version: 66.06
glider: 139
mission: 7
dive: 593
start: 6 24 110 3 28 48
data:
$ID,139
$MISSION,7
$DIVE,593
$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,-2143293
$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
$GPS1,030206,2108.155,-15801.537,161,1.3,167,9.8
$_CALLS,5
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.3
$GPS2,032756,2108.382,-15801.800,14,1.7,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.181,-0.032
$KALMAN_X,-345201.9,405.5,-615.9,333550.3,-687.9
$KALMAN_Y,30545.5,352.3,242.3,-28418.1,165.0
$MHEAD_RNG_PITCHd_Wd,90.3,32970,-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,-49.95,0.000,2,0.000,0.000,424,1857,3155,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.3,-6.2,10,95,10.52,2.42,-4.38,0.000,4,0.130,0.055,2406,473,3370,0,0,0,0,0,0
$GC,120,-1.03,-77.9,16.2,-22.4,20,127,0.40,2.33,0.00,0.000,6,0.087,0.019,2486,1923,3371,0,0,0,0,0,0
$GC,329,-1.03,-77.9,42.7,-12.7,49,334,0.00,2.50,0.00,0.000,4,0.000,0.041,2487,468,3371,0,0,0,0,0,0
$GC,384,-1.06,-77.9,50.1,-13.5,54,388,0.00,2.22,0.00,0.000,6,0.000,0.019,2486,1872,3370,0,0,0,0,0,0
$GC,647,-1.13,-77.9,78.8,-9.8,78,651,0.00,2.42,0.00,0.000,4,0.000,0.042,2487,460,3371,0,0,0,0,0,0
$GC,702,-1.20,-77.9,84.8,-10.0,83,709,0.15,2.22,0.00,0.000,6,0.054,0.018,2436,1883,3372,0,0,0,0,0,0
$GC,965,-1.20,-77.9,112.6,-10.6,108,969,0.00,2.40,0.00,0.000,4,0.000,0.041,2436,468,3372,0,0,0,0,0,0
$GC,1030,-1.20,-77.9,119.9,-10.7,114,1037,0.00,2.22,0.00,0.000,6,0.000,0.018,2436,1880,3372,0,0,0,0,0,0
$GC,1291,-1.20,-77.9,145.9,-9.3,139,1295,0.00,2.28,0.00,0.000,4,0.000,0.025,2435,3257,3372,0,0,0,0,0,0
$GC,1309,-1.27,-77.9,147.5,-8.4,140,1315,0.00,2.30,0.00,0.000,6,0.000,0.026,2436,1868,3372,0,0,0,0,0,0
$GC,1573,-1.31,-77.9,169.8,-7.5,165,1577,0.00,2.35,0.00,0.000,4,0.000,0.041,2436,471,3372,0,0,0,0,0,0
$GC,1638,-1.35,-77.9,174.6,-6.3,171,1643,0.00,2.25,0.00,0.000,6,0.000,0.019,2435,1883,3373,0,0,0,0,0,0
$GC,1901,-1.40,-77.9,191.8,-7.5,196,1906,0.12,2.40,0.00,0.000,4,0.062,0.042,2392,474,3373,0,0,0,0,0,0
$GC,1923,-1.35,-77.9,193.9,-8.9,197,1929,0.12,2.25,0.00,0.000,6,0.100,0.020,2416,1883,3373,0,0,0,0,0,0
$GC,2178,-1.35,-77.9,215.1,-8.4,213,2181,0.00,2.40,0.00,0.000,4,0.000,0.041,2418,467,3372,0,0,0,0,0,0
$GC,2238,-1.35,-77.9,220.5,-8.9,215,2242,0.00,2.22,0.00,0.000,6,0.000,0.020,2416,1874,3372,0,0,0,0,0,0
$GC,2553,-1.35,-77.9,248.1,-8.1,230,2557,0.00,2.40,0.00,0.000,4,0.000,0.042,2418,473,3371,0,0,0,0,0,0
$GC,2609,-1.35,-77.9,252.8,-8.0,232,2613,0.00,2.25,0.00,0.000,6,0.000,0.021,2417,1877,3371,0,0,0,0,0,0
$GC,2924,-1.40,-77.9,277.3,-8.1,247,2929,0.00,2.38,0.00,0.000,4,0.000,0.044,2418,476,3371,0,0,0,0,0,0
