version: 66.06
glider: 139
mission: 7
dive: 536
start: 6 16 110 14 18 11
data:
$ID,139
$MISSION,7
$DIVE,536
$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,-2141231.8
$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
$GPS1,140737,2107.323,-15755.859,126,1.8,126,9.8
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.3
$GPS2,141720,2107.367,-15755.938,34,1.7,34,9.8
$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,-292687.9,-112.8,607.2,290453.9,-2913.2
$KALMAN_Y,16286.0,-87.2,30.4,-15381.7,4.7
$MHEAD_RNG_PITCHd_Wd,77.3,22679,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-55.00,0.000,2,0.000,0.000,427,1867,3272,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.6,-6.4,11,92,10.62,0.00,-1.85,0.000,6,0.135,0.000,2402,1867,3370,0,0,0,0,0,0
$GC,288,-1.21,-77.9,49.5,-18.3,40,293,0.22,2.40,0.00,0.000,4,0.101,0.041,2447,462,3372,0,0,0,0,0,0
$GC,314,-1.03,-77.9,54.2,-17.9,42,319,0.22,2.33,0.00,0.000,6,0.092,0.020,2491,1916,3373,0,0,0,0,0,0
$GC,576,-1.13,-77.9,84.9,-9.3,66,581,0.12,2.50,0.00,0.000,4,0.064,0.043,2449,468,3373,0,0,0,0,0,0
$GC,652,-1.13,-77.9,94.0,-11.6,73,658,0.10,2.25,0.00,0.000,6,0.104,0.019,2468,1888,3373,0,0,0,0,0,0
$GC,916,-1.22,-77.9,116.6,-7.5,98,921,0.00,2.42,0.00,0.000,4,0.000,0.041,2471,463,3374,0,0,0,0,0,0
$GC,991,-1.29,-77.9,123.2,-8.2,105,997,0.15,2.25,0.00,0.000,6,0.055,0.019,2420,1878,3375,0,0,0,0,0,0
$GC,1252,-1.29,-77.9,151.6,-10.6,130,1256,0.00,2.40,0.00,0.000,4,0.000,0.042,2420,464,3376,0,0,0,0,0,0
$GC,1295,-1.23,-77.9,156.6,-12.0,134,1300,0.15,2.25,0.00,0.000,6,0.094,0.019,2448,1889,3376,0,0,0,0,0,0
$GC,1556,-1.32,-77.9,182.4,-9.7,158,1561,0.12,2.45,0.00,0.000,4,0.063,0.043,2408,463,3376,0,0,0,0,0,0
$GC,1610,-1.26,-77.9,187.9,-10.2,163,1614,0.15,2.25,0.00,0.000,6,0.091,0.020,2437,1883,3376,0,0,0,0,0,0
$GC,1884,-1.34,-77.9,211.2,-8.5,183,1888,0.00,2.42,0.00,0.000,4,0.000,0.042,2440,467,3377,0,0,0,0,0,0
$GC,1928,-1.43,-77.9,215.7,-10.1,185,1933,0.17,2.22,0.00,0.000,6,0.051,0.020,2384,1881,3377,0,0,0,0,0,0
$GC,2260,-1.43,-77.9,250.5,-9.4,201,2265,0.00,2.42,0.00,0.000,4,0.000,0.044,2384,469,3377,0,0,0,0,0,0
$GC,2299,-1.37,-77.9,254.6,-10.6,202,2305,0.15,2.22,0.00,0.000,6,0.094,0.021,2415,1874,3377,0,0,0,0,0,0
$GC,2616,-1.42,-77.9,282.5,-11.3,218,2620,0.00,2.28,0.00,0.000,4,0.000,0.028,2415,3258,3377,0,0,0,0,0,0
$GC,2641,-1.52,-77.9,285.5,-11.9,219,2646,0.15,2.30,0.00,0.000,6,0.056,0.030,2369,1871,3377,0,0,0,0,0,0
