version: 66.06
glider: 139
mission: 7
dive: 573
start: 6 21 110 11 1 55
data:
$ID,139
$MISSION,7
$DIVE,573
$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,-2142600.8
$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
$GPS1,105050,2100.185,-15747.107,87,2.6,106,9.8
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-69.8
$GPS2,110104,2100.168,-15747.178,39,2.6,58,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.116,-0.142
$KALMAN_X,-331084.1,-164.6,-278.3,344917.8,-5.5
$KALMAN_Y,20179.6,-296.0,-309.5,-32060.5,419.6
$MHEAD_RNG_PITCHd_Wd,209.4,6236,-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,-77.9,0.0,0.0,0,68,0.00,0.00,-50.12,0.000,2,0.000,0.000,427,1897,3135,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.3,-6.0,10,95,10.50,2.50,-4.72,0.000,4,0.131,0.054,2404,469,3370,0,0,0,0,0,0
$GC,225,-1.21,-77.9,35.5,-16.9,40,231,0.22,2.33,0.00,0.000,6,0.094,0.020,2450,1910,3371,0,0,0,0,0,0
$GC,487,-1.18,-77.9,66.6,-10.6,65,492,0.00,2.47,0.00,0.000,4,0.000,0.041,2450,469,3372,0,0,0,0,0,0
$GC,559,-1.13,-77.9,75.0,-11.4,72,563,0.00,2.28,0.00,0.000,6,0.000,0.019,2449,1885,3372,0,0,0,0,0,0
$GC,821,-1.13,-77.9,104.8,-12.6,96,825,0.00,2.40,0.00,0.000,4,0.000,0.041,2449,468,3373,0,0,0,0,0,0
$GC,877,-1.13,-77.9,111.7,-11.1,101,883,0.00,2.25,0.00,0.000,6,0.000,0.019,2448,1881,3373,0,0,0,0,0,0
$GC,1140,-1.17,-77.9,134.3,-9.7,126,1144,0.00,2.40,0.00,0.000,4,0.000,0.041,2449,467,3374,0,0,0,0,0,0
$GC,1158,-1.17,-77.9,136.6,-10.5,127,1164,0.00,2.25,0.00,0.000,6,0.000,0.019,2447,1884,3374,0,0,0,0,0,0
$GC,1422,-1.22,-77.9,161.1,-10.1,152,1426,0.00,2.42,0.00,0.000,4,0.000,0.042,2449,469,3375,0,0,0,0,0,0
$GC,1496,-1.26,-77.9,169.4,-10.4,159,1502,0.00,2.25,0.00,0.000,6,0.000,0.019,2446,1880,3375,0,0,0,0,0,0
$GC,1759,-1.33,-77.9,192.3,-7.3,184,1763,0.00,2.42,0.00,0.000,4,0.000,0.042,2449,463,3375,0,0,0,0,0,0
$GC,1797,-1.38,-77.9,195.4,-8.4,187,1803,0.15,2.25,0.00,0.000,6,0.055,0.020,2396,1876,3375,0,0,0,0,0,0
$GC,2062,-1.38,-77.9,218.6,-8.7,203,2066,0.00,2.40,0.00,0.000,4,0.000,0.041,2399,469,3375,0,0,0,0,0,0
$GC,2123,-1.34,-77.9,224.1,-9.6,205,2129,0.10,2.25,0.00,0.000,6,0.108,0.020,2420,1878,3375,0,0,0,0,0,0
$GC,2441,-1.38,-77.9,247.5,-7.8,221,2444,0.00,2.40,0.00,0.000,4,0.000,0.044,2421,466,3375,0,0,0,0,0,0
$GC,2482,-1.38,-77.9,251.6,-9.0,222,2487,0.00,2.25,0.00,0.000,6,0.000,0.021,2421,1872,3375,0,0,0,0,0,0
$GC,2798,-1.44,-77.9,275.8,-7.4,238,2801,0.00,2.40,0.00,0.000,4,0.000,0.045,2420,467,3375,0,0,0,0,0,0
