version: 66.06
glider: 139
mission: 7
dive: 570
start: 6 21 110 1 28 29
data:
$ID,139
$MISSION,7
$DIVE,570
$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,-2142453
$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
$GPS1,012036,2102.898,-15745.241,114,2.0,125,9.8
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-70.0
$GPS2,012737,2102.928,-15745.237,15,1.9,15,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.115,-0.144
$KALMAN_X,-332375.6,730.3,-220.4,348608.1,518.8
$KALMAN_Y,19529.9,365.6,-170.1,-27102.2,719.6
$MHEAD_RNG_PITCHd_Wd,208.8,12248,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,73,0.00,0.00,-54.67,0.000,2,0.000,0.000,424,1873,3282,0,0,0,0,0,0
$GC,77,-1.40,-77.9,3.9,-7.6,11,96,10.65,2.42,-1.73,0.000,4,0.136,0.053,2403,466,3371,0,0,0,0,0,0
$GC,185,-1.19,-77.9,29.6,-16.8,34,192,0.25,2.33,0.00,0.000,6,0.094,0.020,2453,1907,3373,0,0,0,0,0,0
$GC,383,-1.16,-77.9,56.0,-12.9,53,387,0.00,2.50,0.00,0.000,4,0.000,0.042,2453,460,3373,0,0,0,0,0,0
$GC,458,-1.10,-77.9,66.3,-13.2,60,464,0.10,2.28,0.00,0.000,6,0.114,0.019,2472,1881,3373,0,0,0,0,0,0
$GC,721,-1.13,-77.9,93.7,-9.7,85,725,0.00,2.42,0.00,0.000,4,0.000,0.041,2472,460,3374,0,0,0,0,0,0
$GC,758,-1.13,-77.9,97.6,-9.9,88,763,0.00,2.28,0.00,0.000,6,0.000,0.019,2471,1886,3375,0,0,0,0,0,0
$GC,1022,-1.24,-77.9,120.3,-8.1,113,1027,0.12,2.42,0.00,0.000,4,0.062,0.041,2427,468,3375,0,0,0,0,0,0
$GC,1122,-1.24,-77.9,131.2,-10.9,123,1126,0.00,2.25,0.00,0.000,6,0.000,0.018,2426,1881,3376,0,0,0,0,0,0
$GC,1389,-1.24,-77.9,157.2,-9.7,148,1393,0.00,2.40,0.00,0.000,4,0.000,0.041,2428,469,3376,0,0,0,0,0,0
$GC,1496,-1.21,-77.9,169.3,-11.2,159,1502,0.10,2.25,0.00,0.000,6,0.107,0.019,2449,1880,3377,0,0,0,0,0,0
$GC,1757,-1.29,-77.9,191.2,-6.6,184,1761,0.00,2.25,0.00,0.000,4,0.000,0.026,2449,3260,3377,0,0,0,0,0,0
$GC,1773,-1.39,-77.9,192.1,-5.8,185,1778,0.17,2.33,0.00,0.000,6,0.051,0.027,2392,1863,3377,0,0,0,0,0,0
$GC,2031,-1.39,-77.9,213.7,-9.7,202,2035,0.00,2.35,0.00,0.000,4,0.000,0.042,2394,469,3377,0,0,0,0,0,0
$GC,2120,-1.33,-77.9,223.5,-11.3,206,2125,0.15,2.25,0.00,0.000,6,0.093,0.020,2424,1874,3377,0,0,0,0,0,0
$GC,2453,-1.39,-77.9,253.2,-7.7,222,2457,0.00,2.40,0.00,0.000,4,0.000,0.044,2424,473,3377,0,0,0,0,0,0
$GC,2549,-1.39,-77.9,262.0,-9.3,226,2553,0.00,2.25,0.00,0.000,6,0.000,0.021,2425,1873,3377,0,0,0,0,0,0
$GC,2875,-1.46,-77.9,289.2,-9.1,242,2880,0.12,2.42,0.00,0.000,4,0.064,0.045,2383,474,3376,0,0,0,0,0,0
$GC,2947,-1.43,-77.9,296.6,-9.7,245,2951,0.10,2.25,0.00,0.000,6,0.110,0.022,2403,1873,3376,0,0,0,0,0,0
