version: 66.06
glider: 139
mission: 7
dive: 596
start: 6 24 110 13 34 13
data:
$ID,139
$MISSION,7
$DIVE,596
$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,-2143439.2
$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
$GPS1,132115,2108.595,-15801.173,74,2.1,93,9.8
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.8
$GPS2,133322,2108.762,-15801.358,15,2.7,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.158,-0.094
$KALMAN_X,-350028.1,-321.7,-317.3,339562.4,-1671.2
$KALMAN_Y,33276.0,-249.6,119.3,-29719.7,1037.2
$MHEAD_RNG_PITCHd_Wd,111.0,32327,-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,-77.9,0.0,0.0,0,77,0.00,0.00,-59.50,0.000,2,0.000,0.000,428,1821,3319,0,0,0,0,0,0
$GC,81,-1.40,-77.9,4.0,-7.5,12,100,10.65,2.35,-0.93,0.000,4,0.136,0.051,2407,466,3370,0,0,0,0,0,0
$GC,116,-0.52,-77.9,18.0,-38.2,19,122,0.95,2.35,0.00,0.000,6,0.094,0.020,2598,1912,3370,0,0,0,0,0,0
$GC,321,-0.82,-77.9,34.9,-5.7,48,326,0.28,2.47,0.00,0.000,4,0.052,0.041,2529,470,3372,0,0,0,0,0,0
$GC,393,-0.93,-77.9,42.5,-9.8,55,397,0.00,2.28,0.00,0.000,6,0.000,0.019,2527,1890,3371,0,0,0,0,0,0
$GC,656,-1.08,-77.9,66.3,-10.8,79,658,0.22,0.00,0.00,0.000,6,0.042,0.000,2456,1896,3372,0,0,0,0,0,0
$GC,908,-1.08,-77.9,90.5,-9.3,103,913,0.10,2.47,0.00,0.000,4,0.112,0.042,2476,462,3373,0,0,0,0,0,0
$GC,971,-1.16,-77.9,96.0,-8.4,109,975,0.00,2.25,0.00,0.000,6,0.000,0.019,2476,1873,3373,0,0,0,0,0,0
$GC,1234,-1.26,-77.9,113.3,-7.2,133,1239,0.17,2.42,0.00,0.000,4,0.051,0.041,2418,468,3374,0,0,0,0,0,0
$GC,1282,-1.20,-77.9,118.6,-11.4,137,1288,0.15,2.25,0.00,0.000,6,0.092,0.019,2449,1875,3374,0,0,0,0,0,0
$GC,1543,-1.25,-77.9,144.1,-9.6,162,1547,0.00,2.40,0.00,0.000,4,0.000,0.041,2449,460,3374,0,0,0,0,0,0
$GC,1614,-1.30,-77.9,151.0,-9.9,169,1618,0.00,2.28,0.00,0.000,6,0.000,0.019,2449,1888,3374,0,0,0,0,0,0
$GC,1877,-1.38,-77.9,173.3,-8.4,193,1882,0.15,2.25,0.00,0.000,4,0.055,0.025,2397,3258,3375,0,0,0,0,0,0
$GC,1915,-1.43,-77.9,177.5,-10.5,196,1921,0.00,2.30,0.00,0.000,6,0.000,0.028,2397,1862,3375,0,0,0,0,0,0
$GC,2176,-1.43,-77.9,204.4,-9.9,219,2180,0.00,2.38,0.00,0.000,4,0.000,0.041,2397,462,3375,0,0,0,0,0,0
$GC,2247,-1.37,-77.9,211.9,-10.8,222,2251,0.00,2.25,0.00,0.000,6,0.000,0.020,2396,1872,3375,0,0,0,0,0,0
$GC,2571,-1.37,-77.9,242.0,-8.9,238,2575,0.00,2.38,0.00,0.000,4,0.000,0.042,2398,470,3375,0,0,0,0,0,0
$GC,2632,-1.33,-77.9,248.2,-11.1,240,2638,0.12,2.25,0.00,0.000,6,0.098,0.021,2423,1874,3375,0,0,0,0,0,0
