version: 66.06
glider: 139
mission: 7
dive: 567
start: 6 20 110 16 2 24
data:
$ID,139
$MISSION,7
$DIVE,567
$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,-2142391
$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
$GPS1,154844,2105.376,-15744.370,155,2.3,174,9.8
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-69.2
$GPS2,160131,2105.393,-15744.452,13,1.4,30,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.043,-0.179
$KALMAN_X,-332801.3,-375.3,456.3,350821.0,-748.9
$KALMAN_Y,18436.6,-181.8,324.3,-21393.3,187.0
$MHEAD_RNG_PITCHd_Wd,183.6,16706,-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,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-55.03,0.000,2,0.000,0.000,427,1892,3296,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.8,-7.1,11,95,10.60,2.50,-1.40,0.000,4,0.134,0.052,2405,461,3370,0,0,0,0,0,0
$GC,220,-1.18,-77.9,38.4,-17.6,37,227,0.25,2.33,0.00,0.000,6,0.093,0.019,2454,1910,3371,0,0,0,0,0,0
$GC,484,-1.18,-77.9,70.8,-12.0,62,489,0.00,2.47,0.00,0.000,4,0.000,0.042,2455,463,3372,0,0,0,0,0,0
$GC,578,-1.15,-77.9,82.6,-11.1,71,583,0.00,2.25,0.00,0.000,6,0.000,0.019,2454,1881,3372,0,0,0,0,0,0
$GC,839,-1.15,-77.9,112.2,-11.8,96,843,0.00,2.42,0.00,0.000,4,0.000,0.042,2455,458,3373,0,0,0,0,0,0
$GC,904,-1.15,-77.9,121.0,-13.5,102,910,0.00,2.25,0.00,0.000,6,0.000,0.019,2454,1881,3373,0,0,0,0,0,0
$GC,1167,-1.22,-77.9,146.1,-8.8,127,1171,0.00,2.42,0.00,0.000,4,0.000,0.041,2455,465,3373,0,0,0,0,0,0
$GC,1228,-1.28,-77.9,151.9,-9.1,133,1233,0.00,2.28,0.00,0.000,6,0.000,0.019,2454,1889,3374,0,0,0,0,0,0
$GC,1491,-1.35,-77.9,173.7,-8.3,157,1496,0.15,2.47,0.00,0.000,4,0.055,0.043,2405,458,3374,0,0,0,0,0,0
$GC,1535,-1.27,-77.9,178.5,-12.2,161,1540,0.15,2.25,0.00,0.000,6,0.092,0.020,2437,1877,3374,0,0,0,0,0,0
$GC,1796,-1.34,-77.9,202.5,-9.1,184,1800,0.00,2.42,0.00,0.000,4,0.000,0.043,2437,461,3374,0,0,0,0,0,0
$GC,1838,-1.34,-77.9,206.5,-9.4,186,1842,0.00,2.25,0.00,0.000,6,0.000,0.020,2437,1880,3374,0,0,0,0,0,0
$GC,2170,-1.42,-77.9,233.9,-7.8,202,2174,0.15,2.42,0.00,0.000,4,0.055,0.044,2389,466,3374,0,0,0,0,0,0
$GC,2254,-1.34,-77.9,242.8,-10.3,205,2258,0.15,2.25,0.00,0.000,6,0.093,0.021,2421,1882,3374,0,0,0,0,0,0
$GC,2577,-1.41,-77.9,266.7,-6.9,221,2581,0.00,2.42,0.00,0.000,4,0.000,0.044,2421,466,3374,0,0,0,0,0,0
$GC,2673,-1.45,-77.9,274.0,-7.1,225,2677,0.10,2.25,0.00,0.000,6,0.074,0.021,2385,1878,3374,0,0,0,0,0,0
$GC,3004,-1.45,-77.9,304.6,-9.6,240,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1882,3373,0,0,0,0,0,0
