version: 66.06
glider: 139
mission: 7
dive: 538
start: 6 16 110 20 22 48
data:
$ID,139
$MISSION,7
$DIVE,538
$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,-2141307.2
$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
$GPS1,201537,2107.568,-15756.643,121,1.6,121,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.0
$GPS2,202155,2107.570,-15756.696,15,1.6,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.180,-0.037
$KALMAN_X,-296548.6,-436.4,-627.0,294564.9,-962.7
$KALMAN_Y,16844.0,-119.1,-3.2,-15496.3,273.5
$MHEAD_RNG_PITCHd_Wd,91.9,24027,-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,15,-1.40,-77.9,0.0,0.0,0,68,0.00,0.00,-50.88,0.000,2,0.000,0.000,427,1855,3161,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.4,-5.6,10,92,10.57,2.40,-4.07,0.000,4,0.133,0.036,2401,3303,3369,0,0,0,0,0,0
$GC,103,-0.42,-77.9,13.6,-30.4,16,109,1.05,2.42,0.00,0.000,6,0.084,0.028,2617,1868,3369,0,0,0,0,0,0
$GC,313,-0.77,-77.9,26.0,-4.0,53,319,0.30,2.38,0.00,0.000,4,0.042,0.041,2529,471,3370,0,0,0,0,0,0
$GC,400,-0.91,-77.9,33.4,-8.8,68,404,0.00,2.33,0.00,0.000,6,0.000,0.019,2529,1921,3371,0,0,0,0,0,0
$GC,667,-1.04,-77.9,58.6,-10.3,93,672,0.17,2.50,0.00,0.000,4,0.053,0.041,2473,466,3372,0,0,0,0,0,0
$GC,741,-1.04,-77.9,69.2,-14.8,100,747,0.00,2.22,0.00,0.000,6,0.000,0.019,2472,1869,3372,0,0,0,0,0,0
$GC,1004,-1.10,-77.9,103.6,-12.4,125,1008,0.00,2.42,0.00,0.000,4,0.000,0.043,2473,470,3373,0,0,0,0,0,0
$GC,1126,-1.14,-77.9,118.5,-10.7,137,1131,0.00,2.22,0.00,0.000,6,0.000,0.019,2472,1880,3373,0,0,0,0,0,0
$GC,1389,-1.24,-77.9,142.2,-8.5,162,1394,0.15,2.42,0.00,0.000,4,0.055,0.042,2421,460,3374,0,0,0,0,0,0
$GC,1423,-1.19,-77.9,146.0,-11.8,165,1428,0.15,2.25,0.00,0.000,6,0.092,0.019,2453,1879,3375,0,0,0,0,0,0
$GC,1684,-1.26,-77.9,170.7,-8.6,189,1688,0.00,2.40,0.00,0.000,4,0.000,0.042,2454,466,3374,0,0,0,0,0,0
$GC,1740,-1.33,-77.9,175.3,-7.3,194,1746,0.12,2.25,0.00,0.000,6,0.062,0.019,2409,1879,3375,0,0,0,0,0,0
$GC,2000,-1.33,-77.9,196.6,-9.2,219,2005,0.00,2.40,0.00,0.000,4,0.000,0.042,2409,464,3376,0,0,0,0,0,0
$GC,2060,-1.29,-77.9,203.0,-10.2,223,2066,0.12,2.25,0.00,0.000,6,0.097,0.020,2434,1876,3375,0,0,0,0,0,0
$GC,2376,-1.35,-77.9,231.4,-9.2,239,2381,0.00,2.40,0.00,0.000,4,0.000,0.043,2435,470,3376,0,0,0,0,0,0
$GC,2451,-1.39,-77.9,238.0,-7.8,242,2455,0.00,2.25,0.00,0.000,6,0.000,0.020,2435,1878,3375,0,0,0,0,0,0
$GC,2774,-1.48,-77.9,260.0,-6.5,258,2779,0.20,2.42,0.00,0.000,4,0.048,0.041,2375,463,3376,0,0,0,0,0,0
$GC,2812,-1.39,-77.9,263.8,-11.0,259,2818,0.17,2.28,0.00,0.000,6,0.090,0.021,2410,1882,3375,0,0,0,0,0,0
