version: 66.06
glider: 139
mission: 7
dive: 533
start: 6 16 110 4 49 28
data:
$ID,139
$MISSION,7
$DIVE,533
$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,-2141065.5
$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
$GPS1,044207,2107.443,-15756.297,81,2.0,81,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-69.9
$GPS2,044836,2107.445,-15756.423,13,1.3,29,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,-0.009
$KALMAN_X,-287223.8,465.5,-98.5,284277.1,-2552.2
$KALMAN_Y,15925.9,173.2,-6.1,-15101.2,160.1
$MHEAD_RNG_PITCHd_Wd,82.9,23529,-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,-77.9,0.0,0.0,0,68,0.00,0.00,-50.72,0.000,2,0.000,0.000,425,1901,3136,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.2,-5.4,10,95,10.62,2.35,-4.72,0.000,4,0.135,0.038,2407,3299,3370,0,0,0,0,0,0
$GC,106,-0.61,-77.9,13.4,-27.6,17,113,0.82,2.40,0.00,0.000,6,0.085,0.030,2577,1868,3371,0,0,0,0,0,0
$GC,316,-0.84,-77.9,29.4,-6.6,54,322,0.20,2.40,0.00,0.000,4,0.045,0.041,2514,470,3373,0,0,0,0,0,0
$GC,377,-0.90,-77.9,35.2,-9.8,61,381,0.00,2.30,0.00,0.000,6,0.000,0.019,2513,1925,3373,0,0,0,0,0,0
$GC,639,-1.00,-77.9,61.6,-10.6,85,643,0.00,2.50,0.00,0.000,4,0.000,0.043,2514,465,3374,0,0,0,0,0,0
$GC,714,-1.14,-77.9,69.7,-9.5,93,719,0.20,2.22,0.00,0.000,6,0.048,0.019,2451,1872,3374,0,0,0,0,0,0
$GC,977,-1.14,-77.9,96.4,-8.7,117,981,0.00,2.42,0.00,0.000,4,0.000,0.043,2453,463,3375,0,0,0,0,0,0
$GC,1040,-1.14,-77.9,101.9,-8.6,123,1046,0.00,2.25,0.00,0.000,6,0.000,0.019,2451,1869,3376,0,0,0,0,0,0
$GC,1303,-1.19,-77.9,121.2,-7.7,148,1308,0.00,2.42,0.00,0.000,4,0.000,0.042,2453,470,3376,0,0,0,0,0,0
$GC,1322,-1.22,-77.9,123.3,-9.2,149,1328,0.00,2.25,0.00,0.000,6,0.000,0.019,2451,1886,3376,0,0,0,0,0,0
$GC,1584,-1.29,-77.9,147.1,-9.5,174,1588,0.00,2.42,0.00,0.000,4,0.000,0.041,2453,469,3377,0,0,0,0,0,0
$GC,1686,-1.35,-77.9,156.9,-9.2,184,1693,0.15,2.22,0.00,0.000,6,0.055,0.019,2401,1874,3377,0,0,0,0,0,0
$GC,1948,-1.31,-77.9,186.4,-12.5,209,1950,0.12,0.00,0.00,0.000,6,0.099,0.000,2427,1880,3377,0,0,0,0,0,0
$GC,2209,-1.35,-77.9,215.2,-10.3,227,2213,0.00,2.40,0.00,0.000,4,0.000,0.043,2428,470,3377,0,0,0,0,0,0
$GC,2236,-1.35,-77.9,218.7,-12.1,228,2240,0.00,2.22,0.00,0.000,6,0.000,0.020,2426,1873,3377,0,0,0,0,0,0
$GC,2559,-1.42,-77.9,247.1,-7.7,244,2563,0.00,2.40,0.00,0.000,4,0.000,0.044,2427,463,3377,0,0,0,0,0,0
$GC,2633,-1.46,-77.9,254.1,-8.9,247,2638,0.15,2.25,0.00,0.000,6,0.055,0.021,2378,1880,3378,0,0,0,0,0,0
