version: 66.06
glider: 139
mission: 7
dive: 566
start: 6 20 110 12 48 9
data:
$ID,139
$MISSION,7
$DIVE,566
$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,-2142360
$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
$GPS1,124050,2105.935,-15744.047,143,5.8,162,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-68.1
$GPS2,124716,2105.953,-15744.062,18,6.2,37,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.067,-0.171
$KALMAN_X,-332218.8,-279.9,-287.7,351568.0,-344.3
$KALMAN_Y,18024.9,-196.7,-129.9,-19472.1,300.8
$MHEAD_RNG_PITCHd_Wd,191.5,17944,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,67,0.00,0.00,-50.28,0.000,2,0.000,0.000,424,1894,3140,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.2,-5.5,10,94,10.60,2.50,-4.65,0.000,4,0.133,0.052,2407,464,3369,0,0,0,0,0,0
$GC,173,-1.19,-77.9,25.0,-17.7,31,179,0.22,2.33,0.00,0.000,6,0.094,0.020,2451,1908,3370,0,0,0,0,0,0
$GC,374,-1.16,-77.9,50.8,-11.5,52,379,0.00,2.50,0.00,0.000,4,0.000,0.042,2451,460,3371,0,0,0,0,0,0
$GC,445,-1.16,-77.9,60.1,-13.2,59,449,0.00,2.28,0.00,0.000,6,0.000,0.019,2451,1875,3371,0,0,0,0,0,0
$GC,707,-1.16,-77.9,90.9,-11.0,83,711,0.00,2.28,0.00,0.000,4,0.000,0.025,2451,3263,3372,0,0,0,0,0,0
$GC,721,-1.19,-77.9,92.5,-10.5,84,726,0.00,2.30,0.00,0.000,6,0.000,0.026,2450,1869,3372,0,0,0,0,0,0
$GC,984,-1.25,-77.9,116.9,-9.1,108,988,0.00,2.38,0.00,0.000,4,0.000,0.042,2451,473,3374,0,0,0,0,0,0
$GC,1084,-1.30,-77.9,126.7,-8.4,118,1088,0.00,2.22,0.00,0.000,6,0.000,0.018,2451,1882,3374,0,0,0,0,0,0
$GC,1351,-1.35,-77.9,148.6,-8.6,143,1356,0.12,2.42,0.00,0.000,4,0.063,0.042,2407,473,3375,0,0,0,0,0,0
$GC,1390,-1.25,-77.9,153.1,-12.3,146,1396,0.15,2.25,0.00,0.000,6,0.093,0.019,2438,1882,3374,0,0,0,0,0,0
$GC,1651,-1.28,-77.9,179.7,-10.8,171,1656,0.00,2.42,0.00,0.000,4,0.000,0.042,2438,466,3375,0,0,0,0,0,0
$GC,1690,-1.28,-77.9,183.8,-10.8,175,1694,0.00,2.25,0.00,0.000,6,0.000,0.020,2438,1877,3375,0,0,0,0,0,0
$GC,1951,-1.35,-77.9,205.5,-8.2,196,1955,0.00,2.40,0.00,0.000,4,0.000,0.042,2438,473,3376,0,0,0,0,0,0
$GC,2021,-1.39,-77.9,212.1,-10.2,199,2026,0.12,2.22,0.00,0.000,6,0.062,0.020,2395,1877,3376,0,0,0,0,0,0
$GC,2347,-1.39,-77.9,244.0,-8.4,215,2351,0.00,2.40,0.00,0.000,4,0.000,0.043,2395,474,3376,0,0,0,0,0,0
$GC,2431,-1.39,-77.9,251.5,-8.3,218,2436,0.00,2.22,0.00,0.000,6,0.000,0.021,2395,1871,3375,0,0,0,0,0,0
$GC,2746,-1.39,-77.9,278.6,-9.6,234,2750,0.00,2.38,0.00,0.000,4,0.000,0.044,2395,474,3375,0,0,0,0,0,0
$GC,2760,-1.39,-77.9,280.2,-10.1,234,2766,0.00,2.22,0.00,0.000,6,0.000,0.022,2395,1880,3375,0,0,0,0,0,0
