version: 66.06
glider: 139
mission: 7
dive: 590
start: 6 23 110 17 28 57
data:
$ID,139
$MISSION,7
$DIVE,590
$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,637.77997
$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,-2143210.5
$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
$GPS1,170814,2108.021,-15802.045,112,2.2,131,9.8
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.8
$GPS2,172806,2107.995,-15802.138,49,1.0,65,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.169,-0.073
$KALMAN_X,-339457.5,-813.7,-105.9,327934.0,-277.4
$KALMAN_Y,28002.2,-19.2,22.9,-25998.9,626.1
$MHEAD_RNG_PITCHd_Wd,103.7,33454,-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,-77.9,0.0,0.0,0,67,0.00,0.00,-49.92,0.000,2,0.000,0.000,429,1851,3138,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.2,-5.2,10,94,10.48,2.45,-4.72,0.000,4,0.131,0.058,2404,462,3370,0,0,0,0,0,0
$GC,138,-1.16,-77.9,21.3,-22.5,24,144,0.28,2.33,0.00,0.000,6,0.092,0.020,2457,1905,3371,0,0,0,0,0,0
$GC,346,-1.11,-77.9,51.9,-14.3,47,350,0.00,2.47,0.00,0.000,4,0.000,0.041,2458,467,3372,0,0,0,0,0,0
$GC,411,-1.07,-77.9,61.7,-13.2,53,418,0.12,2.25,0.00,0.000,6,0.101,0.019,2483,1888,3372,0,0,0,0,0,0
$GC,674,-1.14,-77.9,89.6,-10.5,78,679,0.00,2.42,0.00,0.000,4,0.000,0.041,2483,461,3372,0,0,0,0,0,0
$GC,749,-1.21,-77.9,97.7,-10.0,85,755,0.15,2.25,0.00,0.000,6,0.055,0.018,2433,1881,3373,0,0,0,0,0,0
$GC,1010,-1.21,-77.9,127.1,-11.5,110,1014,0.00,2.42,0.00,0.000,4,0.000,0.041,2433,466,3373,0,0,0,0,0,0
$GC,1081,-1.21,-77.9,135.6,-11.2,117,1086,0.00,2.25,0.00,0.000,6,0.000,0.018,2434,1880,3374,0,0,0,0,0,0
$GC,1342,-1.25,-77.9,162.8,-9.7,141,1347,0.00,2.40,0.00,0.000,4,0.000,0.041,2433,466,3374,0,0,0,0,0,0
$GC,1435,-1.25,-77.9,171.6,-8.9,150,1440,0.00,2.25,0.00,0.000,6,0.000,0.018,2433,1881,3374,0,0,0,0,0,0
$GC,1698,-1.30,-77.9,191.2,-8.0,175,1702,0.00,2.40,0.00,0.000,4,0.000,0.041,2432,464,3374,0,0,0,0,0,0
$GC,1735,-1.30,-77.9,194.8,-9.7,178,1740,0.00,2.22,0.00,0.000,6,0.000,0.019,2433,1878,3375,0,0,0,0,0,0
$GC,1991,-1.36,-77.9,217.8,-9.0,194,1995,0.00,2.42,0.00,0.000,4,0.000,0.042,2434,460,3374,0,0,0,0,0,0
$GC,2038,-1.36,-77.9,222.2,-8.8,196,2043,0.00,2.25,0.00,0.000,6,0.000,0.020,2433,1882,3375,0,0,0,0,0,0
$GC,2365,-1.43,-77.9,248.1,-7.3,212,2370,0.15,2.42,0.00,0.000,4,0.055,0.044,2385,466,3374,0,0,0,0,0,0
$GC,2427,-1.34,-77.9,253.8,-9.2,214,2433,0.17,2.25,0.00,0.000,6,0.089,0.021,2420,1876,3374,0,0,0,0,0,0
$GC,2744,-1.40,-77.9,273.2,-5.5,230,2748,0.00,2.40,0.00,0.000,4,0.000,0.044,2421,464,3373,0,0,0,0,0,0
$GC,2823,-1.40,-77.9,278.1,-6.1,233,2828,0.00,2.28,0.00,0.000,6,0.000,0.021,2421,1880,3373,0,0,0,0,0,0
