version: 66.06
glider: 139
mission: 7
dive: 575
start: 6 21 110 17 16 55
data:
$ID,139
$MISSION,7
$DIVE,575
$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,-2142647.2
$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
$GPS1,170922,2059.077,-15748.772,84,3.5,103,9.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-71.5
$GPS2,171603,2059.128,-15748.789,12,3.6,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.126,-0.134
$KALMAN_X,-330992.8,-661.2,184.5,342086.7,430.1
$KALMAN_Y,20543.2,-200.5,294.3,-35047.4,308.5
$MHEAD_RNG_PITCHd_Wd,213.6,2908,-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,-50.53,0.000,2,0.000,0.000,424,1888,3156,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.5,-6.2,10,95,10.55,2.50,-4.20,0.000,4,0.131,0.053,2404,468,3370,0,0,0,0,0,0
$GC,216,-1.17,-77.9,35.5,-18.9,38,222,0.28,2.33,0.00,0.000,6,0.092,0.019,2460,1911,3371,0,0,0,0,0,0
$GC,480,-1.17,-77.9,68.7,-12.1,63,484,0.00,2.50,0.00,0.000,4,0.000,0.042,2459,460,3372,0,0,0,0,0,0
$GC,579,-1.12,-77.9,80.6,-11.6,73,583,0.00,2.28,0.00,0.000,6,0.000,0.019,2458,1881,3373,0,0,0,0,0,0
$GC,841,-1.12,-77.9,106.4,-8.3,97,845,0.00,2.42,0.00,0.000,4,0.000,0.041,2459,469,3374,0,0,0,0,0,0
$GC,904,-1.12,-77.9,111.1,-6.7,103,908,0.00,2.22,0.00,0.000,6,0.000,0.019,2456,1878,3374,0,0,0,0,0,0
$GC,1169,-1.18,-77.9,133.1,-10.7,127,1173,0.00,2.40,0.00,0.000,4,0.000,0.041,2459,464,3375,0,0,0,0,0,0
$GC,1202,-1.18,-77.9,137.1,-11.5,130,1206,0.00,2.25,0.00,0.000,6,0.000,0.019,2457,1878,3375,0,0,0,0,0,0
$GC,1467,-1.27,-77.9,157.8,-6.3,154,1471,0.00,2.42,0.00,0.000,4,0.000,0.041,2459,460,3376,0,0,0,0,0,0
$GC,1558,-1.36,-77.9,164.9,-7.8,163,1562,0.17,2.25,0.00,0.000,6,0.049,0.019,2401,1876,3376,0,0,0,0,0,0
$GC,1819,-1.33,-77.9,193.4,-10.7,187,1823,0.10,2.42,0.00,0.000,4,0.108,0.042,2423,468,3376,0,0,0,0,0,0
$GC,1886,-1.33,-77.9,200.6,-10.0,194,1890,0.00,2.25,0.00,0.000,6,0.000,0.020,2421,1876,3376,0,0,0,0,0,0
$GC,2217,-1.37,-77.9,226.5,-9.1,210,2221,0.00,2.42,0.00,0.000,4,0.000,0.043,2423,460,3377,0,0,0,0,0,0
$GC,2272,-1.37,-77.9,232.9,-10.7,212,2276,0.00,2.25,0.00,0.000,6,0.000,0.020,2411,1876,3377,0,0,0,0,0,0
$GC,2593,-1.42,-77.9,259.9,-7.2,228,2598,0.00,2.40,0.00,0.000,4,0.000,0.044,2423,465,3377,0,0,0,0,0,0
$GC,2645,-1.47,-77.9,264.1,-7.5,230,2650,0.12,2.28,0.00,0.000,6,0.061,0.021,2380,1882,3376,0,0,0,0,0,0
$GC,2970,-1.47,-77.9,292.7,-9.8,246,2975,0.00,2.45,0.00,0.000,4,0.000,0.045,2380,459,3376,0,0,0,0,0,0
$GC,3039,-1.41,-77.9,300.1,-10.9,249,3044,0.12,2.28,0.00,0.000,6,0.098,0.022,2406,1874,3376,0,0,0,0,0,0
