version: 66.06
glider: 139
mission: 7
dive: 579
start: 6 22 110 5 54 8
data:
$ID,139
$MISSION,7
$DIVE,579
$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,-2142770.2
$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
$GPS1,054200,2100.783,-15752.411,151,1.6,151,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.4
$GPS2,055315,2100.870,-15752.471,24,1.7,24,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.116,0.143
$KALMAN_X,-331554.0,490.8,213.8,335099.6,-387.5
$KALMAN_Y,22232.5,231.4,281.6,-33930.5,-197.8
$MHEAD_RNG_PITCHd_Wd,311.2,21581,-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,-50.15,0.000,2,0.000,0.000,426,1880,3140,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.2,-5.1,10,95,10.55,2.40,-4.60,0.000,4,0.132,0.038,2406,3301,3370,0,0,0,0,0,0
$GC,221,-1.36,-77.9,31.4,-16.7,42,225,0.00,2.42,0.00,0.000,6,0.000,0.029,2402,1866,3372,0,0,0,0,0,0
$GC,484,-1.23,-77.9,69.4,-12.8,66,489,0.22,2.40,0.00,0.000,4,0.100,0.039,2450,460,3373,0,0,0,0,0,0
$GC,532,-1.19,-77.9,74.9,-9.8,70,537,0.00,2.33,0.00,0.000,6,0.000,0.019,2448,1919,3373,0,0,0,0,0,0
$GC,794,-1.19,-77.9,101.3,-9.2,95,798,0.00,2.50,0.00,0.000,4,0.000,0.041,2449,463,3374,0,0,0,0,0,0
$GC,868,-1.19,-77.9,108.3,-9.2,102,873,0.00,2.25,0.00,0.000,6,0.000,0.019,2448,1878,3374,0,0,0,0,0,0
$GC,1131,-1.22,-77.9,133.3,-10.0,127,1135,0.00,2.40,0.00,0.000,4,0.000,0.041,2449,463,3375,0,0,0,0,0,0
$GC,1210,-1.22,-77.9,141.9,-10.7,135,1214,0.00,2.25,0.00,0.000,6,0.000,0.019,2448,1875,3376,0,0,0,0,0,0
$GC,1474,-1.29,-77.9,165.1,-8.5,159,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1880,3375,0,0,0,0,0,0
$GC,1728,-1.36,-77.9,185.9,-8.2,183,1733,0.15,2.42,0.00,0.000,4,0.055,0.042,2399,469,3376,0,0,0,0,0,0
$GC,1845,-1.30,-77.9,199.6,-12.8,195,1851,0.15,2.25,0.00,0.000,6,0.092,0.020,2430,1874,3376,0,0,0,0,0,0
$GC,2106,-1.36,-77.9,222.2,-8.1,208,2110,0.00,2.40,0.00,0.000,4,0.000,0.042,2431,471,3376,0,0,0,0,0,0
$GC,2191,-1.40,-77.9,229.3,-7.6,211,2197,0.00,2.25,0.00,0.000,6,0.000,0.020,2430,1876,3376,0,0,0,0,0,0
$GC,2507,-1.46,-77.9,251.7,-7.7,227,2512,0.17,2.42,0.00,0.000,4,0.051,0.044,2377,471,3376,0,0,0,0,0,0
$GC,2560,-1.37,-77.9,257.2,-11.1,229,2565,0.17,2.25,0.00,0.000,6,0.089,0.021,2412,1874,3376,0,0,0,0,0,0
$GC,2882,-1.42,-77.9,284.9,-7.8,245,2886,0.00,2.40,0.00,0.000,4,0.000,0.044,2413,472,3375,0,0,0,0,0,0
$GC,2940,-1.42,-77.9,290.0,-8.9,247,2944,0.00,2.25,0.00,0.000,6,0.000,0.021,2413,1874,3375,0,0,0,0,0,0
$GC,3273,-1.47,-77.9,317.3,-7.8,258,3277,0.00,2.42,0.00,0.000,4,0.000,0.045,2413,467,3374,0,0,0,0,0,0
