version: 66.06
glider: 139
mission: 7
dive: 569
start: 6 20 110 22 22 23
data:
$ID,139
$MISSION,7
$DIVE,569
$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,-2142437.2
$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
$GPS1,221517,2103.477,-15745.020,99,1.5,109,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-68.3
$GPS2,222130,2103.490,-15745.026,19,1.5,29,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.097,-0.156
$KALMAN_X,-332689.0,318.3,-215.7,349692.9,-20.0
$KALMAN_Y,19053.6,244.2,-276.8,-25353.3,378.9
$MHEAD_RNG_PITCHd_Wd,202.1,13281,-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,-77.9,0.0,0.0,0,67,0.00,0.00,-49.88,0.000,2,0.000,0.000,424,1846,3146,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.6,-6.5,10,94,10.62,2.40,-4.35,0.000,4,0.134,0.054,2405,473,3370,0,0,0,0,0,0
$GC,206,-1.20,-77.9,32.1,-17.0,38,212,0.22,2.33,0.00,0.000,6,0.092,0.020,2450,1910,3372,0,0,0,0,0,0
$GC,469,-1.15,-77.9,66.8,-12.9,63,473,0.00,2.50,0.00,0.000,4,0.000,0.042,2451,460,3372,0,0,0,0,0,0
$GC,534,-1.09,-77.9,75.8,-13.3,69,540,0.12,2.28,0.00,0.000,6,0.108,0.019,2474,1881,3373,0,0,0,0,0,0
$GC,797,-1.13,-77.9,102.2,-9.3,94,801,0.00,2.42,0.00,0.000,4,0.000,0.042,2474,457,3374,0,0,0,0,0,0
$GC,840,-1.13,-77.9,106.6,-10.6,98,844,0.00,2.28,0.00,0.000,6,0.000,0.019,2473,1883,3374,0,0,0,0,0,0
$GC,1102,-1.24,-77.9,129.0,-8.1,122,1107,0.12,2.45,0.00,0.000,4,0.063,0.042,2430,467,3375,0,0,0,0,0,0
$GC,1192,-1.24,-77.9,138.8,-10.7,131,1196,0.00,2.25,0.00,0.000,6,0.000,0.019,2428,1877,3375,0,0,0,0,0,0
$GC,1452,-1.24,-77.9,162.7,-8.1,155,1456,0.00,2.40,0.00,0.000,4,0.000,0.042,2430,464,3376,0,0,0,0,0,0
$GC,1513,-1.24,-77.9,168.8,-10.4,161,1517,0.00,2.25,0.00,0.000,6,0.000,0.020,2429,1876,3376,0,0,0,0,0,0
$GC,1778,-1.28,-77.9,191.8,-9.0,185,1782,0.00,2.40,0.00,0.000,4,0.000,0.042,2430,461,3376,0,0,0,0,0,0
$GC,1805,-1.28,-77.9,194.7,-9.9,187,1811,0.00,2.28,0.00,0.000,6,0.000,0.020,2429,1882,3376,0,0,0,0,0,0
$GC,2061,-1.32,-77.9,215.4,-7.2,203,2065,0.00,2.40,0.00,0.000,4,0.000,0.042,2430,468,3376,0,0,0,0,0,0
$GC,2090,-1.32,-77.9,217.8,-7.7,204,2094,0.00,2.25,0.00,0.000,6,0.000,0.020,2429,1876,3376,0,0,0,0,0,0
$GC,2411,-1.39,-77.9,242.5,-8.0,220,2415,0.00,2.42,0.00,0.000,4,0.000,0.044,2430,463,3376,0,0,0,0,0,0
$GC,2482,-1.44,-77.9,248.7,-8.8,223,2487,0.12,2.28,0.00,0.000,6,0.063,0.021,2387,1880,3376,0,0,0,0,0,0
$GC,2809,-1.44,-77.9,280.7,-9.7,239,2813,0.00,2.42,0.00,0.000,4,0.000,0.044,2387,470,3375,0,0,0,0,0,0
