version: 66.06
glider: 139
mission: 7
dive: 592
start: 6 24 110 0 6 58
data:
$ID,139
$MISSION,7
$DIVE,592
$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,-2143277.2
$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
$GPS1,234436,2107.899,-15801.418,97,1.8,97,9.8
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.5
$GPS2,000607,2108.091,-15801.846,10,2.0,21,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.175,-0.055
$KALMAN_X,-343318.8,9.7,-218.0,331590.1,-1426.0
$KALMAN_Y,29512.9,408.0,82.6,-27815.5,543.8
$MHEAD_RNG_PITCHd_Wd,97.5,32975,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,68,0.00,0.00,-50.20,0.000,2,0.000,0.000,426,1872,3170,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.6,-6.8,10,91,10.50,2.45,-3.95,0.000,4,0.130,0.049,2404,466,3370,0,0,0,0,0,0
$GC,121,-1.06,-77.9,18.3,-25.1,20,127,0.38,2.33,0.00,0.000,6,0.091,0.019,2478,1914,3371,0,0,0,0,0,0
$GC,325,-1.06,-77.9,44.1,-12.0,45,329,0.00,2.50,0.00,0.000,4,0.000,0.040,2480,463,3371,0,0,0,0,0,0
$GC,340,-1.03,-77.9,46.5,-13.8,46,345,0.00,2.28,0.00,0.000,6,0.000,0.019,2479,1883,3371,0,0,0,0,0,0
$GC,608,-1.09,-77.9,73.7,-8.6,71,612,0.00,2.45,0.00,0.000,4,0.000,0.041,2479,460,3372,0,0,0,0,0,0
$GC,645,-1.14,-77.9,77.3,-9.5,74,651,0.00,2.25,0.00,0.000,6,0.000,0.018,2479,1885,3371,0,0,0,0,0,0
$GC,909,-1.24,-77.9,100.8,-9.2,99,914,0.17,2.45,0.00,0.000,4,0.050,0.041,2423,468,3372,0,0,0,0,0,0
$GC,944,-1.18,-77.9,104.9,-12.5,102,949,0.15,2.25,0.00,0.000,6,0.091,0.019,2455,1877,3372,0,0,0,0,0,0
$GC,1205,-1.23,-77.9,129.8,-9.0,126,1209,0.00,2.42,0.00,0.000,4,0.000,0.041,2455,459,3373,0,0,0,0,0,0
$GC,1248,-1.28,-77.9,134.0,-9.7,130,1252,0.00,2.25,0.00,0.000,6,0.000,0.019,2455,1872,3373,0,0,0,0,0,0
$GC,1512,-1.36,-77.9,154.8,-8.6,154,1516,0.17,2.40,0.00,0.000,4,0.050,0.042,2399,466,3373,0,0,0,0,0,0
$GC,1527,-1.36,-77.9,156.6,-9.5,155,1531,0.00,2.25,0.00,0.000,6,0.000,0.019,2399,1889,3374,0,0,0,0,0,0
$GC,1788,-1.32,-77.9,184.7,-9.2,179,1793,0.12,2.45,0.00,0.000,4,0.099,0.041,2425,467,3374,0,0,0,0,0,0
$GC,1832,-1.32,-77.9,188.4,-8.5,183,1836,0.00,2.22,0.00,0.000,6,0.000,0.020,2424,1876,3374,0,0,0,0,0,0
$GC,2102,-1.36,-77.9,210.6,-8.3,202,2106,0.00,2.40,0.00,0.000,4,0.000,0.042,2425,460,3373,0,0,0,0,0,0
$GC,2153,-1.36,-77.9,215.9,-9.9,204,2157,0.00,2.28,0.00,0.000,6,0.000,0.020,2425,1883,3374,0,0,0,0,0,0
$GC,2479,-1.41,-77.9,238.5,-5.6,220,2484,0.00,2.42,0.00,0.000,4,0.000,0.043,2425,460,3373,0,0,0,0,0,0
$GC,2531,-1.41,-77.9,242.2,-6.8,222,2535,0.00,2.28,0.00,0.000,6,0.000,0.021,2425,1877,3373,0,0,0,0,0,0
