version: 66.06
glider: 139
mission: 7
dive: 580
start: 6 22 110 9 6 31
data:
$ID,139
$MISSION,7
$DIVE,580
$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,-2142804
$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
$GPS1,085315,2101.708,-15753.320,77,3.1,96,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.7
$GPS2,090540,2101.806,-15753.381,11,2.5,30,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.098,0.156
$KALMAN_X,-331573.0,209.5,239.5,333802.4,-901.5
$KALMAN_Y,22859.1,-83.5,96.1,-32326.6,-134.0
$MHEAD_RNG_PITCHd_Wd,318.0,19266,-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,15,-1.40,-77.9,0.0,0.0,0,67,0.00,0.00,-49.88,0.000,2,0.000,0.000,425,1890,3129,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.7,-6.3,10,95,10.52,2.38,-4.68,0.000,4,0.131,0.039,2405,3298,3370,0,0,0,0,0,0
$GC,193,-1.36,-77.9,27.7,-13.1,36,199,0.00,2.40,0.00,0.000,6,0.000,0.029,2403,1871,3371,0,0,0,0,0,0
$GC,392,-1.21,-77.9,57.9,-14.2,56,397,0.22,2.38,0.00,0.000,4,0.095,0.039,2449,467,3372,0,0,0,0,0,0
$GC,454,-1.15,-77.9,66.1,-13.6,62,459,0.00,2.33,0.00,0.000,6,0.000,0.018,2447,1913,3373,0,0,0,0,0,0
$GC,715,-1.15,-77.9,96.7,-11.3,86,720,0.00,2.47,0.00,0.000,4,0.000,0.041,2450,471,3373,0,0,0,0,0,0
$GC,797,-1.15,-77.9,105.8,-10.2,94,801,0.00,2.25,0.00,0.000,6,0.000,0.018,2449,1880,3373,0,0,0,0,0,0
$GC,1061,-1.15,-77.9,131.3,-9.8,118,1065,0.00,2.42,0.00,0.000,4,0.000,0.041,2449,465,3374,0,0,0,0,0,0
$GC,1148,-1.15,-77.9,141.0,-10.0,127,1152,0.00,2.25,0.00,0.000,6,0.000,0.018,2447,1877,3374,0,0,0,0,0,0
$GC,1412,-1.22,-77.9,162.5,-7.1,151,1416,0.00,2.22,0.00,0.000,4,0.000,0.025,2444,3259,3375,0,0,0,0,0,0
$GC,1439,-1.36,-77.9,164.9,-8.1,153,1446,0.12,2.30,0.00,0.000,6,0.062,0.027,2403,1872,3375,0,0,0,0,0,0
$GC,1701,-1.36,-77.9,187.7,-9.2,178,1705,0.00,2.38,0.00,0.000,4,0.000,0.041,2404,473,3375,0,0,0,0,0,0
$GC,1781,-1.32,-77.9,195.7,-9.1,186,1786,0.10,2.25,0.00,0.000,6,0.107,0.019,2425,1884,3375,0,0,0,0,0,0
$GC,2049,-1.38,-77.9,215.9,-7.6,201,2053,0.00,2.42,0.00,0.000,4,0.000,0.042,2427,467,3375,0,0,0,0,0,0
$GC,2148,-1.44,-77.9,224.8,-9.0,205,2152,0.12,2.25,0.00,0.000,6,0.061,0.020,2381,1880,3376,0,0,0,0,0,0
$GC,2473,-1.44,-77.9,255.8,-9.6,221,2477,0.00,2.40,0.00,0.000,4,0.000,0.043,2383,474,3375,0,0,0,0,0,0
$GC,2530,-1.39,-77.9,260.9,-8.6,223,2534,0.15,2.25,0.00,0.000,6,0.094,0.021,2414,1880,3375,0,0,0,0,0,0
$GC,2853,-1.44,-77.9,283.5,-7.2,239,2857,0.00,2.42,0.00,0.000,4,0.000,0.044,2415,471,3374,0,0,0,0,0,0