$GC,2950,-1.40,-77.9,273.0,-7.7,256,2953,0.00,2.40,0.00,0.000,4,0.000,0.044,2423,472,3375,0,0,0,0,0,0
$GC,2977,-1.40,-77.9,275.6,-8.9,257,2982,0.00,2.25,0.00,0.000,6,0.000,0.021,2423,1883,3375,0,0,0,0,0,0
$GC,3324,-1.48,-77.9,303.1,-7.4,273,3329,0.15,2.45,0.00,0.000,4,0.057,0.045,2376,467,3373,0,0,0,0,0,0
$GC,3404,-1.40,-77.9,310.4,-9.4,274,3409,0.15,2.28,0.00,0.000,6,0.094,0.022,2407,1871,3373,0,0,0,0,0,0
$GC,3736,-1.44,-77.9,335.6,-7.7,282,3740,0.00,2.42,0.00,0.000,4,0.000,0.046,2407,467,3372,0,0,0,0,0,0
$GC,3796,-1.44,-77.9,340.8,-8.2,283,3800,0.00,2.30,0.00,0.000,6,0.000,0.024,2407,1883,3371,0,0,0,0,0,0
$GC,4146,-1.50,-77.9,368.5,-7.9,292,4151,0.00,2.42,0.00,0.000,4,0.000,0.048,2407,472,3369,0,0,0,0,0,0
$GC,4189,-1.50,-77.9,371.9,-8.4,293,4193,0.00,2.30,0.00,0.000,6,0.000,0.025,2407,1879,3368,0,0,0,0,0,0
$GC,4519,-1.55,-77.9,396.4,-7.6,301,4524,0.15,2.47,0.00,0.000,4,0.060,0.050,2364,467,3366,0,0,0,0,0,0
$GC,4602,-1.47,-77.9,404.4,-9.8,302,4607,0.15,2.30,0.00,0.000,6,0.097,0.025,2394,1875,3365,0,0,0,0,0,0
$GC,4935,-1.47,-77.9,433.0,-8.9,310,4939,0.00,2.45,0.00,0.000,4,0.000,0.050,2394,471,3363,0,0,0,0,0,0
$GC,5032,-1.47,-77.9,443.6,-11.9,312,5036,0.00,2.33,0.00,0.000,6,0.000,0.027,2394,1881,3362,0,0,0,0,0,0
$STATE,5103,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5104,begin apogee
$GC,5110,-0.31,0.0,453.2,13.5,314,5177,1.17,0.00,63.78,0.872,6,0.073,0.000,2647,2025,3050,0,0,0,0,0,0
$STATE,5178,end apogee,CONTROL_FINISHED_OK
$STATE,5178,begin climb
$GC,5181,1.40,77.9,455.5,0.0,315,5256,1.62,2.45,64.90,0.851,4,0.031,0.039,3021,3394,2732,0,0,0,0,0,0
$GC,5295,1.33,193.1,460.2,0.1,317,5401,0.00,2.40,99.07,0.852,6,0.000,0.034,3023,2003,2261,0,0,0,0,0,0
$GC,5725,1.18,193.1,412.5,12.5,328,5727,0.28,0.00,0.00,0.000,6,0.107,0.000,2972,2004,2251,0,0,0,0,0,0
$GC,6050,1.12,193.1,375.3,11.6,336,6055,0.00,2.45,0.00,0.000,4,0.000,0.052,2973,607,2248,0,0,0,0,0,0
$GC,6065,1.04,193.1,373.3,11.6,336,6070,0.17,2.33,0.00,0.000,6,0.120,0.029,2944,1999,2246,0,0,0,0,0,0
$GC,6415,1.04,193.1,342.7,8.3,345,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2004,2245,0,0,0,0,0,0
$GC,6740,1.09,206.2,317.2,7.1,353,6756,0.00,2.50,9.30,0.712,4,0.000,0.050,2944,602,2208,0,0,0,0,0,0
$GC,6846,1.09,206.2,308.7,9.0,355,6850,0.00,2.35,0.00,0.000,6,0.000,0.029,2943,2011,2205,0,0,0,0,0,0
$GC,7163,1.15,206.2,284.2,9.0,367,7167,0.00,2.47,0.00,0.000,4,0.000,0.051,2944,608,2205,0,0,0,0,0,0
$GC,7234,1.15,206.2,276.5,11.7,370,7238,0.00,2.33,0.00,0.000,6,0.000,0.029,2943,2011,2203,0,0,0,0,0,0