$GC,3289,-1.47,-77.9,318.7,-6.0,255,3294,0.00,2.42,0.00,0.000,4,0.000,0.046,2402,470,3375,0,0,0,0,0,0
$GC,3359,-1.47,-77.9,324.8,-8.7,256,3363,0.00,2.28,0.00,0.000,6,0.000,0.023,2403,1870,3374,0,0,0,0,0,0
$GC,3700,-1.51,-77.9,353.8,-8.4,265,3704,0.00,2.42,0.00,0.000,4,0.000,0.048,2403,473,3372,0,0,0,0,0,0
$GC,3771,-1.51,-77.9,360.2,-9.0,266,3775,0.00,2.30,0.00,0.000,6,0.000,0.025,2403,1880,3372,0,0,0,0,0,0
$GC,4112,-1.56,-77.9,386.7,-7.8,275,4117,0.12,2.45,0.00,0.000,4,0.067,0.050,2365,471,3370,0,0,0,0,0,0
$GC,4160,-1.48,-77.9,391.6,-10.2,276,4165,0.12,2.30,0.00,0.000,6,0.102,0.025,2390,1870,3370,0,0,0,0,0,0
$GC,4483,-1.48,-77.9,418.5,-8.0,284,4487,0.00,2.45,0.00,0.000,4,0.000,0.051,2390,468,3367,0,0,0,0,0,0
$GC,4553,-1.48,-77.9,424.2,-8.3,285,4557,0.00,2.33,0.00,0.000,6,0.000,0.027,2391,1880,3367,0,0,0,0,0,0
$STATE,4891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4891,begin apogee
$GC,4897,-0.31,0.0,450.5,8.3,294,4965,1.20,0.00,64.30,0.878,6,0.077,0.000,2645,2028,3050,0,0,0,0,0,0
$STATE,4966,end apogee,CONTROL_FINISHED_OK
$STATE,4966,begin climb
$GC,4969,1.40,77.9,451.6,0.0,295,5044,1.62,2.42,64.78,0.859,4,0.031,0.041,3026,3379,2732,0,0,0,0,0,0
$GC,5308,1.21,113.1,442.3,5.6,302,5345,0.25,2.35,30.10,0.847,6,0.116,0.036,2980,2005,2587,0,0,0,0,0,0
$GC,5660,1.12,128.4,418.4,7.0,311,5680,0.12,2.50,13.38,0.793,4,0.130,0.039,2959,3394,2525,0,0,0,0,0,0
$GC,5706,1.08,139.6,414.9,7.3,312,5723,0.00,2.40,11.48,0.772,6,0.000,0.037,2960,2012,2480,0,0,0,0,0,0
$GC,6039,1.03,139.6,388.4,8.3,320,6043,0.00,2.47,0.00,0.000,4,0.000,0.051,2958,604,2475,0,0,0,0,0,0
$GC,6053,0.95,139.6,386.9,8.6,320,6058,0.20,2.35,0.00,0.000,6,0.120,0.030,2923,1995,2474,0,0,0,0,0,0
$GC,6404,1.00,155.5,361.2,6.9,329,6419,0.00,0.00,13.73,0.788,6,0.000,0.000,2923,2000,2416,0,0,0,0,0,0
$GC,6729,1.08,184.0,341.0,6.1,337,6762,0.12,2.50,26.20,0.811,4,0.077,0.040,2954,3398,2298,0,0,0,0,0,0
$GC,6806,1.08,184.0,334.1,9.7,338,6810,0.00,2.42,0.00,0.000,6,0.000,0.038,2954,2007,2298,0,0,0,0,0,0
$GC,7142,1.08,184.0,302.1,9.2,347,7146,0.00,2.47,0.00,0.000,4,0.000,0.054,2953,595,2293,0,0,0,0,0,0
$GC,7303,1.03,184.0,286.3,9.9,353,7307,0.00,2.40,0.00,0.000,6,0.000,0.030,2954,2013,2290,0,0,0,0,0,0
$GC,7628,1.04,193.5,261.3,7.4,369,7638,0.00,0.00,8.18,0.674,6,0.000,0.000,2954,2018,2261,0,0,0,0,0,0
$GC,7937,1.10,204.7,237.4,7.2,384,7954,0.00,2.55,11.65,0.697,4,0.000,0.051,2954,598,2214,0,0,0,0,0,0
$GC,8088,1.10,204.7,223.0,9.3,390,8092,0.00,2.38,0.00,0.000,6,0.000,0.028,2954,2013,2210,0,0,0,0,0,0