$GC,2986,-1.49,-77.9,325.3,-11.9,231,2990,0.10,2.40,0.00,0.000,4,0.108,0.048,2390,474,3375,0,0,0,0,0,0
$GC,3104,-1.49,-77.9,339.9,-10.9,233,3108,0.00,2.25,0.00,0.000,6,0.000,0.023,2390,1873,3375,0,0,0,0,0,0
$GC,3453,-1.49,-77.9,372.6,-8.8,242,3457,0.00,2.45,0.00,0.000,4,0.000,0.048,2390,466,3373,0,0,0,0,0,0
$GC,3481,-1.45,-77.9,375.0,-8.4,242,3485,0.00,2.28,0.00,0.000,6,0.000,0.025,2390,1874,3372,0,0,0,0,0,0
$GC,3818,-1.45,-77.9,402.0,-8.5,251,3822,0.00,2.45,0.00,0.000,4,0.000,0.051,2391,471,3370,0,0,0,0,0,0
$GC,3868,-1.45,-77.9,407.0,-9.0,252,3873,0.00,2.28,0.00,0.000,6,0.000,0.027,2390,1869,3370,0,0,0,0,0,0
$GC,4188,-1.48,-77.9,432.4,-8.2,260,4192,0.00,2.40,0.00,0.000,4,0.000,0.048,2390,474,3368,0,0,0,0,0,0
$GC,4267,-1.48,-77.9,439.4,-9.0,261,4271,0.00,2.33,0.00,0.000,6,0.000,0.028,2391,1879,3366,0,0,0,0,0,0
$STATE,4433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4433,begin apogee
$GC,4439,-0.31,0.0,452.4,7.6,265,4507,1.20,0.00,64.57,0.877,6,0.074,0.000,2646,2039,3050,0,0,0,0,0,0
$STATE,4508,end apogee,CONTROL_FINISHED_OK
$STATE,4508,begin climb
$GC,4511,1.40,77.9,453.2,0.0,266,4586,1.62,2.42,64.47,0.858,4,0.033,0.042,3016,3384,2731,0,0,0,0,0,0
$GC,4850,1.20,103.7,442.5,6.3,273,4879,0.25,2.38,22.30,0.830,6,0.114,0.036,2977,2011,2627,0,0,0,0,0,0
$GC,5203,1.08,103.7,415.6,8.2,282,5207,0.15,2.38,0.00,0.000,4,0.118,0.040,2834,3383,2622,0,0,0,0,0,0
$GC,5273,1.05,119.2,410.4,7.0,283,5291,0.00,2.35,13.48,0.790,6,0.000,0.036,2951,2011,2563,0,0,0,0,0,0
$GC,5617,1.05,147.3,388.6,6.1,292,5649,0.00,2.53,25.05,0.828,4,0.000,0.051,2951,599,2448,0,0,0,0,0,0
$GC,5698,0.96,147.3,382.5,8.5,293,5703,0.15,2.35,0.00,0.000,6,0.118,0.030,2923,1992,2444,0,0,0,0,0,0
$GC,6029,1.00,153.8,358.3,7.6,301,6042,0.00,2.53,5.88,0.648,4,0.000,0.052,2924,603,2423,0,0,0,0,0,0
$GC,6261,1.02,168.5,339.3,7.0,306,6281,0.00,2.35,14.27,0.776,6,0.000,0.030,2923,2014,2363,0,0,0,0,0,0
$GC,6593,1.10,186.5,318.1,6.8,314,6617,0.12,2.55,17.08,0.776,4,0.077,0.050,2955,601,2288,0,0,0,0,0,0
$GC,6687,1.05,186.5,307.8,11.7,316,6692,0.00,2.38,0.00,0.000,6,0.000,0.030,2955,2015,2284,0,0,0,0,0,0
$GC,7014,1.05,192.0,278.0,7.6,330,7026,0.00,2.50,5.38,0.595,4,0.000,0.051,2955,604,2267,0,0,0,0,0,0
$GC,7064,1.01,192.0,273.7,8.3,332,7068,0.00,2.38,0.00,0.000,6,0.000,0.030,2955,2014,2265,0,0,0,0,0,0
$GC,7389,1.05,198.9,248.3,7.6,348,7402,0.00,2.50,7.62,0.650,4,0.000,0.051,2955,605,2239,0,0,0,0,0,0
