version: 66.06
glider: 139
mission: 7
dive: 558
start: 6 19 110 11 25 53
data:
$ID,139
$MISSION,7
$DIVE,558
$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,-2142069
$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
$GPS1,111900,2106.218,-15749.621,91,1.4,101,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.5
$GPS2,112502,2106.221,-15749.669,34,1.6,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,0.004
$KALMAN_X,-326002.2,125.8,-272.5,335238.3,-761.8
$KALMAN_Y,18369.5,-106.4,-155.8,-19382.1,-127.8
$MHEAD_RNG_PITCHd_Wd,79.0,11689,-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,-50.40,0.000,2,0.000,0.000,428,1867,3141,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.3,-5.8,10,96,10.57,2.45,-4.60,0.000,4,0.133,0.055,2406,464,3370,0,0,0,0,0,0
$GC,112,-0.74,-77.9,15.1,-27.2,18,118,0.70,2.35,0.00,0.000,6,0.089,0.020,2548,1924,3370,0,0,0,0,0,0
$GC,318,-0.91,-77.9,35.7,-7.7,48,323,0.15,2.53,0.00,0.000,4,0.054,0.043,2500,461,3372,0,0,0,0,0,0
$GC,373,-0.99,-77.9,41.1,-9.8,53,377,0.00,2.28,0.00,0.000,6,0.000,0.019,2498,1879,3371,0,0,0,0,0,0
$GC,635,-1.07,-77.9,65.1,-8.9,77,639,0.00,2.42,0.00,0.000,4,0.000,0.042,2498,469,3373,0,0,0,0,0,0
$GC,696,-1.16,-77.9,71.8,-10.2,83,701,0.17,2.25,0.00,0.000,6,0.050,0.019,2444,1879,3373,0,0,0,0,0,0
$GC,957,-1.16,-77.9,103.4,-10.9,107,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1884,3374,0,0,0,0,0,0
$GC,1212,-1.16,-77.9,127.1,-8.3,131,1217,0.00,2.42,0.00,0.000,4,0.000,0.041,2443,463,3374,0,0,0,0,0,0
$GC,1231,-1.16,-77.9,129.0,-9.1,132,1236,0.00,2.28,0.00,0.000,6,0.000,0.019,2442,1885,3375,0,0,0,0,0,0
$GC,1495,-1.20,-77.9,154.9,-10.5,157,1499,0.00,2.42,0.00,0.000,4,0.000,0.042,2445,468,3376,0,0,0,0,0,0
$GC,1643,-1.25,-77.9,170.2,-9.1,172,1649,0.00,2.22,0.00,0.000,6,0.000,0.019,2444,1877,3376,0,0,0,0,0,0
$GC,1906,-1.32,-77.9,192.9,-8.4,197,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1882,3376,0,0,0,0,0,0
$GC,2154,-1.40,-77.9,210.9,-6.9,214,2159,0.15,2.42,0.00,0.000,4,0.055,0.043,2394,469,3376,0,0,0,0,0,0
$GC,2202,-1.35,-77.9,215.7,-10.0,216,2207,0.12,2.22,0.00,0.000,6,0.099,0.020,2419,1875,3376,0,0,0,0,0,0
$GC,2530,-1.39,-77.9,243.4,-8.2,232,2535,0.00,2.42,0.00,0.000,4,0.000,0.044,2420,462,3376,0,0,0,0,0,0
$GC,2647,-1.44,-77.9,253.2,-8.1,237,2651,0.00,2.25,0.00,0.000,6,0.000,0.021,2418,1876,3376,0,0,0,0,0,0
$GC,2973,-1.50,-77.9,277.6,-7.9,253,2978,0.15,2.45,0.00,0.000,4,0.056,0.045,2373,463,3376,0,0,0,0,0,0
$GC,3018,-1.41,-77.9,282.0,-10.9,255,3022,0.15,2.28,0.00,0.000,6,0.095,0.022,2405,1875,3376,0,0,0,0,0,0
