version: 66.06
glider: 139
mission: 7
dive: 586
start: 6 23 110 4 2 49
data:
$ID,139
$MISSION,7
$DIVE,586
$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,-2143008.8
$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
$GPS1,035315,2106.596,-15800.433,71,6.2,90,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-60.4
$GPS2,040158,2106.624,-15800.473,13,4.1,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.138,0.122
$KALMAN_X,-333013.8,210.9,-237.5,323468.7,191.9
$KALMAN_Y,25535.1,288.4,-24.9,-26324.2,193.2
$MHEAD_RNG_PITCHd_Wd,301.6,4195,-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,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,118,0.00,0.00,-99.53,0.000,2,0.000,0.000,426,1887,3137,0,0,0,0,0,0
$GC,121,-1.40,-77.9,3.5,-6.3,20,144,10.73,2.40,-4.60,0.000,4,0.139,0.041,2406,3295,3369,0,0,0,0,0,0
$GC,224,-1.33,-77.9,25.6,-15.1,41,230,0.12,2.38,0.00,0.000,6,0.116,0.030,2418,1873,3371,0,0,0,0,0,0
$GC,430,-1.22,-77.9,54.3,-12.7,63,435,0.12,2.42,0.00,0.000,4,0.121,0.044,2453,470,3371,0,0,0,0,0,0
$GC,494,-1.15,-77.9,62.6,-12.8,69,498,0.00,2.33,0.00,0.000,6,0.000,0.019,2451,1912,3371,0,0,0,0,0,0
$GC,754,-1.15,-77.9,91.5,-10.5,93,758,0.00,2.47,0.00,0.000,4,0.000,0.041,2453,470,3372,0,0,0,0,0,0
$GC,834,-1.15,-77.9,99.9,-10.2,101,839,0.00,2.25,0.00,0.000,6,0.000,0.018,2452,1884,3372,0,0,0,0,0,0
$GC,1101,-1.20,-77.9,123.6,-8.0,126,1105,0.00,2.40,0.00,0.000,4,0.000,0.041,2452,470,3372,0,0,0,0,0,0
$GC,1135,-1.20,-77.9,126.5,-8.8,129,1139,0.00,2.25,0.00,0.000,6,0.000,0.019,2453,1879,3373,0,0,0,0,0,0
$GC,1399,-1.26,-77.9,152.0,-10.8,153,1403,0.00,2.42,0.00,0.000,4,0.000,0.042,2453,464,3373,0,0,0,0,0,0
$GC,1464,-1.32,-77.9,159.1,-10.0,159,1470,0.12,2.25,0.00,0.000,6,0.061,0.019,2408,1875,3373,0,0,0,0,0,0
$GC,1725,-1.32,-77.9,183.6,-9.7,184,1729,0.00,2.42,0.00,0.000,4,0.000,0.042,2408,460,3373,0,0,0,0,0,0
$GC,1790,-1.28,-77.9,190.2,-10.3,190,1797,0.12,2.28,0.00,0.000,6,0.099,0.019,2434,1881,3373,0,0,0,0,0,0
$GC,2050,-1.33,-77.9,209.1,-7.3,209,2054,0.00,2.42,0.00,0.000,4,0.000,0.042,2434,466,3373,0,0,0,0,0,0
$GC,2077,-1.33,-77.9,212.0,-9.4,210,2081,0.00,2.25,0.00,0.000,6,0.000,0.020,2433,1883,3373,0,0,0,0,0,0
$GC,2398,-1.40,-77.9,238.2,-7.7,226,2403,0.10,2.45,0.00,0.000,4,0.073,0.044,2397,466,3373,0,0,0,0,0,0
$GC,2422,-1.35,-77.9,240.5,-9.6,227,2426,0.10,2.28,0.00,0.000,6,0.108,0.021,2417,1880,3372,0,0,0,0,0,0
$GC,2749,-1.40,-77.9,270.4,-10.1,243,2753,0.00,2.42,0.00,0.000,4,0.000,0.044,2418,468,3372,0,0,0,0,0,0
