version: 66.06
glider: 139
mission: 7
dive: 568
start: 6 20 110 19 12 43
data:
$ID,139
$MISSION,7
$DIVE,568
$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,-2142406.5
$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
$GPS1,190606,2104.513,-15744.527,86,1.5,86,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.3
$GPS2,191151,2104.561,-15744.556,14,1.5,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.058,-0.174
$KALMAN_X,-332773.5,-138.2,482.4,350345.9,-859.9
$KALMAN_Y,18789.6,7.5,250.0,-23398.3,-81.5
$MHEAD_RNG_PITCHd_Wd,188.7,15347,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.40,-77.9,0.0,0.0,0,74,0.00,0.00,-55.05,0.000,2,0.000,0.000,427,1891,3271,0,0,0,0,0,0
$GC,77,-1.40,-77.9,3.6,-6.2,11,97,10.57,2.45,-1.98,0.000,4,0.134,0.051,2404,467,3370,0,0,0,0,0,0
$GC,222,-1.20,-77.9,35.0,-16.4,39,229,0.22,2.30,0.00,0.000,6,0.097,0.020,2449,1909,3372,0,0,0,0,0,0
$GC,485,-1.15,-77.9,68.3,-12.0,64,489,0.00,2.50,0.00,0.000,4,0.000,0.043,2449,461,3373,0,0,0,0,0,0
$GC,547,-1.09,-77.9,77.5,-14.2,70,552,0.12,2.25,0.00,0.000,6,0.102,0.019,2473,1875,3373,0,0,0,0,0,0
$GC,808,-1.14,-77.9,105.5,-8.2,94,812,0.00,2.42,0.00,0.000,4,0.000,0.043,2474,467,3374,0,0,0,0,0,0
$GC,908,-1.22,-77.9,114.2,-9.0,104,913,0.12,2.25,0.00,0.000,6,0.062,0.019,2429,1876,3375,0,0,0,0,0,0
$GC,1169,-1.22,-77.9,141.5,-10.6,128,1173,0.00,2.40,0.00,0.000,4,0.000,0.041,2428,463,3376,0,0,0,0,0,0
$GC,1220,-1.22,-77.9,147.0,-10.1,133,1225,0.00,2.25,0.00,0.000,6,0.000,0.019,2429,1882,3376,0,0,0,0,0,0
$GC,1483,-1.22,-77.9,171.7,-9.4,157,1488,0.10,2.45,0.00,0.000,4,0.105,0.042,2450,462,3377,0,0,0,0,0,0
$GC,1517,-1.22,-77.9,175.2,-9.8,160,1521,0.00,2.25,0.00,0.000,6,0.000,0.019,2449,1883,3377,0,0,0,0,0,0
$GC,1780,-1.31,-77.9,195.5,-7.0,184,1785,0.00,2.42,0.00,0.000,4,0.000,0.042,2450,467,3377,0,0,0,0,0,0
$GC,1835,-1.40,-77.9,200.2,-8.4,189,1840,0.17,2.22,0.00,0.000,6,0.051,0.020,2394,1878,3377,0,0,0,0,0,0
$GC,2156,-1.40,-77.9,232.6,-8.2,205,2160,0.00,2.42,0.00,0.000,4,0.000,0.042,2395,463,3377,0,0,0,0,0,0
$GC,2184,-1.34,-77.9,235.4,-9.5,206,2189,0.12,2.25,0.00,0.000,6,0.100,0.021,2420,1875,3377,0,0,0,0,0,0
$GC,2512,-1.40,-77.9,258.1,-6.9,222,2517,0.00,2.42,0.00,0.000,4,0.000,0.044,2421,463,3377,0,0,0,0,0,0
$GC,2592,-1.45,-77.9,264.8,-7.7,225,2596,0.00,2.25,0.00,0.000,6,0.000,0.021,2420,1877,3377,0,0,0,0,0,0
$GC,2907,-1.52,-77.9,291.1,-8.8,240,2912,0.17,2.42,0.00,0.000,4,0.052,0.045,2368,467,3377,0,0,0,0,0,0
