version: 66.06
glider: 139
mission: 7
dive: 563
start: 6 20 110 3 17 14
data:
$ID,139
$MISSION,7
$DIVE,563
$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,-2142275
$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
$GPS1,031002,2106.381,-15745.285,120,1.7,120,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.5
$GPS2,031620,2106.321,-15745.303,15,2.0,15,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.181,-0.031
$KALMAN_X,-329427.1,286.0,329.7,345449.1,-786.5
$KALMAN_Y,18256.5,194.9,120.4,-19663.6,58.8
$MHEAD_RNG_PITCHd_Wd,89.8,4227,-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,-50.72,0.000,2,0.000,0.000,425,1905,3153,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.5,-6.2,10,92,10.62,0.00,-4.28,0.000,6,0.133,0.000,2404,1906,3369,0,0,0,0,0,0
$GC,296,-1.25,-77.9,42.9,-14.5,43,301,0.17,2.47,0.00,0.000,4,0.101,0.041,2439,464,3371,0,0,0,0,0,0
$GC,380,-1.14,-77.9,54.9,-14.1,51,387,0.12,2.30,0.00,0.000,6,0.104,0.020,2464,1909,3372,0,0,0,0,0,0
$GC,642,-1.14,-77.9,85.7,-10.6,76,647,0.00,2.50,0.00,0.000,4,0.000,0.042,2464,460,3373,0,0,0,0,0,0
$GC,695,-1.10,-77.9,92.1,-12.5,81,699,0.00,2.28,0.00,0.000,6,0.000,0.019,2464,1883,3373,0,0,0,0,0,0
$GC,958,-1.17,-77.9,118.1,-8.3,105,962,0.00,2.42,0.00,0.000,4,0.000,0.041,2464,460,3374,0,0,0,0,0,0
$GC,1061,-1.25,-77.9,127.2,-8.8,115,1066,0.00,2.25,0.00,0.000,6,0.000,0.019,2464,1873,3374,0,0,0,0,0,0
$GC,1324,-1.36,-77.9,146.7,-7.3,140,1329,0.20,2.42,0.00,0.000,4,0.045,0.041,2399,465,3375,0,0,0,0,0,0
$GC,1353,-1.26,-77.9,149.9,-10.8,142,1359,0.17,2.25,0.00,0.000,6,0.089,0.019,2437,1878,3375,0,0,0,0,0,0
$GC,1614,-1.30,-77.9,172.2,-8.9,167,1618,0.00,2.42,0.00,0.000,4,0.000,0.042,2436,464,3376,0,0,0,0,0,0
$GC,1688,-1.30,-77.9,179.4,-10.1,174,1694,0.00,2.22,0.00,0.000,6,0.000,0.020,2437,1872,3376,0,0,0,0,0,0
$GC,1952,-1.36,-77.9,202.0,-8.6,198,1956,0.00,2.42,0.00,0.000,4,0.000,0.043,2436,458,3376,0,0,0,0,0,0
$GC,1971,-1.36,-77.9,204.0,-8.5,199,1975,0.00,2.25,0.00,0.000,6,0.000,0.021,2436,1878,3376,0,0,0,0,0,0
$GC,2302,-1.43,-77.9,232.8,-8.3,215,2307,0.15,2.45,0.00,0.000,4,0.055,0.044,2387,460,3376,0,0,0,0,0,0
$GC,2346,-1.34,-77.9,237.3,-10.1,217,2351,0.17,2.25,0.00,0.000,6,0.087,0.021,2423,1870,3376,0,0,0,0,0,0
$GC,2678,-1.39,-77.9,263.7,-7.1,233,2683,0.00,2.33,0.00,0.000,4,0.000,0.028,2423,3271,3376,0,0,0,0,0,0
$GC,2699,-1.49,-77.9,265.1,-6.5,234,2704,0.15,2.35,0.00,0.000,6,0.054,0.031,2376,1863,3376,0,0,0,0,0,0
$GC,3031,-1.46,-77.9,293.2,-9.0,250,3035,0.00,2.40,0.00,0.000,4,0.000,0.046,2376,463,3375,0,0,0,0,0,0
