version: 66.06
glider: 139
mission: 7
dive: 529
start: 6 15 110 16 31 57
data:
$ID,139
$MISSION,7
$DIVE,529
$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,-2140882.2
$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
$GPS1,162526,2107.417,-15756.922,103,3.1,122,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.4
$GPS2,163106,2107.434,-15756.973,12,1.4,28,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,0.003
$KALMAN_X,-279034.8,-376.1,-241.5,276126.1,-2381.5
$KALMAN_Y,15182.9,-152.4,58.8,-14118.4,1.4
$MHEAD_RNG_PITCHd_Wd,79.1,24468,-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,16,-1.40,-77.9,0.0,0.0,0,73,0.00,0.00,-55.53,0.000,2,0.000,0.000,427,1857,3242,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.7,-6.7,11,96,10.62,2.38,-2.47,0.000,4,0.135,0.049,2407,466,3369,0,0,0,0,0,0
$GC,112,-0.51,-77.9,15.4,-31.4,18,118,0.98,2.30,0.00,0.000,6,0.100,0.020,2600,1909,3370,0,0,0,0,0,0
$GC,322,-0.82,-77.9,26.8,-3.6,55,328,0.28,2.47,0.00,0.000,4,0.054,0.041,2532,467,3371,0,0,0,0,0,0
$GC,404,-0.94,-77.9,32.8,-7.9,68,410,0.10,2.28,0.00,0.000,6,0.072,0.018,2490,1892,3371,0,0,0,0,0,0
$GC,665,-0.94,-77.9,60.0,-10.0,93,670,0.00,2.42,0.00,0.000,4,0.000,0.042,2489,470,3372,0,0,0,0,0,0
$GC,731,-0.98,-77.9,67.3,-10.1,99,736,0.00,2.22,0.00,0.000,6,0.000,0.019,2490,1871,3372,0,0,0,0,0,0
$GC,993,-1.05,-77.9,97.2,-10.5,124,997,0.00,2.42,0.00,0.000,4,0.000,0.042,2489,460,3373,0,0,0,0,0,0
$GC,1093,-1.15,-77.9,106.2,-8.9,134,1097,0.12,2.25,0.00,0.000,6,0.061,0.019,2447,1879,3373,0,0,0,0,0,0
$GC,1359,-1.20,-77.9,129.8,-7.2,159,1364,0.00,2.42,0.00,0.000,4,0.000,0.041,2445,463,3374,0,0,0,0,0,0
$GC,1421,-1.20,-77.9,134.6,-7.7,165,1425,0.00,2.22,0.00,0.000,6,0.000,0.019,2446,1878,3374,0,0,0,0,0,0
$GC,1683,-1.25,-77.9,156.3,-8.6,189,1687,0.00,2.22,0.00,0.000,4,0.000,0.025,2446,3259,3375,0,0,0,0,0,0
$GC,1711,-1.37,-77.9,158.9,-8.4,191,1717,0.15,2.30,0.00,0.000,6,0.055,0.027,2396,1869,3375,0,0,0,0,0,0
$GC,1972,-1.32,-77.9,187.7,-11.3,216,1977,0.15,2.40,0.00,0.000,4,0.092,0.043,2427,470,3375,0,0,0,0,0,0
$GC,2011,-1.29,-77.9,192.0,-10.6,219,2016,0.00,2.25,0.00,0.000,6,0.000,0.019,2427,1882,3375,0,0,0,0,0,0
$GC,2277,-1.33,-77.9,219.7,-10.6,236,2281,0.00,2.42,0.00,0.000,4,0.000,0.042,2427,464,3376,0,0,0,0,0,0
$GC,2328,-1.33,-77.9,225.7,-12.0,238,2332,0.00,2.25,0.00,0.000,6,0.000,0.020,2427,1889,3375,0,0,0,0,0,0
$GC,2659,-1.38,-77.9,260.4,-8.9,254,2664,0.00,2.40,0.00,0.000,4,0.000,0.043,2427,474,3376,0,0,0,0,0,0
$GC,2716,-1.42,-77.9,265.4,-8.8,256,2720,0.00,2.22,0.00,0.000,6,0.000,0.021,2427,1879,3376,0,0,0,0,0,0