$GC,2792,-1.40,-77.9,275.2,-10.5,245,2796,0.00,2.28,0.00,0.000,6,0.000,0.021,2418,1880,3372,0,0,0,0,0,0
$GC,3143,-1.45,-77.9,303.5,-7.4,261,3147,0.00,2.42,0.00,0.000,4,0.000,0.045,2418,471,3370,0,0,0,0,0,0
$GC,3241,-1.48,-77.9,312.4,-8.6,263,3246,0.12,2.28,0.00,0.000,6,0.062,0.022,2377,1874,3369,0,0,0,0,0,0
$GC,3561,-1.48,-77.9,343.3,-10.1,271,3565,0.00,2.42,0.00,0.000,4,0.000,0.047,2376,471,3368,0,0,0,0,0,0
$GC,3616,-1.41,-77.9,349.3,-10.3,272,3621,0.15,2.28,0.00,0.000,6,0.094,0.024,2408,1874,3367,0,0,0,0,0,0
$GC,3936,-1.46,-77.9,375.8,-8.3,280,3940,0.00,2.45,0.00,0.000,4,0.000,0.048,2407,464,3366,0,0,0,0,0,0
$GC,4042,-1.46,-77.9,385.5,-9.1,282,4047,0.00,2.30,0.00,0.000,6,0.000,0.025,2407,1871,3364,0,0,0,0,0,0
$GC,4392,-1.52,-77.9,415.8,-8.3,291,4397,0.12,2.45,0.00,0.000,4,0.066,0.050,2369,473,3362,0,0,0,0,0,0
$GC,4412,-1.49,-77.9,417.7,-9.0,291,4416,0.00,2.30,0.00,0.000,6,0.000,0.025,2369,1876,3362,0,0,0,0,0,0
$STATE,4756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4756,begin apogee
$GC,4762,-0.31,0.0,452.7,10.3,300,4829,1.30,0.00,63.38,0.867,6,0.075,0.000,2644,2029,3050,0,0,0,0,0,0
$STATE,4830,end apogee,CONTROL_FINISHED_OK
$STATE,4830,begin climb
$GC,4833,1.40,77.9,454.5,0.0,301,4908,1.65,2.40,64.72,0.847,4,0.038,0.039,3016,3374,2732,0,0,0,0,0,0
$GC,4970,1.24,136.2,455.0,4.0,304,5027,0.17,2.35,50.00,0.839,6,0.120,0.034,2989,2009,2494,0,0,0,0,0,0
$GC,5336,1.13,136.2,418.8,10.4,313,5338,0.15,0.00,0.00,0.000,6,0.124,0.000,2962,2009,2485,0,0,0,0,0,0
$GC,5662,1.06,136.2,385.0,10.1,321,5666,0.00,2.38,0.00,0.000,4,0.000,0.038,2959,3384,2483,0,0,0,0,0,0
$GC,5729,1.01,137.6,379.6,7.9,322,5734,0.15,2.38,0.00,0.000,6,0.116,0.037,2937,2007,2484,0,0,0,0,0,0
$GC,6074,1.06,179.3,361.5,5.2,331,6117,0.00,2.53,36.08,0.819,4,0.000,0.052,2934,598,2316,0,0,0,0,0,0
$GC,6170,1.02,179.3,354.8,9.2,333,6175,0.00,2.35,0.00,0.000,6,0.000,0.029,2932,1986,2311,0,0,0,0,0,0
$GC,6493,1.09,207.9,331.7,6.1,341,6526,0.00,2.50,25.25,0.789,4,0.000,0.051,2935,608,2201,0,0,0,0,0,0
$GC,6604,1.09,207.9,322.7,8.7,343,6608,0.00,2.38,0.00,0.000,6,0.000,0.029,2934,2010,2195,0,0,0,0,0,0
$GC,6929,1.15,207.9,294.2,9.6,352,6934,0.12,2.38,0.00,0.000,4,0.074,0.037,2969,3414,2194,0,0,0,0,0,0
$GC,6945,1.18,207.9,292.6,10.0,352,6950,0.00,2.42,0.00,0.000,6,0.000,0.036,2969,2006,2193,0,0,0,0,0,0
$GC,7260,1.18,207.9,260.3,9.9,368,7264,0.00,2.45,0.00,0.000,4,0.000,0.052,2969,599,2192,0,0,0,0,0,0
$GC,7374,1.13,207.9,247.8,11.2,373,7378,0.00,2.38,0.00,0.000,6,0.000,0.029,2968,2014,2189,0,0,0,0,0,0
