version: 66.06
glider: 139
mission: 7
dive: 519
start: 6 14 110 9 57 53
data:
$ID,139
$MISSION,7
$DIVE,519
$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,-2140598.2
$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
$GPS1,095124,2107.403,-15756.904,51,1.5,61,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-72.3
$GPS2,095702,2107.382,-15756.911,19,1.9,19,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.019
$KALMAN_X,-259474.5,197.3,315.3,255543.9,-1751.2
$KALMAN_Y,15304.3,-132.9,15.9,-14310.1,172.5
$MHEAD_RNG_PITCHd_Wd,86.0,24352,-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,-49.92,0.000,2,0.000,0.000,427,1870,3121,0,0,0,0,0,0
$GC,70,-1.40,-77.9,3.3,-5.0,10,94,10.62,2.40,-5.03,0.000,4,0.135,0.038,2402,3293,3370,0,0,0,0,0,0
$GC,106,-0.63,-77.9,13.6,-27.4,17,112,0.82,2.38,0.00,0.000,6,0.084,0.028,2572,1871,3371,0,0,0,0,0,0
$GC,319,-0.86,-77.9,32.5,-7.2,52,324,0.20,2.40,0.00,0.000,4,0.046,0.041,2509,473,3372,0,0,0,0,0,0
$GC,392,-0.95,-77.9,39.3,-9.2,59,396,0.00,2.30,0.00,0.000,6,0.000,0.020,2509,1922,3373,0,0,0,0,0,0
$GC,658,-1.06,-77.9,66.3,-11.1,84,663,0.12,2.50,0.00,0.000,4,0.064,0.042,2465,469,3374,0,0,0,0,0,0
$GC,748,-1.06,-77.9,79.7,-16.5,93,752,0.00,2.25,0.00,0.000,6,0.000,0.019,2463,1876,3374,0,0,0,0,0,0
$GC,1010,-1.12,-77.9,111.0,-10.9,117,1015,0.00,2.38,0.00,0.000,4,0.000,0.041,2465,472,3375,0,0,0,0,0,0
$GC,1056,-1.17,-77.9,116.2,-10.7,121,1062,0.00,2.22,0.00,0.000,6,0.000,0.019,2464,1880,3376,0,0,0,0,0,0
$GC,1319,-1.26,-77.9,137.2,-6.7,146,1324,0.12,2.42,0.00,0.000,4,0.061,0.042,2420,471,3377,0,0,0,0,0,0
$GC,1364,-1.22,-77.9,141.3,-10.4,150,1368,0.12,2.22,0.00,0.000,6,0.097,0.019,2446,1883,3377,0,0,0,0,0,0
$GC,1625,-1.29,-77.9,164.7,-9.0,174,1629,0.00,2.40,0.00,0.000,4,0.000,0.041,2446,467,3377,0,0,0,0,0,0
$GC,1714,-1.37,-77.9,173.0,-10.2,183,1719,0.12,2.22,0.00,0.000,6,0.062,0.020,2400,1877,3377,0,0,0,0,0,0
$GC,1975,-1.37,-77.9,199.9,-9.3,207,1982,0.00,2.40,0.00,0.000,4,0.000,0.042,2401,472,3377,0,0,0,0,0,0
$GC,2062,-1.30,-77.9,209.0,-10.7,211,2066,0.12,2.22,0.00,0.000,6,0.099,0.020,2427,1883,3378,0,0,0,0,0,0
$GC,2378,-1.38,-77.9,234.4,-8.1,226,2382,0.00,2.40,0.00,0.000,4,0.000,0.044,2427,470,3378,0,0,0,0,0,0
$GC,2398,-1.42,-77.9,236.3,-8.8,227,2403,0.10,2.22,0.00,0.000,6,0.074,0.021,2390,1878,3378,0,0,0,0,0,0
$GC,2729,-1.42,-77.9,269.6,-9.9,243,2733,0.00,2.42,0.00,0.000,4,0.000,0.044,2390,467,3377,0,0,0,0,0,0
