version: 66.06
glider: 139
mission: 7
dive: 571
start: 6 21 110 4 41 4
data:
$ID,139
$MISSION,7
$DIVE,571
$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,-2142503
$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
$GPS1,043314,2102.293,-15745.431,85,2.9,104,9.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-68.4
$GPS2,044012,2102.310,-15745.445,27,2.8,46,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.112,-0.146
$KALMAN_X,-332086.4,757.4,391.7,347323.5,-421.0
$KALMAN_Y,19678.7,232.1,288.8,-28715.3,-161.6
$MHEAD_RNG_PITCHd_Wd,207.9,11157,-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,16,-1.40,-77.9,0.0,0.0,0,73,0.00,0.00,-55.08,0.000,2,0.000,0.000,428,1855,3289,0,0,0,0,0,0
$GC,77,-1.40,-77.9,3.8,-7.2,11,96,10.62,2.42,-1.55,0.000,4,0.135,0.040,2406,3301,3370,0,0,0,0,0,0
$GC,236,-1.40,-77.9,36.6,-16.7,41,240,0.00,2.40,0.00,0.000,6,0.000,0.028,2407,1864,3372,0,0,0,0,0,0
$GC,499,-1.26,-77.9,76.5,-13.9,65,504,0.15,2.40,0.00,0.000,4,0.107,0.044,2435,471,3373,0,0,0,0,0,0
$GC,574,-1.16,-77.9,86.6,-11.9,72,580,0.12,2.30,0.00,0.000,6,0.108,0.019,2457,1908,3373,0,0,0,0,0,0
$GC,837,-1.20,-77.9,111.8,-9.1,97,841,0.00,2.45,0.00,0.000,4,0.000,0.041,2460,470,3374,0,0,0,0,0,0
$GC,927,-1.20,-77.9,120.2,-8.7,106,931,0.00,2.25,0.00,0.000,6,0.000,0.019,2460,1884,3374,0,0,0,0,0,0
$GC,1194,-1.26,-77.9,142.3,-9.1,131,1198,0.00,2.42,0.00,0.000,4,0.000,0.041,2460,468,3375,0,0,0,0,0,0
$GC,1217,-1.30,-77.9,144.8,-9.5,133,1223,0.12,2.25,0.00,0.000,6,0.063,0.019,2416,1882,3375,0,0,0,0,0,0
$GC,1478,-1.30,-77.9,174.2,-11.9,158,1482,0.00,2.40,0.00,0.000,4,0.000,0.041,2416,469,3376,0,0,0,0,0,0
$GC,1506,-1.23,-77.9,177.6,-12.4,160,1512,0.15,2.25,0.00,0.000,6,0.093,0.019,2446,1877,3376,0,0,0,0,0,0
$GC,1766,-1.29,-77.9,202.9,-9.5,184,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1881,3376,0,0,0,0,0,0
$GC,2076,-1.39,-77.9,222.6,-5.2,199,2081,0.15,2.40,0.00,0.000,4,0.054,0.043,2399,470,3376,0,0,0,0,0,0
$GC,2110,-1.32,-77.9,225.8,-9.5,200,2114,0.15,2.25,0.00,0.000,6,0.094,0.021,2428,1877,3377,0,0,0,0,0,0
$GC,2427,-1.40,-77.9,247.5,-5.8,215,2431,0.00,2.42,0.00,0.000,4,0.000,0.043,2430,464,3377,0,0,0,0,0,0
$GC,2483,-1.45,-77.9,251.8,-7.6,217,2488,0.15,2.28,0.00,0.000,6,0.055,0.021,2382,1878,3377,0,0,0,0,0,0
$GC,2800,-1.45,-77.9,282.7,-9.1,232,2805,0.00,2.42,0.00,0.000,4,0.000,0.044,2382,470,3376,0,0,0,0,0,0
$GC,2869,-1.37,-77.9,289.7,-10.4,235,2874,0.15,2.28,0.00,0.000,6,0.094,0.022,2414,1878,3376,0,0,0,0,0,0
$GC,3213,-1.42,-77.9,318.6,-8.7,247,3217,0.00,2.40,0.00,0.000,4,0.000,0.045,2414,473,3374,0,0,0,0,0,0