$GC,2928,-1.48,-77.9,293.2,-10.0,241,2933,0.12,2.28,0.00,0.000,6,0.102,0.022,2393,1872,3377,0,0,0,0,0,0
$GC,3255,-1.48,-77.9,322.0,-8.2,251,3259,0.00,2.42,0.00,0.000,4,0.000,0.047,2392,470,3375,0,0,0,0,0,0
$GC,3284,-1.43,-77.9,324.4,-9.2,251,3288,0.00,2.28,0.00,0.000,6,0.000,0.023,2392,1875,3375,0,0,0,0,0,0
$GC,3619,-1.43,-77.9,350.4,-7.9,260,3624,0.00,2.42,0.00,0.000,4,0.000,0.048,2392,463,3373,0,0,0,0,0,0
$GC,3726,-1.43,-77.9,360.1,-9.2,262,3731,0.00,2.28,0.00,0.000,6,0.000,0.025,2393,1872,3373,0,0,0,0,0,0
$GC,4076,-1.43,-77.9,390.0,-9.1,271,4080,0.00,2.45,0.00,0.000,4,0.000,0.050,2393,464,3370,0,0,0,0,0,0
$GC,4113,-1.43,-77.9,393.9,-10.5,271,4117,0.00,2.33,0.00,0.000,6,0.000,0.025,2393,1880,3370,0,0,0,0,0,0
$GC,4443,-1.43,-77.9,424.1,-9.1,279,4447,0.00,2.45,0.00,0.000,4,0.000,0.051,2393,465,3368,0,0,0,0,0,0
$GC,4505,-1.43,-77.9,430.3,-10.2,280,4510,0.00,2.30,0.00,0.000,6,0.000,0.027,2393,1876,3367,0,0,0,0,0,0
$STATE,4773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4773,begin apogee
$GC,4779,-0.31,0.0,452.3,7.8,287,4847,1.17,0.00,64.72,0.874,6,0.074,0.000,2644,2031,3050,0,0,0,0,0,0
$STATE,4848,end apogee,CONTROL_FINISHED_OK
$STATE,4848,begin climb
$GC,4851,1.40,77.9,453.4,0.0,288,4926,1.62,2.42,65.10,0.854,4,0.031,0.040,3026,3382,2731,0,0,0,0,0,0
$GC,5189,1.23,126.2,446.4,4.7,295,5238,0.12,2.38,41.03,0.850,6,0.127,0.035,2988,1999,2534,0,0,0,0,0,0
$GC,5580,1.09,140.0,419.0,7.1,305,5600,0.20,2.42,12.32,0.781,4,0.113,0.038,2968,3384,2477,0,0,0,0,0,0
$GC,5625,1.03,149.1,415.6,7.4,306,5642,0.15,2.38,9.32,0.739,6,0.115,0.037,2941,2004,2442,0,0,0,0,0,0
$GC,5960,1.05,169.5,393.0,6.6,314,5981,0.00,0.00,18.65,0.810,6,0.000,0.000,2941,2005,2359,0,0,0,0,0,0
$GC,6326,1.06,171.7,364.1,7.9,323,6330,0.00,2.45,0.00,0.000,4,0.000,0.053,2940,603,2353,0,0,0,0,0,0
$GC,6378,1.01,171.7,359.2,9.7,324,6382,0.00,2.33,0.00,0.000,6,0.000,0.030,2940,1994,2351,0,0,0,0,0,0
$GC,6695,1.01,171.7,332.8,8.0,332,6700,0.00,2.47,0.00,0.000,4,0.000,0.052,2941,598,2350,0,0,0,0,0,0
$GC,6887,1.01,171.7,316.0,8.8,336,6891,0.00,2.40,0.00,0.000,6,0.000,0.030,2941,2021,2348,0,0,0,0,0,0
$GC,7206,1.06,181.9,292.1,7.3,346,7219,0.00,0.00,10.80,0.723,6,0.000,0.000,2941,2025,2308,0,0,0,0,0,0
$GC,7516,1.11,185.5,270.2,7.8,361,7527,0.00,2.38,4.57,0.544,4,0.000,0.036,2941,3415,2292,0,0,0,0,0,0
$GC,7581,1.19,185.5,264.4,9.8,363,7587,0.15,2.42,0.00,0.000,6,0.066,0.035,2979,2005,2292,0,0,0,0,0,0
$GC,7896,1.19,185.5,233.1,9.7,379,7899,0.00,2.45,0.00,0.000,4,0.000,0.050,2979,601,2291,0,0,0,0,0,0