$GC,2813,-1.38,-77.9,277.8,-9.3,246,2819,0.10,2.22,0.00,0.000,6,0.109,0.022,2411,1870,3377,0,0,0,0,0,0
$GC,3131,-1.43,-77.9,301.2,-7.4,262,3135,0.00,2.40,0.00,0.000,4,0.000,0.045,2411,473,3376,0,0,0,0,0,0
$GC,3193,-1.43,-77.9,306.7,-8.8,263,3197,0.00,2.28,0.00,0.000,6,0.000,0.023,2411,1881,3376,0,0,0,0,0,0
$GC,3542,-1.50,-77.9,337.2,-9.1,272,3547,0.00,2.42,0.00,0.000,4,0.000,0.048,2411,467,3375,0,0,0,0,0,0
$GC,3632,-1.53,-77.9,346.0,-9.3,274,3637,0.15,2.28,0.00,0.000,6,0.058,0.024,2366,1881,3374,0,0,0,0,0,0
$GC,3964,-1.49,-77.9,382.1,-11.6,282,3969,0.12,2.47,0.00,0.000,4,0.106,0.048,2391,466,3373,0,0,0,0,0,0
$GC,4002,-1.49,-77.9,387.0,-11.9,282,4008,0.00,2.28,0.00,0.000,6,0.000,0.025,2391,1872,3372,0,0,0,0,0,0
$GC,4332,-1.49,-77.9,416.8,-8.6,291,4337,0.00,2.42,0.00,0.000,4,0.000,0.049,2391,474,3370,0,0,0,0,0,0
$GC,4401,-1.49,-77.9,423.8,-9.9,292,4405,0.00,2.28,0.00,0.000,6,0.000,0.026,2391,1877,3370,0,0,0,0,0,0
$STATE,4698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4698,begin apogee
$GC,4704,-0.31,0.0,453.1,10.1,300,4773,1.17,0.00,64.93,0.872,6,0.074,0.000,2641,2028,3050,0,0,0,0,0,0
$STATE,4774,end apogee,CONTROL_FINISHED_OK
$STATE,4774,begin climb
$GC,4776,1.40,77.9,454.5,0.0,301,4851,1.65,2.40,64.55,0.851,4,0.031,0.041,3023,3373,2732,0,0,0,0,0,0
$GC,5097,1.23,132.9,448.5,4.2,308,5150,0.20,2.35,46.85,0.847,6,0.116,0.035,2984,2008,2507,0,0,0,0,0,0
$GC,5464,1.11,132.9,415.2,10.2,317,5466,0.15,0.00,0.00,0.000,6,0.119,0.000,2959,2008,2501,0,0,0,0,0,0
$GC,5789,1.06,132.9,385.7,9.3,325,5793,0.00,2.47,0.00,0.000,4,0.000,0.051,2964,599,2498,0,0,0,0,0,0
$GC,5864,0.93,132.9,378.6,8.9,326,5869,0.25,2.33,0.00,0.000,6,0.111,0.029,2919,1987,2496,0,0,0,0,0,0
$GC,6201,1.04,183.8,360.1,4.5,335,6250,0.00,2.50,43.33,0.822,4,0.000,0.052,2918,600,2300,0,0,0,0,0,0
$GC,6288,1.07,209.1,356.0,6.3,337,6317,0.12,2.40,23.55,0.787,6,0.074,0.030,2951,2021,2197,0,0,0,0,0,0
$GC,6653,1.07,209.1,326.7,9.1,346,6657,0.00,2.50,0.00,0.000,4,0.000,0.052,2950,607,2190,0,0,0,0,0,0
$GC,6743,1.03,209.1,317.2,10.5,348,6747,0.00,2.38,0.00,0.000,6,0.000,0.030,2951,2014,2187,0,0,0,0,0,0
$GC,7072,1.07,209.1,282.3,11.2,359,7076,0.00,2.47,0.00,0.000,4,0.000,0.052,2951,605,2186,0,0,0,0,0,0
$GC,7243,1.07,209.1,260.0,12.4,366,7248,0.00,2.38,0.00,0.000,6,0.000,0.028,2951,2021,2184,0,0,0,0,0,0
$GC,7559,1.12,212.9,232.7,7.8,381,7563,0.00,2.50,0.00,0.000,4,0.000,0.051,2950,602,2183,0,0,0,0,0,0
