version: 66.06
glider: 139
mission: 7
dive: 557
start: 6 19 110 8 16 28
data:
$ID,139
$MISSION,7
$DIVE,557
$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,-2142033.8
$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
$GPS1,080944,2106.300,-15750.113,106,3.2,125,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-71.1
$GPS2,081537,2106.289,-15750.153,36,1.2,36,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.181,0.032
$KALMAN_X,-325079.4,394.2,-268.8,333206.9,-1458.1
$KALMAN_Y,18609.5,-64.0,54.4,-19745.9,-404.6
$MHEAD_RNG_PITCHd_Wd,70.0,12533,-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,14,begin dive
$GC,17,-1.40,-77.9,0.0,0.0,0,69,0.00,0.00,-50.55,0.000,2,0.000,0.000,424,1865,3160,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.6,-6.9,10,96,10.62,2.42,-4.10,0.000,4,0.134,0.037,2407,3298,3370,0,0,0,0,0,0
$GC,121,-1.18,-77.9,17.2,-21.1,20,127,0.22,2.42,0.00,0.000,6,0.089,0.031,2453,1871,3371,0,0,0,0,0,0
$GC,330,-1.11,-77.9,47.0,-12.6,46,334,0.00,2.40,0.00,0.000,4,0.000,0.042,2453,468,3372,0,0,0,0,0,0
$GC,377,-1.02,-77.9,53.7,-13.9,50,383,0.20,2.30,0.00,0.000,6,0.092,0.019,2492,1916,3372,0,0,0,0,0,0
$GC,640,-1.09,-77.9,76.8,-8.8,75,644,0.00,2.47,0.00,0.000,4,0.000,0.042,2494,466,3373,0,0,0,0,0,0
$GC,696,-1.17,-77.9,81.5,-7.1,80,702,0.15,2.22,0.00,0.000,6,0.056,0.019,2445,1879,3374,0,0,0,0,0,0
$GC,958,-1.17,-77.9,108.6,-10.2,105,962,0.00,2.25,0.00,0.000,4,0.000,0.024,2445,3261,3374,0,0,0,0,0,0
$GC,968,-1.17,-77.9,109.7,-10.0,106,973,0.00,2.33,0.00,0.000,6,0.000,0.025,2445,1862,3374,0,0,0,0,0,0
$GC,1231,-1.21,-77.9,135.5,-9.6,130,1235,0.00,2.35,0.00,0.000,4,0.000,0.041,2445,466,3376,0,0,0,0,0,0
$GC,1329,-1.21,-77.9,145.9,-11.2,140,1333,0.00,2.22,0.00,0.000,6,0.000,0.019,2445,1877,3376,0,0,0,0,0,0
$GC,1591,-1.26,-77.9,170.9,-9.3,164,1595,0.00,2.22,0.00,0.000,4,0.000,0.025,2445,3260,3376,0,0,0,0,0,0
$GC,1625,-1.42,-77.9,173.8,-8.7,167,1630,0.17,2.28,0.00,0.000,6,0.050,0.027,2389,1875,3376,0,0,0,0,0,0
$GC,1886,-1.37,-77.9,198.0,-9.2,191,1891,0.12,2.38,0.00,0.000,4,0.098,0.042,2416,471,3377,0,0,0,0,0,0
$GC,1915,-1.33,-77.9,200.7,-9.6,193,1920,0.00,2.22,0.00,0.000,6,0.000,0.019,2414,1882,3377,0,0,0,0,0,0
$GC,2235,-1.37,-77.9,229.7,-9.5,209,2240,0.00,2.40,0.00,0.000,4,0.000,0.043,2414,468,3376,0,0,0,0,0,0
$GC,2324,-1.37,-77.9,239.1,-10.4,213,2328,0.00,2.22,0.00,0.000,6,0.000,0.021,2412,1874,3377,0,0,0,0,0,0
$GC,2655,-1.41,-77.9,269.5,-8.0,229,2659,0.00,2.40,0.00,0.000,4,0.000,0.044,2413,466,3376,0,0,0,0,0,0
