version: 66.06
glider: 139
mission: 7
dive: 572
start: 6 21 110 7 55 8
data:
$ID,139
$MISSION,7
$DIVE,572
$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,-2142540
$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
$GPS1,074257,2101.291,-15746.159,108,2.8,127,9.8
$_CALLS,2
$_XMS_NAKs,22
$_XMS_TOUTs,1
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-68.6
$GPS2,075417,2101.286,-15746.190,16,3.0,35,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.102,-0.153
$KALMAN_X,-331693.5,375.2,352.4,346064.8,-1103.3
$KALMAN_Y,19855.7,-43.8,122.0,-30348.2,-504.0
$MHEAD_RNG_PITCHd_Wd,204.1,8899,-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,-50.17,0.000,2,0.000,0.000,426,1850,3163,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.3,-5.3,10,94,10.60,2.45,-4.20,0.000,4,0.133,0.053,2406,456,3370,0,0,0,0,0,0
$GC,193,-1.19,-77.9,28.4,-15.9,36,199,0.22,2.35,0.00,0.000,6,0.094,0.020,2451,1907,3371,0,0,0,0,0,0
$GC,399,-1.16,-77.9,53.9,-10.6,56,403,0.00,2.50,0.00,0.000,4,0.000,0.043,2452,462,3372,0,0,0,0,0,0
$GC,474,-1.10,-77.9,63.5,-13.1,63,480,0.12,2.28,0.00,0.000,6,0.108,0.019,2473,1881,3371,0,0,0,0,0,0
$GC,737,-1.14,-77.9,92.8,-10.7,88,741,0.00,2.45,0.00,0.000,4,0.000,0.041,2476,458,3373,0,0,0,0,0,0
$GC,820,-1.19,-77.9,101.6,-9.1,96,826,0.00,2.28,0.00,0.000,6,0.000,0.018,2472,1887,3373,0,0,0,0,0,0
$GC,1083,-1.26,-77.9,123.4,-8.8,121,1088,0.15,2.45,0.00,0.000,4,0.055,0.041,2425,466,3373,0,0,0,0,0,0
$GC,1154,-1.21,-77.9,131.0,-10.4,128,1159,0.12,2.25,0.00,0.000,6,0.096,0.019,2451,1873,3374,0,0,0,0,0,0
$GC,1415,-1.26,-77.9,153.7,-9.1,152,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1878,3375,0,0,0,0,0,0
$GC,1672,-1.34,-77.9,177.6,-9.0,176,1677,0.12,2.42,0.00,0.000,4,0.062,0.043,2407,467,3375,0,0,0,0,0,0
$GC,1744,-1.28,-77.9,185.9,-11.9,183,1749,0.15,2.25,0.00,0.000,6,0.093,0.019,2438,1879,3375,0,0,0,0,0,0
$GC,2004,-1.32,-77.9,211.1,-10.4,202,2008,0.00,2.40,0.00,0.000,4,0.000,0.041,2439,459,3375,0,0,0,0,0,0
$GC,2018,-1.32,-77.9,213.0,-10.5,202,2023,0.00,2.25,0.00,0.000,6,0.000,0.020,2430,1874,3375,0,0,0,0,0,0
$GC,2335,-1.41,-77.9,236.5,-6.5,218,2340,0.15,2.40,0.00,0.000,4,0.054,0.043,2389,469,3375,0,0,0,0,0,0
$GC,2371,-1.35,-77.9,239.7,-9.4,219,2376,0.15,2.25,0.00,0.000,6,0.091,0.020,2418,1878,3375,0,0,0,0,0,0
$GC,2694,-1.41,-77.9,265.7,-8.8,235,2698,0.00,2.42,0.00,0.000,4,0.000,0.044,2421,463,3375,0,0,0,0,0,0
$GC,2791,-1.41,-77.9,275.7,-10.5,239,2795,0.00,2.25,0.00,0.000,6,0.000,0.021,2421,1871,3375,0,0,0,0,0,0