$GC,3356,-1.47,-77.9,324.0,-8.1,259,3362,0.00,2.28,0.00,0.000,6,0.000,0.023,2413,1869,3374,0,0,0,0,0,0
$GC,3688,-1.54,-77.9,347.8,-7.1,268,3693,0.15,2.45,0.00,0.000,4,0.058,0.048,2368,464,3372,0,0,0,0,0,0
$GC,3736,-1.47,-77.9,352.8,-10.4,269,3741,0.12,2.30,0.00,0.000,6,0.098,0.024,2393,1877,3372,0,0,0,0,0,0
$GC,4060,-1.47,-77.9,378.9,-7.8,277,4064,0.00,2.45,0.00,0.000,4,0.000,0.048,2394,465,3370,0,0,0,0,0,0
$GC,4124,-1.47,-77.9,385.0,-10.6,278,4129,0.00,2.28,0.00,0.000,6,0.000,0.025,2394,1871,3369,0,0,0,0,0,0
$GC,4470,-1.47,-77.9,415.4,-7.7,287,4474,0.00,2.45,0.00,0.000,4,0.000,0.050,2394,466,3367,0,0,0,0,0,0
$GC,4540,-1.47,-77.9,421.1,-8.5,288,4544,0.00,2.33,0.00,0.000,6,0.000,0.026,2394,1880,3366,0,0,0,0,0,0
$GC,4880,-1.50,-77.9,446.0,-7.3,297,4884,0.00,2.47,0.00,0.000,4,0.000,0.051,2394,466,3364,0,0,0,0,0,0
$STATE,4924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4924,begin apogee
$GC,4933,-0.31,0.0,450.1,8.1,298,5001,1.15,0.00,63.83,0.870,6,0.077,0.000,2641,2011,3050,0,0,0,0,0,0
$STATE,5002,end apogee,CONTROL_FINISHED_OK
$STATE,5002,begin climb
$GC,5004,1.40,77.9,451.4,0.0,299,5080,1.65,2.50,64.72,0.851,4,0.031,0.039,3027,3411,2731,0,0,0,0,0,0
$GC,5113,1.25,160.4,452.1,2.4,301,5193,0.20,2.42,70.35,0.848,6,0.111,0.034,2990,2006,2395,0,0,0,0,0,0
$GC,5507,1.13,160.4,415.7,10.4,311,5512,0.15,2.45,0.00,0.000,4,0.117,0.052,2965,602,2386,0,0,0,0,0,0
$GC,5536,1.00,160.4,412.6,10.1,311,5541,0.17,2.38,0.00,0.000,6,0.117,0.028,2934,2012,2383,0,0,0,0,0,0
$GC,5873,1.00,160.4,383.8,8.6,320,5877,0.00,2.47,0.00,0.000,4,0.000,0.051,2933,605,2382,0,0,0,0,0,0
$GC,5952,0.96,160.4,376.3,8.5,321,5956,0.00,2.38,0.00,0.000,6,0.000,0.028,2933,2018,2380,0,0,0,0,0,0
$GC,6283,1.00,167.0,351.5,7.6,329,6292,0.00,2.53,3.92,0.519,4,0.000,0.051,2933,607,2369,0,0,0,0,0,0
$GC,6407,1.00,167.0,339.6,9.2,331,6411,0.00,2.35,0.00,0.000,6,0.000,0.029,2933,2010,2367,0,0,0,0,0,0
$GC,6738,1.04,167.0,311.5,8.5,339,6742,0.00,2.47,0.00,0.000,4,0.000,0.050,2933,604,2366,0,0,0,0,0,0
$GC,6850,1.05,171.9,302.4,7.7,341,6862,0.00,2.38,5.25,0.597,6,0.000,0.029,2932,2022,2349,0,0,0,0,0,0
$GC,7188,1.11,186.8,279.1,7.0,356,7211,0.10,2.55,14.88,0.736,4,0.085,0.050,2958,601,2287,0,0,0,0,0,0
$GC,7261,1.06,186.8,273.2,9.5,359,7265,0.00,2.38,0.00,0.000,6,0.000,0.029,2958,2013,2284,0,0,0,0,0,0
$GC,7595,1.08,198.2,248.2,7.2,375,7611,0.00,2.50,11.00,0.687,4,0.000,0.050,2958,607,2242,0,0,0,0,0,0
$GC,7717,1.08,198.2,237.4,8.5,380,7721,0.00,2.35,0.00,0.000,6,0.000,0.028,2958,2013,2238,0,0,0,0,0,0