$GC,2955,-1.46,-77.9,286.4,-10.1,263,2956,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1884,3377,0,0,0,0,0,0
$GC,3282,-1.46,-77.9,314.0,-8.4,275,3286,0.00,2.42,0.00,0.000,4,0.000,0.045,2378,471,3377,0,0,0,0,0,0
$GC,3301,-1.40,-77.9,316.1,-10.2,275,3306,0.15,2.25,0.00,0.000,6,0.093,0.023,2410,1872,3377,0,0,0,0,0,0
$GC,3648,-1.45,-77.9,349.4,-9.9,284,3650,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1878,3375,0,0,0,0,0,0
$GC,3971,-1.52,-77.9,379.8,-8.7,292,3977,0.12,2.45,0.00,0.000,4,0.065,0.050,2372,472,3373,0,0,0,0,0,0
$GC,4024,-1.47,-77.9,385.8,-11.6,293,4029,0.10,2.25,0.00,0.000,6,0.111,0.025,2392,1870,3373,0,0,0,0,0,0
$GC,4347,-1.47,-77.9,419.4,-10.1,301,4351,0.00,2.45,0.00,0.000,4,0.000,0.051,2392,469,3370,0,0,0,0,0,0
$GC,4416,-1.47,-77.9,426.9,-10.9,302,4421,0.00,2.30,0.00,0.000,6,0.000,0.026,2392,1880,3370,0,0,0,0,0,0
$STATE,4677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4678,begin apogee
$GC,4684,-0.31,0.0,450.8,8.7,309,4753,1.17,0.00,65.07,0.866,6,0.072,0.000,2644,2032,3050,0,0,0,0,0,0
$STATE,4753,end apogee,CONTROL_FINISHED_OK
$STATE,4753,begin climb
$GC,4756,1.40,77.9,451.8,0.0,310,4831,1.62,2.40,64.72,0.844,4,0.030,0.041,3024,3374,2732,0,0,0,0,0,0
$GC,5096,1.23,141.4,443.4,3.7,317,5159,0.22,2.35,53.88,0.846,6,0.110,0.035,2986,2008,2472,0,0,0,0,0,0
$GC,5484,1.13,141.4,415.0,8.7,327,5488,0.12,2.35,0.00,0.000,4,0.124,0.038,2925,3380,2465,0,0,0,0,0,0
$GC,5501,1.06,141.4,413.6,8.9,327,5505,0.00,2.38,0.00,0.000,6,0.000,0.035,2964,2006,2465,0,0,0,0,0,0
$GC,5850,1.00,141.4,382.1,9.2,336,5852,0.17,0.00,0.00,0.000,6,0.110,0.000,2932,2005,2462,0,0,0,0,0,0
$GC,6175,1.00,141.4,351.0,9.2,344,6179,0.00,2.47,0.00,0.000,4,0.000,0.052,2932,597,2460,0,0,0,0,0,0
$GC,6235,0.97,141.4,345.7,8.3,345,6240,0.00,2.33,0.00,0.000,6,0.000,0.030,2932,1993,2458,0,0,0,0,0,0
$GC,6550,1.05,176.1,326.0,5.6,353,6586,0.00,2.45,28.70,0.797,4,0.000,0.037,2931,3404,2331,0,0,0,0,0,0
$GC,6601,1.13,197.6,322.4,6.5,354,6629,0.12,2.42,20.48,0.765,6,0.074,0.036,2965,2000,2244,0,0,0,0,0,0
$GC,6942,1.13,197.6,290.6,9.6,364,6947,0.00,2.45,0.00,0.000,4,0.000,0.051,2964,597,2238,0,0,0,0,0,0
$GC,7065,1.08,197.6,277.0,11.2,369,7069,0.00,2.38,0.00,0.000,6,0.000,0.029,2964,2011,2233,0,0,0,0,0,0
$GC,7384,1.08,197.6,248.4,8.0,385,7389,0.00,2.47,0.00,0.000,4,0.000,0.050,2964,602,2233,0,0,0,0,0,0
$GC,7493,1.04,197.6,238.7,9.9,389,7499,0.12,2.38,0.00,0.000,6,0.125,0.028,2943,2020,2231,0,0,0,0,0,0
