version: 66.06
glider: 139
mission: 7
dive: 584
start: 6 22 110 21 33 54
data:
$ID,139
$MISSION,7
$DIVE,584
$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,-2142918.2
$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
$GPS1,211631,2104.844,-15757.537,218,1.3,218,9.8
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-68.9
$GPS2,213302,2104.975,-15757.736,14,2.0,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.158,0.094
$KALMAN_X,-331809.3,-174.5,155.3,326986.5,-163.4
$KALMAN_Y,24784.4,81.2,26.6,-28478.5,563.7
$MHEAD_RNG_PITCHd_Wd,290.8,9727,-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,18,-1.40,-77.9,0.0,0.0,0,70,0.00,0.00,-50.53,0.000,2,0.000,0.000,425,1858,3153,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.0,-4.5,10,97,10.62,2.45,-4.53,0.000,4,0.133,0.041,2409,3290,3370,0,0,0,0,0,0
$GC,229,-1.32,-77.9,30.0,-14.5,43,235,0.22,2.40,0.00,0.000,6,0.088,0.029,2415,1867,3371,0,0,0,0,0,0
$GC,426,-1.27,-77.9,56.4,-13.0,62,430,0.00,2.40,0.00,0.000,4,0.000,0.042,2456,465,3371,0,0,0,0,0,0
$GC,489,-1.24,-77.9,63.8,-11.6,68,493,0.00,2.33,0.00,0.000,6,0.000,0.019,2455,1915,3371,0,0,0,0,0,0
$GC,749,-1.24,-77.9,90.3,-9.9,92,754,0.00,2.47,0.00,0.000,4,0.000,0.041,2456,466,3372,0,0,0,0,0,0
$GC,820,-1.24,-77.9,98.4,-11.5,99,824,0.00,2.28,0.00,0.000,6,0.000,0.019,2455,1885,3372,0,0,0,0,0,0
$GC,1081,-1.28,-77.9,124.4,-9.7,123,1085,0.00,2.42,0.00,0.000,4,0.000,0.041,2455,469,3373,0,0,0,0,0,0
$GC,1109,-1.28,-77.9,127.3,-11.1,125,1114,0.00,2.25,0.00,0.000,6,0.000,0.018,2454,1881,3373,0,0,0,0,0,0
$GC,1372,-1.35,-77.9,152.0,-10.1,150,1377,0.15,2.45,0.00,0.000,4,0.054,0.042,2406,462,3373,0,0,0,0,0,0
$GC,1468,-1.29,-77.9,162.4,-10.4,159,1474,0.12,2.25,0.00,0.000,6,0.097,0.019,2432,1871,3373,0,0,0,0,0,0
$GC,1729,-1.33,-77.9,182.6,-7.1,184,1733,0.00,2.40,0.00,0.000,4,0.000,0.041,2433,467,3373,0,0,0,0,0,0
$GC,1773,-1.33,-77.9,186.1,-8.5,188,1777,0.00,2.25,0.00,0.000,6,0.000,0.019,2432,1879,3374,0,0,0,0,0,0
$GC,2033,-1.38,-77.9,207.1,-7.9,208,2037,0.00,2.40,0.00,0.000,4,0.000,0.042,2433,470,3374,0,0,0,0,0,0
$GC,2094,-1.41,-77.9,212.4,-8.3,210,2099,0.12,2.25,0.00,0.000,6,0.062,0.020,2389,1879,3374,0,0,0,0,0,0
$GC,2409,-1.41,-77.9,244.0,-9.1,225,2413,0.00,2.42,0.00,0.000,4,0.000,0.043,2390,464,3374,0,0,0,0,0,0
$GC,2456,-1.36,-77.9,248.6,-10.2,227,2461,0.12,2.25,0.00,0.000,6,0.098,0.021,2416,1871,3374,0,0,0,0,0,0
$GC,2783,-1.40,-77.9,275.5,-8.9,243,2787,0.00,2.38,0.00,0.000,4,0.000,0.044,2416,471,3373,0,0,0,0,0,0
$GC,2811,-1.40,-77.9,278.6,-10.7,244,2815,0.00,2.28,0.00,0.000,6,0.000,0.021,2416,1882,3373,0,0,0,0,0,0
$GC,3155,-1.45,-77.9,313.5,-9.7,258,3159,0.00,2.42,0.00,0.000,4,0.000,0.045,2416,471,3372,0,0,0,0,0,0