$GC,8038,1.14,219.3,214.4,6.6,396,8063,0.00,2.53,19.65,0.700,4,0.000,0.049,2959,601,2155,0,0,0,0,0,0
$GC,8117,1.14,219.3,207.2,11.0,399,8121,0.00,2.38,0.00,0.000,6,0.000,0.027,2959,2019,2152,0,0,0,0,0,0
$GC,8444,1.23,236.6,180.0,6.8,426,8466,0.10,2.50,16.45,0.658,4,0.081,0.047,2987,606,2084,0,0,0,0,0,0
$GC,8520,1.18,236.6,173.4,9.7,433,8525,0.00,2.35,0.00,0.000,6,0.000,0.026,2987,2014,2081,0,0,0,0,0,0
$GC,8783,1.18,238.9,151.2,7.9,458,8786,0.00,2.45,0.00,0.000,4,0.000,0.045,2988,604,2080,0,0,0,0,0,0
$GC,8796,1.19,246.8,149.8,7.5,459,8812,0.00,2.33,9.62,0.588,6,0.000,0.025,2988,2020,2044,0,0,0,0,0,0
$GC,9068,1.24,248.5,128.5,7.9,485,9072,0.00,2.45,0.00,0.000,4,0.000,0.044,2988,596,2043,0,0,0,0,0,0
$GC,9114,1.24,248.5,124.0,9.5,489,9119,0.00,2.33,0.00,0.000,6,0.000,0.024,2988,2010,2041,0,0,0,0,0,0
$GC,9376,1.31,248.5,98.8,9.9,514,9380,0.00,2.45,0.00,0.000,4,0.000,0.044,2988,596,2041,0,0,0,0,0,0
$GC,9488,1.31,248.5,87.5,8.9,525,9494,0.00,2.33,0.00,0.000,6,0.000,0.022,2987,2018,2040,0,0,0,0,0,0
$GC,9751,1.40,268.3,66.8,6.7,550,9779,0.15,2.47,20.15,0.556,4,0.059,0.042,3032,600,1955,0,0,0,0,0,0
$GC,9849,1.34,268.3,58.3,8.8,560,9855,0.12,2.30,0.00,0.000,6,0.108,0.021,3007,2010,1952,0,0,0,0,0,0
$GC,10112,1.44,304.9,41.7,5.5,585,10150,0.00,2.50,32.47,0.541,4,0.000,0.042,3006,597,1805,0,0,0,0,0,0
$GC,10276,1.44,304.9,27.3,10.1,605,10281,0.00,2.30,0.00,0.000,6,0.000,0.021,3007,2010,1801,0,0,0,0,0,0
$GC,10484,1.53,304.9,7.4,8.3,642,10490,0.17,2.42,0.00,0.000,4,0.051,0.042,3061,600,1801,0,0,0,0,0,0
$STATE,10517,end climb,SURFACE_DEPTH_REACHED
$STATE,10518,begin surface coast
$FINISH,1.6,1.023066
$STATE,10532,end surface coast,CONTROL_FINISHED_OK
$STATE,10532,begin surface
$SM_CCo,10615,0.00,0.000,0,0,1793,308.34
$SM_GC,1.60,11.35,0.00,0.00,0.025,0.000,0.000,426,1890,1793,-10.45,0.42,308.34
$IRIDIUM_FIX,2054.83,-15751.76,160999,050538
$TT8_MAMPS,0.029146
$HUMID,51.49
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.3,51.349
$10V_AH,10.0,46.657
$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,27.025,133.900,332.300,0.000,0.000,63.570,82.536,328.170,4.500,0.000,24.116,1254.366,7379.113,380.387,1541.803,731.927,33.376,1243.338,0.000,1494.751,0.000,29.260,0.000
$DEVICE_MAMPS,131.924,52.156,869.778,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.734,431.551,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34904,652
$CAP_FILE_SIZE,128696,0
$CFSIZE,260165632,224669696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220610,085315,2101.708,-15753.320,77,3.1,96,9.8