version: 66.06
glider: 139
mission: 7
dive: 589
start: 6 23 110 14 0 25
data:
$ID,139
$MISSION,7
$DIVE,589
$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,-2143144.5
$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
$GPS1,134336,2107.700,-15802.294,177,1.7,182,9.8
$_CALLS,2
$_XMS_NAKs,21
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-72.5
$GPS2,135932,2107.877,-15802.504,20,1.5,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.176,-0.052
$KALMAN_X,-337678.3,-705.1,-653.6,325966.8,-587.9
$KALMAN_Y,27208.3,-233.3,238.2,-25425.2,422.6
$MHEAD_RNG_PITCHd_Wd,96.5,34057,-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,-50.45,0.000,2,0.000,0.000,423,1905,3183,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.7,-7.2,10,91,10.57,0.00,-3.47,0.000,6,0.131,0.000,2404,1906,3370,0,0,0,0,0,0
$GC,288,-1.21,-77.9,47.2,-15.9,40,293,0.22,2.50,0.00,0.000,4,0.095,0.041,2450,462,3372,0,0,0,0,0,0
$GC,318,-1.05,-77.9,51.9,-15.6,42,324,0.17,2.33,0.00,0.000,6,0.096,0.019,2480,1906,3372,0,0,0,0,0,0
$GC,580,-1.11,-77.9,78.1,-9.8,67,584,0.00,2.47,0.00,0.000,4,0.000,0.041,2483,468,3373,0,0,0,0,0,0
$GC,599,-1.15,-77.9,80.1,-9.4,68,605,0.00,2.28,0.00,0.000,6,0.000,0.019,2484,1896,3372,0,0,0,0,0,0
$GC,862,-1.26,-77.9,102.0,-8.2,93,867,0.20,2.45,0.00,0.000,4,0.047,0.040,2421,460,3373,0,0,0,0,0,0
$GC,943,-1.18,-77.9,111.3,-11.1,101,948,0.15,2.25,0.00,0.000,6,0.093,0.018,2454,1870,3373,0,0,0,0,0,0
$GC,1209,-1.25,-77.9,134.0,-8.9,126,1213,0.00,2.42,0.00,0.000,4,0.000,0.042,2453,466,3374,0,0,0,0,0,0
$GC,1288,-1.29,-77.9,141.3,-9.4,134,1294,0.00,2.25,0.00,0.000,6,0.000,0.019,2453,1877,3375,0,0,0,0,0,0
$GC,1551,-1.39,-77.9,160.0,-5.8,159,1553,0.17,0.00,0.00,0.000,6,0.050,0.000,2397,1880,3375,0,0,0,0,0,0
$GC,1806,-1.39,-77.9,180.5,-8.5,183,1810,0.00,2.42,0.00,0.000,4,0.000,0.042,2398,462,3375,0,0,0,0,0,0
$GC,1849,-1.30,-77.9,184.9,-10.5,187,1854,0.15,2.25,0.00,0.000,6,0.092,0.020,2429,1882,3375,0,0,0,0,0,0
$GC,2120,-1.35,-77.9,207.2,-8.5,208,2125,0.00,2.40,0.00,0.000,4,0.000,0.043,2430,469,3375,0,0,0,0,0,0
$GC,2191,-1.35,-77.9,213.9,-9.0,211,2195,0.00,2.22,0.00,0.000,6,0.000,0.020,2428,1878,3375,0,0,0,0,0,0
$GC,2519,-1.39,-77.9,241.7,-8.1,227,2523,0.00,2.40,0.00,0.000,4,0.000,0.043,2430,464,3375,0,0,0,0,0,0
$GC,2570,-1.39,-77.9,246.1,-8.0,229,2574,0.00,2.25,0.00,0.000,6,0.000,0.021,2428,1879,3375,0,0,0,0,0,0
$GC,2892,-1.46,-77.9,268.0,-6.8,245,2897,0.15,2.45,0.00,0.000,4,0.056,0.044,2382,462,3374,0,0,0,0,0,0
$GC,2936,-1.39,-77.9,271.7,-8.3,247,2941,0.15,2.25,0.00,0.000,6,0.094,0.021,2413,1874,3374,0,0,0,0,0,0