$GC,2968,-1.44,-77.9,293.6,-8.5,244,2972,0.00,2.25,0.00,0.000,6,0.000,0.022,2415,1877,3374,0,0,0,0,0,0
$GC,3295,-1.51,-77.9,321.0,-8.8,254,3300,0.15,2.45,0.00,0.000,4,0.058,0.047,2368,469,3372,0,0,0,0,0,0
$GC,3356,-1.44,-77.9,328.6,-12.5,255,3361,0.15,2.28,0.00,0.000,6,0.093,0.023,2400,1871,3372,0,0,0,0,0,0
$GC,3709,-1.48,-77.9,364.0,-9.6,264,3713,0.00,2.42,0.00,0.000,4,0.000,0.047,2400,472,3370,0,0,0,0,0,0
$GC,3746,-1.48,-77.9,368.1,-10.0,264,3751,0.00,2.30,0.00,0.000,6,0.000,0.025,2398,1880,3369,0,0,0,0,0,0
$GC,4077,-1.53,-77.9,395.3,-7.5,273,4081,0.00,2.42,0.00,0.000,4,0.000,0.048,2400,472,3367,0,0,0,0,0,0
$GC,4161,-1.53,-77.9,402.5,-8.4,274,4167,0.00,2.30,0.00,0.000,6,0.000,0.025,2400,1874,3366,0,0,0,0,0,0
$GC,4493,-1.57,-77.9,427.9,-7.3,283,4497,0.12,2.47,0.00,0.000,4,0.067,0.051,2363,467,3364,0,0,0,0,0,0
$GC,4578,-1.51,-77.9,436.9,-11.4,284,4584,0.10,2.33,0.00,0.000,6,0.114,0.026,2383,1878,3364,0,0,0,0,0,0
$STATE,4744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4744,begin apogee
$GC,4750,-0.31,0.0,453.1,9.6,289,4817,1.23,0.00,63.85,0.871,6,0.074,0.000,2646,2031,3050,0,0,0,0,0,0
$STATE,4818,end apogee,CONTROL_FINISHED_OK
$STATE,4818,begin climb
$GC,4820,1.40,77.9,454.3,0.0,290,4896,1.62,2.40,64.78,0.851,4,0.030,0.039,3020,3376,2731,0,0,0,0,0,0
$GC,4958,1.24,146.6,455.2,3.3,293,5025,0.20,2.35,58.60,0.846,6,0.116,0.034,2989,2012,2451,0,0,0,0,0,0
$GC,5366,1.13,146.6,417.6,9.9,303,5368,0.15,0.00,0.00,0.000,6,0.117,0.000,2962,2012,2443,0,0,0,0,0,0
$GC,5691,1.08,146.6,389.2,9.1,311,5695,0.00,2.45,0.00,0.000,4,0.000,0.051,2959,605,2440,0,0,0,0,0,0
$GC,5757,0.97,146.6,382.8,9.5,312,5762,0.20,2.33,0.00,0.000,6,0.114,0.028,2927,1992,2438,0,0,0,0,0,0
$GC,6103,1.03,172.0,359.5,6.3,321,6131,0.00,2.50,20.67,0.799,4,0.000,0.051,2926,598,2347,0,0,0,0,0,0
$GC,6223,1.03,174.2,350.5,7.9,323,6227,0.00,2.38,0.00,0.000,6,0.000,0.029,2926,2017,2343,0,0,0,0,0,0
$GC,6559,1.09,178.0,326.0,7.8,332,6572,0.12,2.55,5.75,0.628,4,0.076,0.051,2958,608,2324,0,0,0,0,0,0
$GC,6597,1.02,178.0,322.2,10.4,332,6601,0.00,2.38,0.00,0.000,6,0.000,0.030,2956,2016,2322,0,0,0,0,0,0
$GC,6907,1.02,178.0,295.8,8.1,340,6912,0.12,2.50,0.00,0.000,4,0.120,0.051,2935,600,2322,0,0,0,0,0,0
$GC,6991,1.02,178.0,288.8,8.6,343,6997,0.00,2.38,0.00,0.000,6,0.000,0.029,2934,2013,2320,0,0,0,0,0,0
$GC,7307,1.07,178.0,262.7,8.0,359,7312,0.00,2.45,0.00,0.000,4,0.000,0.051,2935,607,2320,0,0,0,0,0,0