$GC,7513,1.10,241.2,241.4,5.1,353,7558,0.00,2.38,39.20,0.749,6,0.000,0.028,2955,2025,2065,0,0,0,0,0,0
$GC,7878,1.18,241.2,213.7,8.8,371,7882,0.00,2.50,0.00,0.000,4,0.000,0.049,2955,603,2059,0,0,0,0,0,0
$GC,8010,1.21,241.2,199.9,11.4,376,8015,0.00,2.35,0.00,0.000,6,0.000,0.027,2955,2016,2055,0,0,0,0,0,0
$GC,8334,1.29,241.2,169.3,9.4,407,8339,0.17,2.47,0.00,0.000,4,0.061,0.048,3000,601,2055,0,0,0,0,0,0
$GC,8539,1.22,241.2,146.9,10.6,428,8545,0.00,2.35,0.00,0.000,6,0.000,0.025,2999,2021,2053,0,0,0,0,0,0
$GC,8802,1.22,241.2,119.7,11.0,453,8806,0.00,2.45,0.00,0.000,4,0.000,0.046,3000,601,2053,0,0,0,0,0,0
$GC,8919,1.17,241.2,107.5,9.0,465,8924,0.15,2.30,0.00,0.000,6,0.105,0.023,2972,2016,2053,0,0,0,0,0,0
$GC,9181,1.29,276.5,91.5,5.6,489,9214,0.10,0.00,30.17,0.596,6,0.079,0.000,3001,2023,1922,0,0,0,0,0,0
$GC,9465,1.34,276.5,66.3,10.4,516,9470,0.00,2.45,0.00,0.000,4,0.000,0.044,3001,602,1919,0,0,0,0,0,0
$GC,9531,1.34,276.5,58.6,11.1,522,9536,0.00,2.30,0.00,0.000,6,0.000,0.021,3001,2017,1917,0,0,0,0,0,0
$GC,9793,1.43,283.5,38.0,7.5,547,9806,0.10,2.50,6.82,0.457,4,0.077,0.042,3033,598,1893,0,0,0,0,0,0
$GC,9845,1.37,286.4,34.0,7.8,552,9854,0.00,2.30,3.97,0.358,6,0.000,0.021,3033,1999,1881,0,0,0,0,0,0
$GC,10123,1.37,286.4,6.3,13.2,597,10129,0.00,2.40,0.00,0.000,4,0.000,0.041,3033,601,1881,0,0,0,0,0,0
$STATE,10146,end climb,SURFACE_DEPTH_REACHED
$STATE,10146,begin surface coast
$FINISH,0.5,1.023270
$STATE,10170,end surface coast,CONTROL_FINISHED_OK
$STATE,10170,begin surface
$SM_CCo,10192,9.45,0.464,0,0,1827,300.00
$SM_GC,2.66,0.00,0.00,9.45,0.000,0.000,0.464,426,1919,1827,-10.52,1.24,300.00
$IRIDIUM_FIX,2057.14,-15753.90,100999,111151
$TT8_MAMPS,0.029146
$HUMID,51.02
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,47.536
$10V_AH,10.0,44.248
$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,27.700,118.850,320.275,9.450,0.000,52.265,131.710,202.000,4.500,0.000,34.780,1218.623,7003.027,389.343,1551.456,620.633,33.384,1232.797,0.000,1497.904,0.000,29.248,0.000
$DEVICE_MAMPS,134.992,52.156,877.448,464.035,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,408.797,400.386,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,31714,607
$CAP_FILE_SIZE,122663,0
$CFSIZE,260165632,227311616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160610,171058,2107.529,-15756.293,108,9.1,127,9.8