$GC,3096,-1.39,-77.9,311.6,-9.2,248,3100,0.00,2.40,0.00,0.000,4,0.000,0.045,2395,474,3374,0,0,0,0,0,0
$GC,3143,-1.34,-77.9,316.4,-10.0,249,3148,0.12,2.25,0.00,0.000,6,0.099,0.023,2421,1879,3374,0,0,0,0,0,0
$GC,3469,-1.42,-77.9,343.4,-8.4,257,3473,0.00,2.42,0.00,0.000,4,0.000,0.047,2421,475,3373,0,0,0,0,0,0
$GC,3512,-1.46,-77.9,347.5,-9.1,258,3517,0.12,2.25,0.00,0.000,6,0.064,0.024,2380,1871,3372,0,0,0,0,0,0
$GC,3840,-1.46,-77.9,379.8,-9.6,266,3845,0.00,2.42,0.00,0.000,4,0.000,0.048,2380,473,3371,0,0,0,0,0,0
$GC,3855,-1.43,-77.9,381.2,-9.3,266,3860,0.10,2.28,0.00,0.000,6,0.110,0.025,2400,1884,3371,0,0,0,0,0,0
$GC,4171,-1.48,-77.9,406.1,-8.0,274,4175,0.00,2.45,0.00,0.000,4,0.000,0.049,2400,470,3368,0,0,0,0,0,0
$GC,4231,-1.48,-77.9,411.6,-9.0,275,4236,0.00,2.28,0.00,0.000,6,0.000,0.025,2400,1871,3368,0,0,0,0,0,0
$GC,4582,-1.54,-77.9,441.6,-8.2,284,4586,0.00,2.47,0.00,0.000,4,0.000,0.051,2400,468,3365,0,0,0,0,0,0
$GC,4644,-1.57,-77.9,446.9,-8.7,285,4649,0.12,2.33,0.00,0.000,6,0.066,0.027,2361,1879,3365,0,0,0,0,0,0
$STATE,4709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4709,begin apogee
$GC,4715,-0.31,0.0,452.6,8.8,287,4783,1.33,0.00,64.57,0.875,6,0.076,0.000,2642,2032,3050,0,0,0,0,0,0
$STATE,4784,end apogee,CONTROL_FINISHED_OK
$STATE,4784,begin climb
$GC,4787,1.40,77.9,454.0,0.0,288,4862,1.65,2.40,65.10,0.853,4,0.033,0.041,3027,3373,2732,0,0,0,0,0,0
$GC,4951,1.22,122.4,452.8,5.0,291,4996,0.22,2.35,38.35,0.841,6,0.114,0.034,2984,2005,2550,0,0,0,0,0,0
$GC,5332,1.09,122.4,422.4,8.1,301,5337,0.17,2.47,0.00,0.000,4,0.114,0.051,2954,599,2543,0,0,0,0,0,0
$GC,5412,0.97,122.4,415.9,8.2,302,5417,0.15,2.35,0.00,0.000,6,0.123,0.028,2929,1995,2541,0,0,0,0,0,0
$GC,5744,1.02,165.6,397.4,5.1,310,5783,0.00,0.00,37.28,0.838,6,0.000,0.000,2929,2000,2374,0,0,0,0,0,0
$GC,6108,1.07,173.6,370.9,7.5,319,6121,0.00,2.50,7.35,0.694,4,0.000,0.052,2928,606,2342,0,0,0,0,0,0
$GC,6211,1.07,173.6,361.8,9.4,321,6215,0.00,2.35,0.00,0.000,6,0.000,0.030,2928,2009,2339,0,0,0,0,0,0
$GC,6529,1.13,183.7,337.8,7.3,329,6546,0.15,2.55,9.95,0.734,4,0.070,0.051,2965,609,2301,0,0,0,0,0,0
$GC,6600,1.04,183.7,331.3,10.0,330,6604,0.12,2.35,0.00,0.000,6,0.123,0.030,2944,2012,2298,0,0,0,0,0,0
$GC,6945,1.09,183.7,302.1,8.3,339,6949,0.00,2.47,0.00,0.000,4,0.000,0.051,2944,602,2297,0,0,0,0,0,0
$GC,7093,1.09,183.7,288.3,9.7,344,7097,0.00,2.35,0.00,0.000,6,0.000,0.030,2944,2014,2294,0,0,0,0,0,0
