version: 66.06
glider: 139
mission: 7
dive: 581
start: 6 22 110 12 10 50
data:
$ID,139
$MISSION,7
$DIVE,581
$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,-2142841.8
$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
$GPS1,120057,2102.740,-15754.462,61,5.2,80,9.8
$_CALLS,1
$_XMS_NAKs,41
$_XMS_TOUTs,1
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-68.8
$GPS2,120959,2102.796,-15754.496,18,1.7,36,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.161,0.089
$KALMAN_X,-331587.2,-181.7,-183.3,332704.6,-351.7
$KALMAN_Y,23493.9,-316.6,-216.7,-30580.2,699.2
$MHEAD_RNG_PITCHd_Wd,289.0,16617,-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,-50.42,0.000,2,0.000,0.000,424,1887,3131,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.2,-5.4,10,95,10.80,2.38,-4.95,0.000,4,0.141,0.036,2403,3302,3371,0,0,0,0,0,0
$GC,199,-1.32,-77.9,28.0,-17.5,37,205,0.12,2.40,0.00,0.000,6,0.114,0.030,2427,1871,3372,0,0,0,0,0,0
$GC,404,-1.21,-77.9,58.3,-13.6,57,409,0.12,2.42,0.00,0.000,4,0.121,0.042,2450,464,3373,0,0,0,0,0,0
$GC,452,-1.13,-77.9,65.3,-13.4,61,458,0.10,2.33,0.00,0.000,6,0.123,0.019,2465,1911,3373,0,0,0,0,0,0
$GC,715,-1.18,-77.9,89.6,-8.9,86,719,0.00,2.47,0.00,0.000,4,0.000,0.041,2468,469,3374,0,0,0,0,0,0
$GC,769,-1.18,-77.9,94.8,-9.9,91,773,0.00,2.25,0.00,0.000,6,0.000,0.019,2462,1881,3375,0,0,0,0,0,0
$GC,1033,-1.24,-77.9,116.8,-8.5,115,1038,0.12,2.45,0.00,0.000,4,0.061,0.041,2421,462,3376,0,0,0,0,0,0
$GC,1098,-1.19,-77.9,124.9,-12.4,121,1104,0.15,2.25,0.00,0.000,6,0.103,0.019,2451,1867,3376,0,0,0,0,0,0
$GC,1359,-1.26,-77.9,149.5,-7.9,146,1363,0.00,2.40,0.00,0.000,4,0.000,0.042,2453,463,3377,0,0,0,0,0,0
$GC,1378,-1.31,-77.9,151.1,-8.1,147,1384,0.10,2.28,0.00,0.000,6,0.071,0.019,2413,1886,3377,0,0,0,0,0,0
$GC,1639,-1.31,-77.9,173.9,-9.2,172,1643,0.00,2.45,0.00,0.000,4,0.000,0.042,2413,460,3376,0,0,0,0,0,0
$GC,1748,-1.27,-77.9,185.7,-10.1,183,1752,0.12,2.28,0.00,0.000,6,0.108,0.019,2436,1881,3377,0,0,0,0,0,0
$GC,2007,-1.34,-77.9,210.5,-9.1,202,2011,0.00,2.25,0.00,0.000,4,0.000,0.026,2437,3258,3377,0,0,0,0,0,0
$GC,2035,-1.46,-77.9,212.9,-8.4,203,2040,0.17,2.30,0.00,0.000,6,0.049,0.027,2378,1871,3377,0,0,0,0,0,0
$GC,2358,-1.42,-77.9,243.5,-10.7,219,2363,0.12,2.40,0.00,0.000,4,0.108,0.043,2405,472,3377,0,0,0,0,0,0
$GC,2442,-1.42,-77.9,252.6,-10.7,222,2448,0.00,2.25,0.00,0.000,6,0.000,0.021,2405,1873,3377,0,0,0,0,0,0