$GC,3326,-1.45,-77.9,333.4,-8.5,248,3331,0.00,2.45,0.00,0.000,4,0.000,0.048,2384,463,3372,0,0,0,0,0,0
$GC,3449,-1.40,-77.9,345.3,-9.8,250,3453,0.12,2.28,0.00,0.000,6,0.099,0.024,2410,1871,3371,0,0,0,0,0,0
$GC,3786,-1.46,-77.9,368.6,-6.4,259,3790,0.00,2.42,0.00,0.000,4,0.000,0.048,2410,471,3369,0,0,0,0,0,0
$GC,3841,-1.46,-77.9,373.2,-8.1,260,3846,0.00,2.28,0.00,0.000,6,0.000,0.025,2410,1877,3369,0,0,0,0,0,0
$GC,4161,-1.52,-77.9,398.3,-7.9,268,4166,0.12,2.47,0.00,0.000,4,0.065,0.050,2372,467,3367,0,0,0,0,0,0
$GC,4217,-1.47,-77.9,403.9,-9.8,269,4222,0.10,2.30,0.00,0.000,6,0.111,0.025,2392,1881,3366,0,0,0,0,0,0
$GC,4532,-1.47,-77.9,430.1,-8.4,277,4536,0.00,2.45,0.00,0.000,4,0.000,0.051,2391,471,3364,0,0,0,0,0,0
$GC,4583,-1.47,-77.9,434.8,-8.5,278,4587,0.00,2.30,0.00,0.000,6,0.000,0.027,2392,1877,3363,0,0,0,0,0,0
$STATE,4781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4781,begin apogee
$GC,4788,-0.31,0.0,451.3,8.3,283,4855,1.17,0.00,63.92,0.873,6,0.072,0.000,2644,2042,3050,0,0,0,0,0,0
$STATE,4856,end apogee,CONTROL_FINISHED_OK
$STATE,4856,begin climb
$GC,4859,1.40,77.9,452.6,0.0,284,4934,1.62,2.40,64.82,0.853,4,0.030,0.041,3028,3380,2731,0,0,0,0,0,0
$GC,5197,1.22,124.9,447.0,4.8,291,5243,0.20,2.35,39.92,0.848,6,0.112,0.035,2988,2007,2540,0,0,0,0,0,0
$GC,5585,1.10,126.2,417.2,7.9,301,5589,0.17,2.40,0.00,0.000,4,0.114,0.040,2960,3381,2534,0,0,0,0,0,0
$GC,5739,1.04,126.2,404.7,8.1,304,5743,0.00,2.38,0.00,0.000,6,0.000,0.037,2961,2007,2534,0,0,0,0,0,0
$GC,6054,1.00,135.5,380.7,7.4,312,6070,0.15,2.53,8.77,0.736,4,0.119,0.051,2930,595,2496,0,0,0,0,0,0
$GC,6108,0.96,149.7,376.7,7.0,313,6128,0.00,2.35,13.95,0.784,6,0.000,0.030,2933,2000,2438,0,0,0,0,0,0
$GC,6470,1.00,179.4,355.4,6.0,322,6502,0.00,2.58,26.80,0.815,4,0.000,0.052,2932,599,2317,0,0,0,0,0,0
$GC,6535,1.00,179.4,350.6,8.2,323,6539,0.00,2.40,0.00,0.000,6,0.000,0.030,2933,2009,2314,0,0,0,0,0,0
$GC,6881,1.05,188.4,324.6,7.4,332,6897,0.00,2.53,8.75,0.709,4,0.000,0.051,2933,604,2280,0,0,0,0,0,0
$GC,7005,1.06,193.2,315.6,7.7,334,7018,0.00,2.38,5.07,0.591,6,0.000,0.030,2933,2014,2262,0,0,0,0,0,0
$GC,7325,1.12,193.2,290.1,8.4,345,7330,0.10,2.53,0.00,0.000,4,0.085,0.051,2958,596,2260,0,0,0,0,0,0
$GC,7373,1.08,193.2,285.5,9.3,347,7377,0.00,2.40,0.00,0.000,6,0.000,0.030,2959,2018,2258,0,0,0,0,0,0
$GC,7698,1.08,193.2,256.5,8.8,363,7702,0.00,2.47,0.00,0.000,4,0.000,0.051,2958,602,2258,0,0,0,0,0,0
$GC,7759,1.03,193.2,250.9,9.0,365,7764,0.00,2.35,0.00,0.000,6,0.000,0.029,2959,2016,2257,0,0,0,0,0,0