$GC,3130,-1.42,-77.9,285.4,-5.6,275,3134,0.00,2.42,0.00,0.000,4,0.000,0.044,2411,470,3375,0,0,0,0,0,0
$GC,3195,-1.42,-77.9,291.6,-9.6,278,3199,0.00,2.25,0.00,0.000,6,0.000,0.022,2411,1870,3375,0,0,0,0,0,0
$GC,3546,-1.46,-77.9,317.5,-6.6,289,3550,0.00,2.42,0.00,0.000,4,0.000,0.046,2412,466,3374,0,0,0,0,0,0
$GC,3646,-1.50,-77.9,324.8,-7.0,291,3651,0.10,2.28,0.00,0.000,6,0.074,0.023,2376,1883,3373,0,0,0,0,0,0
$GC,3965,-1.50,-77.9,349.7,-8.0,299,3969,0.00,2.45,0.00,0.000,4,0.000,0.047,2376,467,3373,0,0,0,0,0,0
$GC,4016,-1.45,-77.9,354.3,-9.3,300,4021,0.10,2.28,0.00,0.000,6,0.105,0.024,2396,1877,3372,0,0,0,0,0,0
$GC,4337,-1.48,-77.9,380.3,-8.3,308,4342,0.00,2.42,0.00,0.000,4,0.000,0.048,2396,473,3370,0,0,0,0,0,0
$GC,4393,-1.48,-77.9,385.8,-9.6,309,4397,0.00,2.30,0.00,0.000,6,0.000,0.025,2396,1884,3370,0,0,0,0,0,0
$GC,4707,-1.51,-77.9,411.0,-7.8,317,4711,0.00,2.45,0.00,0.000,4,0.000,0.051,2395,469,3367,0,0,0,0,0,0
$GC,4767,-1.51,-77.9,416.3,-9.1,318,4771,0.00,2.30,0.00,0.000,6,0.000,0.026,2396,1880,3367,0,0,0,0,0,0
$GC,5118,-1.55,-77.9,441.2,-6.8,327,5122,0.00,2.47,0.00,0.000,4,0.000,0.052,2395,468,3364,0,0,0,0,0,0
$GC,5187,-1.55,-77.9,446.6,-7.8,328,5192,0.00,2.30,0.00,0.000,6,0.000,0.028,2396,1870,3364,0,0,0,0,0,0
$STATE,5241,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5241,begin apogee
$GC,5247,-0.31,0.0,450.2,6.5,330,5315,1.15,0.00,64.25,0.867,6,0.073,0.000,2642,2035,3050,0,0,0,0,0,0
$STATE,5316,end apogee,CONTROL_FINISHED_OK
$STATE,5316,begin climb
$GC,5318,1.40,77.9,450.5,0.0,331,5393,1.65,2.42,64.82,0.846,4,0.031,0.042,3018,3383,2732,0,0,0,0,0,0
$GC,5455,1.19,102.6,446.7,6.3,334,5484,0.28,2.35,21.73,0.808,6,0.110,0.034,2977,2007,2631,0,0,0,0,0,0
$GC,5822,1.09,119.3,419.0,6.9,343,5843,0.12,2.55,14.50,0.787,4,0.127,0.051,2955,606,2563,0,0,0,0,0,0
$GC,5896,0.99,134.6,413.9,7.0,344,5918,0.15,2.33,14.48,0.781,6,0.120,0.028,2930,1997,2500,0,0,0,0,0,0
$GC,6245,1.04,180.3,395.8,4.9,353,6291,0.00,2.53,40.05,0.833,4,0.000,0.052,2930,607,2315,0,0,0,0,0,0
$GC,6325,1.04,180.3,389.8,8.9,354,6329,0.00,2.38,0.00,0.000,6,0.000,0.029,2930,2007,2310,0,0,0,0,0,0
$GC,6656,1.08,180.3,361.7,8.7,362,6660,0.00,2.47,0.00,0.000,4,0.000,0.051,2930,608,2307,0,0,0,0,0,0
$GC,6787,1.08,180.3,349.6,9.5,364,6792,0.00,2.38,0.00,0.000,6,0.000,0.030,2930,2015,2304,0,0,0,0,0,0
$GC,7118,1.14,180.3,318.4,10.5,373,7123,0.15,2.50,0.00,0.000,4,0.071,0.052,2967,601,2304,0,0,0,0,0,0
$GC,7238,1.07,180.3,302.8,13.0,375,7243,0.00,2.35,0.00,0.000,6,0.000,0.029,2967,2015,2301,0,0,0,0,0,0