$GC,3133,-1.47,-77.9,304.6,-7.9,255,3137,0.12,2.42,0.00,0.000,4,0.064,0.045,2379,469,3374,0,0,0,0,0,0
$GC,3213,-1.44,-77.9,312.9,-9.7,256,3217,0.00,2.28,0.00,0.000,6,0.000,0.022,2380,1878,3373,0,0,0,0,0,0
$GC,3545,-1.44,-77.9,341.7,-7.8,264,3549,0.00,2.42,0.00,0.000,4,0.000,0.045,2379,469,3372,0,0,0,0,0,0
$GC,3588,-1.39,-77.9,345.1,-8.0,265,3593,0.15,2.30,0.00,0.000,6,0.095,0.024,2410,1880,3372,0,0,0,0,0,0
$GC,3918,-1.44,-77.9,374.1,-9.9,273,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,1884,3370,0,0,0,0,0,0
$GC,4241,-1.51,-77.9,398.6,-7.1,281,4246,0.12,2.45,0.00,0.000,4,0.065,0.048,2372,466,3368,0,0,0,0,0,0
$GC,4357,-1.43,-77.9,408.3,-9.6,283,4362,0.15,2.33,0.00,0.000,6,0.094,0.025,2403,1885,3367,0,0,0,0,0,0
$GC,4699,-1.48,-77.9,432.0,-6.4,292,4702,0.00,2.45,0.00,0.000,4,0.000,0.051,2403,471,3364,0,0,0,0,0,0
$GC,4741,-1.48,-77.9,434.9,-6.9,292,4746,0.00,2.30,0.00,0.000,6,0.000,0.027,2403,1872,3364,0,0,0,0,0,0
$STATE,4907,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4907,begin apogee
$GC,4913,-0.31,0.0,445.2,6.0,297,4980,1.12,0.00,63.95,0.865,6,0.071,0.000,2645,2039,3050,0,0,0,0,0,0
$STATE,4981,end apogee,CONTROL_FINISHED_OK
$STATE,4981,begin climb
$GC,4984,1.40,77.9,445.6,0.0,298,5059,1.62,2.40,64.62,0.844,4,0.030,0.040,3027,3382,2732,0,0,0,0,0,0
$GC,5206,1.22,119.5,440.9,5.2,302,5247,0.00,2.38,35.62,0.830,6,0.000,0.035,3012,1999,2562,0,0,0,0,0,0
$GC,5580,1.02,123.8,413.1,7.7,312,5592,0.38,2.40,4.28,0.547,4,0.106,0.038,2951,3377,2544,0,0,0,0,0,0
$GC,5685,1.02,158.3,406.5,5.7,314,5722,0.00,2.38,31.12,0.825,6,0.000,0.035,2951,2000,2403,0,0,0,0,0,0
$GC,6045,1.02,158.3,379.5,8.4,323,6049,0.00,2.47,0.00,0.000,4,0.000,0.052,2951,597,2396,0,0,0,0,0,0
$GC,6129,0.94,158.3,371.1,10.0,324,6135,0.17,2.33,0.00,0.000,6,0.115,0.030,2919,1986,2395,0,0,0,0,0,0
$GC,6460,0.99,178.7,348.1,6.6,333,6484,0.00,2.47,17.40,0.782,4,0.000,0.037,2920,3402,2320,0,0,0,0,0,0
$GC,6495,1.10,203.4,345.9,6.3,333,6525,0.15,2.42,23.73,0.787,6,0.065,0.037,2958,2012,2220,0,0,0,0,0,0
$GC,6870,1.12,223.3,314.3,6.6,343,6895,0.00,2.58,17.95,0.760,4,0.000,0.051,2956,601,2138,0,0,0,0,0,0
$GC,6924,1.08,223.3,309.0,10.9,344,6928,0.00,2.38,0.00,0.000,6,0.000,0.029,2958,2014,2135,0,0,0,0,0,0
$GC,7246,1.11,223.3,273.1,9.6,358,7250,0.00,2.50,0.00,0.000,4,0.000,0.051,2958,602,2133,0,0,0,0,0,0
$GC,7339,1.08,223.3,263.8,9.8,362,7344,0.00,2.35,0.00,0.000,6,0.000,0.028,2958,2018,2130,0,0,0,0,0,0
$GC,7664,1.12,223.3,233.7,9.7,378,7668,0.00,2.50,0.00,0.000,4,0.000,0.050,2958,599,2130,0,0,0,0,0,0
