version: 66.06
glider: 139
mission: 7
dive: 577
start: 6 21 110 23 38 13
data:
$ID,139
$MISSION,7
$DIVE,577
$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,-2142730.5
$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
$GPS1,232927,2059.360,-15750.435,87,2.6,106,9.8
$_CALLS,1
$_XMS_NAKs,29
$_XMS_TOUTs,5
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.8
$GPS2,233722,2059.372,-15750.501,13,2.4,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.174,0.060
$KALMAN_X,-331118.3,88.3,-262.9,338948.3,530.9
$KALMAN_Y,21322.0,370.8,-242.1,-35411.3,505.1
$MHEAD_RNG_PITCHd_Wd,279.3,25970,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.40,-77.9,0.0,0.0,0,69,0.00,0.00,-50.08,0.000,2,0.000,0.000,423,1844,3139,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.3,-5.6,10,96,10.57,2.47,-4.62,0.000,4,0.133,0.040,2403,3295,3370,0,0,0,0,0,0
$GC,199,-1.40,-77.9,25.9,-12.5,37,205,0.00,2.40,0.00,0.000,6,0.000,0.029,2403,1873,3372,0,0,0,0,0,0
$GC,404,-1.24,-77.9,56.9,-15.4,59,409,0.20,2.42,0.00,0.000,4,0.100,0.041,2443,460,3372,0,0,0,0,0,0
$GC,430,-1.10,-77.9,60.7,-14.5,61,435,0.15,2.35,0.00,0.000,6,0.103,0.019,2472,1917,3373,0,0,0,0,0,0
$GC,693,-1.14,-77.9,87.8,-10.5,85,697,0.00,2.47,0.00,0.000,4,0.000,0.042,2472,469,3374,0,0,0,0,0,0
$GC,785,-1.19,-77.9,98.7,-10.6,94,791,0.00,2.25,0.00,0.000,6,0.000,0.018,2471,1892,3375,0,0,0,0,0,0
$GC,1050,-1.28,-77.9,123.2,-8.9,119,1055,0.15,2.47,0.00,0.000,4,0.055,0.043,2421,463,3375,0,0,0,0,0,0
$GC,1097,-1.23,-77.9,128.8,-11.3,123,1103,0.12,2.25,0.00,0.000,6,0.099,0.019,2447,1872,3376,0,0,0,0,0,0
$GC,1357,-1.29,-77.9,152.5,-8.9,148,1362,0.00,2.40,0.00,0.000,4,0.000,0.041,2447,470,3376,0,0,0,0,0,0
$GC,1404,-1.34,-77.9,157.1,-9.4,152,1410,0.10,2.22,0.00,0.000,6,0.072,0.019,2408,1880,3376,0,0,0,0,0,0
$GC,1664,-1.34,-77.9,183.4,-9.8,177,1669,0.00,2.40,0.00,0.000,4,0.000,0.042,2408,465,3376,0,0,0,0,0,0
$GC,1735,-1.30,-77.9,190.6,-10.4,184,1739,0.12,2.22,0.00,0.000,6,0.098,0.020,2431,1874,3377,0,0,0,0,0,0
$GC,2005,-1.36,-77.9,210.6,-7.0,202,2009,0.00,2.40,0.00,0.000,4,0.000,0.042,2434,470,3377,0,0,0,0,0,0
$GC,2056,-1.42,-77.9,215.4,-9.2,204,2060,0.12,2.22,0.00,0.000,6,0.061,0.020,2390,1873,3376,0,0,0,0,0,0
$GC,2383,-1.42,-77.9,246.4,-8.0,220,2387,0.00,2.42,0.00,0.000,4,0.000,0.044,2391,460,3376,0,0,0,0,0,0
$GC,2411,-1.33,-77.9,249.1,-8.9,221,2416,0.15,2.25,0.00,0.000,6,0.093,0.021,2422,1876,3376,0,0,0,0,0,0
$GC,2734,-1.40,-77.9,274.1,-8.4,237,2739,0.00,2.42,0.00,0.000,4,0.000,0.044,2422,466,3376,0,0,0,0,0,0
$GC,2813,-1.45,-77.9,281.7,-8.8,240,2818,0.12,2.25,0.00,0.000,6,0.063,0.021,2380,1882,3376,0,0,0,0,0,0
