,2732,0,0,0,0,0,0
$GC,4832,1.25,142.0,450.5,3.6,284,4893,0.17,2.33,54.53,0.846,6,0.118,0.035,2991,2012,2470,0,0,0,0,0,0
$GC,5214,1.16,169.3,423.6,6.2,294,5244,0.12,2.55,23.62,0.818,4,0.126,0.051,2970,597,2358,0,0,0,0,0,0
$GC,5256,1.06,173.4,420.6,7.7,295,5268,0.15,2.33,4.72,0.575,6,0.125,0.028,2946,1991,2343,0,0,0,0,0,0
$GC,5588,1.06,173.4,388.6,9.7,303,5593,0.00,2.45,0.00,0.000,4,0.000,0.051,2945,603,2338,0,0,0,0,0,0
$GC,5667,1.00,173.4,380.8,9.5,304,5672,0.00,2.35,0.00,0.000,6,0.000,0.029,2946,2014,2336,0,0,0,0,0,0
$GC,5998,1.00,173.4,346.1,11.3,312,5999,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2017,2335,0,0,0,0,0,0
$GC,6323,1.00,173.4,313.0,9.1,320,6327,0.00,2.47,0.00,0.000,4,0.000,0.051,2946,598,2333,0,0,0,0,0,0
$GC,6412,0.97,173.4,302.9,10.4,322,6417,0.00,2.35,0.00,0.000,6,0.000,0.029,2946,2012,2331,0,0,0,0,0,0
$GC,6746,1.06,222.3,281.4,4.7,337,6795,0.00,2.58,42.28,0.775,4,0.000,0.051,2947,611,2142,0,0,0,0,0,0
$GC,6976,1.06,222.3,265.0,8.6,347,6980,0.00,2.35,0.00,0.000,6,0.000,0.029,2946,2018,2135,0,0,0,0,0,0
$GC,7301,1.13,222.3,241.8,8.5,363,7305,0.00,2.50,0.00,0.000,4,0.000,0.050,2946,601,2134,0,0,0,0,0,0
$GC,7398,1.13,222.3,233.1,9.5,367,7403,0.00,2.38,0.00,0.000,6,0.000,0.028,2946,2023,2132,0,0,0,0,0,0
$GC,7718,1.20,222.3,204.8,9.2,383,7723,0.12,2.47,0.00,0.000,4,0.075,0.048,2979,604,2132,0,0,0,0,0,0
$GC,7873,1.16,222.3,186.4,11.3,397,7877,0.00,2.35,0.00,0.000,6,0.000,0.026,2979,2024,2130,0,0,0,0,0,0
$GC,8135,1.19,247.5,166.5,6.3,421,8162,0.00,2.58,21.77,0.662,4,0.000,0.046,2979,604,2038,0,0,0,0,0,0
$GC,8334,1.19,247.5,144.5,12.2,442,8339,0.00,2.30,0.00,0.000,6,0.000,0.025,2979,2010,2033,0,0,0,0,0,0
$GC,8597,1.25,247.5,121.5,8.5,467,8601,0.00,2.45,0.00,0.000,4,0.000,0.045,2979,602,2033,0,0,0,0,0,0
$GC,8634,1.25,247.5,117.7,9.5,470,8639,0.00,2.30,0.00,0.000,6,0.000,0.024,2979,2015,2032,0,0,0,0,0,0
$GC,8897,1.36,288.6,97.8,5.2,495,8940,0.15,2.53,35.88,0.605,4,0.061,0.046,3021,597,1873,0,0,0,0,0,0
$GC,9043,1.32,288.6,84.3,9.4,511,9048,0.00,2.30,0.00,0.000,6,0.000,0.022,3021,2015,1867,0,0,0,0,0,0
$GC,9306,1.32,288.6,59.5,9.8,535,9310,0.00,2.30,0.00,0.000,4,0.000,0.025,3019,3406,1867,0,0,0,0,0,0
$GC,9335,1.38,288.6,56.0,12.3,537,9341,0.00,2.38,0.00,0.000,6,0.000,0.029,3021,1999,1867,0,0,0,0,0,0
$GC,9600,1.38,288.6,24.3,12.8,566,9606,0.00,2.38,0.00,0.000,4,0.000,0.043,3021,599,1867,0,0,0,0,0,0
$GC,9700,1.33,288.6,12.2,10.9,587,9705,0.00,2.28,0.00,0.000,6,0.000,0.020,3021,2025,1865,0,0,0,0,0,0
$STATE,9782,end climb,SURFACE_DEPTH_REACHED
$STATE,9782,begin surface coast
$FINISH,0.8,1.023323
$STATE,9814,end surface coast,CONTROL_FINISHED_OK
$STATE,9814,begin surface
$SM_CCo,9834,6.10,0.419,0,0,1826,300.00
$SM_GC,2.51,0.00,0.00,6.10,0.000,0.000,0.419,427,1871,1826,-10.52,-0.14,300.00
$IRIDIUM_FIX,2059.45,-15758.18,080999,070737
$TT8_MAMPS,0.029146
$HUMID,51.77
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,23.4,45.979
$10V_AH,10.0,43.280
$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,26.175,118.850,311.250,6.100,0.000,124.073,107.369,389.863,4.500,0.000,67.534,1185.827,6887.530,374.714,1521.360,867.272,33.371,1189.059,0.000,1432.509,0.000,29.260,0.000
$DEVICE_MAMPS,131.924,52.923,865.943,418.782,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.759,400.345,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,31806,607
$CAP_FILE_SIZE,125333,0
$CFSIZE,260165632,228380672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140610,095124,2107.403,-15756.904,51,1.5,61,9.8