$GC,8403,1.18,222.0,201.8,6.8,405,8426,0.00,2.55,16.00,0.686,4,0.000,0.050,2954,597,2145,0,0,0,0,0,0
$GC,8503,1.18,222.0,193.2,8.7,412,8508,0.00,2.38,0.00,0.000,6,0.000,0.028,2954,2010,2141,0,0,0,0,0,0
$GC,8765,1.29,241.6,175.5,6.7,437,8792,0.20,2.55,18.58,0.664,4,0.057,0.048,3005,604,2064,0,0,0,0,0,0
$GC,8847,1.21,241.6,168.2,10.3,445,8853,0.15,2.33,0.00,0.000,6,0.109,0.026,2978,2015,2061,0,0,0,0,0,0
$GC,9112,1.26,246.9,147.6,7.7,470,9122,0.00,2.55,5.57,0.509,4,0.000,0.047,2977,601,2042,0,0,0,0,0,0
$GC,9174,1.26,246.9,142.3,8.2,476,9179,0.00,2.33,0.00,0.000,6,0.000,0.025,2977,2013,2042,0,0,0,0,0,0
$GC,9437,1.34,246.9,121.8,8.3,501,9442,0.12,2.47,0.00,0.000,4,0.069,0.045,3013,600,2041,0,0,0,0,0,0
$GC,9550,1.27,246.9,110.5,9.2,512,9557,0.12,2.33,0.00,0.000,6,0.111,0.023,2990,2019,2040,0,0,0,0,0,0
$GC,9814,1.34,246.9,90.3,8.5,537,9818,0.00,2.45,0.00,0.000,4,0.000,0.044,2990,592,2040,0,0,0,0,0,0
$GC,9935,1.34,246.9,79.8,8.8,549,9941,0.00,2.33,0.00,0.000,6,0.000,0.022,2990,2018,2040,0,0,0,0,0,0
$GC,10198,1.41,246.9,59.2,8.2,574,10203,0.15,2.47,0.00,0.000,4,0.059,0.043,3034,591,2039,0,0,0,0,0,0
$GC,10234,1.32,246.9,55.6,10.4,577,10239,0.17,2.30,0.00,0.000,6,0.099,0.021,2999,2012,2039,0,0,0,0,0,0
$GC,10495,1.41,275.1,37.5,6.1,601,10529,0.00,2.47,25.80,0.537,4,0.000,0.041,2999,594,1927,0,0,0,0,0,0
$GC,10768,1.41,275.1,13.7,9.1,649,10773,0.00,2.30,0.00,0.000,6,0.000,0.020,2999,2012,1923,0,0,0,0,0,0
$STATE,10874,end climb,SURFACE_DEPTH_REACHED
$STATE,10875,begin surface coast
$FINISH,0.3,1.004495
$STATE,10907,end surface coast,CONTROL_FINISHED_OK
$STATE,10907,begin surface
$SM_CCo,10928,13.70,0.480,0,0,1826,300.00
$SM_GC,2.06,0.00,0.00,13.70,0.000,0.000,0.480,429,1854,1826,-10.52,-0.59,300.00
$IRIDIUM_FIX,2057.14,-15744.48,140999,222246
$TT8_MAMPS,0.029146
$HUMID,52.00
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,440.1,46.1
$24V_AH,23.3,50.544
$10V_AH,10.0,46.151
$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,27.525,124.450,309.725,13.700,0.000,23.326,41.806,235.984,4.750,0.000,15.077,1316.857,7504.367,397.851,1588.663,555.227,33.381,1267.149,0.000,1553.863,0.000,32.225,0.000
$DEVICE_MAMPS,135.759,53.690,878.215,480.142,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.766,444.846,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34844,674
$CAP_FILE_SIZE,128490,0
$CFSIZE,260165632,225218560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210610,043314,2102.293,-15745.431,85,2.9,104,9.8