version: 66.06
glider: 139
mission: 7
dive: 535
start: 6 16 110 11 4 14
data:
$ID,139
$MISSION,7
$DIVE,535
$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,-2141196.2
$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
$GPS1,105622,2107.393,-15756.076,74,2.4,93,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.3
$GPS2,110322,2107.359,-15756.111,81,2.3,100,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,-0.002
$KALMAN_X,-290884.3,255.0,196.2,288392.1,-1919.3
$KALMAN_Y,16130.5,58.5,2.4,-15358.4,5.2
$MHEAD_RNG_PITCHd_Wd,80.8,22976,-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,-50.80,0.000,2,0.000,0.000,426,1872,3150,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.4,-5.8,10,95,10.60,2.40,-4.43,0.000,4,0.135,0.038,2402,3291,3370,0,0,0,0,0,0
$GC,111,-0.83,-77.9,14.7,-25.7,18,117,0.62,2.38,0.00,0.000,6,0.082,0.031,2532,1873,3371,0,0,0,0,0,0
$GC,317,-0.96,-77.9,37.2,-10.6,49,322,0.12,2.42,0.00,0.000,4,0.063,0.044,2491,471,3372,0,0,0,0,0,0
$GC,388,-0.96,-77.9,46.6,-14.0,56,393,0.00,2.30,0.00,0.000,6,0.000,0.019,2490,1920,3373,0,0,0,0,0,0
$GC,651,-1.06,-77.9,72.9,-8.8,80,655,0.00,2.47,0.00,0.000,4,0.000,0.041,2490,466,3373,0,0,0,0,0,0
$GC,723,-1.13,-77.9,79.7,-9.4,87,728,0.00,2.25,0.00,0.000,6,0.000,0.019,2489,1889,3374,0,0,0,0,0,0
$GC,987,-1.24,-77.9,102.7,-8.2,111,992,0.20,2.42,0.00,0.000,4,0.047,0.041,2429,466,3375,0,0,0,0,0,0
$GC,1022,-1.16,-77.9,106.3,-11.4,114,1027,0.15,2.22,0.00,0.000,6,0.092,0.019,2459,1873,3374,0,0,0,0,0,0
$GC,1285,-1.24,-77.9,129.6,-9.5,138,1289,0.00,2.40,0.00,0.000,4,0.000,0.042,2461,460,3375,0,0,0,0,0,0
$GC,1328,-1.29,-77.9,133.9,-9.2,142,1333,0.12,2.25,0.00,0.000,6,0.062,0.019,2416,1887,3376,0,0,0,0,0,0
$GC,1589,-1.29,-77.9,160.9,-10.6,166,1593,0.00,2.40,0.00,0.000,4,0.000,0.042,2416,470,3376,0,0,0,0,0,0
$GC,1678,-1.29,-77.9,169.6,-8.9,175,1683,0.00,2.22,0.00,0.000,6,0.000,0.019,2415,1873,3376,0,0,0,0,0,0
$GC,1940,-1.29,-77.9,193.8,-9.8,199,1945,0.00,2.38,0.00,0.000,4,0.000,0.043,2416,470,3376,0,0,0,0,0,0
$GC,2029,-1.29,-77.9,203.4,-11.3,207,2033,0.00,2.25,0.00,0.000,6,0.000,0.020,2416,1882,3377,0,0,0,0,0,0
$GC,2363,-1.32,-77.9,236.5,-9.2,223,2367,0.00,2.40,0.00,0.000,4,0.000,0.044,2415,470,3376,0,0,0,0,0,0
$GC,2439,-1.32,-77.9,243.7,-10.0,226,2443,0.00,2.25,0.00,0.000,6,0.000,0.021,2416,1874,3376,0,0,0,0,0,0
$GC,2759,-1.37,-77.9,274.1,-9.7,242,2763,0.00,2.42,0.00,0.000,4,0.000,0.045,2416,467,3376,0,0,0,0,0,0
$GC,2820,-1.37,-77.9,280.2,-9.6,244,2826,0.00,2.25,0.00,0.000,6,0.000,0.021,2416,1878,3376,0,0,0,0,0,0
$GC,3135,-1.44,-77.9,302.9,-6.8,259,3139,0.00,2.42,0.00,0.000,4,0.000,0.046,2417,471,3375,0,0,0,0,0,0