$GC,8075,1.07,193.2,225.9,8.6,381,8079,0.00,2.47,0.00,0.000,4,0.000,0.049,2959,600,2257,0,0,0,0,0,0
$GC,8158,1.07,193.2,218.3,8.4,384,8162,0.00,2.35,0.00,0.000,6,0.000,0.028,2959,2024,2256,0,0,0,0,0,0
$GC,8474,1.14,210.3,198.5,6.8,400,8495,0.00,2.53,15.90,0.682,4,0.000,0.048,2958,598,2191,0,0,0,0,0,0
$GC,8601,1.14,210.3,187.7,8.6,413,8606,0.00,2.35,0.00,0.000,6,0.000,0.026,2958,2013,2188,0,0,0,0,0,0
$GC,8864,1.23,227.8,169.0,6.8,438,8890,0.10,2.50,16.70,0.650,4,0.081,0.046,2987,598,2120,0,0,0,0,0,0
$GC,8914,1.17,227.8,164.7,9.1,443,8920,0.00,2.35,0.00,0.000,6,0.000,0.025,2987,2018,2117,0,0,0,0,0,0
$GC,9176,1.17,227.8,140.8,8.5,468,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2024,2117,0,0,0,0,0,0
$GC,9431,1.22,229.0,122.1,7.9,492,9435,0.00,2.47,0.00,0.000,4,0.000,0.044,2987,596,2117,0,0,0,0,0,0
$GC,9553,1.22,236.8,112.2,7.5,504,9568,0.00,2.33,8.82,0.549,6,0.000,0.023,2987,2023,2084,0,0,0,0,0,0
$GC,9823,1.33,269.4,96.8,5.8,530,9858,0.00,2.58,29.92,0.594,4,0.000,0.044,2987,596,1951,0,0,0,0,0,0
$GC,9983,1.33,269.4,82.8,9.7,547,9989,0.00,2.30,0.00,0.000,6,0.000,0.021,2987,2008,1946,0,0,0,0,0,0
$GC,10246,1.43,275.1,61.5,7.6,572,10259,0.17,2.50,5.68,0.441,4,0.055,0.043,3036,601,1927,0,0,0,0,0,0
$GC,10460,1.36,275.1,38.6,12.5,595,10464,0.12,2.28,0.00,0.000,6,0.104,0.021,3012,2016,1926,0,0,0,0,0,0
$GC,10730,1.41,275.1,13.2,9.8,635,10736,0.00,2.42,0.00,0.000,4,0.000,0.043,3012,597,1926,0,0,0,0,0,0
$STATE,10825,end climb,SURFACE_DEPTH_REACHED
$STATE,10825,begin surface coast
$FINISH,0.5,0.999538
$STATE,10862,end surface coast,CONTROL_FINISHED_OK
$STATE,10862,begin surface
$SM_CCo,10885,13.38,0.481,0,0,1826,300.00
$SM_GC,2.02,0.00,0.00,13.38,0.000,0.000,0.481,427,1890,1826,-10.52,0.42,300.00
$IRIDIUM_FIX,2057.14,-15743.60,140999,161621
$TT8_MAMPS,0.029146
$HUMID,51.85
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,50.289
$10V_AH,10.0,45.986
$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,26.800,124.375,309.050,13.375,0.000,87.015,151.265,265.270,4.500,0.000,30.203,1300.340,7570.036,388.438,1638.860,768.142,33.387,1275.809,0.000,1589.211,0.000,29.252,0.000
$DEVICE_MAMPS,134.225,52.156,872.846,480.909,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,445.692,436.994,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34815,663
$CAP_FILE_SIZE,130108,0
$CFSIZE,260165632,225402880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200610,190606,2104.513,-15744.527,86,1.5,86,9.8