version: 66.06
glider: 139
mission: 7
dive: 537
start: 6 16 110 17 22 23
data:
$ID,139
$MISSION,7
$DIVE,537
$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,-2141273.8
$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
$GPS1,171058,2107.529,-15756.293,108,9.1,127,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.9
$GPS2,172130,2107.639,-15756.493,41,1.7,41,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.020
$KALMAN_X,-294580.5,-402.1,-228.6,292513.8,-2294.8
$KALMAN_Y,16712.7,-155.7,69.5,-15277.8,254.3
$MHEAD_RNG_PITCHd_Wd,86.3,23699,-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,12,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-55.45,0.000,2,0.000,0.000,426,1919,3317,0,0,0,0,0,0
$GC,76,-1.40,-77.9,4.0,-6.8,11,95,10.62,2.53,-1.02,0.000,4,0.135,0.051,2403,470,3371,0,0,0,0,0,0
$GC,111,-0.50,-77.9,17.0,-34.3,18,117,0.98,2.33,0.00,0.000,6,0.093,0.020,2600,1919,3372,0,0,0,0,0,0
$GC,324,-0.80,-77.9,32.1,-8.2,54,329,0.25,2.50,0.00,0.000,4,0.048,0.040,2533,460,3372,0,0,0,0,0,0
$GC,399,-0.94,-77.9,39.5,-8.6,61,405,0.10,2.25,0.00,0.000,6,0.074,0.019,2494,1883,3373,0,0,0,0,0,0
$GC,662,-1.00,-77.9,65.1,-9.4,86,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1887,3373,0,0,0,0,0,0
$GC,915,-1.11,-77.9,89.2,-9.8,110,919,0.00,2.42,0.00,0.000,4,0.000,0.043,2494,463,3374,0,0,0,0,0,0
$GC,1029,-1.26,-77.9,101.7,-10.4,121,1035,0.22,2.22,0.00,0.000,6,0.044,0.019,2423,1878,3375,0,0,0,0,0,0
$GC,1289,-1.26,-77.9,130.7,-11.6,146,1293,0.00,2.42,0.00,0.000,4,0.000,0.042,2425,463,3375,0,0,0,0,0,0
$GC,1323,-1.18,-77.9,134.9,-12.3,149,1328,0.15,2.22,0.00,0.000,6,0.092,0.019,2457,1874,3376,0,0,0,0,0,0
$GC,1585,-1.25,-77.9,157.0,-7.4,173,1589,0.00,2.40,0.00,0.000,4,0.000,0.041,2456,468,3376,0,0,0,0,0,0
$GC,1623,-1.31,-77.9,159.8,-7.7,176,1630,0.12,2.22,0.00,0.000,6,0.062,0.019,2412,1883,3377,0,0,0,0,0,0
$GC,1883,-1.31,-77.9,185.1,-10.8,201,1887,0.00,2.40,0.00,0.000,4,0.000,0.042,2413,468,3377,0,0,0,0,0,0
$GC,1903,-1.27,-77.9,187.1,-10.6,202,1909,0.12,2.22,0.00,0.000,6,0.098,0.019,2438,1880,3377,0,0,0,0,0,0
$GC,2172,-1.33,-77.9,212.3,-9.2,222,2176,0.00,2.40,0.00,0.000,4,0.000,0.042,2439,464,3377,0,0,0,0,0,0
$GC,2191,-1.33,-77.9,214.3,-9.9,223,2196,0.00,2.25,0.00,0.000,6,0.000,0.021,2438,1877,3377,0,0,0,0,0,0
$GC,2522,-1.39,-77.9,243.7,-7.5,239,2527,0.12,2.42,0.00,0.000,4,0.063,0.043,2395,460,3377,0,0,0,0,0,0