$GC,3269,-1.44,-77.9,293.5,-7.0,263,3272,0.00,2.42,0.00,0.000,4,0.000,0.045,2413,466,3373,0,0,0,0,0,0
$GC,3362,-1.44,-77.9,301.6,-8.2,267,3366,0.00,2.28,0.00,0.000,6,0.000,0.022,2413,1878,3373,0,0,0,0,0,0
$GC,3689,-1.48,-77.9,327.6,-7.6,275,3694,0.00,2.42,0.00,0.000,4,0.000,0.045,2413,470,3371,0,0,0,0,0,0
$GC,3713,-1.48,-77.9,329.4,-7.3,275,3717,0.00,2.25,0.00,0.000,6,0.000,0.024,2413,1877,3371,0,0,0,0,0,0
$GC,4054,-1.54,-77.9,357.2,-8.7,284,4059,0.15,2.42,0.00,0.000,4,0.058,0.047,2367,470,3369,0,0,0,0,0,0
$GC,4149,-1.44,-77.9,367.4,-11.8,286,4154,0.15,2.30,0.00,0.000,6,0.095,0.024,2398,1884,3369,0,0,0,0,0,0
$GC,4474,-1.44,-77.9,397.6,-9.6,294,4478,0.00,2.47,0.00,0.000,4,0.000,0.049,2398,461,3367,0,0,0,0,0,0
$GC,4560,-1.44,-77.9,406.4,-9.9,295,4565,0.00,2.28,0.00,0.000,6,0.000,0.025,2397,1873,3366,0,0,0,0,0,0
$GC,4891,-1.48,-77.9,434.5,-8.0,304,4895,0.00,2.45,0.00,0.000,4,0.000,0.051,2398,471,3364,0,0,0,0,0,0
$GC,4972,-1.48,-77.9,440.9,-7.9,305,4976,0.00,2.30,0.00,0.000,6,0.000,0.026,2398,1876,3363,0,0,0,0,0,0
$STATE,5138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5138,begin apogee
$GC,5144,-0.31,0.0,451.8,6.4,309,5212,1.15,0.00,63.78,0.865,6,0.073,0.000,2644,2028,3050,0,0,0,0,0,0
$STATE,5213,end apogee,CONTROL_FINISHED_OK
$STATE,5213,begin climb
$GC,5215,1.40,77.9,452.5,0.0,310,5291,1.62,2.40,64.55,0.844,4,0.031,0.038,3023,3377,2732,0,0,0,0,0,0
$GC,5554,1.17,77.9,435.7,9.3,317,5560,0.28,2.35,0.00,0.000,6,0.110,0.035,2973,1998,2729,0,0,0,0,0,0
$GC,5901,1.12,133.9,415.8,4.2,326,5954,0.00,2.47,46.85,0.840,4,0.000,0.038,2973,3378,2504,0,0,0,0,0,0
$GC,5997,1.03,135.1,410.5,7.9,328,6002,0.20,2.38,0.00,0.000,6,0.108,0.036,2938,2008,2502,0,0,0,0,0,0
$GC,6316,1.07,163.8,391.0,6.1,336,6348,0.00,2.55,26.23,0.811,4,0.000,0.052,2935,609,2382,0,0,0,0,0,0
$GC,6384,1.02,177.0,386.6,7.1,337,6406,0.00,2.35,12.77,0.758,6,0.000,0.028,2937,2002,2328,0,0,0,0,0,0
$GC,6730,1.02,181.9,361.1,7.7,346,6742,0.00,2.47,5.15,0.605,4,0.000,0.049,2936,602,2307,0,0,0,0,0,0
$GC,6752,1.02,181.9,359.3,8.3,346,6756,0.00,2.35,0.00,0.000,6,0.000,0.029,2937,2011,2306,0,0,0,0,0,0
$GC,7097,1.03,187.4,331.4,7.6,355,7109,0.00,2.55,6.12,0.641,4,0.000,0.050,2937,604,2285,0,0,0,0,0,0
$GC,7213,1.05,204.7,323.4,6.8,357,7236,0.00,2.38,16.77,0.766,6,0.000,0.028,2937,2016,2215,0,0,0,0,0,0
$GC,7561,1.11,204.7,296.4,8.8,366,7565,0.00,2.50,0.00,0.000,4,0.000,0.051,2937,597,2211,0,0,0,0,0,0
$GC,7593,1.11,204.7,293.0,10.2,367,7598,0.00,2.40,0.00,0.000,6,0.000,0.029,2937,2018,2209,0,0,0,0,0,0
$GC,7910,1.19,210.4,266.3,7.6,382,7923,0.17,2.55,5.38,0.582,4,0.064,0.050,2980,604,2192,0,0,0,0,0,0