$GC,3187,-1.44,-77.9,307.0,-7.3,260,3191,0.00,2.25,0.00,0.000,6,0.000,0.023,2416,1874,3375,0,0,0,0,0,0
$GC,3506,-1.51,-77.9,334.0,-8.5,268,3511,0.15,2.45,0.00,0.000,4,0.057,0.048,2371,469,3373,0,0,0,0,0,0
$GC,3577,-1.42,-77.9,341.8,-10.8,269,3581,0.17,2.25,0.00,0.000,6,0.092,0.024,2407,1877,3373,0,0,0,0,0,0
$GC,3918,-1.46,-77.9,373.3,-8.9,278,3922,0.00,2.45,0.00,0.000,4,0.000,0.049,2407,467,3371,0,0,0,0,0,0
$GC,3978,-1.46,-77.9,378.5,-8.2,279,3982,0.00,2.28,0.00,0.000,6,0.000,0.025,2407,1875,3370,0,0,0,0,0,0
$GC,4291,-1.51,-77.9,398.7,-6.4,287,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,1880,3368,0,0,0,0,0,0
$GC,4616,-1.56,-77.9,419.2,-6.3,295,4621,0.15,2.45,0.00,0.000,4,0.061,0.051,2365,471,3366,0,0,0,0,0,0
$GC,4703,-1.48,-77.9,425.7,-7.6,296,4709,0.12,2.30,0.00,0.000,6,0.104,0.027,2390,1869,3365,0,0,0,0,0,0
$GC,5034,-1.48,-77.9,444.1,-5.8,305,5038,0.00,2.42,0.00,0.000,4,0.000,0.053,2389,474,3364,0,0,0,0,0,0
$GC,5108,-1.45,-77.9,449.7,-7.7,306,5112,0.00,2.10,0.00,0.000,3,0.000,0.028,2390,1739,3363,0,0,0,0,0,0
$STATE,5113,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5113,begin apogee
$GC,5119,-0.31,0.0,450.1,7.7,306,5187,1.17,0.00,63.97,0.872,6,0.077,0.000,2643,2023,3050,0,0,0,0,0,0
$STATE,5188,end apogee,CONTROL_FINISHED_OK
$STATE,5188,begin climb
$GC,5190,1.40,77.9,450.3,0.0,308,5265,1.65,2.47,64.70,0.849,4,0.032,0.042,3023,3398,2731,0,0,0,0,0,0
$GC,5336,1.23,135.5,447.0,4.1,311,5393,0.22,2.40,49.12,0.839,6,0.110,0.035,2986,2009,2496,0,0,0,0,0,0
$GC,5734,1.14,153.2,418.7,6.8,321,5756,0.12,2.53,15.55,0.788,4,0.123,0.051,2965,605,2425,0,0,0,0,0,0
$GC,5804,1.03,153.6,413.7,8.0,322,5809,0.15,2.35,0.00,0.000,6,0.120,0.028,2939,2008,2421,0,0,0,0,0,0
$GC,6146,1.03,154.0,389.1,8.0,331,6150,0.00,2.47,0.00,0.000,4,0.000,0.051,2938,601,2419,0,0,0,0,0,0
$GC,6359,0.98,154.0,368.6,9.3,335,6363,0.00,2.38,0.00,0.000,6,0.000,0.029,2939,2015,2417,0,0,0,0,0,0
$GC,6694,0.98,154.0,341.5,8.4,344,6699,0.00,2.50,0.00,0.000,4,0.000,0.051,2939,599,2416,0,0,0,0,0,0
$GC,6722,0.92,154.0,338.9,9.5,344,6727,0.12,2.38,0.00,0.000,6,0.122,0.030,2917,2014,2415,0,0,0,0,0,0
$GC,7059,0.99,154.0,310.6,8.1,353,7063,0.00,2.47,0.00,0.000,4,0.000,0.051,2917,601,2414,0,0,0,0,0,0
$GC,7261,1.02,176.5,296.4,6.5,357,7288,0.00,2.38,19.40,0.760,6,0.000,0.029,2916,2028,2330,0,0,0,0,0,0
$GC,7599,1.10,176.5,271.6,8.8,374,7604,0.17,2.50,0.00,0.000,4,0.064,0.051,2958,604,2326,0,0,0,0,0,0
$GC,7738,1.05,176.5,257.4,10.1,380,7742,0.00,2.35,0.00,0.000,6,0.000,0.028,2959,2009,2324,0,0,0,0,0,0
$GC,8064,1.06,184.8,230.7,7.5,396,8077,0.00,2.50,7.88,0.642,4,0.000,0.050,2958,598,2296,0,0,0,0,0,0