$GC,2851,-1.47,-77.9,267.3,-8.6,238,2856,0.15,2.42,0.00,0.000,4,0.056,0.044,2378,462,3372,0,0,0,0,0,0
$GC,2922,-1.38,-77.9,275.7,-11.4,241,2927,0.17,2.25,0.00,0.000,6,0.089,0.021,2414,1873,3372,0,0,0,0,0,0
$GC,3248,-1.42,-77.9,305.3,-8.6,256,3253,0.00,2.40,0.00,0.000,4,0.000,0.045,2414,468,3371,0,0,0,0,0,0
$GC,3315,-1.42,-77.9,312.2,-10.0,257,3319,0.00,2.25,0.00,0.000,6,0.000,0.022,2414,1874,3371,0,0,0,0,0,0
$GC,3661,-1.48,-77.9,339.4,-7.1,266,3665,0.10,2.45,0.00,0.000,4,0.076,0.046,2380,467,3369,0,0,0,0,0,0
$GC,3708,-1.42,-77.9,344.4,-11.2,267,3713,0.12,2.28,0.00,0.000,6,0.099,0.023,2405,1876,3368,0,0,0,0,0,0
$GC,4035,-1.49,-77.9,373.7,-9.0,275,4039,0.00,2.45,0.00,0.000,4,0.000,0.048,2405,463,3366,0,0,0,0,0,0
$GC,4086,-1.49,-77.9,379.4,-10.1,276,4090,0.00,2.28,0.00,0.000,6,0.000,0.025,2406,1874,3366,0,0,0,0,0,0
$GC,4405,-1.54,-77.9,408.7,-9.5,284,4409,0.12,2.47,0.00,0.000,4,0.066,0.050,2367,463,3364,0,0,0,0,0,0
$GC,4461,-1.47,-77.9,415.6,-11.8,285,4466,0.12,2.33,0.00,0.000,6,0.100,0.025,2392,1879,3363,0,0,0,0,0,0
$GC,4776,-1.47,-77.9,445.8,-9.2,293,4780,0.00,2.47,0.00,0.000,4,0.000,0.051,2392,461,3361,0,0,0,0,0,0
$GC,4813,-1.47,-77.9,449.5,-9.7,293,4818,0.00,2.33,0.00,0.000,6,0.000,0.026,2392,1875,3361,0,0,0,0,0,0
$STATE,4857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4857,begin apogee
$GC,4863,-0.31,0.0,453.4,8.7,295,4930,1.17,0.00,63.40,0.868,6,0.071,0.000,2645,2031,3050,0,0,0,0,0,0
$STATE,4931,end apogee,CONTROL_FINISHED_OK
$STATE,4931,begin climb
$GC,4933,1.40,77.9,454.6,0.0,296,5009,1.62,2.40,64.68,0.848,4,0.029,0.038,3026,3379,2732,0,0,0,0,0,0
$GC,5038,1.28,177.0,457.2,1.2,298,5133,0.15,2.38,84.30,0.845,6,0.121,0.034,2997,2001,2328,0,0,0,0,0,0
$GC,5474,1.16,177.0,411.4,12.2,309,5479,0.17,2.42,0.00,0.000,4,0.114,0.052,2969,608,2317,0,0,0,0,0,0
$GC,5493,1.03,177.0,408.8,12.3,309,5498,0.17,2.30,0.00,0.000,6,0.118,0.028,2939,1991,2315,0,0,0,0,0,0
$GC,5839,1.03,177.0,376.9,8.7,318,5843,0.00,2.42,0.00,0.000,4,0.000,0.052,2938,608,2313,0,0,0,0,0,0
$GC,5987,1.03,177.0,364.8,8.0,321,5991,0.00,2.35,0.00,0.000,6,0.000,0.029,2939,2014,2310,0,0,0,0,0,0
$GC,6301,1.09,204.7,344.9,6.1,329,6330,0.00,2.58,22.45,0.795,4,0.000,0.052,2939,611,2215,0,0,0,0,0,0
$GC,6450,1.09,204.7,331.5,10.5,332,6454,0.00,2.38,0.00,0.000,6,0.000,0.030,2938,2014,2209,0,0,0,0,0,0
$GC,6764,1.14,204.7,302.3,9.1,340,6766,0.10,0.00,0.00,0.000,6,0.085,0.000,2964,2018,2208,0,0,0,0,0,0
$GC,7072,1.14,204.7,270.8,9.5,354,7076,0.00,2.45,0.00,0.000,4,0.000,0.051,2965,608,2207,0,0,0,0,0,0