$GC,2758,-1.42,-77.9,280.4,-8.3,238,2762,0.00,2.30,0.00,0.000,4,0.000,0.028,2403,3269,3377,0,0,0,0,0,0
$GC,2773,-1.48,-77.9,281.6,-8.0,238,2779,0.00,2.33,0.00,0.000,6,0.000,0.029,2405,1878,3376,0,0,0,0,0,0
$GC,3108,-1.51,-77.9,308.5,-8.4,253,3112,0.00,2.42,0.00,0.000,4,0.000,0.046,2405,463,3376,0,0,0,0,0,0
$GC,3214,-1.51,-77.9,318.1,-8.4,255,3219,0.00,2.28,0.00,0.000,6,0.000,0.022,2405,1869,3375,0,0,0,0,0,0
$GC,3565,-1.56,-77.9,345.1,-8.0,264,3570,0.15,2.45,0.00,0.000,4,0.057,0.048,2357,463,3374,0,0,0,0,0,0
$GC,3645,-1.47,-77.9,352.5,-9.1,265,3650,0.17,2.30,0.00,0.000,6,0.100,0.024,2391,1871,3373,0,0,0,0,0,0
$GC,3976,-1.47,-77.9,375.7,-7.3,273,3980,0.00,2.42,0.00,0.000,4,0.000,0.048,2392,473,3371,0,0,0,0,0,0
$GC,4041,-1.47,-77.9,382.0,-9.2,274,4045,0.00,2.30,0.00,0.000,6,0.000,0.025,2392,1882,3371,0,0,0,0,0,0
$GC,4386,-1.47,-77.9,412.3,-8.1,283,4390,0.00,2.47,0.00,0.000,4,0.000,0.051,2389,465,3368,0,0,0,0,0,0
$GC,4437,-1.47,-77.9,417.1,-8.8,284,4441,0.00,2.33,0.00,0.000,6,0.000,0.026,2392,1881,3368,0,0,0,0,0,0
$GC,4756,-1.50,-77.9,445.1,-8.6,292,4761,0.00,2.45,0.00,0.000,4,0.000,0.051,2392,469,3366,0,0,0,0,0,0
$GC,4808,-1.50,-77.9,449.8,-7.9,293,4812,0.00,2.08,0.00,0.000,3,0.000,0.026,2392,1731,3365,0,0,0,0,0,0
$STATE,4813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4813,begin apogee
$GC,4819,-0.31,0.0,450.3,8.4,293,4889,1.17,0.00,64.50,0.870,6,0.084,0.000,2641,2020,3049,0,0,0,0,0,0
$STATE,4890,end apogee,CONTROL_FINISHED_OK
$STATE,4890,begin climb
$GC,4893,1.40,77.9,451.3,0.0,295,4968,1.67,2.45,64.47,0.851,4,0.038,0.040,3018,3391,2732,0,0,0,0,0,0
$GC,4974,1.34,215.3,452.8,-1.4,296,5101,0.00,2.40,117.50,0.847,6,0.000,0.034,3023,2005,2172,0,0,0,0,0,0
$GC,5427,1.20,215.3,395.2,14.1,308,5432,0.25,2.47,0.00,0.000,4,0.110,0.051,2970,600,2162,0,0,0,0,0,0
$GC,5519,1.10,215.3,383.5,12.7,310,5523,0.00,2.35,0.00,0.000,6,0.000,0.028,2969,2006,2157,0,0,0,0,0,0
$GC,5846,1.10,215.3,346.7,11.1,318,5850,0.00,2.47,0.00,0.000,4,0.000,0.052,2971,603,2156,0,0,0,0,0,0
$GC,5955,1.01,215.3,333.8,12.8,320,5960,0.20,2.38,0.00,0.000,6,0.117,0.029,2934,2018,2153,0,0,0,0,0,0
$GC,6305,1.07,215.3,299.3,9.7,329,6309,0.00,2.50,0.00,0.000,4,0.000,0.052,2935,607,2153,0,0,0,0,0,0
$GC,6419,1.07,215.3,287.0,10.8,334,6423,0.00,2.35,0.00,0.000,6,0.000,0.029,2930,2017,2150,0,0,0,0,0,0
$GC,6749,1.15,215.3,254.9,9.2,350,6754,0.12,2.47,0.00,0.000,4,0.073,0.051,2969,607,2150,0,0,0,0,0,0