$GC,7748,1.12,223.3,225.1,9.9,381,7753,0.00,2.35,0.00,0.000,6,0.000,0.028,2957,2017,2128,0,0,0,0,0,0
$GC,8063,1.20,223.3,198.3,8.4,397,8067,0.00,2.50,0.00,0.000,4,0.000,0.049,2958,597,2128,0,0,0,0,0,0
$GC,8191,1.20,223.3,186.6,8.8,410,8195,0.00,2.38,0.00,0.000,6,0.000,0.028,2958,2021,2126,0,0,0,0,0,0
$GC,8454,1.29,242.8,167.2,6.7,434,8480,0.17,2.53,16.60,0.649,4,0.059,0.046,3004,602,2059,0,0,0,0,0,0
$GC,8534,1.21,242.8,159.1,10.7,442,8541,0.15,2.35,0.00,0.000,6,0.107,0.025,2977,2023,2056,0,0,0,0,0,0
$GC,8799,1.26,242.8,134.8,8.5,467,8803,0.00,2.50,0.00,0.000,4,0.000,0.046,2977,591,2056,0,0,0,0,0,0
$GC,8897,1.26,242.8,124.9,9.3,477,8902,0.00,2.33,0.00,0.000,6,0.000,0.024,2977,2015,2054,0,0,0,0,0,0
$GC,9160,1.33,242.8,103.3,8.8,501,9165,0.12,2.47,0.00,0.000,4,0.067,0.045,3014,600,2054,0,0,0,0,0,0
$GC,9256,1.26,242.8,92.7,12.3,510,9262,0.12,2.28,0.00,0.000,6,0.110,0.023,2991,2015,2054,0,0,0,0,0,0
$GC,9518,1.35,263.7,73.5,6.6,535,9545,0.00,2.53,19.20,0.563,4,0.000,0.044,2990,600,1974,0,0,0,0,0,0
$GC,9642,1.35,263.7,62.7,8.9,548,9647,0.00,2.30,0.00,0.000,6,0.000,0.021,2990,2011,1971,0,0,0,0,0,0
$GC,9905,1.43,263.7,43.1,8.7,573,9910,0.17,2.47,0.00,0.000,4,0.053,0.044,3041,590,1971,0,0,0,0,0,0
$GC,9949,1.34,263.7,38.4,10.7,577,9954,0.17,2.30,0.00,0.000,6,0.097,0.021,3005,2017,1971,0,0,0,0,0,0
$GC,10220,1.39,263.7,16.1,11.7,616,10225,0.00,2.42,0.00,0.000,4,0.000,0.041,3006,591,1971,0,0,0,0,0,0
$STATE,10346,end climb,SURFACE_DEPTH_REACHED
$STATE,10346,begin surface coast
$FINISH,1.5,1.023189
$STATE,10355,end surface coast,CONTROL_FINISHED_OK
$STATE,10355,begin surface
$SM_CCo,10378,19.00,0.495,0,0,1827,300.00
$SM_GC,1.03,0.00,0.00,19.00,0.000,0.000,0.495,428,1897,1827,-10.52,0.62,300.00
$IRIDIUM_FIX,2052.52,-15747.49,150999,070735
$TT8_MAMPS,0.029146
$HUMID,52.32
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,440.3,34.6
$24V_AH,23.4,50.726
$10V_AH,10.0,46.263
$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,27.825,124.150,294.475,19.000,0.000,62.192,57.597,334.032,4.750,0.000,36.245,1254.532,7194.401,385.142,1514.482,727.163,33.387,1213.034,0.000,1457.838,0.000,32.212,0.000
$DEVICE_MAMPS,133.458,52.923,865.176,494.715,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.530,427.900,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34851,645
$CAP_FILE_SIZE,128158,0
$CFSIZE,260165632,225095680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210610,105050,2100.185,-15747.107,87,2.6,106,9.8