$GC,2961,-1.40,-77.9,280.8,-9.0,248,2967,0.00,2.22,0.00,0.000,6,0.000,0.021,2417,1875,3371,0,0,0,0,0,0
$GC,3297,-1.46,-77.9,308.1,-8.2,263,3301,0.00,2.40,0.00,0.000,4,0.000,0.044,2418,467,3369,0,0,0,0,0,0
$GC,3375,-1.46,-77.9,314.5,-8.1,264,3380,0.00,2.28,0.00,0.000,6,0.000,0.022,2418,1880,3369,0,0,0,0,0,0
$GC,3708,-1.53,-77.9,340.7,-7.8,272,3713,0.17,2.42,0.00,0.000,4,0.052,0.046,2366,473,3367,0,0,0,0,0,0
$GC,3756,-1.44,-77.9,346.4,-12.0,273,3761,0.15,2.25,0.00,0.000,6,0.092,0.023,2398,1870,3367,0,0,0,0,0,0
$GC,4084,-1.47,-77.9,381.7,-10.8,281,4088,0.00,2.42,0.00,0.000,4,0.000,0.048,2398,471,3365,0,0,0,0,0,0
$GC,4130,-1.47,-77.9,386.6,-9.5,282,4134,0.00,2.30,0.00,0.000,6,0.000,0.024,2398,1882,3364,0,0,0,0,0,0
$GC,4452,-1.51,-77.9,412.6,-8.0,290,4457,0.00,2.42,0.00,0.000,4,0.000,0.049,2397,475,3362,0,0,0,0,0,0
$GC,4515,-1.51,-77.9,418.2,-10.0,291,4519,0.00,2.28,0.00,0.000,6,0.000,0.025,2397,1877,3362,0,0,0,0,0,0
$GC,4865,-1.55,-77.9,444.9,-7.6,300,4869,0.00,2.45,0.00,0.000,4,0.000,0.051,2397,474,3359,0,0,0,0,0,0
$GC,4897,-1.55,-77.9,448.0,-9.8,300,4901,0.00,2.28,0.00,0.000,6,0.000,0.026,2397,1872,3359,0,0,0,0,0,0
$STATE,4941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4941,begin apogee
$GC,4948,-0.31,0.0,452.2,9.2,301,5014,1.15,0.00,63.15,0.861,6,0.070,0.000,2646,2039,3050,0,0,0,0,0,0
$STATE,5015,end apogee,CONTROL_FINISHED_OK
$STATE,5015,begin climb
$GC,5018,1.40,77.9,453.6,0.0,302,5093,1.60,2.40,64.75,0.841,4,0.029,0.038,3025,3384,2732,0,0,0,0,0,0
$GC,5155,1.26,163.4,456.6,2.1,305,5236,0.20,2.33,73.00,0.841,6,0.116,0.032,2989,2012,2383,0,0,0,0,0,0
$GC,5559,1.16,163.4,418.8,11.0,315,5561,0.12,0.00,0.00,0.000,6,0.127,0.000,2968,2012,2373,0,0,0,0,0,0
$GC,5883,1.11,163.4,386.6,9.1,323,5888,0.00,2.47,0.00,0.000,4,0.000,0.051,2967,602,2370,0,0,0,0,0,0
$GC,5902,1.00,163.4,384.6,10.6,323,5907,0.17,2.33,0.00,0.000,6,0.119,0.028,2936,1987,2368,0,0,0,0,0,0
$GC,6248,1.01,166.7,356.5,7.8,332,6253,0.00,2.42,0.00,0.000,4,0.000,0.051,2935,609,2366,0,0,0,0,0,0
$GC,6339,0.97,166.7,348.5,8.5,334,6343,0.00,2.35,0.00,0.000,6,0.000,0.030,2935,2017,2365,0,0,0,0,0,0
$GC,6667,1.01,166.7,318.7,8.9,342,6668,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2022,2364,0,0,0,0,0,0
$GC,6973,1.08,187.9,298.7,6.6,350,6998,0.00,2.58,18.88,0.757,4,0.000,0.051,2935,609,2283,0,0,0,0,0,0
$GC,7179,1.08,187.9,281.9,8.6,359,7183,0.00,2.38,0.00,0.000,6,0.000,0.029,2935,2015,2277,0,0,0,0,0,0
$GC,7508,1.17,203.2,258.0,7.0,375,7531,0.15,2.55,14.05,0.709,4,0.069,0.050,2974,611,2221,0,0,0,0,0,0