$GC,3127,-1.45,-77.9,312.7,-9.7,252,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1885,3375,0,0,0,0,0,0
$GC,3451,-1.45,-77.9,338.3,-8.1,260,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1886,3373,0,0,0,0,0,0
$GC,3776,-1.45,-77.9,367.4,-8.8,268,3780,0.00,2.45,0.00,0.000,4,0.000,0.048,2379,472,3371,0,0,0,0,0,0
$GC,3828,-1.40,-77.9,372.5,-10.2,269,3833,0.15,2.25,0.00,0.000,6,0.094,0.025,2411,1866,3371,0,0,0,0,0,0
$GC,4148,-1.46,-77.9,397.8,-7.7,277,4153,0.00,2.42,0.00,0.000,4,0.000,0.050,2411,473,3369,0,0,0,0,0,0
$GC,4228,-1.50,-77.9,404.6,-8.3,278,4233,0.12,2.28,0.00,0.000,6,0.064,0.026,2372,1873,3368,0,0,0,0,0,0
$GC,4559,-1.50,-77.9,433.9,-8.9,286,4563,0.00,2.45,0.00,0.000,4,0.000,0.051,2371,472,3366,0,0,0,0,0,0
$GC,4610,-1.46,-77.9,439.1,-10.5,287,4615,0.12,2.30,0.00,0.000,6,0.100,0.027,2397,1878,3365,0,0,0,0,0,0
$STATE,4763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4763,begin apogee
$GC,4770,-0.31,0.0,452.0,8.1,291,4838,1.15,0.00,64.40,0.870,6,0.071,0.000,2645,2043,3050,0,0,0,0,0,0
$STATE,4839,end apogee,CONTROL_FINISHED_OK
$STATE,4839,begin climb
$GC,4841,1.40,77.9,453.0,0.0,292,4917,1.62,2.40,64.75,0.851,4,0.030,0.041,3024,3376,2732,0,0,0,0,0,0
$GC,5168,1.22,124.8,445.9,4.8,299,5214,0.22,2.35,39.92,0.844,6,0.112,0.035,2985,2011,2541,0,0,0,0,0,0
$GC,5528,1.11,129.8,419.3,7.7,308,5541,0.15,2.40,4.90,0.600,4,0.118,0.038,2959,3382,2519,0,0,0,0,0,0
$GC,5552,1.07,151.9,417.6,6.5,308,5579,0.00,2.38,20.65,0.813,6,0.000,0.036,2960,2008,2430,0,0,0,0,0,0
$GC,5903,1.03,151.9,387.3,9.0,317,5907,0.12,2.50,0.00,0.000,4,0.120,0.054,2937,594,2424,0,0,0,0,0,0
$GC,5960,0.97,151.9,381.6,10.1,318,5964,0.00,2.33,0.00,0.000,6,0.000,0.030,2936,1986,2423,0,0,0,0,0,0
$GC,6273,0.98,162.8,356.8,7.3,326,6290,0.00,2.53,9.57,0.733,4,0.000,0.051,2937,604,2385,0,0,0,0,0,0
$GC,6338,0.94,162.8,351.6,8.9,327,6342,0.00,2.38,0.00,0.000,6,0.000,0.029,2936,2011,2384,0,0,0,0,0,0
$GC,6651,0.96,182.0,330.6,6.7,335,6670,0.00,0.00,17.98,0.782,6,0.000,0.000,2937,2015,2309,0,0,0,0,0,0
$GC,6976,1.00,182.0,304.1,8.4,343,6980,0.00,2.50,0.00,0.000,4,0.000,0.051,2937,601,2304,0,0,0,0,0,0
$GC,6991,1.00,182.0,302.8,8.1,343,6995,0.00,2.38,0.00,0.000,6,0.000,0.030,2937,2010,2303,0,0,0,0,0,0
$GC,7324,1.07,203.2,280.8,6.6,358,7350,0.00,2.58,19.55,0.754,4,0.000,0.052,2937,605,2221,0,0,0,0,0,0
$GC,7366,1.07,204.4,277.6,7.9,360,7370,0.00,2.38,0.00,0.000,6,0.000,0.029,2937,2017,2218,0,0,0,0,0,0
$GC,7696,1.16,211.3,254.0,7.5,376,7712,0.12,2.55,8.30,0.659,4,0.075,0.050,2969,594,2187,0,0,0,0,0,0