$GC,7419,1.07,178.0,252.5,8.9,364,7424,0.00,2.33,0.00,0.000,6,0.000,0.028,2935,2013,2318,0,0,0,0,0,0
$GC,7750,1.19,221.2,233.8,5.1,380,7795,0.17,2.58,38.60,0.738,4,0.064,0.050,2979,605,2147,0,0,0,0,0,0
$GC,7870,1.13,221.2,223.4,10.4,385,7874,0.00,2.35,0.00,0.000,6,0.000,0.028,2978,2022,2142,0,0,0,0,0,0
$GC,8192,1.13,221.2,193.4,9.3,404,8196,0.00,2.47,0.00,0.000,4,0.000,0.048,2979,604,2141,0,0,0,0,0,0
$GC,8226,1.09,221.2,190.0,10.7,407,8231,0.15,2.35,0.00,0.000,6,0.115,0.027,2952,2014,2138,0,0,0,0,0,0
$GC,8487,1.19,235.2,169.0,7.1,431,8506,0.00,2.50,12.43,0.634,4,0.000,0.048,2949,600,2091,0,0,0,0,0,0
$GC,8706,1.25,244.7,150.2,7.4,454,8721,0.15,2.35,9.45,0.589,6,0.067,0.025,2992,2021,2052,0,0,0,0,0,0
$GC,8975,1.28,266.4,129.1,6.5,480,9002,0.00,2.38,21.00,0.621,4,0.000,0.030,2992,3404,1962,0,0,0,0,0,0
$GC,9014,1.34,287.2,126.6,6.6,484,9040,0.00,2.40,19.38,0.607,6,0.000,0.031,2993,2007,1878,0,0,0,0,0,0
$GC,9296,1.40,287.2,103.1,8.6,511,9301,0.10,2.42,0.00,0.000,4,0.079,0.046,3023,604,1875,0,0,0,0,0,0
$GC,9460,1.33,287.2,84.7,10.4,528,9465,0.00,2.33,0.00,0.000,6,0.000,0.022,3024,2021,1871,0,0,0,0,0,0
$GC,9723,1.33,287.2,60.0,9.0,552,9727,0.00,2.45,0.00,0.000,4,0.000,0.044,3024,595,1871,0,0,0,0,0,0
$GC,9941,1.29,287.2,38.1,8.6,575,9946,0.15,2.30,0.00,0.000,6,0.101,0.021,2993,2022,1871,0,0,0,0,0,0
$GC,10213,1.39,287.2,14.3,9.7,614,10219,0.10,2.45,0.00,0.000,4,0.077,0.044,3027,595,1870,0,0,0,0,0,0
$STATE,10306,end climb,SURFACE_DEPTH_REACHED
$STATE,10309,begin surface coast
$FINISH,2.5,1.023087
$STATE,10314,end surface coast,CONTROL_FINISHED_OK
$STATE,10314,begin surface
$SM_CCo,10338,9.52,0.469,0,0,1827,300.00
$SM_GC,2.98,0.00,0.00,9.52,0.000,0.000,0.469,425,1887,1827,-10.53,0.34,300.00
$IRIDIUM_FIX,2054.83,-15751.76,160999,090951
$TT8_MAMPS,0.029146
$HUMID,53.26
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,23.4,51.446
$10V_AH,10.0,46.714
$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,27.775,123.575,314.500,9.525,0.000,90.050,88.827,286.704,4.500,0.000,33.113,1238.220,7221.824,383.282,1523.859,723.044,33.382,1216.562,0.000,1469.044,0.000,29.254,0.000
$DEVICE_MAMPS,131.157,52.923,870.545,468.637,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,427.000,416.725,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34862,635
$CAP_FILE_SIZE,126228,0
$CFSIZE,260165632,224612352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220610,120057,2102.740,-15754.462,61,5.2,80,9.8