version: 66.06
glider: 139
mission: 7
dive: 576
start: 6 21 110 20 25 21
data:
$ID,139
$MISSION,7
$DIVE,576
$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,-2142695.8
$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
$GPS1,201727,2058.611,-15749.450,91,2.6,110,9.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-68.7
$GPS2,202428,2058.629,-15749.499,26,3.2,45,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.153,0.101
$KALMAN_X,-331045.4,-367.5,130.6,340670.3,164.6
$KALMAN_Y,20960.2,113.6,135.5,-36546.6,154.2
$MHEAD_RNG_PITCHd_Wd,293.6,28181,-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,12,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,67,0.00,0.00,-50.35,0.000,2,0.000,0.000,428,1880,3147,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.4,-5.8,10,94,10.55,2.50,-4.43,0.000,4,0.133,0.055,2405,462,3370,0,0,0,0,0,0
$GC,253,-1.19,-77.9,41.4,-15.5,42,260,0.22,2.33,0.00,0.000,6,0.092,0.019,2450,1907,3372,0,0,0,0,0,0
$GC,516,-1.19,-77.9,71.5,-11.1,67,520,0.00,2.47,0.00,0.000,4,0.000,0.043,2451,469,3373,0,0,0,0,0,0
$GC,624,-1.15,-77.9,85.2,-11.9,78,628,0.00,2.28,0.00,0.000,6,0.000,0.019,2449,1886,3374,0,0,0,0,0,0
$GC,887,-1.15,-77.9,112.9,-9.6,102,891,0.00,2.42,0.00,0.000,4,0.000,0.041,2450,459,3374,0,0,0,0,0,0
$GC,960,-1.15,-77.9,121.3,-10.2,109,966,0.00,2.28,0.00,0.000,6,0.000,0.018,2449,1886,3375,0,0,0,0,0,0
$GC,1224,-1.21,-77.9,146.8,-9.3,134,1228,0.00,2.42,0.00,0.000,4,0.000,0.041,2450,467,3375,0,0,0,0,0,0
$GC,1242,-1.21,-77.9,148.7,-8.8,135,1247,0.00,2.25,0.00,0.000,6,0.000,0.019,2447,1881,3375,0,0,0,0,0,0
$GC,1505,-1.26,-77.9,171.1,-8.4,160,1509,0.00,2.42,0.00,0.000,4,0.000,0.042,2450,467,3376,0,0,0,0,0,0
$GC,1529,-1.31,-77.9,173.3,-8.2,162,1533,0.00,2.25,0.00,0.000,6,0.000,0.019,2448,1876,3377,0,0,0,0,0,0
$GC,1794,-1.37,-77.9,194.6,-7.8,186,1799,0.15,2.42,0.00,0.000,4,0.055,0.042,2401,466,3377,0,0,0,0,0,0
$GC,1899,-1.30,-77.9,206.7,-10.9,193,1903,0.15,2.25,0.00,0.000,6,0.092,0.020,2430,1870,3376,0,0,0,0,0,0
$GC,2216,-1.36,-77.9,236.1,-8.5,208,2221,0.00,2.40,0.00,0.000,4,0.000,0.043,2433,469,3377,0,0,0,0,0,0
$GC,2290,-1.40,-77.9,242.7,-8.4,211,2295,0.10,2.25,0.00,0.000,6,0.073,0.020,2395,1876,3376,0,0,0,0,0,0
$GC,2613,-1.40,-77.9,267.2,-8.0,227,2617,0.00,2.42,0.00,0.000,4,0.000,0.044,2395,462,3377,0,0,0,0,0,0
$GC,2670,-1.40,-77.9,272.6,-9.2,229,2674,0.00,2.28,0.00,0.000,6,0.000,0.021,2395,1876,3376,0,0,0,0,0,0
$GC,2986,-1.40,-77.9,299.8,-8.2,244,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1880,3375,0,0,0,0,0,0