$GC,2682,-1.41,-77.9,272.0,-8.1,230,2687,0.00,2.25,0.00,0.000,6,0.000,0.021,2414,1878,3376,0,0,0,0,0,0
$GC,3009,-1.47,-77.9,297.5,-7.6,246,3014,0.00,2.40,0.00,0.000,4,0.000,0.044,2415,470,3376,0,0,0,0,0,0
$GC,3065,-1.51,-77.9,302.5,-8.0,248,3070,0.12,2.25,0.00,0.000,6,0.063,0.022,2371,1874,3376,0,0,0,0,0,0
$GC,3380,-1.48,-77.9,332.5,-9.4,256,3384,0.00,2.30,0.00,0.000,4,0.000,0.030,2374,3265,3374,0,0,0,0,0,0
$GC,3399,-1.48,-77.9,334.1,-7.8,256,3404,0.15,2.33,0.00,0.000,6,0.092,0.031,2401,1879,3374,0,0,0,0,0,0
$GC,3745,-1.52,-77.9,359.1,-7.7,265,3749,0.00,2.40,0.00,0.000,4,0.000,0.048,2406,471,3372,0,0,0,0,0,0
$GC,3823,-1.52,-77.9,365.5,-8.1,266,3828,0.12,2.28,0.00,0.000,6,0.064,0.025,2367,1880,3371,0,0,0,0,0,0
$GC,4154,-1.52,-77.9,396.3,-9.3,274,4158,0.00,2.42,0.00,0.000,4,0.000,0.048,2366,470,3369,0,0,0,0,0,0
$GC,4198,-1.46,-77.9,400.6,-9.9,275,4203,0.15,2.28,0.00,0.000,6,0.094,0.025,2397,1876,3369,0,0,0,0,0,0
$GC,4527,-1.50,-77.9,426.5,-7.6,283,4531,0.00,2.42,0.00,0.000,4,0.000,0.051,2397,471,3367,0,0,0,0,0,0
$GC,4570,-1.50,-77.9,429.9,-7.4,283,4575,0.00,2.28,0.00,0.000,6,0.000,0.027,2397,1870,3366,0,0,0,0,0,0
$STATE,4857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4857,begin apogee
$GC,4863,-0.31,0.0,450.4,7.2,291,4931,1.15,0.00,64.62,0.873,6,0.071,0.000,2645,2036,3050,0,0,0,0,0,0
$STATE,4932,end apogee,CONTROL_FINISHED_OK
$STATE,4932,begin climb
$GC,4935,1.40,77.9,450.9,0.0,292,5010,1.62,2.40,64.95,0.851,4,0.031,0.041,3021,3377,2732,0,0,0,0,0,0
$GC,5206,1.22,125.9,442.6,4.7,298,5256,0.22,2.35,41.15,0.844,6,0.114,0.035,2984,2002,2536,0,0,0,0,0,0
$GC,5578,1.11,125.9,410.9,8.5,307,5580,0.15,0.00,0.00,0.000,6,0.120,0.000,2958,2002,2529,0,0,0,0,0,0
$GC,5904,1.09,147.3,389.1,6.6,315,5928,0.00,2.47,18.08,0.806,4,0.000,0.039,2954,3379,2449,0,0,0,0,0,0
$GC,5957,1.10,158.7,385.7,7.2,316,5974,0.00,2.35,11.73,0.760,6,0.000,0.037,2959,2009,2401,0,0,0,0,0,0
$GC,6314,1.10,158.7,356.6,8.4,325,6318,0.00,2.45,0.00,0.000,4,0.000,0.051,2957,602,2396,0,0,0,0,0,0
$GC,6423,1.02,158.7,346.4,9.7,327,6427,0.00,2.33,0.00,0.000,6,0.000,0.029,2957,1989,2394,0,0,0,0,0,0
$GC,6735,1.02,158.7,317.9,8.7,335,6740,0.00,2.45,0.00,0.000,4,0.000,0.051,2958,594,2394,0,0,0,0,0,0
$GC,6750,0.97,158.7,316.4,9.1,335,6755,0.17,2.40,0.00,0.000,6,0.117,0.030,2927,2021,2393,0,0,0,0,0,0
$GC,7066,1.03,166.7,293.0,7.5,345,7078,0.00,2.55,6.60,0.650,4,0.000,0.051,2926,605,2370,0,0,0,0,0,0
$GC,7162,1.03,166.7,284.7,8.4,349,7167,0.00,2.38,0.00,0.000,6,0.000,0.028,2926,2019,2367,0,0,0,0,0,0
