version: 66.06
glider: 139
mission: 7
dive: 588
start: 6 23 110 10 42 14
data:
$ID,139
$MISSION,7
$DIVE,588
$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,-2143111
$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
$GPS1,103030,2107.543,-15801.870,75,2.4,94,9.8
$_CALLS,1
$_XMS_NAKs,38
$_XMS_TOUTs,2
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.9
$GPS2,104123,2107.638,-15802.033,26,2.3,45,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.180,-0.037
$KALMAN_X,-335734.9,-341.8,-143.4,323962.0,-1431.1
$KALMAN_Y,26420.2,-175.7,108.4,-25010.6,359.7
$MHEAD_RNG_PITCHd_Wd,91.9,33201,-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,-77.9,0.0,0.0,0,67,0.00,0.00,-50.05,0.000,2,0.000,0.000,426,1903,3165,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.6,-6.5,10,95,10.55,2.53,-3.95,0.000,4,0.132,0.052,2405,466,3370,0,0,0,0,0,0
$GC,111,-0.71,-77.9,16.1,-28.4,18,117,0.75,2.30,0.00,0.000,6,0.085,0.020,2557,1903,3371,0,0,0,0,0,0
$GC,324,-0.90,-77.9,34.8,-8.6,51,329,0.17,2.47,0.00,0.000,4,0.050,0.042,2502,469,3372,0,0,0,0,0,0
$GC,355,-0.96,-77.9,37.8,-10.0,53,361,0.00,2.28,0.00,0.000,6,0.000,0.019,2501,1882,3372,0,0,0,0,0,0
$GC,619,-1.08,-77.9,62.7,-7.8,78,623,0.00,2.42,0.00,0.000,4,0.000,0.041,2502,465,3373,0,0,0,0,0,0
$GC,671,-1.18,-77.9,67.4,-8.1,83,676,0.20,2.25,0.00,0.000,6,0.046,0.019,2439,1884,3373,0,0,0,0,0,0
$GC,935,-1.18,-77.9,94.7,-10.7,107,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,1888,3374,0,0,0,0,0,0
$GC,1196,-1.18,-77.9,118.5,-8.5,132,1200,0.00,2.42,0.00,0.000,4,0.000,0.042,2439,469,3375,0,0,0,0,0,0
$GC,1298,-1.18,-77.9,128.0,-8.9,143,1302,0.00,2.25,0.00,0.000,6,0.000,0.019,2438,1877,3375,0,0,0,0,0,0
$GC,1561,-1.24,-77.9,152.4,-10.1,167,1565,0.00,2.25,0.00,0.000,4,0.000,0.025,2436,3267,3375,0,0,0,0,0,0
$GC,1579,-1.32,-77.9,154.5,-9.8,168,1585,0.00,2.30,0.00,0.000,6,0.000,0.027,2438,1868,3375,0,0,0,0,0,0
$GC,1843,-1.39,-77.9,176.2,-8.1,193,1848,0.12,2.38,0.00,0.000,4,0.063,0.042,2395,469,3376,0,0,0,0,0,0
$GC,1877,-1.33,-77.9,179.5,-9.3,196,1883,0.15,2.25,0.00,0.000,6,0.091,0.019,2425,1880,3376,0,0,0,0,0,0
$GC,2145,-1.37,-77.9,200.6,-7.7,221,2149,0.00,2.38,0.00,0.000,4,0.000,0.042,2427,471,3376,0,0,0,0,0,0
$GC,2219,-1.37,-77.9,207.2,-8.6,224,2223,0.00,2.25,0.00,0.000,6,0.000,0.020,2427,1877,3376,0,0,0,0,0,0
$GC,2541,-1.44,-77.9,232.1,-8.0,240,2546,0.12,2.40,0.00,0.000,4,0.063,0.044,2384,473,3375,0,0,0,0,0,0
$GC,2623,-1.37,-77.9,242.0,-12.4,243,2628,0.15,2.22,0.00,0.000,6,0.094,0.021,2415,1874,3375,0,0,0,0,0,0
$GC,2941,-1.42,-77.9,269.2,-9.5,258,2945,0.00,2.42,0.00,0.000,4,0.000,0.045,2415,466,3375,0,0,0,0,0,0