$GC,8035,1.12,210.4,253.0,10.7,387,8040,0.12,2.38,0.00,0.000,6,0.118,0.028,2959,2019,2190,0,0,0,0,0,0
$GC,8358,1.20,228.4,228.4,6.8,403,8381,0.00,2.53,17.40,0.706,4,0.000,0.048,2959,598,2117,0,0,0,0,0,0
$GC,8514,1.20,228.4,213.9,11.2,409,8520,0.00,2.38,0.00,0.000,6,0.000,0.027,2959,2022,2113,0,0,0,0,0,0
$GC,8837,1.27,228.4,184.9,8.3,433,8842,0.15,2.47,0.00,0.000,4,0.065,0.048,2997,602,2112,0,0,0,0,0,0
$GC,9029,1.18,228.4,165.6,9.5,453,9034,0.15,2.33,0.00,0.000,6,0.110,0.025,2971,2019,2111,0,0,0,0,0,0
$GC,9292,1.23,232.3,145.6,7.7,477,9302,0.00,2.50,3.90,0.423,4,0.000,0.046,2970,597,2101,0,0,0,0,0,0
$GC,9323,1.23,232.3,142.8,8.9,480,9327,0.00,2.33,0.00,0.000,6,0.000,0.025,2970,2014,2100,0,0,0,0,0,0
$GC,9586,1.33,241.7,121.8,7.4,504,9604,0.15,2.50,10.02,0.571,4,0.062,0.044,3011,608,2063,0,0,0,0,0,0
$GC,9700,1.26,244.1,111.7,7.9,516,9705,0.12,2.33,0.00,0.000,6,0.107,0.023,2988,2018,2061,0,0,0,0,0,0
$GC,9961,1.35,262.0,94.3,6.8,540,9987,0.00,2.38,19.10,0.576,4,0.000,0.030,2988,3397,1980,0,0,0,0,0,0
$GC,10027,1.46,266.6,89.7,7.7,547,10040,0.20,2.38,5.65,0.458,6,0.051,0.030,3041,1998,1962,0,0,0,0,0,0
$GC,10302,1.46,266.6,63.9,9.8,573,10306,0.00,2.40,0.00,0.000,4,0.000,0.044,3041,602,1961,0,0,0,0,0,0
$GC,10429,1.38,266.6,52.2,9.0,586,10434,0.15,2.28,0.00,0.000,6,0.102,0.021,3013,2016,1958,0,0,0,0,0,0
$GC,10691,1.47,289.2,33.2,6.5,610,10717,0.00,2.45,20.15,0.524,4,0.000,0.041,3012,602,1870,0,0,0,0,0,0
$GC,10839,1.47,289.2,19.8,10.6,636,10845,0.00,2.30,0.00,0.000,6,0.000,0.021,3012,2016,1866,0,0,0,0,0,0
$STATE,11034,end climb,SURFACE_DEPTH_REACHED
$STATE,11034,begin surface coast
$FINISH,0.6,1.010780
$STATE,11069,end surface coast,CONTROL_FINISHED_OK
$STATE,11069,begin surface
$SM_CCo,11090,8.80,0.453,0,0,1826,300.00
$SM_GC,2.28,0.00,0.00,8.80,0.000,0.000,0.453,431,1851,1826,-10.50,-0.68,300.00
$IRIDIUM_FIX,2059.45,-15801.19,170999,131315
$TT8_MAMPS,0.029146
$HUMID,52.71
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,52.406
$10V_AH,10.0,47.255
$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,27.800,129.225,323.825,8.800,0.000,52.367,60.744,629.171,4.500,0.000,32.713,1327.071,7668.276,396.361,1643.406,1020.553,33.381,1295.190,0.000,1589.103,0.000,29.260,0.000
$DEVICE_MAMPS,131.157,53.690,865.176,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,455.409,448.993,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355900
$DATA_FILE_SIZE,34891,677
$CAP_FILE_SIZE,140247,0
$CFSIZE,260165632,224043008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230610,170814,2108.021,-15802.045,112,2.2,131,9.8