$GC,3192,-1.45,-77.9,317.1,-9.3,258,3197,0.00,2.28,0.00,0.000,6,0.000,0.023,2416,1874,3372,0,0,0,0,0,0
$GC,3523,-1.51,-77.9,346.2,-8.4,267,3528,0.15,2.45,0.00,0.000,4,0.058,0.047,2370,468,3370,0,0,0,0,0,0
$GC,3562,-1.43,-77.9,350.0,-9.6,267,3568,0.15,2.30,0.00,0.000,6,0.094,0.024,2402,1881,3369,0,0,0,0,0,0
$GC,3894,-1.47,-77.9,382.2,-10.0,276,3898,0.00,2.45,0.00,0.000,4,0.000,0.048,2401,469,3367,0,0,0,0,0,0
$GC,3945,-1.47,-77.9,387.6,-10.1,277,3949,0.00,2.30,0.00,0.000,6,0.000,0.025,2401,1876,3367,0,0,0,0,0,0
$GC,4268,-1.51,-77.9,415.1,-8.4,285,4272,0.00,2.45,0.00,0.000,4,0.000,0.049,2401,469,3364,0,0,0,0,0,0
$GC,4314,-1.51,-77.9,419.2,-9.1,286,4318,0.00,2.30,0.00,0.000,6,0.000,0.025,2402,1872,3364,0,0,0,0,0,0
$GC,4640,-1.56,-77.9,442.0,-6.7,294,4645,0.12,2.45,0.00,0.000,4,0.067,0.052,2364,473,3362,0,0,0,0,0,0
$GC,4720,-1.48,-77.9,449.6,-9.7,295,4724,0.00,2.08,0.00,0.000,3,0.000,0.026,2365,1734,3361,0,0,0,0,0,0
$STATE,4724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4724,begin apogee
$GC,4731,-0.31,0.0,450.0,9.9,295,4798,1.27,0.00,63.38,0.867,6,0.078,0.000,2638,2023,3050,0,0,0,0,0,0
$STATE,4799,end apogee,CONTROL_FINISHED_OK
$STATE,4799,begin climb
$GC,4802,1.40,77.9,451.5,0.0,297,4876,1.65,2.45,64.43,0.847,4,0.031,0.040,3023,3395,2732,0,0,0,0,0,0
$GC,4981,1.24,135.6,450.5,4.1,301,5038,0.17,2.40,48.90,0.842,6,0.117,0.035,2991,2001,2497,0,0,0,0,0,0
$GC,5352,1.13,142.3,424.0,7.6,310,5365,0.15,2.53,6.00,0.653,4,0.120,0.052,2959,604,2470,0,0,0,0,0,0
$GC,5389,0.99,145.0,421.1,7.8,310,5400,0.17,2.33,4.12,0.537,6,0.121,0.028,2934,2001,2458,0,0,0,0,0,0
$GC,5725,1.00,153.1,398.8,7.5,319,5741,0.00,2.47,8.48,0.730,4,0.000,0.050,2933,606,2424,0,0,0,0,0,0
$GC,5774,0.95,153.1,394.2,9.7,320,5778,0.00,2.35,0.00,0.000,6,0.000,0.029,2934,2010,2422,0,0,0,0,0,0
$GC,6096,0.95,153.1,364.2,9.2,328,6100,0.00,2.40,0.00,0.000,4,0.000,0.039,2934,3410,2420,0,0,0,0,0,0
$GC,6115,0.98,153.1,362.4,9.7,328,6120,0.00,2.40,0.00,0.000,6,0.000,0.035,2935,2013,2420,0,0,0,0,0,0
$GC,6465,1.01,153.1,333.1,8.2,337,6469,0.00,2.45,0.00,0.000,4,0.000,0.051,2933,602,2418,0,0,0,0,0,0
$GC,6502,0.98,153.1,329.7,9.0,337,6508,0.00,2.35,0.00,0.000,6,0.000,0.029,2933,2011,2417,0,0,0,0,0,0
$GC,6834,1.04,164.9,304.0,7.2,346,6851,0.00,2.55,10.18,0.723,4,0.000,0.051,2934,601,2376,0,0,0,0,0,0
$GC,6936,1.04,164.9,296.3,8.3,348,6940,0.00,2.35,0.00,0.000,6,0.000,0.029,2932,2011,2374,0,0,0,0,0,0
$GC,7257,1.13,193.3,276.6,6.1,364,7290,0.12,2.58,25.67,0.762,4,0.076,0.050,2965,603,2261,0,0,0,0,0,0
$GC,7330,1.08,193.3,270.3,9.8,367,7334,0.00,2.38,0.00,0.000,6,0.000,0.029,2965,2013,2258,0,0,0,0,0,0