$GC,7970,1.11,185.5,226.6,8.6,382,7975,0.12,2.38,0.00,0.000,6,0.122,0.028,2958,2024,2289,0,0,0,0,0,0
$GC,8297,1.18,206.9,203.8,6.5,398,8322,0.00,2.55,19.98,0.700,4,0.000,0.048,2957,604,2205,0,0,0,0,0,0
$GC,8459,1.19,210.5,191.8,7.8,412,8463,0.00,2.35,0.00,0.000,6,0.000,0.026,2957,2014,2200,0,0,0,0,0,0
$GC,8724,1.27,228.6,173.3,6.8,436,8751,0.15,2.53,19.83,0.663,4,0.064,0.048,2997,604,2117,0,0,0,0,0,0
$GC,8895,1.21,228.6,155.4,10.6,454,8900,0.00,2.35,0.00,0.000,6,0.000,0.025,2997,2017,2113,0,0,0,0,0,0
$GC,9156,1.21,228.6,131.1,9.7,479,9160,0.00,2.30,0.00,0.000,4,0.000,0.031,2997,3402,2112,0,0,0,0,0,0
$GC,9199,1.25,228.6,127.0,10.0,483,9203,0.00,2.35,0.00,0.000,6,0.000,0.031,2997,2004,2112,0,0,0,0,0,0
$GC,9462,1.25,230.2,106.1,7.9,507,9466,0.00,2.42,0.00,0.000,4,0.000,0.044,2997,595,2112,0,0,0,0,0,0
$GC,9555,1.22,230.2,98.0,8.4,516,9560,0.00,2.33,0.00,0.000,6,0.000,0.023,2997,2019,2111,0,0,0,0,0,0
$GC,9818,1.29,246.4,78.8,6.9,541,9836,0.00,0.00,16.38,0.564,6,0.000,0.000,2997,2024,2045,0,0,0,0,0,0
$GC,10093,1.36,263.9,58.2,6.8,567,10119,0.00,2.50,16.67,0.542,4,0.000,0.042,2997,601,1973,0,0,0,0,0,0
$GC,10240,1.36,263.9,43.7,10.7,583,10244,0.00,2.30,0.00,0.000,6,0.000,0.021,2997,2025,1969,0,0,0,0,0,0
$GC,10505,1.44,270.6,23.5,7.6,614,10520,0.12,2.50,7.05,0.449,4,0.066,0.042,3036,608,1945,0,0,0,0,0,0
$GC,10661,1.36,270.6,8.5,10.7,647,10667,0.12,2.25,0.00,0.000,6,0.104,0.021,3012,2012,1942,0,0,0,0,0,0
$STATE,10721,end climb,SURFACE_DEPTH_REACHED
$STATE,10721,begin surface coast
$FINISH,0.5,1.014240
$STATE,10769,end surface coast,CONTROL_FINISHED_OK
$STATE,10769,begin surface
$SM_CCo,10790,16.02,0.490,0,0,1827,300.00
$SM_GC,2.03,0.00,0.00,16.02,0.000,0.000,0.490,424,1846,1827,-10.53,-0.82,300.00
$IRIDIUM_FIX,2057.14,-15743.60,140999,161603
$TT8_MAMPS,0.029146
$HUMID,52.48
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,50.372
$10V_AH,10.0,46.039
$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,26.850,119.150,306.425,16.025,0.000,30.784,29.552,167.366,4.500,0.000,14.700,1298.973,7446.933,389.627,1553.778,460.413,33.381,1239.845,0.000,1519.042,0.000,29.239,0.000
$DEVICE_MAMPS,134.225,53.690,873.613,490.113,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,448.317,437.769,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34965,666
$CAP_FILE_SIZE,123423,0
$CFSIZE,260165632,225345536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200610,221517,2103.477,-15745.020,99,1.5,109,9.8