$GC,7703,1.15,222.9,222.8,7.0,389,7724,0.00,2.50,12.52,0.683,4,0.000,0.049,2967,604,2139,0,0,0,0,0,0
$GC,7806,1.11,222.9,214.4,8.5,393,7810,0.00,2.35,0.00,0.000,6,0.000,0.028,2968,2020,2136,0,0,0,0,0,0
$GC,8132,1.16,231.1,188.4,7.5,415,8145,0.00,2.53,8.35,0.609,4,0.000,0.047,2968,598,2106,0,0,0,0,0,0
$GC,8179,1.16,231.1,184.6,8.1,419,8184,0.00,2.38,0.00,0.000,6,0.000,0.027,2968,2021,2104,0,0,0,0,0,0
$GC,8441,1.22,231.1,162.0,8.7,444,8446,0.00,2.45,0.00,0.000,4,0.000,0.047,2968,603,2105,0,0,0,0,0,0
$GC,8573,1.22,231.1,147.4,10.8,457,8578,0.00,2.33,0.00,0.000,6,0.000,0.025,2969,2018,2102,0,0,0,0,0,0
$GC,8836,1.31,249.2,129.6,6.8,482,8862,0.15,2.50,16.80,0.611,4,0.062,0.044,3011,595,2032,0,0,0,0,0,0
$GC,9087,1.26,249.2,105.1,9.9,509,9092,0.12,2.33,0.00,0.000,6,0.111,0.023,2988,2013,2028,0,0,0,0,0,0
$GC,9348,1.34,259.3,84.1,7.3,533,9366,0.00,2.50,9.73,0.524,4,0.000,0.044,2988,604,1992,0,0,0,0,0,0
$GC,9510,1.34,259.3,70.1,8.5,550,9516,0.00,2.30,0.00,0.000,6,0.000,0.021,2988,2014,1989,0,0,0,0,0,0
$GC,9773,1.46,276.3,51.6,6.9,575,9795,0.20,2.47,16.05,0.532,4,0.051,0.041,3044,601,1922,0,0,0,0,0,0
$GC,9926,1.38,276.3,38.2,9.6,591,9931,0.15,2.30,0.00,0.000,6,0.100,0.021,3015,2013,1919,0,0,0,0,0,0
$GC,10197,1.47,307.3,14.1,5.9,630,10234,0.00,2.53,27.30,0.515,4,0.000,0.042,3015,600,1796,0,0,0,0,0,0
$GC,10304,1.47,307.3,3.6,13.8,653,10310,0.00,2.30,0.00,0.000,6,0.000,0.021,3015,2018,1793,0,0,0,0,0,0
$STATE,10314,end climb,SURFACE_DEPTH_REACHED
$STATE,10314,begin surface coast
$FINISH,0.6,1.023105
$STATE,10338,end surface coast,CONTROL_FINISHED_OK
$STATE,10338,begin surface
$SM_CCo,10420,0.00,0.000,0,0,1784,310.55
$SM_GC,1.59,11.23,0.00,0.00,0.028,0.000,0.000,428,1854,1784,-10.44,-0.57,310.55
$IRIDIUM_FIX,2059.45,-15756.04,170999,000002
$TT8_MAMPS,0.029146
$HUMID,52.59
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,52.060
$10V_AH,10.0,47.063
$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,27.225,124.325,330.175,0.000,0.000,30.459,33.246,317.106,4.500,0.000,33.489,1245.544,7103.281,425.665,1538.465,624.296,33.377,1283.207,0.000,1484.005,0.000,30.690,0.000
$DEVICE_MAMPS,138.827,52.923,867.477,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,441.023,434.775,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355804
$DATA_FILE_SIZE,34926,659
$CAP_FILE_SIZE,124755,0
$CFSIZE,260165632,224243712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230610,070057,2107.218,-15801.661,213,2.8,232,9.8