$GC,7487,1.16,199.6,265.0,5.8,365,7524,0.17,2.60,30.15,0.762,4,0.065,0.051,2969,601,2235,0,0,0,0,0,0
$GC,7715,1.11,199.6,243.0,10.0,375,7719,0.00,2.38,0.00,0.000,6,0.000,0.028,2969,2014,2229,0,0,0,0,0,0
$GC,8045,1.12,207.8,216.8,7.5,391,8057,0.00,2.50,7.62,0.622,4,0.000,0.050,2969,601,2202,0,0,0,0,0,0
$GC,8233,1.12,207.8,200.5,8.8,399,8237,0.00,2.35,0.00,0.000,6,0.000,0.026,2969,2014,2198,0,0,0,0,0,0
$GC,8562,1.14,221.5,176.1,7.1,430,8580,0.00,2.53,13.30,0.645,4,0.000,0.047,2969,595,2146,0,0,0,0,0,0
$GC,8661,1.14,221.5,167.6,8.9,440,8666,0.00,2.35,0.00,0.000,6,0.000,0.026,2969,2018,2143,0,0,0,0,0,0
$GC,8924,1.22,240.6,149.8,6.7,465,8944,0.00,0.00,18.08,0.634,6,0.000,0.000,2969,2024,2068,0,0,0,0,0,0
$GC,9198,1.29,240.6,130.8,8.2,491,9203,0.12,2.50,0.00,0.000,4,0.070,0.047,3005,600,2066,0,0,0,0,0,0
$GC,9309,1.25,240.6,118.3,12.6,502,9313,0.00,2.35,0.00,0.000,6,0.000,0.024,3005,2025,2063,0,0,0,0,0,0
$GC,9573,1.25,243.7,96.4,7.8,526,9577,0.00,2.47,0.00,0.000,4,0.000,0.044,3004,596,2063,0,0,0,0,0,0
$GC,9704,1.21,243.7,84.3,10.0,539,9710,0.15,2.33,0.00,0.000,6,0.105,0.022,2977,2016,2063,0,0,0,0,0,0
$GC,9967,1.31,243.7,63.2,8.4,564,9972,0.10,2.30,0.00,0.000,4,0.078,0.029,3008,3406,2063,0,0,0,0,0,0
$GC,9996,1.35,243.7,60.4,8.8,566,10001,0.00,2.33,0.00,0.000,6,0.000,0.028,3005,2003,2062,0,0,0,0,0,0
$GC,10259,1.39,247.0,38.0,7.8,591,10272,0.00,2.45,6.28,0.446,4,0.000,0.042,3008,601,2043,0,0,0,0,0,0
$GC,10524,1.39,247.7,16.8,8.0,637,10529,0.00,2.30,0.00,0.000,6,0.000,0.020,3007,2030,2042,0,0,0,0,0,0
$STATE,10729,end climb,SURFACE_DEPTH_REACHED
$STATE,10730,begin surface coast
$FINISH,0.4,1.010896
$STATE,10764,end surface coast,CONTROL_FINISHED_OK
$STATE,10765,begin surface
$SM_CCo,10786,27.50,0.504,0,0,1826,300.00
$SM_GC,1.00,0.00,0.00,27.50,0.000,0.000,0.504,428,1866,1826,-10.52,-0.25,300.00
$IRIDIUM_FIX,2057.14,-15751.76,130999,050546
$TT8_MAMPS,0.029146
$HUMID,52.04
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,49.399
$10V_AH,10.0,45.424
$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,27.000,123.425,282.550,27.500,0.000,30.077,26.669,158.208,4.500,0.000,37.090,1321.140,7405.028,380.287,1603.483,453.106,33.376,1240.346,0.000,1543.213,0.000,29.240,0.000
$DEVICE_MAMPS,134.225,51.389,872.846,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,458.108,451.969,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34905,680
$CAP_FILE_SIZE,124462,0
$CFSIZE,260165632,226013184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190610,111900,2106.218,-15749.621,91,1.4,101,9.8