$GC,7134,1.09,204.7,264.5,10.2,356,7139,0.00,2.35,0.00,0.000,6,0.000,0.029,2963,2019,2205,0,0,0,0,0,0
$GC,7449,1.12,207.9,237.3,7.8,372,7453,0.00,2.47,0.00,0.000,4,0.000,0.050,2965,607,2205,0,0,0,0,0,0
$GC,7704,1.12,207.9,216.0,9.4,383,7708,0.00,2.33,0.00,0.000,6,0.000,0.028,2965,2017,2201,0,0,0,0,0,0
$GC,8029,1.17,214.7,190.2,7.6,404,8042,0.00,2.50,7.97,0.602,4,0.000,0.048,2965,605,2174,0,0,0,0,0,0
$GC,8172,1.17,214.7,178.2,8.1,419,8176,0.00,2.35,0.00,0.000,6,0.000,0.025,2965,2020,2171,0,0,0,0,0,0
$GC,8435,1.21,214.7,156.5,8.6,443,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2025,2171,0,0,0,0,0,0
$GC,8687,1.31,248.4,137.1,5.7,467,8724,0.15,0.00,30.70,0.634,6,0.064,0.000,3007,2025,2037,0,0,0,0,0,0
$GC,8978,1.31,248.4,111.3,10.2,495,8980,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2025,2033,0,0,0,0,0,0
$GC,9234,1.32,254.7,87.2,7.6,519,9246,0.00,2.50,6.35,0.484,4,0.000,0.044,3007,608,2011,0,0,0,0,0,0
$GC,9357,1.28,254.7,76.8,8.5,532,9363,0.00,2.30,0.00,0.000,6,0.000,0.023,3007,2021,2008,0,0,0,0,0,0
$GC,9621,1.33,262.9,57.4,7.5,557,9638,0.00,2.47,8.65,0.496,4,0.000,0.041,3007,604,1976,0,0,0,0,0,0
$GC,9714,1.33,262.9,48.6,8.9,567,9718,0.00,2.30,0.00,0.000,6,0.000,0.021,3007,2021,1974,0,0,0,0,0,0
$GC,9978,1.40,262.9,27.0,9.2,593,9984,0.00,2.42,0.00,0.000,4,0.000,0.041,3007,601,1974,0,0,0,0,0,0
$GC,10068,1.40,262.9,17.6,10.6,612,10074,0.00,2.28,0.00,0.000,6,0.000,0.021,3007,2018,1973,0,0,0,0,0,0
$STATE,10228,end climb,SURFACE_DEPTH_REACHED
$STATE,10228,begin surface coast
$FINISH,0.5,1.023134
$STATE,10261,end surface coast,CONTROL_FINISHED_OK
$STATE,10261,begin surface
$SM_CCo,10282,21.12,0.496,0,0,1826,300.00
$SM_GC,1.18,0.00,0.00,21.12,0.000,0.000,0.496,426,1855,1826,-10.52,-0.54,300.00
$IRIDIUM_FIX,2101.76,-15800.33,180999,000031
$TT8_MAMPS,0.029146
$HUMID,53.74
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.4,52.759
$10V_AH,10.0,47.441
$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,26.875,119.075,288.500,21.125,0.000,82.265,100.699,818.437,4.750,0.000,22.033,1247.313,7203.973,375.410,1483.014,1282.882,33.373,1189.979,0.000,1439.042,0.000,29.256,0.000
$DEVICE_MAMPS,129.623,52.923,868.244,496.249,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,434.718,431.892,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355916
$DATA_FILE_SIZE,34993,646
$CAP_FILE_SIZE,134075,0
$CFSIZE,260165632,223862784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240610,030206,2108.155,-15801.537,161,1.3,167,9.8