$GC,6787,1.10,215.3,251.2,10.0,351,6793,0.00,2.35,0.00,0.000,6,0.000,0.029,2968,2015,2149,0,0,0,0,0,0
$GC,7103,1.10,215.3,221.1,9.8,367,7107,0.00,2.47,0.00,0.000,4,0.000,0.051,2969,601,2149,0,0,0,0,0,0
$GC,7270,1.06,215.3,205.4,8.7,374,7275,0.12,2.35,0.00,0.000,6,0.128,0.028,2947,2012,2148,0,0,0,0,0,0
$GC,7598,1.15,227.4,182.8,7.2,401,7610,0.00,2.50,7.28,0.591,4,0.000,0.048,2947,601,2123,0,0,0,0,0,0
$GC,7667,1.15,227.4,176.7,9.6,408,7672,0.00,2.35,0.00,0.000,6,0.000,0.027,2947,2014,2121,0,0,0,0,0,0
$GC,7930,1.27,250.7,158.9,6.4,433,7959,0.20,2.55,22.35,0.653,4,0.054,0.048,3001,607,2026,0,0,0,0,0,0
$GC,8164,1.20,250.7,134.3,11.1,458,8170,0.12,2.33,0.00,0.000,6,0.116,0.025,2979,2017,2020,0,0,0,0,0,0
$GC,8427,1.26,250.7,110.7,8.8,483,8431,0.00,2.45,0.00,0.000,4,0.000,0.045,2979,597,2021,0,0,0,0,0,0
$GC,8483,1.26,250.7,104.9,10.2,488,8488,0.00,2.33,0.00,0.000,6,0.000,0.024,2979,2011,2019,0,0,0,0,0,0
$GC,8746,1.38,280.0,86.6,6.0,513,8781,0.17,2.53,26.02,0.588,4,0.054,0.044,3029,603,1906,0,0,0,0,0,0
$GC,8923,1.31,280.0,68.8,11.0,532,8928,0.15,2.30,0.00,0.000,6,0.108,0.022,3002,2016,1903,0,0,0,0,0,0
$GC,9184,1.39,280.0,44.7,10.1,556,9188,0.00,2.42,0.00,0.000,4,0.000,0.044,3002,604,1902,0,0,0,0,0,0
$GC,9296,1.39,280.0,34.4,8.6,568,9301,0.00,2.28,0.00,0.000,6,0.000,0.021,3001,2024,1901,0,0,0,0,0,0
$GC,9568,1.48,291.4,17.3,7.2,610,9588,0.15,2.53,10.50,0.482,4,0.058,0.044,3050,602,1861,0,0,0,0,0,0
$STATE,9701,end climb,SURFACE_DEPTH_REACHED
$STATE,9701,begin surface coast
$FINISH,1.1,1.023106
$STATE,9715,end surface coast,CONTROL_FINISHED_OK
$STATE,9715,begin surface
$SM_CCo,9737,5.57,0.405,0,0,1827,300.00
$SM_GC,2.58,0.00,0.00,5.57,0.000,0.000,0.405,424,1889,1827,-10.53,0.34,300.00
$IRIDIUM_FIX,2054.83,-15751.76,160999,090935
$TT8_MAMPS,0.029146
$HUMID,53.18
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,441.9,74.2
$24V_AH,23.3,51.541
$10V_AH,10.0,46.768
$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,27.975,123.750,312.625,5.575,0.000,28.740,38.191,335.647,4.750,0.000,37.062,1230.089,6527.280,373.405,1528.373,625.239,33.384,1211.213,0.000,1461.791,0.000,32.305,0.000
$DEVICE_MAMPS,141.128,52.156,869.778,404.976,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,429.972,427.183,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34990,641
$CAP_FILE_SIZE,122747,0
$CFSIZE,260165632,224555008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220610,145526,2103.669,-15755.578,75,2.2,94,9.8