$GC,3368,-1.45,-77.9,310.6,-7.8,269,3372,0.00,2.40,0.00,0.000,4,0.000,0.046,2405,470,3374,0,0,0,0,0,0
$GC,3470,-1.45,-77.9,319.4,-8.7,271,3474,0.00,2.25,0.00,0.000,6,0.000,0.023,2404,1873,3374,0,0,0,0,0,0
$GC,3784,-1.49,-77.9,344.6,-8.3,279,3788,0.00,2.42,0.00,0.000,4,0.000,0.048,2405,462,3373,0,0,0,0,0,0
$GC,3816,-1.49,-77.9,347.5,-8.6,279,3820,0.00,2.28,0.00,0.000,6,0.000,0.025,2405,1872,3372,0,0,0,0,0,0
$GC,4148,-1.54,-77.9,372.3,-7.0,287,4153,0.12,2.42,0.00,0.000,4,0.067,0.049,2368,470,3370,0,0,0,0,0,0
$GC,4224,-1.46,-77.9,379.6,-9.9,288,4230,0.12,2.28,0.00,0.000,6,0.101,0.025,2393,1873,3369,0,0,0,0,0,0
$GC,4566,-1.46,-77.9,405.5,-7.6,297,4570,0.00,2.45,0.00,0.000,4,0.000,0.051,2393,467,3367,0,0,0,0,0,0
$GC,4603,-1.46,-77.9,408.6,-8.8,297,4608,0.00,2.33,0.00,0.000,6,0.000,0.027,2393,1879,3367,0,0,0,0,0,0
$GC,4934,-1.46,-77.9,434.1,-7.8,306,4939,0.00,2.47,0.00,0.000,4,0.000,0.051,2393,464,3364,0,0,0,0,0,0
$GC,4971,-1.46,-77.9,437.5,-8.8,306,4977,0.00,2.33,0.00,0.000,6,0.000,0.028,2393,1882,3364,0,0,0,0,0,0
$STATE,5137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5137,begin apogee
$GC,5143,-0.31,0.0,451.4,8.3,311,5211,1.17,0.00,64.10,0.876,6,0.073,0.000,2645,2031,3050,0,0,0,0,0,0
$STATE,5212,end apogee,CONTROL_FINISHED_OK
$STATE,5212,begin climb
$GC,5214,1.40,77.9,452.8,0.0,312,5289,1.62,2.42,64.97,0.855,4,0.031,0.041,3026,3384,2732,0,0,0,0,0,0
$GC,5508,1.24,135.2,449.8,4.1,318,5566,0.20,2.35,48.88,0.854,6,0.117,0.035,2988,2008,2498,0,0,0,0,0,0
$GC,5898,1.12,135.2,416.6,9.7,328,5900,0.15,0.00,0.00,0.000,6,0.123,0.000,2961,2008,2491,0,0,0,0,0,0
$GC,6224,1.07,135.2,387.3,8.9,336,6228,0.00,2.38,0.00,0.000,4,0.000,0.039,2961,3393,2488,0,0,0,0,0,0
$GC,6267,1.03,135.2,383.6,8.7,337,6272,0.12,2.40,0.00,0.000,6,0.119,0.037,2940,2004,2488,0,0,0,0,0,0
$GC,6596,1.08,175.5,364.0,5.3,345,6638,0.00,2.58,34.22,0.825,4,0.000,0.054,2939,600,2333,0,0,0,0,0,0
$GC,6672,1.04,178.9,358.9,7.8,346,6681,0.00,2.35,3.80,0.496,6,0.000,0.030,2939,1996,2320,0,0,0,0,0,0
$GC,7007,1.04,178.9,329.8,9.0,354,7011,0.00,2.47,0.00,0.000,4,0.000,0.051,2939,601,2318,0,0,0,0,0,0
$GC,7063,1.00,178.9,323.8,10.9,355,7067,0.00,2.35,0.00,0.000,6,0.000,0.030,2940,2010,2316,0,0,0,0,0,0
$GC,7377,1.05,192.2,298.5,7.1,363,7398,0.00,2.53,12.68,0.742,4,0.000,0.050,2940,605,2265,0,0,0,0,0,0
$GC,7550,1.05,192.2,283.8,8.2,370,7555,0.00,2.38,0.00,0.000,6,0.000,0.030,2940,2018,2261,0,0,0,0,0,0
$GC,7867,1.14,212.6,261.9,6.6,385,7892,0.10,2.45,19.05,0.743,4,0.085,0.038,2967,3404,2183,0,0,0,0,0,0
$GC,7906,1.14,212.6,258.6,8.4,386,7912,0.00,2.42,0.00,0.000,6,0.000,0.036,2966,2011,2182,0,0,0,0,0,0