$GC,2601,-1.39,-77.9,251.2,-9.9,242,2606,0.00,2.25,0.00,0.000,6,0.000,0.021,2395,1869,3377,0,0,0,0,0,0
$GC,2917,-1.39,-77.9,279.4,-10.0,257,2922,0.00,2.38,0.00,0.000,4,0.000,0.044,2395,469,3377,0,0,0,0,0,0
$GC,2983,-1.39,-77.9,286.8,-10.9,259,2989,0.00,2.25,0.00,0.000,6,0.000,0.021,2395,1875,3377,0,0,0,0,0,0
$GC,3297,-1.39,-77.9,313.3,-7.6,271,3298,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1880,3375,0,0,0,0,0,0
$GC,3622,-1.39,-77.9,340.5,-9.1,279,3626,0.00,2.42,0.00,0.000,4,0.000,0.047,2395,470,3374,0,0,0,0,0,0
$GC,3701,-1.39,-77.9,350.1,-13.4,280,3706,0.00,2.25,0.00,0.000,6,0.000,0.024,2395,1869,3374,0,0,0,0,0,0
$GC,4033,-1.39,-77.9,391.7,-12.3,288,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1873,3372,0,0,0,0,0,0
$GC,4359,-1.43,-77.9,425.8,-10.2,296,4363,0.00,2.42,0.00,0.000,4,0.000,0.050,2395,466,3370,0,0,0,0,0,0
$GC,4428,-1.43,-77.9,433.2,-9.7,297,4433,0.00,2.30,0.00,0.000,6,0.000,0.027,2395,1876,3369,0,0,0,0,0,0
$STATE,4644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4644,begin apogee
$GC,4651,-0.31,0.0,453.1,9.0,303,4719,1.15,0.00,64.43,0.866,6,0.073,0.000,2642,2031,3050,0,0,0,0,0,0
$STATE,4719,end apogee,CONTROL_FINISHED_OK
$STATE,4719,begin climb
$GC,4722,1.40,77.9,454.6,0.0,304,4797,1.65,2.42,64.43,0.844,4,0.035,0.041,3025,3379,2731,0,0,0,0,0,0
$GC,4901,1.26,160.3,456.7,2.4,308,4980,0.20,2.35,70.15,0.845,6,0.114,0.035,2989,2006,2395,0,0,0,0,0,0
$GC,5312,1.17,160.3,418.1,10.9,318,5316,0.00,2.40,0.00,0.000,4,0.000,0.038,2836,3389,2385,0,0,0,0,0,0
$GC,5349,1.08,160.3,413.9,10.3,318,5355,0.22,2.40,0.00,0.000,6,0.108,0.037,2949,2007,2385,0,0,0,0,0,0
$GC,5680,1.09,169.9,386.0,7.4,327,5692,0.00,2.53,7.28,0.693,4,0.000,0.054,2948,601,2357,0,0,0,0,0,0
$GC,5792,1.03,169.9,375.3,10.4,329,5796,0.00,2.35,0.00,0.000,6,0.000,0.030,2948,1995,2353,0,0,0,0,0,0
$GC,6141,1.03,169.9,344.4,8.5,338,6142,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2000,2352,0,0,0,0,0,0
$GC,6466,1.03,169.9,317.2,9.3,346,6470,0.00,2.47,0.00,0.000,4,0.000,0.052,2949,595,2350,0,0,0,0,0,0
$GC,6521,0.99,169.9,310.5,12.2,347,6526,0.00,2.38,0.00,0.000,6,0.000,0.031,2948,2018,2349,0,0,0,0,0,0
$GC,6838,1.02,190.3,282.6,6.6,360,6858,0.00,0.00,18.02,0.754,6,0.000,0.000,2948,2023,2274,0,0,0,0,0,0
$GC,7167,1.08,197.3,260.2,7.5,376,7180,0.00,2.55,7.35,0.642,4,0.000,0.051,2948,597,2245,0,0,0,0,0,0
$GC,7288,1.08,197.3,251.0,8.2,381,7293,0.00,2.40,0.00,0.000,6,0.000,0.029,2948,2022,2241,0,0,0,0,0,0