$GC,7808,1.14,206.8,213.3,7.4,405,7821,0.00,2.53,7.45,0.614,4,0.000,0.048,2942,600,2206,0,0,0,0,0,0
$GC,7858,1.14,206.8,209.2,8.0,407,7862,0.00,2.35,0.00,0.000,6,0.000,0.027,2942,2025,2204,0,0,0,0,0,0
$GC,8185,1.24,223.7,185.7,6.9,432,8207,0.17,2.53,16.23,0.662,4,0.062,0.046,2988,602,2137,0,0,0,0,0,0
$GC,8262,1.17,223.7,178.6,10.6,439,8267,0.00,2.33,0.00,0.000,6,0.000,0.025,2988,2013,2134,0,0,0,0,0,0
$GC,8526,1.20,243.2,156.5,6.7,464,8553,0.00,2.55,18.25,0.636,4,0.000,0.046,2988,598,2057,0,0,0,0,0,0
$GC,8651,1.20,243.2,145.4,9.6,477,8656,0.00,2.35,0.00,0.000,6,0.000,0.024,2988,2016,2054,0,0,0,0,0,0
$GC,8913,1.25,243.2,118.1,10.4,502,8917,0.00,2.45,0.00,0.000,4,0.000,0.046,2988,600,2053,0,0,0,0,0,0
$GC,9002,1.26,254.9,110.0,7.2,511,9018,0.00,2.30,11.25,0.566,6,0.000,0.023,2988,2017,2009,0,0,0,0,0,0
$GC,9280,1.35,267.1,91.3,7.2,538,9298,0.00,2.50,11.95,0.549,4,0.000,0.045,2988,598,1961,0,0,0,0,0,0
$GC,9411,1.35,267.1,79.1,9.9,552,9415,0.00,2.30,0.00,0.000,6,0.000,0.022,2988,2016,1958,0,0,0,0,0,0
$GC,9674,1.43,267.1,56.6,8.4,576,9679,0.17,2.47,0.00,0.000,4,0.054,0.044,3038,597,1958,0,0,0,0,0,0
$GC,9795,1.36,267.1,43.2,10.9,588,9801,0.12,2.30,0.00,0.000,6,0.104,0.021,3013,2016,1957,0,0,0,0,0,0
$GC,10062,1.41,278.1,19.8,7.3,623,10080,0.00,2.50,10.88,0.486,4,0.000,0.041,3013,597,1915,0,0,0,0,0,0
$GC,10161,1.41,278.1,8.2,11.3,644,10166,0.00,2.30,0.00,0.000,6,0.000,0.020,3012,2018,1913,0,0,0,0,0,0
$STATE,10215,end climb,SURFACE_DEPTH_REACHED
$STATE,10215,begin surface coast
$FINISH,0.7,1.023291
$STATE,10262,end surface coast,CONTROL_FINISHED_OK
$STATE,10264,begin surface
$SM_CCo,10284,13.20,0.479,0,0,1826,300.00
$SM_GC,1.73,0.00,0.00,13.20,0.000,0.000,0.479,428,1862,1826,-10.52,-0.37,300.00
$IRIDIUM_FIX,2059.45,-15753.90,100999,010101
$TT8_MAMPS,0.029146
$HUMID,50.94
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,47.260
$10V_AH,10.0,44.078
$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,27.850,114.575,308.850,13.200,0.000,23.722,37.229,195.623,4.500,0.000,29.820,1251.087,7081.312,386.302,1479.898,488.980,33.382,1201.171,0.000,1431.036,0.000,30.744,0.000
$DEVICE_MAMPS,134.992,52.923,865.943,479.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,444.444,435.576,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34826,662
$CAP_FILE_SIZE,118290,0
$CFSIZE,260165632,227491840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160610,074326,2107.474,-15756.436,83,2.3,102,9.8