$GC,3074,-1.38,-77.9,297.7,-10.2,252,3079,0.17,2.28,0.00,0.000,6,0.089,0.022,2412,1872,3375,0,0,0,0,0,0
$GC,3403,-1.44,-77.9,323.4,-7.9,261,3407,0.00,2.40,0.00,0.000,4,0.000,0.047,2412,471,3374,0,0,0,0,0,0
$GC,3467,-1.47,-77.9,329.6,-9.5,262,3472,0.00,2.25,0.00,0.000,6,0.000,0.023,2412,1873,3374,0,0,0,0,0,0
$GC,3818,-1.53,-77.9,357.2,-7.8,271,3823,0.15,2.45,0.00,0.000,4,0.057,0.049,2366,473,3372,0,0,0,0,0,0
$GC,3856,-1.44,-77.9,361.2,-10.0,271,3862,0.15,2.28,0.00,0.000,6,0.093,0.025,2397,1872,3372,0,0,0,0,0,0
$GC,4187,-1.44,-77.9,386.4,-7.3,280,4191,0.00,2.42,0.00,0.000,4,0.000,0.050,2397,467,3369,0,0,0,0,0,0
$GC,4257,-1.44,-77.9,392.0,-8.0,281,4261,0.00,2.30,0.00,0.000,6,0.000,0.026,2397,1882,3369,0,0,0,0,0,0
$GC,4598,-1.48,-77.9,416.4,-7.1,290,4602,0.00,2.47,0.00,0.000,4,0.000,0.051,2397,467,3367,0,0,0,0,0,0
$GC,4672,-1.48,-77.9,422.6,-8.0,291,4677,0.00,2.33,0.00,0.000,6,0.000,0.027,2397,1875,3366,0,0,0,0,0,0
$GC,5008,-1.52,-77.9,446.9,-7.6,300,5013,0.00,2.45,0.00,0.000,4,0.000,0.052,2397,466,3364,0,0,0,0,0,0
$STATE,5043,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5043,begin apogee
$GC,5052,-0.31,0.0,450.1,8.3,300,5120,1.12,0.00,64.25,0.877,6,0.074,0.000,2642,2010,3050,0,0,0,0,0,0
$STATE,5121,end apogee,CONTROL_FINISHED_OK
$STATE,5121,begin climb
$GC,5123,1.40,77.9,451.5,0.0,302,5198,1.65,2.50,64.90,0.856,4,0.031,0.041,3015,3406,2731,0,0,0,0,0,0
$GC,5462,1.20,110.6,442.5,5.8,309,5496,0.28,2.40,27.95,0.838,6,0.108,0.035,2978,2002,2599,0,0,0,0,0,0
$GC,5810,1.12,132.9,420.5,6.5,318,5832,0.00,0.00,19.90,0.819,6,0.000,0.000,2978,2002,2508,0,0,0,0,0,0
$GC,6135,1.04,139.0,395.9,7.6,326,6148,0.20,2.53,6.12,0.665,4,0.107,0.053,2939,606,2483,0,0,0,0,0,0
$GC,6168,0.99,151.0,393.3,7.2,326,6185,0.00,2.38,12.02,0.772,6,0.000,0.030,2940,2020,2434,0,0,0,0,0,0
$GC,6511,1.01,167.2,369.7,6.9,335,6531,0.00,2.58,15.05,0.789,4,0.000,0.052,2939,601,2368,0,0,0,0,0,0
$GC,6735,0.97,167.2,350.2,10.0,339,6741,0.00,2.38,0.00,0.000,6,0.000,0.030,2940,2007,2363,0,0,0,0,0,0
$GC,7066,0.97,167.2,320.5,9.1,348,7070,0.00,2.45,0.00,0.000,4,0.000,0.050,2940,605,2362,0,0,0,0,0,0
$GC,7080,0.97,167.2,319.1,9.1,348,7084,0.00,2.35,0.00,0.000,6,0.000,0.030,2940,2012,2361,0,0,0,0,0,0
$GC,7411,1.00,167.2,291.2,8.3,359,7415,0.00,2.47,0.00,0.000,4,0.000,0.051,2940,605,2360,0,0,0,0,0,0
$GC,7513,1.00,167.2,282.9,8.2,363,7517,0.00,2.35,0.00,0.000,6,0.000,0.030,2940,2012,2359,0,0,0,0,0,0
$GC,7829,1.07,189.0,262.5,6.5,378,7853,0.00,2.55,19.23,0.752,4,0.000,0.051,2940,605,2279,0,0,0,0,0,0