$GC,3291,-1.40,-77.9,321.9,-6.8,252,3295,0.00,2.42,0.00,0.000,4,0.000,0.047,2394,470,3374,0,0,0,0,0,0
$GC,3315,-1.37,-77.9,323.8,-8.3,252,3319,0.00,2.28,0.00,0.000,6,0.000,0.023,2395,1876,3374,0,0,0,0,0,0
$GC,3655,-1.37,-77.9,351.9,-9.1,261,3659,0.00,2.45,0.00,0.000,4,0.000,0.048,2395,462,3373,0,0,0,0,0,0
$GC,3738,-1.37,-77.9,361.0,-10.2,262,3744,0.10,2.30,0.00,0.000,6,0.109,0.025,2416,1874,3372,0,0,0,0,0,0
$GC,4069,-1.44,-77.9,388.6,-7.8,271,4073,0.00,2.45,0.00,0.000,4,0.000,0.050,2415,467,3370,0,0,0,0,0,0
$GC,4135,-1.47,-77.9,393.8,-7.8,272,4139,0.00,2.30,0.00,0.000,6,0.000,0.025,2415,1876,3370,0,0,0,0,0,0
$GC,4480,-1.55,-77.9,419.6,-7.6,281,4486,0.17,2.45,0.00,0.000,4,0.054,0.051,2367,470,3367,0,0,0,0,0,0
$GC,4552,-1.47,-77.9,427.0,-10.7,282,4557,0.12,2.33,0.00,0.000,6,0.101,0.026,2392,1881,3366,0,0,0,0,0,0
$STATE,4855,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4855,begin apogee
$GC,4861,-0.31,0.0,452.4,8.1,290,4929,1.17,0.00,64.60,0.871,6,0.071,0.000,2645,2031,3050,0,0,0,0,0,0
$STATE,4930,end apogee,CONTROL_FINISHED_OK
$STATE,4930,begin climb
$GC,4933,1.40,77.9,453.3,0.0,291,5008,1.62,2.40,65.03,0.850,4,0.030,0.041,3028,3373,2732,0,0,0,0,0,0
$GC,5272,1.22,126.6,444.8,4.7,298,5321,0.22,2.35,41.70,0.845,6,0.111,0.035,2985,2005,2532,0,0,0,0,0,0
$GC,5662,1.11,132.2,417.5,7.6,308,5675,0.15,2.40,5.20,0.618,4,0.121,0.038,2959,3384,2510,0,0,0,0,0,0
$GC,5746,1.06,133.7,410.9,7.9,309,5751,0.00,2.38,0.00,0.000,6,0.000,0.036,2962,2010,2510,0,0,0,0,0,0
$GC,6079,1.05,162.5,389.4,6.0,317,6111,0.00,2.55,27.17,0.825,4,0.000,0.053,2961,598,2387,0,0,0,0,0,0
$GC,6126,0.97,178.2,386.1,6.9,318,6147,0.17,2.38,15.30,0.780,6,0.116,0.029,2930,1995,2322,0,0,0,0,0,0
$GC,6497,1.03,187.8,359.1,7.4,327,6512,0.00,2.50,8.85,0.719,4,0.000,0.051,2931,604,2284,0,0,0,0,0,0
$GC,6602,1.03,187.8,349.8,8.3,329,6606,0.00,2.38,0.00,0.000,6,0.000,0.029,2931,2012,2280,0,0,0,0,0,0
$GC,6917,1.10,197.0,326.2,7.4,337,6933,0.10,2.53,9.23,0.716,4,0.084,0.051,2956,597,2246,0,0,0,0,0,0
$GC,7045,1.05,197.0,313.9,10.7,339,7050,0.00,2.38,0.00,0.000,6,0.000,0.030,2955,2015,2242,0,0,0,0,0,0
$GC,7359,1.05,197.0,287.5,8.3,350,7360,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2020,2242,0,0,0,0,0,0
$GC,7667,1.05,197.0,263.1,8.2,365,7672,0.00,2.47,0.00,0.000,4,0.000,0.051,2956,600,2241,0,0,0,0,0,0
$GC,7812,1.02,197.0,249.6,9.0,371,7816,0.00,2.38,0.00,0.000,6,0.000,0.028,2956,2017,2239,0,0,0,0,0,0
$GC,8132,1.06,197.2,224.6,8.0,387,8136,0.00,2.45,0.00,0.000,4,0.000,0.049,2956,603,2239,0,0,0,0,0,0