$GC,7702,1.12,212.9,218.4,9.0,387,7706,0.00,2.35,0.00,0.000,6,0.000,0.028,2951,2017,2182,0,0,0,0,0,0
$GC,8024,1.22,239.8,197.2,6.2,405,8060,0.12,2.53,26.02,0.696,4,0.074,0.048,2984,605,2070,0,0,0,0,0,0
$GC,8249,1.17,239.8,172.3,12.9,429,8255,0.00,2.35,0.00,0.000,6,0.000,0.025,2984,2015,2064,0,0,0,0,0,0
$GC,8512,1.17,239.8,143.6,10.2,454,8516,0.00,2.47,0.00,0.000,4,0.000,0.048,2984,602,2064,0,0,0,0,0,0
$GC,8563,1.17,239.8,138.0,10.2,459,8568,0.00,2.35,0.00,0.000,6,0.000,0.025,2984,2021,2063,0,0,0,0,0,0
$GC,8826,1.23,250.3,116.5,7.3,483,8845,0.00,2.47,9.45,0.565,4,0.000,0.044,2984,602,2028,0,0,0,0,0,0
$GC,8859,1.23,250.3,113.6,9.1,486,8864,0.00,2.33,0.00,0.000,6,0.000,0.024,2984,2021,2026,0,0,0,0,0,0
$GC,9121,1.30,250.3,91.1,9.2,511,9126,0.00,2.30,0.00,0.000,4,0.000,0.028,2981,3402,2026,0,0,0,0,0,0
$GC,9158,1.40,250.3,87.5,8.9,514,9165,0.15,2.33,0.00,0.000,6,0.061,0.029,3026,2007,2026,0,0,0,0,0,0
$GC,9422,1.40,250.3,62.9,10.0,539,9427,0.00,2.38,0.00,0.000,4,0.000,0.042,3026,604,2026,0,0,0,0,0,0
$GC,9561,1.35,250.3,48.7,8.5,553,9567,0.00,2.28,0.00,0.000,6,0.000,0.021,3026,2021,2025,0,0,0,0,0,0
$GC,9826,1.35,250.3,25.4,9.7,582,9831,0.00,2.42,0.00,0.000,4,0.000,0.041,3026,605,2025,0,0,0,0,0,0
$GC,9950,1.28,250.3,13.1,10.6,608,9956,0.15,2.28,0.00,0.000,6,0.101,0.020,2996,2017,2025,0,0,0,0,0,0
$STATE,10050,end climb,SURFACE_DEPTH_REACHED
$STATE,10050,begin surface coast
$FINISH,0.7,1.023273
$STATE,10085,end surface coast,CONTROL_FINISHED_OK
$STATE,10085,begin surface
$SM_CCo,10105,26.77,0.509,0,0,1827,300.00
$SM_GC,1.11,0.00,0.00,26.77,0.000,0.000,0.509,426,1860,1827,-10.53,-0.45,300.00
$IRIDIUM_FIX,2057.14,-15756.04,080999,070749
$TT8_MAMPS,0.028379
$HUMID,51.22
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,46.061
$10V_AH,10.0,43.331
$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,27.825,118.750,278.675,26.775,0.000,31.703,34.793,152.640,4.500,0.000,19.669,1237.566,6889.125,381.068,1530.792,430.283,33.368,1211.157,0.000,1486.012,0.000,29.245,0.000
$DEVICE_MAMPS,134.992,53.690,872.079,509.288,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,425.134,411.612,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,31688,632
$CAP_FILE_SIZE,118528,0
$CFSIZE,260165632,228331520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140610,124857,2107.064,-15756.668,75,8.1,94,9.8