$GC,3139,-1.46,-77.9,296.4,-6.0,248,3144,0.12,2.42,0.00,0.000,4,0.064,0.045,2380,469,3372,0,0,0,0,0,0
$GC,3265,-1.37,-77.9,308.2,-8.9,251,3270,0.17,2.25,0.00,0.000,6,0.090,0.022,2417,1874,3371,0,0,0,0,0,0
$GC,3596,-1.41,-77.9,335.8,-9.5,259,3600,0.00,2.42,0.00,0.000,4,0.000,0.046,2417,470,3369,0,0,0,0,0,0
$GC,3640,-1.44,-77.9,340.7,-11.4,260,3644,0.00,2.28,0.00,0.000,6,0.000,0.024,2417,1871,3369,0,0,0,0,0,0
$GC,3967,-1.51,-77.9,372.6,-9.3,268,3972,0.15,2.45,0.00,0.000,4,0.058,0.048,2371,466,3367,0,0,0,0,0,0
$GC,3992,-1.46,-77.9,375.2,-10.2,268,3997,0.12,2.30,0.00,0.000,6,0.099,0.025,2397,1877,3366,0,0,0,0,0,0
$GC,4334,-1.49,-77.9,400.4,-6.6,277,4338,0.00,2.45,0.00,0.000,4,0.000,0.048,2396,466,3364,0,0,0,0,0,0
$GC,4432,-1.49,-77.9,408.0,-7.9,279,4436,0.00,2.30,0.00,0.000,6,0.000,0.025,2396,1872,3364,0,0,0,0,0,0
$GC,4759,-1.53,-77.9,431.6,-7.3,287,4763,0.00,2.45,0.00,0.000,4,0.000,0.051,2396,471,3362,0,0,0,0,0,0
$GC,4864,-1.53,-77.9,440.0,-7.1,289,4868,0.00,2.30,0.00,0.000,6,0.000,0.026,2396,1874,3361,0,0,0,0,0,0
$STATE,5014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5014,begin apogee
$GC,5020,-0.31,0.0,451.1,7.1,293,5087,1.15,0.00,63.15,0.866,6,0.071,0.000,2643,2030,3050,0,0,0,0,0,0
$STATE,5088,end apogee,CONTROL_FINISHED_OK
$STATE,5088,begin climb
$GC,5090,1.40,77.9,452.1,0.0,294,5166,1.62,2.40,64.45,0.844,4,0.031,0.038,2988,3379,2732,0,0,0,0,0,0
$GC,5431,1.24,133.5,444.0,4.2,301,5484,0.20,2.35,47.15,0.841,6,0.114,0.035,2986,2006,2505,0,0,0,0,0,0
$GC,5820,1.13,133.5,412.4,8.6,311,5825,0.15,2.40,0.00,0.000,4,0.119,0.038,2959,3383,2498,0,0,0,0,0,0
$GC,5873,1.08,133.5,407.9,8.3,312,5877,0.00,2.35,0.00,0.000,6,0.000,0.036,2962,2014,2498,0,0,0,0,0,0
$GC,6196,1.03,138.3,382.9,7.7,320,6205,0.12,2.50,3.75,0.501,4,0.122,0.051,2931,601,2486,0,0,0,0,0,0
$GC,6269,0.96,143.8,377.5,7.6,321,6281,0.00,2.30,6.80,0.680,6,0.000,0.028,2938,1991,2462,0,0,0,0,0,0
$GC,6613,0.98,159.5,353.1,6.9,330,6633,0.00,2.50,14.45,0.773,4,0.000,0.038,2939,3401,2399,0,0,0,0,0,0
$GC,6745,1.04,175.3,344.1,6.9,332,6765,0.00,2.40,15.35,0.769,6,0.000,0.036,2940,2006,2335,0,0,0,0,0,0
$GC,7081,1.08,178.6,318.2,7.8,341,7085,0.00,2.45,0.00,0.000,4,0.000,0.052,2939,604,2330,0,0,0,0,0,0
$GC,7155,1.08,178.6,311.6,9.8,342,7159,0.00,2.35,0.00,0.000,6,0.000,0.029,2940,2005,2327,0,0,0,0,0,0
$GC,7478,1.12,178.6,284.2,9.0,355,7482,0.00,2.47,0.00,0.000,4,0.000,0.051,2939,603,2327,0,0,0,0,0,0
$GC,7625,1.12,182.6,272.2,7.7,361,7637,0.00,2.33,6.40,0.622,6,0.000,0.028,2939,2016,2304,0,0,0,0,0,0