$GC,8173,1.06,197.2,221.1,8.1,388,8179,0.00,2.35,0.00,0.000,6,0.000,0.028,2955,2027,2238,0,0,0,0,0,0
$GC,8492,1.12,200.9,196.0,7.8,406,8497,0.00,2.47,0.00,0.000,4,0.000,0.048,2956,604,2237,0,0,0,0,0,0
$GC,8621,1.12,201.0,185.3,8.0,419,8625,0.00,2.35,0.00,0.000,6,0.000,0.026,2956,2021,2237,0,0,0,0,0,0
$GC,8886,1.24,245.4,172.2,5.0,443,8937,0.12,2.58,42.38,0.678,4,0.072,0.047,2991,604,2048,0,0,0,0,0,0
$GC,9049,1.20,245.4,155.6,11.5,461,9054,0.00,2.33,0.00,0.000,6,0.000,0.025,2991,2017,2042,0,0,0,0,0,0
$GC,9311,1.20,245.4,127.9,8.3,485,9316,0.00,2.47,0.00,0.000,4,0.000,0.046,2991,601,2042,0,0,0,0,0,0
$GC,9377,1.20,245.4,122.6,8.5,491,9383,0.00,2.33,0.00,0.000,6,0.000,0.024,2991,2011,2041,0,0,0,0,0,0
$GC,9640,1.25,245.4,102.0,8.7,516,9643,0.00,2.45,0.00,0.000,4,0.000,0.045,2991,603,2040,0,0,0,0,0,0
$GC,9751,1.25,245.4,91.1,9.4,528,9756,0.00,2.30,0.00,0.000,6,0.000,0.023,2991,2018,2040,0,0,0,0,0,0
$GC,10014,1.33,263.4,71.5,6.8,552,10035,0.00,2.50,15.82,0.553,4,0.000,0.044,2991,603,1976,0,0,0,0,0,0
$GC,10148,1.33,263.4,59.5,9.7,566,10152,0.00,2.30,0.00,0.000,6,0.000,0.021,2992,2015,1972,0,0,0,0,0,0
$GC,10411,1.39,263.4,37.7,8.3,590,10416,0.12,2.45,0.00,0.000,4,0.065,0.044,3030,595,1972,0,0,0,0,0,0
$GC,10526,1.33,263.4,26.1,10.6,605,10532,0.12,2.30,0.00,0.000,6,0.104,0.021,3006,2011,1972,0,0,0,0,0,0
$GC,10735,1.41,277.1,9.2,7.1,642,10750,0.00,0.00,13.12,0.489,6,0.000,0.000,3006,2017,1919,0,0,0,0,0,0
$STATE,10816,end climb,SURFACE_DEPTH_REACHED
$STATE,10816,begin surface coast
$FINISH,0.4,1.010207
$STATE,10864,end surface coast,CONTROL_FINISHED_OK
$STATE,10864,begin surface
$SM_CCo,10885,15.07,0.487,0,0,1827,300.00
$SM_GC,2.22,0.00,0.00,15.07,0.000,0.000,0.487,424,1840,1827,-10.53,-0.99,300.00
$IRIDIUM_FIX,2050.21,-15714.46,150999,171702
$TT8_MAMPS,0.029146
$HUMID,52.44
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,23.4,51.077
$10V_AH,10.0,46.489
$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,26.500,119.750,308.400,15.075,0.000,31.248,29.220,207.591,5.000,0.000,47.799,1296.581,7501.911,381.089,1621.072,521.569,33.388,1248.860,0.000,1549.990,0.000,32.146,0.000
$DEVICE_MAMPS,132.691,55.224,871.312,487.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.464,436.907,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34987,665
$CAP_FILE_SIZE,124531,0
$CFSIZE,260165632,224854016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210610,232927,2059.360,-15750.435,87,2.6,106,9.8