$GC,7655,1.10,209.5,245.4,6.9,383,7677,0.00,2.55,15.12,0.707,4,0.000,0.050,2962,600,2195,0,0,0,0,0,0
$GC,7731,1.06,209.5,239.8,8.6,386,7735,0.00,2.38,0.00,0.000,6,0.000,0.028,2965,2014,2192,0,0,0,0,0,0
$GC,8056,1.09,209.5,214.2,8.6,402,8060,0.00,2.47,0.00,0.000,4,0.000,0.048,2964,603,2191,0,0,0,0,0,0
$GC,8125,1.06,209.5,207.6,9.8,405,8129,0.00,2.33,0.00,0.000,6,0.000,0.027,2965,2011,2189,0,0,0,0,0,0
$GC,8453,1.10,209.5,178.7,9.1,431,8457,0.00,2.45,0.00,0.000,4,0.000,0.047,2965,597,2189,0,0,0,0,0,0
$GC,8625,1.10,209.5,162.3,8.9,449,8629,0.00,2.35,0.00,0.000,6,0.000,0.025,2966,2017,2188,0,0,0,0,0,0
$GC,8888,1.16,220.1,143.6,7.3,473,8907,0.00,2.53,9.80,0.588,4,0.000,0.045,2966,605,2151,0,0,0,0,0,0
$GC,8917,1.16,220.1,141.0,8.1,476,8922,0.00,2.33,0.00,0.000,6,0.000,0.025,2966,2022,2150,0,0,0,0,0,0
$GC,9182,1.26,237.1,123.2,6.9,500,9204,0.00,2.53,16.35,0.605,4,0.000,0.044,2966,597,2083,0,0,0,0,0,0
$GC,9432,1.29,237.1,101.0,8.5,526,9438,0.12,2.33,0.00,0.000,6,0.070,0.023,3000,2018,2078,0,0,0,0,0,0
$GC,9694,1.31,249.9,81.1,7.1,551,9713,0.00,2.50,12.20,0.546,4,0.000,0.044,3000,598,2030,0,0,0,0,0,0
$GC,9733,1.31,249.9,77.8,9.3,555,9737,0.00,2.33,0.00,0.000,6,0.000,0.023,3000,2022,2029,0,0,0,0,0,0
$GC,9996,1.36,249.9,56.7,8.2,579,10000,0.00,2.45,0.00,0.000,4,0.000,0.043,3000,594,2029,0,0,0,0,0,0
$GC,10098,1.36,249.9,47.6,8.9,589,10104,0.00,2.33,0.00,0.000,6,0.000,0.021,3000,2019,2027,0,0,0,0,0,0
$GC,10362,1.46,276.4,28.8,6.2,615,10394,0.15,2.47,24.10,0.527,4,0.059,0.043,3046,601,1923,0,0,0,0,0,0
$GC,10530,1.36,276.4,11.4,11.1,651,10536,0.17,2.30,0.00,0.000,6,0.097,0.021,3011,2015,1919,0,0,0,0,0,0
$STATE,10618,end climb,SURFACE_DEPTH_REACHED
$STATE,10618,begin surface coast
$FINISH,0.5,1.012989
$STATE,10659,end surface coast,CONTROL_FINISHED_OK
$STATE,10659,begin surface
$SM_CCo,10680,14.65,0.487,0,0,1827,300.00
$SM_GC,2.55,0.00,0.00,14.65,0.000,0.000,0.487,431,1848,1827,-10.50,-0.79,300.00
$IRIDIUM_FIX,2057.14,-15756.91,160999,212109
$TT8_MAMPS,0.029146
$HUMID,53.42
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.4,51.832
$10V_AH,10.0,46.942
$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,26.975,139.050,308.725,14.650,0.000,56.734,61.101,675.530,4.750,0.000,15.035,1291.385,7409.182,396.566,1523.364,1063.272,33.383,1253.552,0.000,1486.052,0.000,29.256,0.000
$DEVICE_MAMPS,132.691,52.156,866.710,487.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,452.466,444.608,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355788
$DATA_FILE_SIZE,34905,674
$CAP_FILE_SIZE,138310,0
$CFSIZE,260165632,224354304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230610,003457,2105.709,-15759.146,111,4.0,130,9.8