$GC,3035,-1.51,-77.9,288.2,-8.4,272,3040,0.17,2.42,0.00,0.000,4,0.051,0.044,2373,475,3376,0,0,0,0,0,0
$GC,3111,-1.47,-77.9,297.1,-11.4,275,3116,0.10,2.22,0.00,0.000,6,0.110,0.021,2393,1874,3375,0,0,0,0,0,0
$GC,3427,-1.47,-77.9,326.4,-8.8,284,3431,0.00,2.42,0.00,0.000,4,0.000,0.045,2394,467,3375,0,0,0,0,0,0
$GC,3469,-1.47,-77.9,330.4,-9.9,285,3473,0.00,2.25,0.00,0.000,6,0.000,0.023,2394,1874,3375,0,0,0,0,0,0
$GC,3797,-1.47,-77.9,362.6,-10.2,293,3801,0.00,2.42,0.00,0.000,4,0.000,0.048,2394,474,3374,0,0,0,0,0,0
$GC,3815,-1.47,-77.9,364.8,-10.6,293,3819,0.00,2.28,0.00,0.000,6,0.000,0.025,2394,1883,3373,0,0,0,0,0,0
$GC,4164,-1.47,-77.9,398.3,-9.2,302,4168,0.00,2.45,0.00,0.000,4,0.000,0.049,2394,474,3371,0,0,0,0,0,0
$GC,4210,-1.47,-77.9,402.7,-9.3,303,4215,0.00,2.28,0.00,0.000,6,0.000,0.025,2395,1879,3371,0,0,0,0,0,0
$GC,4535,-1.50,-77.9,430.1,-8.6,311,4539,0.00,2.42,0.00,0.000,4,0.000,0.051,2394,476,3368,0,0,0,0,0,0
$GC,4628,-1.50,-77.9,440.1,-10.4,313,4633,0.00,2.28,0.00,0.000,6,0.000,0.027,2394,1873,3367,0,0,0,0,0,0
$STATE,4745,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4746,begin apogee
$GC,4751,-0.31,0.0,451.6,9.5,316,4820,1.17,0.00,64.68,0.870,6,0.081,0.000,2641,2037,3050,0,0,0,0,0,0
$STATE,4820,end apogee,CONTROL_FINISHED_OK
$STATE,4820,begin climb
$GC,4823,1.40,77.9,453.3,0.0,317,4898,1.67,2.42,64.53,0.849,4,0.041,0.041,3030,3385,2731,0,0,0,0,0,0
$GC,5162,1.24,135.4,449.9,4.1,325,5219,0.25,2.38,48.38,0.850,6,0.115,0.036,2985,2009,2498,0,0,0,0,0,0
$GC,5556,1.14,135.4,419.6,8.2,335,5561,0.12,2.50,0.00,0.000,4,0.127,0.052,2963,601,2491,0,0,0,0,0,0
$GC,5576,1.01,135.4,417.8,9.1,335,5582,0.15,2.33,0.00,0.000,6,0.125,0.028,2938,1998,2490,0,0,0,0,0,0
$GC,5922,1.03,145.6,392.6,7.3,344,5938,0.00,2.45,8.70,0.730,4,0.000,0.038,2932,3405,2455,0,0,0,0,0,0
$GC,5980,1.03,147.6,387.9,7.9,345,5985,0.00,2.40,0.00,0.000,6,0.000,0.036,2939,2005,2455,0,0,0,0,0,0
$GC,6294,1.05,167.4,365.6,6.7,353,6316,0.00,0.00,20.10,0.803,6,0.000,0.000,2939,2005,2367,0,0,0,0,0,0
$GC,6619,1.08,189.5,343.7,6.5,361,6646,0.00,2.45,20.40,0.789,4,0.000,0.038,2936,3403,2276,0,0,0,0,0,0
$GC,6675,1.15,189.5,339.1,8.9,362,6680,0.12,2.42,0.00,0.000,6,0.071,0.038,2971,2014,2276,0,0,0,0,0,0
$GC,6989,1.15,189.5,309.5,9.2,370,6993,0.00,2.50,0.00,0.000,4,0.000,0.052,2971,596,2271,0,0,0,0,0,0
$GC,7068,1.08,189.5,301.4,10.7,371,7073,0.00,2.38,0.00,0.000,6,0.000,0.029,2970,2017,2268,0,0,0,0,0,0
$GC,7383,1.10,204.0,276.2,7.0,385,7405,0.00,2.53,13.15,0.723,4,0.000,0.050,2971,602,2217,0,0,0,0,0,0