$GC,8221,1.15,219.8,232.7,7.5,402,8234,0.00,2.50,7.35,0.626,4,0.000,0.050,2965,604,2154,0,0,0,0,0,0
$GC,8402,1.15,219.8,215.1,9.5,409,8407,0.00,2.35,0.00,0.000,6,0.000,0.028,2966,2020,2149,0,0,0,0,0,0
$GC,8724,1.19,219.8,185.4,8.0,432,8728,0.00,2.47,0.00,0.000,4,0.000,0.048,2966,603,2149,0,0,0,0,0,0
$GC,8813,1.19,219.8,177.4,9.7,441,8817,0.00,2.33,0.00,0.000,6,0.000,0.027,2966,2012,2148,0,0,0,0,0,0
$GC,9078,1.27,242.0,158.3,6.5,465,9105,0.10,2.53,20.70,0.653,4,0.081,0.045,2995,598,2061,0,0,0,0,0,0
$GC,9212,1.21,242.0,144.7,10.9,479,9217,0.00,2.35,0.00,0.000,6,0.000,0.025,2995,2014,2057,0,0,0,0,0,0
$GC,9474,1.21,242.0,118.9,11.3,504,9479,0.00,2.47,0.00,0.000,4,0.000,0.046,2995,597,2057,0,0,0,0,0,0
$GC,9548,1.21,242.0,109.7,13.2,511,9554,0.00,2.33,0.00,0.000,6,0.000,0.024,2995,2016,2056,0,0,0,0,0,0
$GC,9811,1.26,242.0,84.8,8.4,536,9816,0.00,2.45,0.00,0.000,4,0.000,0.044,2995,600,2055,0,0,0,0,0,0
$GC,9876,1.26,242.0,78.8,9.3,542,9882,0.00,2.30,0.00,0.000,6,0.000,0.022,2995,2023,2055,0,0,0,0,0,0
$GC,10139,1.33,251.3,59.5,7.4,567,10157,0.00,2.47,8.90,0.508,4,0.000,0.041,2995,601,2023,0,0,0,0,0,0
$GC,10226,1.33,251.3,52.3,8.5,576,10233,0.00,2.30,0.00,0.000,6,0.000,0.021,2994,2018,2022,0,0,0,0,0,0
$GC,10490,1.43,276.3,35.2,6.3,601,10519,0.15,2.53,23.08,0.534,4,0.060,0.043,3039,602,1922,0,0,0,0,0,0
$GC,10609,1.34,276.3,23.0,11.0,621,10615,0.17,2.28,0.00,0.000,6,0.098,0.021,3005,2019,1919,0,0,0,0,0,0
$GC,10819,1.41,276.3,6.0,8.5,658,10824,0.00,2.42,0.00,0.000,4,0.000,0.040,3004,591,1919,0,0,0,0,0,0
$STATE,10846,end climb,SURFACE_DEPTH_REACHED
$STATE,10847,begin surface coast
$FINISH,0.5,1.023309
$STATE,10879,end surface coast,CONTROL_FINISHED_OK
$STATE,10879,begin surface
$SM_CCo,10903,12.93,0.477,0,0,1826,300.00
$SM_GC,1.93,0.00,0.00,12.93,0.000,0.000,0.477,428,1895,1826,-10.52,0.57,300.00
$IRIDIUM_FIX,2059.45,-15750.89,130999,080821
$TT8_MAMPS,0.029146
$HUMID,51.10
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,23.4,49.483
$10V_AH,10.0,45.479
$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,27.350,128.725,307.725,12.925,0.000,27.888,33.059,166.395,4.750,0.000,34.534,1297.874,7535.678,396.879,1585.968,459.158,33.377,1261.726,0.000,1526.874,0.000,29.250,0.000
$DEVICE_MAMPS,133.458,55.224,875.914,477.074,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,450.972,438.684,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34884,671
$CAP_FILE_SIZE,125457,0
$CFSIZE,260165632,225951744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190610,143057,2106.255,-15748.670,131,4.4,150,9.8