version: 66.06
glider: 139
mission: 7
dive: 585
start: 6 23 110 0 54 33
data:
$ID,139
$MISSION,7
$DIVE,585
$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,637.77997
$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,-2142974.5
$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
$GPS1,003457,2105.709,-15759.146,111,4.0,130,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-71.8
$GPS2,005342,2105.920,-15759.396,34,3.4,53,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.155,0.099
$KALMAN_X,-332602.1,88.8,-402.4,325209.4,-24.1
$KALMAN_Y,25351.1,298.0,-53.5,-27428.8,601.5
$MHEAD_RNG_PITCHd_Wd,292.7,6420,-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,-50.03,0.000,2,0.000,0.000,429,1848,3151,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.4,-6.1,10,95,10.45,2.47,-4.35,0.000,4,0.130,0.038,2404,3297,3370,0,0,0,0,0,0
$GC,235,-1.34,-77.9,35.3,-14.8,41,241,0.00,2.40,0.00,0.000,6,0.000,0.031,2402,1873,3371,0,0,0,0,0,0
$GC,497,-1.23,-77.9,74.2,-12.6,66,502,0.20,2.38,0.00,0.000,4,0.095,0.040,2445,470,3372,0,0,0,0,0,0
$GC,601,-1.23,-77.9,85.6,-10.0,76,607,0.00,2.30,0.00,0.000,6,0.000,0.018,2445,1912,3372,0,0,0,0,0,0
$GC,865,-1.23,-77.9,112.7,-9.8,101,869,0.00,2.47,0.00,0.000,4,0.000,0.041,2445,470,3373,0,0,0,0,0,0
$GC,908,-1.23,-77.9,117.7,-12.0,105,912,0.00,2.25,0.00,0.000,6,0.000,0.019,2445,1881,3373,0,0,0,0,0,0
$GC,1169,-1.28,-77.9,143.3,-8.7,129,1173,0.00,2.42,0.00,0.000,4,0.000,0.041,2445,464,3373,0,0,0,0,0,0
$GC,1303,-1.28,-77.9,157.2,-9.9,143,1308,0.00,2.25,0.00,0.000,6,0.000,0.019,2445,1880,3373,0,0,0,0,0,0
$GC,1571,-1.36,-77.9,177.4,-7.0,168,1576,0.12,2.40,0.00,0.000,4,0.062,0.042,2401,470,3373,0,0,0,0,0,0
$GC,1657,-1.28,-77.9,186.0,-10.6,176,1664,0.17,2.25,0.00,0.000,6,0.087,0.019,2437,1878,3373,0,0,0,0,0,0
$GC,1928,-1.34,-77.9,207.0,-8.4,198,1932,0.00,2.42,0.00,0.000,4,0.000,0.043,2438,462,3373,0,0,0,0,0,0
$GC,1995,-1.38,-77.9,213.9,-10.2,201,2000,0.10,2.28,0.00,0.000,6,0.071,0.021,2399,1881,3374,0,0,0,0,0,0
$GC,2327,-1.38,-77.9,242.0,-7.1,217,2331,0.00,2.42,0.00,0.000,4,0.000,0.043,2400,466,3373,0,0,0,0,0,0
$GC,2365,-1.33,-77.9,245.4,-9.1,218,2371,0.12,2.28,0.00,0.000,6,0.098,0.021,2426,1880,3373,0,0,0,0,0,0
$GC,2681,-1.39,-77.9,271.3,-8.7,234,2685,0.00,2.28,0.00,0.000,4,0.000,0.028,2426,3266,3373,0,0,0,0,0,0
$GC,2696,-1.48,-77.9,272.8,-8.9,234,2702,0.15,2.30,0.00,0.000,6,0.056,0.029,2379,1873,3372,0,0,0,0,0,0