$GC,3385,-1.45,-77.9,328.7,-8.1,258,3389,0.00,2.40,0.00,0.000,4,0.000,0.045,2405,469,3374,0,0,0,0,0,0
$GC,3404,-1.45,-77.9,330.5,-9.0,258,3408,0.00,2.28,0.00,0.000,6,0.000,0.023,2406,1878,3375,0,0,0,0,0,0
$GC,3749,-1.50,-77.9,360.9,-8.3,267,3754,0.00,2.45,0.00,0.000,4,0.000,0.048,2406,466,3373,0,0,0,0,0,0
$GC,3810,-1.50,-77.9,366.3,-8.2,268,3814,0.00,2.28,0.00,0.000,6,0.000,0.025,2405,1876,3373,0,0,0,0,0,0
$GC,4125,-1.56,-77.9,390.6,-8.5,276,4130,0.15,2.47,0.00,0.000,4,0.058,0.049,2359,463,3371,0,0,0,0,0,0
$GC,4200,-1.48,-77.9,399.1,-11.5,277,4205,0.15,2.30,0.00,0.000,6,0.094,0.025,2391,1873,3370,0,0,0,0,0,0
$GC,4537,-1.48,-77.9,427.8,-8.2,286,4541,0.00,2.42,0.00,0.000,4,0.000,0.051,2391,470,3367,0,0,0,0,0,0
$GC,4592,-1.48,-77.9,433.3,-10.1,287,4596,0.00,2.33,0.00,0.000,6,0.000,0.027,2392,1880,3367,0,0,0,0,0,0
$STATE,4781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4781,begin apogee
$GC,4788,-0.31,0.0,450.8,9.2,292,4856,1.17,0.00,64.60,0.867,6,0.071,0.000,2645,2031,3050,0,0,0,0,0,0
$STATE,4857,end apogee,CONTROL_FINISHED_OK
$STATE,4857,begin climb
$GC,4859,1.40,77.9,452.1,0.0,293,4935,1.62,2.42,64.93,0.847,4,0.028,0.040,3026,3383,2731,0,0,0,0,0,0
$GC,5199,1.21,125.9,444.0,4.7,300,5247,0.22,2.35,40.75,0.840,6,0.110,0.035,2984,2007,2536,0,0,0,0,0,0
$GC,5588,1.11,135.1,418.1,7.4,310,5599,0.15,0.00,8.38,0.723,6,0.117,0.000,2958,2007,2499,0,0,0,0,0,0
$GC,5913,1.07,151.4,396.6,6.9,318,5934,0.00,2.40,15.23,0.795,4,0.000,0.039,2961,3379,2432,0,0,0,0,0,0
$GC,5949,1.05,160.9,393.9,7.4,318,5966,0.00,2.38,9.88,0.738,6,0.000,0.037,2963,2014,2394,0,0,0,0,0,0
$GC,6290,1.01,160.9,365.7,8.2,327,6295,0.15,2.53,0.00,0.000,4,0.113,0.053,2933,594,2389,0,0,0,0,0,0
$GC,6321,0.97,160.9,362.7,9.1,327,6326,0.00,2.35,0.00,0.000,6,0.000,0.030,2934,1989,2387,0,0,0,0,0,0
$GC,6657,1.01,166.0,336.6,7.7,336,6669,0.00,2.47,4.70,0.580,4,0.000,0.051,2934,604,2373,0,0,0,0,0,0
$GC,6679,1.01,166.0,334.6,8.6,336,6683,0.00,2.38,0.00,0.000,6,0.000,0.030,2934,2015,2372,0,0,0,0,0,0
$GC,7024,1.09,189.7,311.6,6.4,345,7052,0.00,2.58,22.27,0.783,4,0.000,0.051,2934,609,2275,0,0,0,0,0,0
$GC,7068,1.09,189.7,308.4,8.7,346,7072,0.00,2.40,0.00,0.000,6,0.000,0.030,2934,2020,2273,0,0,0,0,0,0
$GC,7400,1.16,191.6,282.4,7.9,359,7405,0.15,2.53,0.00,0.000,4,0.067,0.051,2971,604,2270,0,0,0,0,0,0
$GC,7530,1.10,191.6,267.8,10.5,364,7536,0.00,2.38,0.00,0.000,6,0.000,0.028,2972,2017,2268,0,0,0,0,0,0
$GC,7846,1.13,214.7,244.1,6.4,380,7875,0.00,2.58,22.60,0.730,4,0.000,0.050,2972,608,2173,0,0,0,0,0,0