$GC,3260,-1.42,-77.9,322.8,-9.0,248,3264,0.00,2.28,0.00,0.000,6,0.000,0.023,2413,1874,3374,0,0,0,0,0,0
$GC,3588,-1.49,-77.9,351.0,-8.8,256,3593,0.12,2.45,0.00,0.000,4,0.064,0.048,2374,473,3373,0,0,0,0,0,0
$GC,3651,-1.42,-77.9,358.0,-11.8,257,3656,0.15,2.30,0.00,0.000,6,0.093,0.025,2404,1881,3372,0,0,0,0,0,0
$GC,4003,-1.47,-77.9,388.5,-8.5,266,4007,0.00,2.45,0.00,0.000,4,0.000,0.049,2406,473,3370,0,0,0,0,0,0
$GC,4049,-1.47,-77.9,393.0,-8.6,267,4053,0.00,2.30,0.00,0.000,6,0.000,0.025,2406,1875,3370,0,0,0,0,0,0
$GC,4374,-1.52,-77.9,415.4,-6.5,275,4378,0.00,2.42,0.00,0.000,4,0.000,0.050,2406,473,3367,0,0,0,0,0,0
$GC,4425,-1.52,-77.9,419.4,-7.4,276,4430,0.10,2.30,0.00,0.000,6,0.076,0.026,2373,1873,3367,0,0,0,0,0,0
$GC,4744,-1.52,-77.9,445.9,-8.8,284,4748,0.00,2.45,0.00,0.000,4,0.000,0.051,2373,468,3365,0,0,0,0,0,0
$STATE,4784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4784,begin apogee
$GC,4793,-0.31,0.0,450.2,9.9,285,4861,1.27,0.00,64.22,0.874,6,0.077,0.000,2643,2011,3050,0,0,0,0,0,0
$STATE,4862,end apogee,CONTROL_FINISHED_OK
$STATE,4862,begin climb
$GC,4864,1.40,77.9,452.0,0.0,286,4940,1.62,2.50,64.78,0.851,4,0.031,0.041,3025,3407,2731,0,0,0,0,0,0
$GC,5086,1.22,119.2,451.6,5.2,290,5127,0.22,2.42,35.50,0.841,6,0.111,0.035,2980,2002,2562,0,0,0,0,0,0
$GC,5459,1.10,119.2,423.1,8.1,300,5464,0.15,2.45,0.00,0.000,4,0.122,0.040,2958,3413,2556,0,0,0,0,0,0
$GC,5488,1.07,134.6,420.7,7.0,300,5508,0.00,2.42,13.20,0.782,6,0.000,0.036,2957,2010,2501,0,0,0,0,0,0
$GC,5835,1.04,147.0,397.5,7.2,309,5852,0.00,2.47,11.75,0.772,4,0.000,0.041,2958,3406,2450,0,0,0,0,0,0
$GC,5881,1.01,149.2,393.6,7.9,310,5890,0.12,2.42,3.62,0.486,6,0.117,0.036,2936,2009,2441,0,0,0,0,0,0
$GC,6206,1.03,172.2,370.5,6.4,318,6229,0.00,0.00,21.15,0.808,6,0.000,0.000,2935,2009,2347,0,0,0,0,0,0
$GC,6529,1.08,180.7,347.5,7.4,326,6545,0.00,2.53,8.65,0.716,4,0.000,0.052,2935,600,2312,0,0,0,0,0,0
$GC,6656,1.08,180.7,333.5,11.3,328,6660,0.00,2.40,0.00,0.000,6,0.000,0.030,2936,2018,2308,0,0,0,0,0,0
$GC,6987,1.13,185.4,307.0,7.7,336,7000,0.10,2.53,4.93,0.581,4,0.087,0.051,2961,604,2293,0,0,0,0,0,0
$GC,7067,1.06,185.4,299.7,8.9,337,7072,0.00,2.35,0.00,0.000,6,0.000,0.029,2961,2017,2291,0,0,0,0,0,0
$GC,7387,1.07,196.6,271.9,7.3,353,7404,0.00,2.55,11.38,0.713,4,0.000,0.051,2961,604,2247,0,0,0,0,0,0
$GC,7481,1.01,196.6,263.7,8.1,357,7486,0.15,2.35,0.00,0.000,6,0.121,0.029,2935,2009,2244,0,0,0,0,0,0
$GC,7813,1.12,209.5,242.2,7.1,373,7834,0.00,2.50,12.65,0.697,4,0.000,0.048,2934,602,2194,0,0,0,0,0,0