$GC,7610,1.11,203.2,248.0,9.9,379,7614,0.00,2.35,0.00,0.000,6,0.000,0.028,2973,2016,2217,0,0,0,0,0,0
$GC,7930,1.14,225.1,224.2,6.5,395,7955,0.00,2.55,20.08,0.699,4,0.000,0.050,2974,601,2132,0,0,0,0,0,0
$GC,7998,1.10,225.1,218.8,8.3,398,8003,0.12,2.38,0.00,0.000,6,0.120,0.027,2953,2025,2128,0,0,0,0,0,0
$GC,8326,1.17,225.1,194.7,9.2,416,8331,0.00,2.47,0.00,0.000,4,0.000,0.048,2952,601,2128,0,0,0,0,0,0
$GC,8498,1.17,225.1,177.0,9.3,434,8502,0.00,2.35,0.00,0.000,6,0.000,0.026,2953,2017,2124,0,0,0,0,0,0
$GC,8762,1.29,238.4,158.2,7.1,458,8781,0.20,2.50,12.45,0.611,4,0.057,0.045,3005,607,2077,0,0,0,0,0,0
$GC,8869,1.20,238.4,148.7,8.2,469,8875,0.15,2.33,0.00,0.000,6,0.108,0.025,2977,2021,2073,0,0,0,0,0,0
$GC,9132,1.30,266.9,133.4,6.1,494,9166,0.00,2.55,26.23,0.619,4,0.000,0.046,2977,610,1960,0,0,0,0,0,0
$GC,9216,1.30,266.9,126.8,8.9,503,9220,0.00,2.33,0.00,0.000,6,0.000,0.024,2977,2022,1956,0,0,0,0,0,0
$GC,9479,1.40,266.9,104.5,8.1,527,9484,0.20,2.47,0.00,0.000,4,0.052,0.044,3031,604,1956,0,0,0,0,0,0
$GC,9615,1.32,266.9,90.7,10.9,541,9620,0.15,2.30,0.00,0.000,6,0.104,0.022,3003,2017,1954,0,0,0,0,0,0
$GC,9876,1.37,266.9,68.2,9.4,565,9880,0.00,2.45,0.00,0.000,4,0.000,0.043,3002,600,1954,0,0,0,0,0,0
$GC,9937,1.37,266.9,62.3,9.9,571,9941,0.00,2.28,0.00,0.000,6,0.000,0.022,3003,2017,1953,0,0,0,0,0,0
$GC,10200,1.48,298.0,41.0,5.9,595,10235,0.15,2.50,27.08,0.535,4,0.059,0.042,3047,612,1834,0,0,0,0,0,0
$GC,10349,1.41,298.0,28.5,9.8,612,10355,0.12,2.25,0.00,0.000,6,0.105,0.021,3023,2010,1829,0,0,0,0,0,0
$GC,10559,1.45,298.0,6.0,11.2,649,10564,0.00,2.45,0.00,0.000,4,0.000,0.046,3023,602,1828,0,0,0,0,0,0
$STATE,10591,end climb,SURFACE_DEPTH_REACHED
$STATE,10591,begin surface coast
$FINISH,0.5,1.023099
$STATE,10629,end surface coast,CONTROL_FINISHED_OK
$STATE,10629,begin surface
$SM_CCo,10712,0.00,0.000,0,0,1822,300.98
$SM_GC,1.62,11.18,0.00,0.00,0.026,0.000,0.000,426,1887,1822,-10.44,0.34,300.98
$IRIDIUM_FIX,2101.76,-15803.33,180999,030326
$TT8_MAMPS,0.029146
$HUMID,52.87
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,52.894
$10V_AH,10.0,47.509
$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,27.325,132.525,319.650,0.000,0.000,134.827,169.452,844.742,4.500,0.000,15.051,1284.174,7641.944,391.021,1516.729,1423.576,33.372,1236.167,0.000,1476.366,0.000,29.263,0.000
$DEVICE_MAMPS,130.390,55.224,860.574,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,445.790,437.282,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355916
$DATA_FILE_SIZE,34969,664
$CAP_FILE_SIZE,142672,0
$CFSIZE,260165632,223793152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240610,063001,2108.323,-15800.989,126,2.0,126,9.8