$GC,2914,-1.44,-77.9,285.9,-8.7,243,2918,0.00,2.28,0.00,0.000,6,0.000,0.022,2421,1878,3374,0,0,0,0,0,0
$GC,3262,-1.50,-77.9,312.1,-7.1,256,3267,0.15,2.45,0.00,0.000,4,0.057,0.047,2374,468,3373,0,0,0,0,0,0
$GC,3339,-1.43,-77.9,319.4,-9.8,257,3344,0.12,2.28,0.00,0.000,6,0.099,0.023,2400,1872,3372,0,0,0,0,0,0
$GC,3675,-1.43,-77.9,348.6,-9.0,266,3679,0.00,2.40,0.00,0.000,4,0.000,0.047,2400,470,3371,0,0,0,0,0,0
$GC,3735,-1.43,-77.9,354.7,-9.9,267,3739,0.00,2.30,0.00,0.000,6,0.000,0.024,2399,1883,3371,0,0,0,0,0,0
$GC,4084,-1.43,-77.9,386.1,-8.9,276,4088,0.00,2.45,0.00,0.000,4,0.000,0.048,2400,470,3368,0,0,0,0,0,0
$GC,4109,-1.43,-77.9,388.5,-10.1,276,4114,0.00,2.30,0.00,0.000,6,0.000,0.025,2400,1882,3368,0,0,0,0,0,0
$GC,4450,-1.47,-77.9,421.5,-9.9,285,4454,0.00,2.47,0.00,0.000,4,0.000,0.049,2400,462,3366,0,0,0,0,0,0
$GC,4529,-1.47,-77.9,429.2,-10.1,286,4533,0.00,2.33,0.00,0.000,6,0.000,0.026,2400,1876,3365,0,0,0,0,0,0
$STATE,4695,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4695,begin apogee
$GC,4701,-0.31,0.0,444.0,8.8,290,4769,1.12,0.00,64.30,0.861,6,0.071,0.000,2642,2034,3049,0,0,0,0,0,0
$STATE,4770,end apogee,CONTROL_FINISHED_OK
$STATE,4770,begin climb
$GC,4772,1.40,77.9,445.0,0.0,291,4842,1.62,0.00,64.90,0.841,6,0.031,0.000,3026,2034,2731,0,0,0,0,0,0
$GC,5185,1.20,111.8,429.9,5.7,302,5221,0.25,2.35,28.83,0.825,4,0.110,0.039,2975,3377,2593,0,0,0,0,0,0
$GC,5257,1.11,123.8,425.5,7.2,303,5275,0.00,2.38,11.48,0.751,6,0.000,0.035,2973,2002,2545,0,0,0,0,0,0
$GC,5600,1.02,126.4,398.0,7.8,312,5605,0.20,2.47,0.00,0.000,4,0.109,0.050,2938,601,2540,0,0,0,0,0,0
$GC,5758,0.97,149.9,387.1,6.4,315,5787,0.00,2.33,22.98,0.809,6,0.000,0.028,2938,1990,2438,0,0,0,0,0,0
$GC,6110,0.99,159.6,360.6,7.4,324,6121,0.00,0.00,9.07,0.720,6,0.000,0.000,2938,1990,2399,0,0,0,0,0,0
$GC,6435,0.99,159.6,334.7,8.1,332,6440,0.00,2.45,0.00,0.000,4,0.000,0.051,2938,600,2395,0,0,0,0,0,0
$GC,6478,0.95,159.6,330.7,9.8,333,6483,0.00,2.38,0.00,0.000,6,0.000,0.029,2938,2010,2394,0,0,0,0,0,0
$GC,6806,0.97,177.3,305.8,6.8,341,6827,0.00,2.53,16.02,0.756,4,0.000,0.050,2938,596,2327,0,0,0,0,0,0
$GC,7032,0.97,177.3,283.5,8.8,349,7036,0.00,2.38,0.00,0.000,6,0.000,0.029,2938,2016,2322,0,0,0,0,0,0
$GC,7366,1.05,205.2,262.8,6.1,365,7399,0.00,2.58,25.60,0.752,4,0.000,0.050,2939,605,2211,0,0,0,0,0,0
$GC,7491,1.05,205.2,252.4,9.1,370,7495,0.00,2.38,0.00,0.000,6,0.000,0.028,2938,2020,2207,0,0,0,0,0,0
$GC,7812,1.13,205.2,228.0,8.7,386,7816,0.00,2.50,0.00,0.000,4,0.000,0.050,2939,603,2206,0,0,0,0,0,0