$GC,7557,1.12,219.8,280.8,5.3,390,7600,0.00,2.58,33.97,0.773,4,0.000,0.051,2967,612,2152,0,0,0,0,0,0
$GC,7631,1.07,221.7,275.9,7.9,393,7635,0.00,2.38,0.00,0.000,6,0.000,0.029,2967,2012,2148,0,0,0,0,0,0
$GC,7957,1.10,221.7,245.9,11.5,409,7961,0.00,2.47,0.00,0.000,4,0.000,0.049,2967,608,2146,0,0,0,0,0,0
$GC,8083,1.10,221.7,229.6,12.5,414,8088,0.00,2.35,0.00,0.000,6,0.000,0.028,2967,2025,2143,0,0,0,0,0,0
$GC,8401,1.15,221.7,194.2,8.6,432,8405,0.00,2.47,0.00,0.000,4,0.000,0.048,2967,601,2143,0,0,0,0,0,0
$GC,8419,1.15,221.7,192.3,8.9,433,8425,0.00,2.33,0.00,0.000,6,0.000,0.027,2968,2017,2142,0,0,0,0,0,0
$GC,8682,1.22,249.1,175.7,6.1,458,8716,0.00,2.53,25.35,0.670,4,0.000,0.047,2967,602,2033,0,0,0,0,0,0
$GC,8864,1.22,249.1,157.4,12.1,478,8868,0.00,2.35,0.00,0.000,6,0.000,0.025,2967,2017,2028,0,0,0,0,0,0
$GC,9127,1.30,249.1,126.9,12.0,502,9132,0.12,2.47,0.00,0.000,4,0.071,0.046,3002,605,2027,0,0,0,0,0,0
$GC,9228,1.24,249.1,112.5,14.2,512,9232,0.00,2.30,0.00,0.000,6,0.000,0.023,3002,2017,2026,0,0,0,0,0,0
$GC,9491,1.32,288.3,93.6,5.3,536,9534,0.00,2.55,34.33,0.601,4,0.000,0.044,3002,604,1873,0,0,0,0,0,0
$GC,9618,1.32,288.3,79.9,12.3,550,9622,0.00,2.30,0.00,0.000,6,0.000,0.022,3002,2017,1868,0,0,0,0,0,0
$GC,9881,1.39,288.3,53.1,9.6,574,9885,0.00,2.45,0.00,0.000,4,0.000,0.042,3002,602,1868,0,0,0,0,0,0
$GC,9951,1.39,288.3,45.6,11.5,581,9955,0.00,2.28,0.00,0.000,6,0.000,0.021,3002,2017,1867,0,0,0,0,0,0
$GC,10217,1.46,288.3,18.9,9.4,615,10223,0.12,2.45,0.00,0.000,4,0.066,0.043,3039,604,1867,0,0,0,0,0,0
$STATE,10348,end climb,SURFACE_DEPTH_REACHED
$STATE,10348,begin surface coast
$FINISH,1.6,1.023220
$STATE,10358,end surface coast,CONTROL_FINISHED_OK
$STATE,10358,begin surface
$SM_CCo,10380,8.18,0.456,0,0,1827,300.00
$SM_GC,2.46,0.00,0.00,8.18,0.000,0.000,0.456,426,1909,1827,-10.53,0.93,300.00
$IRIDIUM_FIX,2057.14,-15753.90,100999,171732
$TT8_MAMPS,0.029913
$HUMID,51.92
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,23.4,47.714
$10V_AH,10.1,44.358
$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,28.300,133.375,313.475,8.175,0.000,27.752,30.546,188.651,4.500,0.000,32.696,1258.216,7086.329,391.906,1559.109,473.322,33.381,1246.827,0.000,1501.056,0.000,29.255,0.000
$DEVICE_MAMPS,132.691,52.156,867.477,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.336,420.215,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,34911,645
$CAP_FILE_SIZE,125488,0
$CFSIZE,260165632,227184640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160610,231806,2107.604,-15755.962,81,2.0,92,9.8