$GC,3033,-1.45,-77.9,304.4,-8.1,250,3037,0.00,2.40,0.00,0.000,4,0.000,0.045,2379,471,3372,0,0,0,0,0,0
$GC,3093,-1.40,-77.9,310.9,-10.5,251,3098,0.15,2.28,0.00,0.000,6,0.095,0.022,2410,1878,3371,0,0,0,0,0,0
$GC,3409,-1.45,-77.9,335.2,-7.1,259,3413,0.00,2.42,0.00,0.000,4,0.000,0.046,2409,473,3369,0,0,0,0,0,0
$GC,3513,-1.49,-77.9,343.2,-8.0,261,3517,0.00,2.28,0.00,0.000,6,0.000,0.024,2410,1872,3369,0,0,0,0,0,0
$GC,3827,-1.55,-77.9,371.7,-10.2,269,3832,0.15,2.42,0.00,0.000,4,0.058,0.048,2366,470,3367,0,0,0,0,0,0
$GC,3954,-1.48,-77.9,385.9,-11.5,271,3959,0.12,2.30,0.00,0.000,6,0.100,0.025,2391,1878,3366,0,0,0,0,0,0
$GC,4284,-1.48,-77.9,416.5,-9.3,279,4289,0.00,2.45,0.00,0.000,4,0.000,0.049,2391,470,3364,0,0,0,0,0,0
$GC,4340,-1.48,-77.9,422.6,-11.0,280,4344,0.00,2.30,0.00,0.000,6,0.000,0.025,2391,1872,3363,0,0,0,0,0,0
$GC,4654,-1.48,-77.9,449.5,-7.8,288,4658,0.00,2.42,0.00,0.000,4,0.000,0.050,2390,476,3361,0,0,0,0,0,0
$STATE,4661,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4661,begin apogee
$GC,4669,-0.31,0.0,450.3,7.3,288,4736,1.17,0.00,63.15,0.867,6,0.084,0.000,2640,2015,3050,0,0,0,0,0,0
$STATE,4737,end apogee,CONTROL_FINISHED_OK
$STATE,4737,begin climb
$GC,4740,1.40,77.9,451.0,0.0,289,4815,1.67,2.47,64.68,0.847,4,0.039,0.040,3021,3402,2732,0,0,0,0,0,0
$GC,4903,1.20,105.2,446.7,6.1,292,4933,0.22,2.40,23.70,0.815,6,0.117,0.034,2979,2008,2621,0,0,0,0,0,0
$GC,5242,1.10,122.8,422.0,6.8,301,5264,0.12,2.47,15.32,0.792,4,0.130,0.038,2960,3406,2549,0,0,0,0,0,0
$GC,5324,1.06,137.1,416.8,7.0,302,5345,0.00,2.42,13.68,0.776,6,0.000,0.035,2960,2005,2491,0,0,0,0,0,0
$GC,5665,1.02,143.5,390.2,7.6,311,5678,0.12,2.53,6.30,0.663,4,0.127,0.053,2936,609,2464,0,0,0,0,0,0
$GC,5794,0.97,159.0,380.5,7.0,313,5814,0.00,2.35,14.95,0.785,6,0.000,0.029,2936,2019,2400,0,0,0,0,0,0
$GC,6134,0.99,172.6,356.8,7.1,322,6154,0.00,2.55,12.65,0.762,4,0.000,0.051,2936,603,2345,0,0,0,0,0,0
$GC,6274,0.96,172.6,342.6,9.8,325,6278,0.00,2.35,0.00,0.000,6,0.000,0.029,2936,2010,2341,0,0,0,0,0,0
$GC,6598,1.01,187.5,319.1,7.0,333,6618,0.00,2.58,13.73,0.755,4,0.000,0.051,2937,602,2285,0,0,0,0,0,0
$GC,6708,1.01,187.5,308.8,9.5,335,6712,0.00,2.38,0.00,0.000,6,0.000,0.029,2936,2010,2281,0,0,0,0,0,0
$GC,7041,1.12,223.6,285.1,5.5,349,7084,0.00,2.53,32.97,0.772,4,0.000,0.051,2937,605,2136,0,0,0,0,0,0
$GC,7150,1.12,224.3,277.6,8.0,353,7155,0.00,2.38,0.00,0.000,6,0.000,0.028,2936,2012,2131,0,0,0,0,0,0
$GC,7466,1.19,224.3,253.2,8.8,369,7471,0.17,2.50,0.00,0.000,4,0.061,0.051,2979,598,2130,0,0,0,0,0,0