$GC,7909,1.13,205.2,217.4,10.6,390,7913,0.00,2.38,0.00,0.000,6,0.000,0.028,2938,2021,2204,0,0,0,0,0,0
$GC,8234,1.26,230.0,192.5,6.3,411,8264,0.22,2.58,21.88,0.688,4,0.056,0.048,2995,607,2111,0,0,0,0,0,0
$GC,8340,1.19,230.0,183.0,10.3,422,8346,0.12,2.35,0.00,0.000,6,0.114,0.027,2973,2014,2107,0,0,0,0,0,0
$GC,8602,1.24,230.0,160.0,8.1,447,8603,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2018,2107,0,0,0,0,0,0
$GC,8857,1.30,231.6,142.4,7.9,471,8862,0.10,2.47,0.00,0.000,4,0.081,0.047,3002,600,2106,0,0,0,0,0,0
$GC,8961,1.25,231.6,132.3,8.9,481,8966,0.00,2.35,0.00,0.000,6,0.000,0.025,3002,2021,2105,0,0,0,0,0,0
$GC,9224,1.25,231.6,112.0,8.8,506,9228,0.00,2.47,0.00,0.000,4,0.000,0.044,3002,595,2104,0,0,0,0,0,0
$GC,9345,1.25,231.6,100.4,9.4,518,9351,0.00,2.30,0.00,0.000,6,0.000,0.024,3002,2008,2104,0,0,0,0,0,0
$GC,9608,1.29,231.6,80.9,9.0,543,9612,0.00,2.42,0.00,0.000,4,0.000,0.043,3002,601,2104,0,0,0,0,0,0
$GC,9735,1.29,231.6,67.7,9.8,556,9740,0.00,2.30,0.00,0.000,6,0.000,0.022,3002,2015,2103,0,0,0,0,0,0
$GC,9999,1.36,256.1,49.9,6.3,580,10026,0.00,0.00,23.35,0.547,6,0.000,0.000,3002,2019,2005,0,0,0,0,0,0
$GC,10283,1.43,256.1,28.1,8.3,609,10289,0.10,2.47,0.00,0.000,4,0.074,0.043,3036,591,2003,0,0,0,0,0,0
$GC,10342,1.37,256.1,21.9,10.4,621,10348,0.12,2.33,0.00,0.000,6,0.106,0.021,3013,2030,2001,0,0,0,0,0,0
$GC,10552,1.38,264.8,6.8,7.4,658,10567,0.00,2.47,8.98,0.459,4,0.000,0.044,3012,601,1969,0,0,0,0,0,0
$STATE,10605,end climb,SURFACE_DEPTH_REACHED
$STATE,10605,begin surface coast
$FINISH,0.4,1.012300
$STATE,10669,end surface coast,CONTROL_FINISHED_OK
$STATE,10669,begin surface
$SM_CCo,10692,20.35,0.496,0,0,1827,300.00
$SM_GC,1.69,0.00,0.00,20.35,0.000,0.000,0.496,427,1885,1827,-10.52,0.28,300.00
$IRIDIUM_FIX,2050.21,-15747.49,150999,111126
$TT8_MAMPS,0.029146
$HUMID,51.65
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,23.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,401.6,70.5
$24V_AH,23.4,50.816
$10V_AH,10.0,46.321
$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,26.325,119.025,297.375,20.350,0.000,58.608,63.107,261.626,4.250,0.000,59.936,1292.822,7428.700,394.671,1582.950,626.415,33.379,1233.941,0.000,1506.264,0.000,29.164,0.000
$DEVICE_MAMPS,131.157,53.690,860.574,496.249,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,458.946,457.524,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34860,683
$CAP_FILE_SIZE,123880,0
$CFSIZE,260165632,225038336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210610,140431,2059.406,-15748.022,205,1.6,205,9.8