$GC,2842,-1.38,-77.9,284.3,-10.9,240,2847,0.12,2.28,0.00,0.000,6,0.098,0.022,2413,1878,3375,0,0,0,0,0,0
$GC,3178,-1.42,-77.9,310.0,-7.7,253,3183,0.00,2.40,0.00,0.000,4,0.000,0.045,2413,470,3375,0,0,0,0,0,0
$GC,3206,-1.42,-77.9,312.8,-9.9,253,3210,0.00,2.28,0.00,0.000,6,0.000,0.023,2413,1873,3375,0,0,0,0,0,0
$GC,3543,-1.48,-77.9,337.1,-6.9,262,3547,0.00,2.42,0.00,0.000,4,0.000,0.047,2413,471,3373,0,0,0,0,0,0
$GC,3632,-1.48,-77.9,344.6,-8.1,264,3636,0.00,2.30,0.00,0.000,6,0.000,0.025,2413,1880,3373,0,0,0,0,0,0
$GC,3960,-1.55,-77.9,372.0,-8.3,272,3965,0.17,2.47,0.00,0.000,4,0.054,0.049,2364,468,3370,0,0,0,0,0,0
$GC,4030,-1.45,-77.9,379.6,-10.7,273,4036,0.17,2.30,0.00,0.000,6,0.091,0.025,2399,1872,3370,0,0,0,0,0,0
$GC,4377,-1.49,-77.9,408.8,-8.3,282,4381,0.00,2.42,0.00,0.000,4,0.000,0.050,2399,467,3367,0,0,0,0,0,0
$GC,4442,-1.49,-77.9,414.4,-8.2,283,4446,0.00,2.33,0.00,0.000,6,0.000,0.026,2399,1881,3367,0,0,0,0,0,0
$GC,4790,-1.53,-77.9,442.1,-8.3,292,4795,0.00,2.45,0.00,0.000,4,0.000,0.051,2399,468,3364,0,0,0,0,0,0
$GC,4869,-1.53,-77.9,449.7,-9.6,293,4873,0.00,2.08,0.00,0.000,3,0.000,0.027,2400,1729,3364,0,0,0,0,0,0
$STATE,4873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4873,begin apogee
$GC,4879,-0.31,0.0,450.1,9.5,293,4947,1.12,0.00,64.28,0.874,6,0.075,0.000,2642,2029,3050,0,0,0,0,0,0
$STATE,4948,end apogee,CONTROL_FINISHED_OK
$STATE,4948,begin climb
$GC,4951,1.40,77.9,451.6,0.0,295,5026,1.62,2.45,64.78,0.852,4,0.031,0.041,3025,3394,2732,0,0,0,0,0,0
$GC,5110,1.25,154.6,452.7,2.8,298,5187,0.15,2.40,66.07,0.850,6,0.119,0.035,2995,2004,2418,0,0,0,0,0,0
$GC,5501,1.13,154.6,413.0,11.5,308,5506,0.17,2.47,0.00,0.000,4,0.114,0.051,2966,598,2409,0,0,0,0,0,0
$GC,5563,1.01,154.6,405.6,11.7,309,5568,0.17,2.35,0.00,0.000,6,0.117,0.029,2935,2003,2406,0,0,0,0,0,0
$GC,5913,1.01,154.6,373.4,8.7,318,5917,0.00,2.47,0.00,0.000,4,0.000,0.050,2935,603,2404,0,0,0,0,0,0
$GC,5960,0.97,154.6,369.2,9.5,319,5964,0.00,2.38,0.00,0.000,6,0.000,0.029,2935,2013,2403,0,0,0,0,0,0
$GC,6282,0.97,154.6,338.8,9.8,327,6286,0.00,2.47,0.00,0.000,4,0.000,0.051,2935,606,2402,0,0,0,0,0,0
$GC,6395,0.94,154.6,327.1,10.2,329,6399,0.00,2.35,0.00,0.000,6,0.000,0.030,2935,2011,2400,0,0,0,0,0,0
$GC,6741,0.99,170.0,299.7,7.0,338,6757,0.00,2.53,11.23,0.728,4,0.000,0.051,2935,605,2355,0,0,0,0,0,0
$GC,6929,1.01,186.2,285.7,6.9,346,6950,0.00,2.38,15.55,0.745,6,0.000,0.029,2935,2023,2290,0,0,0,0,0,0
$GC,7279,1.08,186.2,259.5,8.3,363,7284,0.00,2.50,0.00,0.000,4,0.000,0.050,2935,603,2286,0,0,0,0,0,0
$GC,7382,1.08,186.2,250.7,9.0,367,7386,0.00,2.35,0.00,0.000,6,0.000,0.029,2935,2008,2284,0,0,0,0,0,0