$GC,7955,1.22,211.4,251.2,6.0,377,7988,0.17,2.58,26.65,0.739,4,0.062,0.050,2983,605,2188,0,0,0,0,0,0
$GC,8072,1.15,211.4,241.4,8.0,382,8076,0.00,2.35,0.00,0.000,6,0.000,0.028,2984,2007,2182,0,0,0,0,0,0
$GC,8396,1.15,211.4,215.6,9.7,398,8401,0.00,2.45,0.00,0.000,4,0.000,0.048,2984,600,2182,0,0,0,0,0,0
$GC,8494,1.08,211.4,203.7,12.8,402,8500,0.17,2.35,0.00,0.000,6,0.113,0.027,2953,2012,2179,0,0,0,0,0,0
$GC,8824,1.15,211.4,172.4,8.1,431,8828,0.00,2.47,0.00,0.000,4,0.000,0.047,2953,597,2179,0,0,0,0,0,0
$GC,8904,1.15,211.4,165.2,8.4,439,8908,0.00,2.35,0.00,0.000,6,0.000,0.026,2953,2015,2178,0,0,0,0,0,0
$GC,9167,1.25,221.7,147.4,7.3,463,9186,0.15,2.47,9.12,0.583,4,0.064,0.045,2994,598,2144,0,0,0,0,0,0
$GC,9257,1.18,221.7,138.0,12.5,472,9263,0.12,2.33,0.00,0.000,6,0.112,0.025,2971,2016,2143,0,0,0,0,0,0
$GC,9521,1.32,276.6,119.5,4.2,497,9580,0.15,2.50,48.90,0.624,4,0.061,0.044,3014,602,1919,0,0,0,0,0,0
$GC,9689,1.27,276.6,106.1,9.8,515,9695,0.12,2.35,0.00,0.000,6,0.109,0.023,2990,2025,1914,0,0,0,0,0,0
$GC,9952,1.35,276.6,82.5,9.5,540,9956,0.00,2.47,0.00,0.000,4,0.000,0.044,2989,601,1914,0,0,0,0,0,0
$GC,10014,1.38,276.6,76.1,10.0,546,10019,0.12,2.30,0.00,0.000,6,0.067,0.023,3028,2014,1912,0,0,0,0,0,0
$GC,10280,1.38,276.6,51.0,8.7,571,10281,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2019,1913,0,0,0,0,0,0
$GC,10536,1.38,276.6,29.0,10.4,595,10541,0.00,2.45,0.00,0.000,4,0.000,0.042,3028,595,1912,0,0,0,0,0,0
$GC,10628,1.34,276.6,19.6,9.6,614,10634,0.10,2.30,0.00,0.000,6,0.113,0.021,3009,2004,1911,0,0,0,0,0,0
$STATE,10806,end climb,SURFACE_DEPTH_REACHED
$STATE,10806,begin surface coast
$FINISH,0.6,1.016044
$STATE,10841,end surface coast,CONTROL_FINISHED_OK
$STATE,10841,begin surface
$SM_CCo,10862,190.55,0.506,0,0,449,637.78
$SM_GC,1.03,0.00,0.00,190.55,0.000,0.000,0.506,426,1861,449,-10.52,-0.40,637.78
$IRIDIUM_FIX,2057.14,-15808.48,170999,171705
$TT8_MAMPS,0.029146
$HUMID,50.31
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,23.10
$XPDR_PINGS,26
$24V_AH,23.4,52.539
$10V_AH,10.0,47.321
$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,27.400,128.700,306.175,190.550,0.000,141.962,212.092,378.541,11.000,0.000,65.290,1298.355,7666.254,562.802,1684.156,1032.006,33.371,1457.728,0.000,1594.447,0.000,31.354,0.000
$DEVICE_MAMPS,131.157,58.292,865.943,506.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,438.209,429.192,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355776
$DATA_FILE_SIZE,34883,652
$CAP_FILE_SIZE,139422,0
$CFSIZE,260165632,223965184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230610,203527,2108.046,-15801.477,78,3.1,97,9.8