$GC,2973,-1.42,-77.9,272.9,-10.2,259,2978,0.00,2.25,0.00,0.000,6,0.000,0.021,2415,1876,3375,0,0,0,0,0,0
$GC,3289,-1.48,-77.9,304.4,-9.3,273,3294,0.10,2.42,0.00,0.000,4,0.074,0.045,2380,474,3373,0,0,0,0,0,0
$GC,3309,-1.48,-77.9,306.6,-9.8,273,3313,0.00,2.28,0.00,0.000,6,0.000,0.022,2380,1881,3373,0,0,0,0,0,0
$GC,3653,-1.48,-77.9,339.9,-9.8,282,3658,0.00,2.42,0.00,0.000,4,0.000,0.046,2380,475,3372,0,0,0,0,0,0
$GC,3683,-1.42,-77.9,342.8,-10.5,282,3688,0.12,2.28,0.00,0.000,6,0.099,0.024,2406,1874,3373,0,0,0,0,0,0
$GC,4024,-1.47,-77.9,368.4,-7.3,291,4028,0.00,2.42,0.00,0.000,4,0.000,0.048,2405,476,3370,0,0,0,0,0,0
$GC,4075,-1.47,-77.9,372.6,-8.1,292,4080,0.00,2.25,0.00,0.000,6,0.000,0.025,2406,1873,3370,0,0,0,0,0,0
$GC,4394,-1.52,-77.9,395.4,-7.1,300,4399,0.12,2.45,0.00,0.000,4,0.065,0.049,2367,474,3367,0,0,0,0,0,0
$GC,4423,-1.42,-77.9,398.3,-10.6,300,4428,0.17,2.28,0.00,0.000,6,0.091,0.025,2403,1877,3367,0,0,0,0,0,0
$GC,4760,-1.48,-77.9,428.2,-9.2,309,4764,0.00,2.42,0.00,0.000,4,0.000,0.051,2403,474,3365,0,0,0,0,0,0
$GC,4822,-1.48,-77.9,434.4,-10.6,310,4826,0.00,2.28,0.00,0.000,6,0.000,0.026,2403,1874,3364,0,0,0,0,0,0
$STATE,5006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5006,begin apogee
$GC,5013,-0.31,0.0,451.5,9.1,315,5080,1.12,0.00,63.85,0.876,6,0.069,0.000,2647,2028,3050,0,0,0,0,0,0
$STATE,5081,end apogee,CONTROL_FINISHED_OK
$STATE,5081,begin climb
$GC,5083,1.40,77.9,453.0,0.0,316,5159,1.60,2.42,64.62,0.853,4,0.030,0.039,3020,3384,2732,0,0,0,0,0,0
$GC,5266,1.24,137.8,454.3,3.9,320,5324,0.20,2.35,51.25,0.850,6,0.114,0.034,2986,2009,2488,0,0,0,0,0,0
$GC,5633,1.13,137.8,422.0,8.9,329,5635,0.15,0.00,0.00,0.000,6,0.120,0.000,2960,2009,2480,0,0,0,0,0,0
$GC,5958,1.09,161.4,400.7,6.4,337,5983,0.00,2.53,20.02,0.815,4,0.000,0.050,2960,602,2391,0,0,0,0,0,0
$GC,6063,0.98,161.4,390.8,11.9,339,6068,0.17,2.33,0.00,0.000,6,0.118,0.028,2930,1992,2387,0,0,0,0,0,0
$GC,6413,1.03,200.8,368.8,5.3,348,6455,0.00,2.53,34.90,0.825,4,0.000,0.052,2930,607,2230,0,0,0,0,0,0
$GC,6481,1.00,202.3,364.3,7.9,349,6486,0.00,2.40,0.00,0.000,6,0.000,0.029,2929,2015,2226,0,0,0,0,0,0
$GC,6826,1.05,202.3,335.2,9.0,358,6831,0.00,2.50,0.00,0.000,4,0.000,0.052,2928,607,2224,0,0,0,0,0,0
$GC,6915,1.05,202.3,325.6,11.5,360,6920,0.00,2.38,0.00,0.000,6,0.000,0.030,2930,2014,2220,0,0,0,0,0,0
$GC,7244,1.14,214.8,301.8,7.2,368,7264,0.15,2.53,12.18,0.735,4,0.069,0.051,2967,600,2173,0,0,0,0,0,0
$GC,7344,1.08,214.8,292.0,10.0,371,7348,0.00,2.40,0.00,0.000,6,0.000,0.029,2966,2021,2169,0,0,0,0,0,0