$GC,7433,1.04,204.0,271.6,9.8,387,7439,0.15,2.38,0.00,0.000,6,0.125,0.028,2945,2021,2215,0,0,0,0,0,0
$GC,7761,1.12,212.4,245.6,7.4,403,7776,0.00,2.53,8.43,0.653,4,0.000,0.048,2945,600,2183,0,0,0,0,0,0
$GC,7842,1.12,212.4,238.8,8.3,406,7846,0.00,2.35,0.00,0.000,6,0.000,0.028,2945,2014,2180,0,0,0,0,0,0
$GC,8158,1.22,222.9,214.0,7.3,421,8174,0.15,2.55,10.30,0.650,4,0.067,0.048,2985,601,2141,0,0,0,0,0,0
$GC,8254,1.15,222.9,205.0,8.9,425,8259,0.12,2.35,0.00,0.000,6,0.123,0.026,2964,2022,2137,0,0,0,0,0,0
$GC,8588,1.23,241.3,180.4,6.8,453,8615,0.00,2.53,17.60,0.657,4,0.000,0.045,2964,601,2064,0,0,0,0,0,0
$GC,8796,1.23,241.3,162.4,8.0,475,8802,0.00,2.33,0.00,0.000,6,0.000,0.024,2964,2021,2060,0,0,0,0,0,0
$GC,9059,1.34,259.0,143.5,6.8,500,9082,0.17,2.50,16.33,0.614,4,0.057,0.043,3012,592,1994,0,0,0,0,0,0
$GC,9291,1.29,259.0,116.9,12.5,524,9297,0.00,2.35,0.00,0.000,6,0.000,0.022,3012,2022,1990,0,0,0,0,0,0
$GC,9553,1.29,259.0,90.6,9.1,549,9557,0.00,2.45,0.00,0.000,4,0.000,0.043,3012,591,1989,0,0,0,0,0,0
$GC,9624,1.29,259.0,83.9,9.7,556,9628,0.00,2.33,0.00,0.000,6,0.000,0.021,3012,2018,1989,0,0,0,0,0,0
$GC,9889,1.33,263.4,61.0,7.7,580,9899,0.00,2.47,4.95,0.420,4,0.000,0.041,3012,592,1975,0,0,0,0,0,0
$GC,10039,1.33,264.4,48.2,8.0,596,10043,0.00,2.30,0.00,0.000,6,0.000,0.021,3012,2011,1974,0,0,0,0,0,0
$GC,10303,1.38,270.9,28.9,7.6,621,10318,0.00,2.47,8.48,0.468,4,0.000,0.043,3012,590,1944,0,0,0,0,0,0
$GC,10443,1.38,270.9,15.2,10.1,651,10449,0.00,2.28,0.00,0.000,6,0.000,0.020,3012,2015,1942,0,0,0,0,0,0
$STATE,10565,end climb,SURFACE_DEPTH_REACHED
$STATE,10565,begin surface coast
$FINISH,0.5,1.023202
$STATE,10594,end surface coast,CONTROL_FINISHED_OK
$STATE,10594,begin surface
$SM_CCo,10615,17.70,0.489,0,0,1827,300.00
$SM_GC,0.98,0.00,0.00,17.70,0.000,0.000,0.489,428,1849,1827,-10.52,-0.74,300.00
$IRIDIUM_FIX,2101.76,-15758.18,090999,131344
$TT8_MAMPS,0.029146
$HUMID,49.96
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.4,46.919
$10V_AH,10.0,43.864
$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,27.900,128.675,306.000,17.700,0.000,29.527,34.594,147.012,4.750,0.000,28.553,1311.366,7223.423,402.730,1604.256,428.727,33.378,1273.828,0.000,1547.030,0.000,32.162,0.000
$DEVICE_MAMPS,134.992,52.156,869.778,489.346,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,455.613,441.583,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34881,678
$CAP_FILE_SIZE,125260,0
$CFSIZE,260165632,227721216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150610,193014,2107.523,-15757.190,27,1.8,27,9.8