$GC,7702,1.18,200.5,226.6,7.0,383,7725,0.15,2.55,13.32,0.692,4,0.068,0.048,2973,603,2231,0,0,0,0,0,0
$GC,7883,1.13,200.5,210.3,9.2,390,7888,0.00,2.35,0.00,0.000,6,0.000,0.027,2973,2012,2226,0,0,0,0,0,0
$GC,8203,1.13,200.5,186.1,8.8,414,8207,0.00,2.47,0.00,0.000,4,0.000,0.048,2973,598,2226,0,0,0,0,0,0
$GC,8241,1.09,200.5,182.1,10.1,417,8246,0.00,2.33,0.00,0.000,6,0.000,0.027,2973,2014,2224,0,0,0,0,0,0
$GC,8501,1.09,200.5,157.7,9.1,442,8505,0.00,2.33,0.00,0.000,4,0.000,0.033,2973,3408,2225,0,0,0,0,0,0
$GC,8558,1.13,200.5,152.7,8.7,447,8563,0.00,2.38,0.00,0.000,6,0.000,0.031,2974,2006,2225,0,0,0,0,0,0
$GC,8820,1.18,236.4,137.9,5.6,472,8857,0.00,2.50,31.90,0.644,4,0.000,0.047,2972,598,2086,0,0,0,0,0,0
$GC,8946,1.18,236.4,125.1,8.8,486,8951,0.00,2.35,0.00,0.000,6,0.000,0.025,2972,2012,2080,0,0,0,0,0,0
$GC,9209,1.28,264.8,104.8,6.1,510,9237,0.00,0.00,25.70,0.601,6,0.000,0.000,2972,2018,1970,0,0,0,0,0,0
$GC,9495,1.39,269.2,84.6,7.7,537,9506,0.20,2.45,5.00,0.438,4,0.054,0.043,3027,602,1951,0,0,0,0,0,0
$GC,9637,1.34,269.2,70.2,11.8,552,9641,0.00,2.33,0.00,0.000,6,0.000,0.022,3026,2022,1949,0,0,0,0,0,0
$GC,9903,1.34,269.2,46.6,8.3,577,9907,0.00,2.45,0.00,0.000,4,0.000,0.042,3023,602,1948,0,0,0,0,0,0
$GC,9974,1.26,269.2,39.9,9.1,584,9980,0.20,2.28,0.00,0.000,6,0.093,0.021,2986,2018,1948,0,0,0,0,0,0
$GC,10242,1.36,269.2,18.0,8.0,620,10249,0.10,2.45,0.00,0.000,4,0.076,0.042,3018,602,1947,0,0,0,0,0,0
$STATE,10425,end climb,SURFACE_DEPTH_REACHED
$STATE,10425,begin surface coast
$FINISH,0.5,1.010129
$STATE,10490,end surface coast,CONTROL_FINISHED_OK
$STATE,10490,begin surface
$SM_CCo,10513,16.85,0.494,0,0,1826,300.00
$SM_GC,2.10,0.00,0.00,16.85,0.000,0.000,0.494,424,1872,1826,-10.54,-0.08,300.00
$IRIDIUM_FIX,2054.83,-15744.48,140999,191947
$TT8_MAMPS,0.028379
$HUMID,52.04
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,442.1,58.0
$24V_AH,23.3,50.455
$10V_AH,10.0,46.094
$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,26.800,128.550,297.825,16.850,0.000,22.516,28.203,189.467,4.750,0.000,30.076,1297.880,7147.702,383.949,1594.168,480.020,33.383,1243.017,0.000,1536.457,0.000,32.260,0.000
$DEVICE_MAMPS,134.225,53.690,873.613,493.948,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,452.888,445.793,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34884,673
$CAP_FILE_SIZE,124171,0
$CFSIZE,260165632,225284096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210610,012036,2102.898,-15745.241,114,2.0,125,9.8