$GC,7663,1.08,214.8,262.5,9.6,387,7668,0.00,2.50,0.00,0.000,4,0.000,0.051,2967,605,2169,0,0,0,0,0,0
$GC,7734,1.02,214.8,254.9,11.1,390,7739,0.17,2.35,0.00,0.000,6,0.117,0.028,2936,2021,2167,0,0,0,0,0,0
$GC,8062,1.14,239.3,231.3,6.3,406,8091,0.12,2.58,21.95,0.726,4,0.075,0.050,2967,610,2074,0,0,0,0,0,0
$GC,8248,1.14,239.3,214.3,9.3,414,8252,0.00,2.38,0.00,0.000,6,0.000,0.028,2967,2022,2069,0,0,0,0,0,0
$GC,8578,1.18,239.3,188.8,8.6,436,8582,0.00,2.50,0.00,0.000,4,0.000,0.048,2967,597,2068,0,0,0,0,0,0
$GC,8768,1.18,239.3,168.6,11.8,456,8773,0.00,2.38,0.00,0.000,6,0.000,0.026,2968,2024,2066,0,0,0,0,0,0
$GC,9032,1.25,239.3,143.2,9.2,480,9036,0.00,2.47,0.00,0.000,4,0.000,0.046,2968,604,2066,0,0,0,0,0,0
$GC,9102,1.25,239.3,136.4,9.9,487,9106,0.00,2.33,0.00,0.000,6,0.000,0.025,2968,2016,2065,0,0,0,0,0,0
$GC,9366,1.39,297.4,121.8,4.0,511,9426,0.22,2.55,50.38,0.635,4,0.051,0.046,3026,605,1836,0,0,0,0,0,0
$GC,9494,1.33,297.4,109.3,12.6,525,9499,0.12,2.30,0.00,0.000,6,0.109,0.023,3004,2008,1831,0,0,0,0,0,0
$GC,9756,1.38,297.4,83.8,10.1,549,9760,0.00,2.42,0.00,0.000,4,0.000,0.045,3003,604,1830,0,0,0,0,0,0
$GC,9912,1.38,297.4,65.6,11.0,565,9918,0.00,2.30,0.00,0.000,6,0.000,0.022,3004,2021,1828,0,0,0,0,0,0
$GC,10176,1.48,297.4,42.6,9.1,590,10181,0.15,2.45,0.00,0.000,4,0.058,0.043,3048,603,1828,0,0,0,0,0,0
$GC,10251,1.41,297.4,33.5,12.7,597,10257,0.12,2.30,0.00,0.000,6,0.106,0.021,3024,2007,1828,0,0,0,0,0,0
$GC,10524,1.45,297.4,6.8,11.0,643,10530,0.00,2.42,0.00,0.000,4,0.000,0.042,3023,599,1828,0,0,0,0,0,0
$STATE,10557,end climb,SURFACE_DEPTH_REACHED
$STATE,10557,begin surface coast
$FINISH,0.5,1.023110
$STATE,10581,end surface coast,CONTROL_FINISHED_OK
$STATE,10581,begin surface
$SM_CCo,10665,0.00,0.000,0,0,1823,300.98
$SM_GC,1.54,11.15,0.00,0.00,0.025,0.000,0.000,424,1906,1823,-10.45,0.88,300.98
$IRIDIUM_FIX,2059.45,-15801.19,170999,070743
$TT8_MAMPS,0.029146
$HUMID,53.54
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,22.90
$XPDR_PINGS,1
$24V_AH,23.4,52.291
$10V_AH,10.0,47.190
$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,28.225,128.375,319.150,0.000,0.000,23.829,27.852,448.444,4.750,0.000,46.769,1274.989,7355.617,379.559,1553.827,747.090,33.380,1229.704,0.000,1487.612,0.000,29.270,0.000
$DEVICE_MAMPS,131.924,52.923,875.914,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,441.106,431.576,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355748
$DATA_FILE_SIZE,34997,655
$CAP_FILE_SIZE,129421,0
$CFSIZE,260165632,224116736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,5
$GPS,230610,134336,2107.700,-15802.294,177,1.7,182,9.8