$GC,7890,1.13,215.2,240.9,8.0,382,7894,0.00,2.38,0.00,0.000,6,0.000,0.028,2971,2011,2170,0,0,0,0,0,0
$GC,8220,1.14,227.2,215.8,7.2,398,8237,0.00,2.53,11.80,0.662,4,0.000,0.049,2972,601,2123,0,0,0,0,0,0
$GC,8247,1.15,236.3,213.4,7.4,398,8264,0.00,2.38,9.75,0.630,6,0.000,0.027,2972,2020,2086,0,0,0,0,0,0
$GC,8588,1.19,236.3,183.4,8.8,423,8593,0.00,2.47,0.00,0.000,4,0.000,0.048,2972,595,2083,0,0,0,0,0,0
$GC,8745,1.19,236.3,167.2,10.6,439,8751,0.00,2.35,0.00,0.000,6,0.000,0.025,2972,2013,2080,0,0,0,0,0,0
$GC,9009,1.24,236.3,142.2,9.9,464,9013,0.00,2.47,0.00,0.000,4,0.000,0.046,2972,594,2080,0,0,0,0,0,0
$GC,9157,1.24,236.3,126.5,10.4,479,9162,0.00,2.33,0.00,0.000,6,0.000,0.024,2973,2014,2079,0,0,0,0,0,0
$GC,9420,1.33,247.1,106.4,7.3,504,9437,0.15,2.50,10.20,0.552,4,0.060,0.044,3016,592,2042,0,0,0,0,0,0
$GC,9500,1.26,251.3,100.0,7.7,512,9514,0.15,2.33,5.07,0.449,6,0.100,0.023,2987,2014,2025,0,0,0,0,0,0
$GC,9769,1.33,251.3,75.5,9.6,538,9773,0.00,2.45,0.00,0.000,4,0.000,0.044,2987,595,2025,0,0,0,0,0,0
$GC,9881,1.33,251.3,64.8,9.8,549,9886,0.00,2.30,0.00,0.000,6,0.000,0.021,2987,2010,2023,0,0,0,0,0,0
$GC,10143,1.44,272.0,46.4,6.6,574,10171,0.20,2.50,19.75,0.535,4,0.049,0.043,3043,591,1940,0,0,0,0,0,0
$GC,10377,1.36,272.0,22.1,10.1,607,10383,0.15,2.30,0.00,0.000,6,0.099,0.021,3013,2010,1936,0,0,0,0,0,0
$GC,10586,1.41,272.0,4.9,8.5,644,10592,0.00,2.42,0.00,0.000,4,0.000,0.042,3013,599,1936,0,0,0,0,0,0
$STATE,10605,end climb,SURFACE_DEPTH_REACHED
$STATE,10605,begin surface coast
$FINISH,0.5,1.012202
$STATE,10643,end surface coast,CONTROL_FINISHED_OK
$STATE,10643,begin surface
$SM_CCo,10666,16.73,0.491,0,0,1827,300.00
$SM_GC,2.22,0.00,0.00,16.73,0.000,0.000,0.491,428,1882,1827,-10.52,0.20,300.00
$IRIDIUM_FIX,2050.21,-15747.49,150999,141404
$TT8_MAMPS,0.029146
$HUMID,52.75
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,421.2,64.3
$24V_AH,23.4,50.990
$10V_AH,10.0,46.433
$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,26.925,128.950,309.900,16.725,0.000,29.555,35.430,201.003,4.500,0.000,32.117,1283.138,7345.046,396.505,1562.020,496.896,33.388,1245.470,0.000,1499.589,0.000,30.715,0.000
$DEVICE_MAMPS,131.157,53.690,867.477,490.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,441.259,422.405,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34910,656
$CAP_FILE_SIZE,124873,0
$CFSIZE,260165632,224915456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210610,201727,2058.611,-15749.450,91,2.6,110,9.8