$GC,7946,1.18,216.9,231.3,7.5,378,7959,0.15,2.38,7.68,0.627,6,0.067,0.028,2974,2026,2165,0,0,0,0,0,0
$GC,8280,1.18,216.9,204.1,8.2,395,8284,0.00,2.33,0.00,0.000,4,0.000,0.035,2974,3407,2163,0,0,0,0,0,0
$GC,8352,1.23,219.9,198.3,7.8,399,8362,0.00,2.40,4.00,0.459,6,0.000,0.032,2974,2001,2153,0,0,0,0,0,0
$GC,8617,1.28,231.2,179.4,7.2,424,8635,0.00,2.47,11.68,0.631,4,0.000,0.048,2973,604,2106,0,0,0,0,0,0
$GC,8766,1.28,231.2,167.3,9.2,440,8770,0.00,2.35,0.00,0.000,6,0.000,0.025,2974,2018,2103,0,0,0,0,0,0
$GC,9029,1.34,231.2,146.8,8.3,464,9034,0.15,2.33,0.00,0.000,4,0.062,0.031,3014,3406,2103,0,0,0,0,0,0
$GC,9110,1.34,231.2,138.9,9.9,472,9114,0.00,2.38,0.00,0.000,6,0.000,0.030,3014,2003,2103,0,0,0,0,0,0
$GC,9373,1.36,252.2,118.1,6.6,496,9399,0.00,2.45,19.55,0.601,4,0.000,0.044,3015,604,2020,0,0,0,0,0,0
$GC,9453,1.29,252.2,111.2,9.2,504,9458,0.00,2.30,0.00,0.000,6,0.000,0.022,3015,2019,2017,0,0,0,0,0,0
$GC,9715,1.29,252.2,87.5,8.1,529,9720,0.00,2.45,0.00,0.000,4,0.000,0.043,3015,600,2017,0,0,0,0,0,0
$GC,9888,1.25,252.2,71.2,8.9,547,9892,0.15,2.30,0.00,0.000,6,0.103,0.021,2986,2011,2016,0,0,0,0,0,0
$GC,10149,1.34,262.3,51.2,7.3,571,10167,0.00,2.50,9.88,0.495,4,0.000,0.042,2987,602,1979,0,0,0,0,0,0
$GC,10238,1.39,274.7,45.0,7.2,580,10256,0.12,2.30,12.07,0.507,6,0.067,0.021,3023,2020,1930,0,0,0,0,0,0
$GC,10518,1.43,274.7,17.9,10.2,616,10524,0.00,2.45,0.00,0.000,4,0.000,0.043,3023,598,1929,0,0,0,0,0,0
$GC,10633,1.39,275.6,7.3,8.0,640,10638,0.00,2.28,0.00,0.000,6,0.000,0.020,3023,2005,1926,0,0,0,0,0,0
$STATE,10682,end climb,SURFACE_DEPTH_REACHED
$STATE,10682,begin surface coast
$FINISH,0.6,1.023153
$STATE,10711,end surface coast,CONTROL_FINISHED_OK
$STATE,10711,begin surface
$SM_CCo,10733,14.55,0.486,0,0,1827,300.00
$SM_GC,2.10,0.00,0.00,14.55,0.000,0.000,0.486,426,1849,1827,-10.52,-0.74,300.00
$IRIDIUM_FIX,2054.83,-15744.48,150999,010122
$TT8_MAMPS,0.029146
$HUMID,51.96
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,23.30
$XPDR_PINGS,3
$24V_AH,23.4,50.631
$10V_AH,10.0,46.206
$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,27.625,129.325,316.675,14.550,0.000,24.678,32.885,209.372,5.250,0.000,49.298,1283.905,7389.300,405.061,1576.736,508.939,33.384,1255.021,0.000,1500.101,0.000,29.243,0.000
$DEVICE_MAMPS,134.992,52.156,873.613,485.511,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,439.858,425.923,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34808,654
$CAP_FILE_SIZE,128041,0
$CFSIZE,260165632,225157120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,210610,074257,2101.291,-15746.159,108,2.8,127,9.8