$GC,8101,1.02,190.4,227.8,7.6,397,8114,0.12,2.35,6.55,0.602,6,0.121,0.028,2937,2015,2273,0,0,0,0,0,0
$GC,8444,1.12,200.1,204.0,7.3,414,8460,0.00,2.55,9.90,0.646,4,0.000,0.048,2937,600,2233,0,0,0,0,0,0
$GC,8722,1.19,222.3,187.3,6.5,440,8750,0.17,2.35,20.92,0.682,6,0.064,0.027,2981,2014,2143,0,0,0,0,0,0
$GC,9004,1.19,222.3,159.7,9.5,467,9008,0.00,2.45,0.00,0.000,4,0.000,0.047,2981,600,2139,0,0,0,0,0,0
$GC,9020,1.19,222.3,158.1,9.5,468,9024,0.00,2.35,0.00,0.000,6,0.000,0.027,2981,2011,2137,0,0,0,0,0,0
$GC,9283,1.25,247.5,138.1,6.3,492,9312,0.00,2.55,22.62,0.637,4,0.000,0.046,2981,604,2041,0,0,0,0,0,0
$GC,9424,1.25,247.5,123.9,11.5,507,9429,0.00,2.30,0.00,0.000,6,0.000,0.024,2981,2008,2036,0,0,0,0,0,0
$GC,9687,1.32,256.3,100.1,7.4,532,9704,0.00,2.45,8.60,0.543,4,0.000,0.044,2981,604,2004,0,0,0,0,0,0
$GC,9779,1.32,256.3,92.2,9.2,542,9784,0.00,2.33,0.00,0.000,6,0.000,0.023,2981,2011,2002,0,0,0,0,0,0
$GC,10042,1.39,256.3,69.6,8.1,566,10047,0.17,2.45,0.00,0.000,4,0.057,0.044,3030,598,2002,0,0,0,0,0,0
$GC,10077,1.30,256.3,66.0,10.9,569,10082,0.17,2.30,0.00,0.000,6,0.097,0.022,2996,2014,2001,0,0,0,0,0,0
$GC,10338,1.42,289.5,47.4,5.7,593,10375,0.12,2.33,30.25,0.555,4,0.067,0.026,3033,3398,1868,0,0,0,0,0,0
$GC,10386,1.42,289.5,43.8,8.6,598,10390,0.00,2.38,0.00,0.000,6,0.000,0.028,3032,2000,1867,0,0,0,0,0,0
$GC,10651,1.42,289.5,18.1,10.0,631,10657,0.00,2.40,0.00,0.000,4,0.000,0.044,3032,605,1865,0,0,0,0,0,0
$GC,10737,1.38,289.5,8.0,10.6,649,10743,0.00,2.28,0.00,0.000,6,0.000,0.021,3033,2012,1862,0,0,0,0,0,0
$STATE,10780,end climb,SURFACE_DEPTH_REACHED
$STATE,10780,begin surface coast
$FINISH,0.5,1.012686
$STATE,10810,end surface coast,CONTROL_FINISHED_OK
$STATE,10810,begin surface
$SM_CCo,10831,7.57,0.444,0,0,1825,300.00
$SM_GC,2.32,0.00,0.00,7.57,0.000,0.000,0.444,428,1867,1825,-10.52,-0.25,300.00
$IRIDIUM_FIX,2057.14,-15756.04,100999,080852
$TT8_MAMPS,0.029146
$HUMID,51.77
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,23.4,47.443
$10V_AH,10.0,44.193
$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,28.075,133.600,319.475,7.575,0.000,24.769,32.437,163.345,4.500,0.000,101.181,1302.938,7421.395,391.305,1693.240,450.405,33.403,1278.685,0.000,1565.164,0.000,29.242,0.000
$DEVICE_MAMPS,134.992,55.224,872.079,444.093,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,445.348,431.055,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34942,662
$CAP_FILE_SIZE,129515,0
$CFSIZE,260165632,227360768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160610,140737,2107.323,-15755.859,126,1.8,126,9.8