$GC,7409,1.16,202.6,264.1,6.7,359,7429,0.10,0.00,17.45,0.742,6,0.084,0.000,2970,2018,2224,0,0,0,0,0,0
$GC,7739,1.16,204.8,237.6,7.9,375,7743,0.00,2.47,0.00,0.000,4,0.000,0.049,2970,605,2220,0,0,0,0,0,0
$GC,7921,1.11,204.8,222.0,9.1,383,7925,0.00,2.35,0.00,0.000,6,0.000,0.028,2970,2024,2218,0,0,0,0,0,0
$GC,8251,1.17,230.3,198.6,6.3,399,8285,0.00,2.55,25.30,0.694,4,0.000,0.047,2970,602,2109,0,0,0,0,0,0
$GC,8378,1.17,230.3,187.2,10.2,413,8383,0.00,2.38,0.00,0.000,6,0.000,0.026,2970,2024,2105,0,0,0,0,0,0
$GC,8643,1.22,230.3,164.6,8.5,437,8648,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2028,2104,0,0,0,0,0,0
$GC,8905,1.29,232.6,144.1,7.9,462,8910,0.10,2.47,0.00,0.000,4,0.078,0.045,2998,599,2105,0,0,0,0,0,0
$GC,9031,1.22,232.6,131.8,9.5,475,9035,0.00,2.33,0.00,0.000,6,0.000,0.024,2999,2016,2103,0,0,0,0,0,0
$GC,9294,1.24,248.0,111.6,7.0,499,9315,0.00,2.38,16.20,0.588,4,0.000,0.031,2997,3404,2037,0,0,0,0,0,0
$GC,9357,1.29,248.0,106.4,8.6,505,9363,0.00,2.35,0.00,0.000,6,0.000,0.028,2979,2002,2037,0,0,0,0,0,0
$GC,9621,1.36,272.6,86.9,6.3,530,9650,0.00,2.47,22.55,0.576,4,0.000,0.043,2997,606,1938,0,0,0,0,0,0
$GC,9752,1.36,272.6,75.8,9.7,544,9757,0.00,2.30,0.00,0.000,6,0.000,0.021,2999,2015,1933,0,0,0,0,0,0
$GC,10015,1.43,272.6,53.2,8.5,569,10020,0.12,2.45,0.00,0.000,4,0.065,0.043,3036,605,1933,0,0,0,0,0,0
$GC,10145,1.34,272.6,39.4,10.7,582,10151,0.15,2.30,0.00,0.000,6,0.100,0.021,3008,2025,1931,0,0,0,0,0,0
$GC,10414,1.40,272.6,17.0,8.9,621,10419,0.00,2.45,0.00,0.000,4,0.000,0.041,3007,598,1932,0,0,0,0,0,0
$STATE,10548,end climb,SURFACE_DEPTH_REACHED
$STATE,10548,begin surface coast
$FINISH,0.5,1.023124
$STATE,10586,end surface coast,CONTROL_FINISHED_OK
$STATE,10586,begin surface
$SM_CCo,10608,13.75,0.478,0,0,1826,300.00
$SM_GC,1.37,0.00,0.00,13.75,0.000,0.000,0.478,428,1889,1826,-10.52,0.40,300.00
$IRIDIUM_FIX,2057.14,-15743.60,140999,090933
$TT8_MAMPS,0.029913
$HUMID,51.61
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,50.192
$10V_AH,10.0,45.924
$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,27.025,123.175,304.100,13.750,0.000,29.869,29.484,189.168,4.500,0.000,38.360,1270.676,7322.847,399.556,1536.405,480.118,33.380,1227.673,0.000,1475.878,0.000,29.257,0.000
$DEVICE_MAMPS,133.458,52.923,875.147,477.841,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.583,431.736,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34952,658
$CAP_FILE_SIZE,122797,0
$CFSIZE,260165632,225468416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200610,154844,2105.376,-15744.370,155,2.3,174,9.8