$GC,7835,1.11,211.3,240.5,10.0,382,7839,0.00,2.40,0.00,0.000,6,0.000,0.028,2969,2019,2183,0,0,0,0,0,0
$GC,8165,1.12,218.5,212.6,7.5,398,8177,0.00,2.55,7.10,0.610,4,0.000,0.050,2969,606,2159,0,0,0,0,0,0
$GC,8298,1.12,218.5,199.5,9.5,403,8304,0.00,2.35,0.00,0.000,6,0.000,0.027,2969,2013,2155,0,0,0,0,0,0
$GC,8625,1.17,235.5,173.2,6.9,434,8646,0.00,2.53,16.35,0.660,4,0.000,0.046,2969,598,2090,0,0,0,0,0,0
$GC,8743,1.17,235.5,162.3,10.3,446,8749,0.00,2.35,0.00,0.000,6,0.000,0.026,2970,2013,2086,0,0,0,0,0,0
$GC,9008,1.24,238.3,140.7,7.8,471,9012,0.00,2.47,0.00,0.000,4,0.000,0.046,2969,594,2086,0,0,0,0,0,0
$GC,9036,1.24,238.3,137.8,10.0,473,9042,0.00,2.35,0.00,0.000,6,0.000,0.025,2970,2015,2084,0,0,0,0,0,0
$GC,9299,1.32,245.7,117.2,7.5,498,9317,0.15,2.53,9.93,0.567,4,0.061,0.045,3012,604,2048,0,0,0,0,0,0
$GC,9412,1.26,245.7,105.7,11.0,510,9417,0.12,2.30,0.00,0.000,6,0.108,0.023,2989,2015,2045,0,0,0,0,0,0
$GC,9674,1.36,280.8,87.2,5.6,534,9711,0.00,2.50,31.90,0.587,4,0.000,0.044,2988,601,1905,0,0,0,0,0,0
$GC,9846,1.36,280.8,73.3,10.8,553,9850,0.00,2.33,0.00,0.000,6,0.000,0.022,2988,2015,1899,0,0,0,0,0,0
$GC,10109,1.45,280.8,49.0,9.1,577,10114,0.17,2.47,0.00,0.000,4,0.054,0.044,3039,597,1899,0,0,0,0,0,0
$GC,10282,1.37,280.8,30.3,10.8,595,10287,0.15,2.30,0.00,0.000,6,0.100,0.021,3009,2024,1898,0,0,0,0,0,0
$GC,10558,1.43,283.4,7.7,7.8,643,10564,0.00,2.45,0.00,0.000,4,0.000,0.041,3010,598,1898,0,0,0,0,0,0
$GC,10584,1.47,283.4,5.3,9.0,648,10590,0.10,2.28,0.00,0.000,6,0.075,0.021,3045,2020,1898,0,0,0,0,0,0
$STATE,10611,end climb,SURFACE_DEPTH_REACHED
$STATE,10611,begin surface coast
$FINISH,0.4,1.010681
$STATE,10646,end surface coast,CONTROL_FINISHED_OK
$STATE,10646,begin surface
$SM_CCo,10668,10.10,0.465,0,0,1827,300.00
$SM_GC,2.71,0.00,0.00,10.10,0.000,0.000,0.465,422,1852,1827,-10.54,-0.65,300.00
$IRIDIUM_FIX,2050.21,-15750.49,150999,202006
$TT8_MAMPS,0.029146
$HUMID,52.48
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.3,51.168
$10V_AH,10.0,46.545
$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,27.575,124.700,315.300,10.100,0.000,29.001,27.602,273.352,4.750,0.000,33.947,1283.328,7337.874,398.294,1550.788,580.371,33.389,1244.859,0.000,1495.026,0.000,29.246,0.000
$DEVICE_MAMPS,132.691,54.457,869.778,464.802,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.392,433.815,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,35075,659
$CAP_FILE_SIZE,128045,0
$CFSIZE,260165632,224788480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220610,024027,2100.162,-15751.578,198,2.1,217,9.8