$GC,7565,1.11,224.3,243.0,9.9,373,7570,0.12,2.38,0.00,0.000,6,0.123,0.028,2960,2017,2128,0,0,0,0,0,0
$GC,7889,1.17,225.9,214.0,7.9,389,7893,0.00,2.50,0.00,0.000,4,0.000,0.049,2958,595,2128,0,0,0,0,0,0
$GC,7955,1.17,225.9,208.3,8.3,392,7959,0.00,2.38,0.00,0.000,6,0.000,0.028,2959,2020,2126,0,0,0,0,0,0
$GC,8281,1.22,225.9,180.5,9.0,418,8285,0.00,2.47,0.00,0.000,4,0.000,0.048,2959,602,2126,0,0,0,0,0,0
$GC,8428,1.22,225.9,166.1,9.7,433,8434,0.00,2.33,0.00,0.000,6,0.000,0.025,2961,2014,2125,0,0,0,0,0,0
$GC,8692,1.32,238.8,146.1,7.1,458,8711,0.17,2.47,12.82,0.617,4,0.058,0.045,3007,603,2075,0,0,0,0,0,0
$GC,8916,1.25,238.8,121.2,11.0,482,8921,0.00,2.30,0.00,0.000,6,0.000,0.025,3008,2014,2071,0,0,0,0,0,0
$GC,9179,1.25,238.8,95.9,9.5,506,9183,0.00,2.45,0.00,0.000,4,0.000,0.044,3008,601,2072,0,0,0,0,0,0
$GC,9245,1.20,238.8,89.0,10.4,512,9251,0.17,2.30,0.00,0.000,6,0.107,0.023,2975,2018,2071,0,0,0,0,0,0
$GC,9510,1.34,278.3,72.6,5.3,537,9553,0.12,2.53,35.30,0.581,4,0.067,0.044,3014,600,1914,0,0,0,0,0,0
$GC,9641,1.34,278.3,62.1,9.2,551,9646,0.00,2.30,0.00,0.000,6,0.000,0.022,3014,2011,1909,0,0,0,0,0,0
$GC,9904,1.41,297.0,42.9,6.7,576,9926,0.00,2.47,16.65,0.527,4,0.000,0.044,3014,601,1839,0,0,0,0,0,0
$GC,10028,1.41,297.0,32.9,8.4,589,10033,0.00,2.30,0.00,0.000,6,0.000,0.021,3015,2015,1835,0,0,0,0,0,0
$GC,10302,1.46,297.0,12.0,9.2,634,10308,0.00,2.45,0.00,0.000,4,0.000,0.042,3015,597,1834,0,0,0,0,0,0
$STATE,10382,end climb,SURFACE_DEPTH_REACHED
$STATE,10382,begin surface coast
$FINISH,2.4,1.023090
$STATE,10387,end surface coast,CONTROL_FINISHED_OK
$STATE,10389,begin surface
$SM_CCo,10412,179.70,0.510,0,0,450,637.78
$SM_GC,1.17,0.00,0.00,179.70,0.000,0.000,0.510,428,1883,450,-10.52,0.31,637.78
$IRIDIUM_FIX,2059.45,-15756.04,170999,000002
$TT8_MAMPS,0.029146
$HUMID,50.11
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,23.4,51.965
$10V_AH,10.0,47.007
$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,27.425,129.050,325.900,179.700,0.000,154.193,142.577,398.320,4.750,0.000,55.505,1283.583,7203.105,557.795,1677.983,991.613,33.378,1459.372,0.000,1596.876,0.000,29.257,0.000
$DEVICE_MAMPS,129.623,52.923,867.477,510.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,438.039,431.541,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,35037,652
$CAP_FILE_SIZE,133275,0
$CFSIZE,260165632,224296960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230610,035315,2106.596,-15800.433,71,6.2,90,9.8