$GC,7613,1.17,218.1,229.8,6.6,397,7638,0.00,2.42,19.35,0.709,4,0.000,0.035,2944,3403,2161,0,0,0,0,0,0
$GC,7645,1.27,242.4,227.9,6.3,398,7674,0.20,2.40,23.42,0.701,6,0.056,0.033,2998,2005,2061,0,0,0,0,0,0
$GC,7984,1.27,242.4,200.5,8.5,414,7988,0.00,2.42,0.00,0.000,4,0.000,0.048,2997,604,2055,0,0,0,0,0,0
$GC,8073,1.20,242.4,192.0,10.3,423,8078,0.12,2.33,0.00,0.000,6,0.114,0.025,2976,2015,2053,0,0,0,0,0,0
$GC,8334,1.26,242.4,169.3,9.4,447,8339,0.00,2.47,0.00,0.000,4,0.000,0.047,2975,600,2052,0,0,0,0,0,0
$GC,8497,1.26,242.4,154.3,9.4,464,8502,0.00,2.33,0.00,0.000,6,0.000,0.024,2976,2014,2051,0,0,0,0,0,0
$GC,8760,1.32,242.4,131.4,10.0,488,8764,0.12,2.45,0.00,0.000,4,0.070,0.045,3011,603,2051,0,0,0,0,0,0
$GC,8909,1.26,242.4,113.5,10.6,503,8915,0.12,2.30,0.00,0.000,6,0.108,0.022,2988,2019,2050,0,0,0,0,0,0
$GC,9172,1.34,261.9,95.1,6.7,528,9198,0.00,2.50,16.90,0.571,4,0.000,0.042,2987,598,1980,0,0,0,0,0,0
$GC,9269,1.34,261.9,87.0,8.6,538,9274,0.00,2.33,0.00,0.000,6,0.000,0.021,2988,2023,1978,0,0,0,0,0,0
$GC,9532,1.43,261.9,64.6,8.6,563,9536,0.17,2.47,0.00,0.000,4,0.054,0.043,3037,600,1978,0,0,0,0,0,0
$GC,9751,1.36,261.9,39.1,10.9,586,9755,0.15,2.28,0.00,0.000,6,0.100,0.021,3008,2019,1976,0,0,0,0,0,0
$GC,10020,1.42,261.9,16.3,8.4,624,10026,0.00,2.42,0.00,0.000,4,0.000,0.041,3007,601,1977,0,0,0,0,0,0
$GC,10155,1.42,261.9,3.7,9.3,652,10160,0.00,2.28,0.00,0.000,6,0.000,0.020,3007,2019,1977,0,0,0,0,0,0
$STATE,10164,end climb,SURFACE_DEPTH_REACHED
$STATE,10164,begin surface coast
$FINISH,0.8,1.023244
$STATE,10194,end surface coast,CONTROL_FINISHED_OK
$STATE,10194,begin surface
$SM_CCo,10214,19.90,0.492,0,0,1826,300.00
$SM_GC,1.09,0.00,0.00,19.90,0.000,0.000,0.492,427,1855,1826,-10.52,-0.57,300.00
$IRIDIUM_FIX,2059.45,-15758.18,100999,171734
$TT8_MAMPS,0.029146
$HUMID,50.15
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,47.628
$10V_AH,10.0,44.304
$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,27.900,109.575,291.325,19.900,0.000,60.457,58.906,303.667,4.500,0.000,41.186,1243.626,7131.429,382.748,1468.343,641.675,33.380,1173.961,0.000,1406.703,0.000,29.277,0.000
$DEVICE_MAMPS,134.992,53.690,865.943,492.414,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.073,435.789,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,34866,659
$CAP_FILE_SIZE,119730,0
$CFSIZE,260165632,227246080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160610,201537,2107.568,-15756.643,121,1.6,121,9.8