$GC,7559,1.23,208.2,248.9,7.9,386,7564,0.17,2.50,0.00,0.000,4,0.064,0.051,2987,601,2203,0,0,0,0,0,0
$GC,7749,1.15,208.2,232.1,8.3,394,7754,0.12,2.38,0.00,0.000,6,0.120,0.028,2966,2020,2200,0,0,0,0,0,0
$GC,8073,1.19,208.2,209.6,8.3,410,8077,0.00,2.45,0.00,0.000,4,0.000,0.048,2966,607,2201,0,0,0,0,0,0
$GC,8277,1.19,208.2,189.1,10.6,425,8282,0.00,2.30,0.00,0.000,6,0.000,0.026,2966,2017,2200,0,0,0,0,0,0
$GC,8539,1.24,215.3,167.6,7.5,450,8553,0.00,2.47,8.15,0.587,4,0.000,0.048,2966,602,2172,0,0,0,0,0,0
$GC,8614,1.24,215.3,161.7,8.0,457,8619,0.00,2.35,0.00,0.000,6,0.000,0.025,2966,2020,2169,0,0,0,0,0,0
$GC,8877,1.33,240.7,145.7,6.3,482,8905,0.17,0.00,23.83,0.636,6,0.058,0.000,3013,2025,2068,0,0,0,0,0,0
$GC,9159,1.33,240.7,119.9,10.1,509,9164,0.00,2.45,0.00,0.000,4,0.000,0.045,3012,602,2065,0,0,0,0,0,0
$GC,9243,1.26,240.7,110.4,12.1,517,9249,0.12,2.33,0.00,0.000,6,0.111,0.024,2989,2025,2062,0,0,0,0,0,0
$GC,9506,1.34,257.4,89.3,6.9,542,9527,0.00,2.53,15.23,0.566,4,0.000,0.044,2989,609,2001,0,0,0,0,0,0
$GC,9759,1.35,270.9,71.7,7.1,569,9777,0.00,2.28,12.88,0.537,6,0.000,0.022,2989,2023,1945,0,0,0,0,0,0
$GC,10033,1.48,287.0,52.6,6.9,595,10052,0.20,0.00,15.55,0.529,6,0.051,0.000,3045,2023,1878,0,0,0,0,0,0
$GC,10307,1.53,327.6,31.1,5.2,621,10351,0.00,2.53,35.38,0.530,4,0.000,0.044,3045,611,1713,0,0,0,0,0,0
$GC,10414,1.46,327.6,20.0,10.5,642,10420,0.00,2.28,0.00,0.000,6,0.000,0.021,3045,2005,1709,0,0,0,0,0,0
$STATE,10560,end climb,SURFACE_DEPTH_REACHED
$STATE,10560,begin surface coast
$FINISH,0.6,1.023147
$STATE,10587,end surface coast,CONTROL_FINISHED_OK
$STATE,10587,begin surface
$SM_CCo,10669,0.00,0.000,0,0,1703,330.42
$SM_GC,1.39,11.32,0.00,0.00,0.027,0.000,0.000,428,1863,1703,-10.45,-0.34,330.42
$IRIDIUM_FIX,2059.45,-15801.19,180999,131351
$TT8_MAMPS,0.029146
$HUMID,53.30
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.10
$XPDR_PINGS,5
$24V_AH,23.3,53.249
$10V_AH,10.0,47.698
$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,28.775,114.200,348.050,0.000,0.000,49.290,58.797,395.594,5.750,0.000,35.871,1277.639,7388.631,404.355,1559.146,760.170,33.371,1252.416,0.000,1499.793,0.000,29.262,0.000
$DEVICE_MAMPS,135.759,55.224,872.079,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,451.194,450.302,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355888
$DATA_FILE_SIZE,34942,673
$CAP_FILE_SIZE,128099,0
$CFSIZE,260165632,223617024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240610,163621,2108.544,-15801.271,204,5.1,223,9.8