$GC,7947,1.07,189.0,253.0,8.6,383,7951,0.00,2.38,0.00,0.000,6,0.000,0.029,2940,2014,2274,0,0,0,0,0,0
$GC,8277,1.17,219.6,230.9,5.9,399,8311,0.12,2.55,27.90,0.732,4,0.073,0.050,2973,599,2154,0,0,0,0,0,0
$GC,8317,1.18,231.9,227.9,7.2,401,8338,0.00,2.40,12.55,0.671,6,0.000,0.029,2973,2017,2103,0,0,0,0,0,0
$GC,8651,1.22,231.9,194.1,10.4,419,8655,0.00,2.47,0.00,0.000,4,0.000,0.049,2973,600,2098,0,0,0,0,0,0
$GC,8773,1.22,231.9,180.8,9.8,431,8779,0.00,2.35,0.00,0.000,6,0.000,0.027,2974,2008,2096,0,0,0,0,0,0
$GC,9036,1.27,231.9,157.9,9.1,456,9040,0.00,2.47,0.00,0.000,4,0.000,0.048,2974,597,2095,0,0,0,0,0,0
$GC,9115,1.27,231.9,149.9,10.0,464,9119,0.00,2.35,0.00,0.000,6,0.000,0.026,2973,2009,2094,0,0,0,0,0,0
$GC,9378,1.34,244.0,128.9,7.2,488,9397,0.15,2.53,10.48,0.589,4,0.061,0.045,3016,601,2055,0,0,0,0,0,0
$GC,9421,1.24,244.0,124.6,10.9,492,9427,0.15,2.33,0.00,0.000,6,0.104,0.025,2988,2011,2053,0,0,0,0,0,0
$GC,9684,1.31,248.7,103.5,7.7,517,9694,0.00,2.53,5.60,0.482,4,0.000,0.045,2986,602,2036,0,0,0,0,0,0
$GC,9902,1.35,254.5,85.5,7.6,540,9917,0.00,2.30,6.60,0.495,6,0.000,0.023,2987,2021,2011,0,0,0,0,0,0
$GC,10172,1.45,262.6,65.9,7.5,566,10190,0.20,2.30,9.00,0.512,4,0.050,0.028,3043,3395,1978,0,0,0,0,0,0
$GC,10196,1.45,262.6,63.6,9.3,568,10201,0.00,2.35,0.00,0.000,6,0.000,0.028,3042,2007,1978,0,0,0,0,0,0
$GC,10459,1.42,262.6,38.4,9.1,593,10463,0.00,2.40,0.00,0.000,4,0.000,0.043,3043,604,1978,0,0,0,0,0,0
$GC,10705,1.32,262.6,13.1,11.6,636,10712,0.17,2.28,0.00,0.000,6,0.073,0.021,3003,2011,1976,0,0,0,0,0,0
$STATE,10822,end climb,SURFACE_DEPTH_REACHED
$STATE,10822,begin surface coast
$FINISH,0.5,1.011305
$STATE,10858,end surface coast,CONTROL_FINISHED_OK
$STATE,10858,begin surface
$SM_CCo,10878,19.42,0.499,0,0,1826,300.00
$SM_GC,1.12,0.00,0.00,19.42,0.000,0.000,0.499,427,1860,1826,-10.52,-0.42,300.00
$IRIDIUM_FIX,2059.45,-15745.74,140999,000046
$TT8_MAMPS,0.029146
$HUMID,52.08
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.3,49.926
$10V_AH,10.0,45.758
$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,27.400,129.350,301.550,19.425,0.000,22.868,47.482,188.821,4.500,0.000,15.392,1293.318,7510.738,402.436,1575.584,495.138,33.401,1265.297,0.000,1534.627,0.000,29.242,0.000
$DEVICE_MAMPS,133.458,52.923,877.448,498.550,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,446.074,433.407,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34922,663
$CAP_FILE_SIZE,127306,0
$CFSIZE,260165632,225644544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200610,062056,2106.104,-15744.579,66,7.2,85,9.8