version: 66.06
glider: 139
mission: 7
dive: 587
start: 6 23 110 7 25 1
data:
$ID,139
$MISSION,7
$DIVE,587
$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,-2143063.5
$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
$GPS1,070057,2107.218,-15801.661,213,2.8,232,9.8
$_CALLS,4
$_XMS_NAKs,36
$_XMS_TOUTs,2
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-71.1
$GPS2,072410,2107.273,-15801.895,34,2.6,53,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,-0.005
$KALMAN_X,-334173.9,27.0,213.1,321914.5,-999.0
$KALMAN_Y,25640.3,72.9,-73.7,-24962.2,-31.1
$MHEAD_RNG_PITCHd_Wd,81.8,32899,-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,-49.78,0.000,2,0.000,0.000,426,1859,3099,0,0,0,0,0,0
$GC,70,-1.40,-77.9,3.3,-6.1,10,94,10.62,2.42,-5.53,0.000,4,0.134,0.040,2405,3310,3370,0,0,0,0,0,0
$GC,120,-1.19,-77.9,15.9,-21.6,20,126,0.22,2.42,0.00,0.000,6,0.084,0.030,2452,1863,3370,0,0,0,0,0,0
$GC,324,-1.10,-77.9,44.8,-13.4,47,329,0.10,2.38,0.00,0.000,4,0.114,0.041,2471,470,3371,0,0,0,0,0,0
$GC,354,-1.03,-77.9,48.9,-13.4,49,360,0.00,2.30,0.00,0.000,6,0.000,0.019,2471,1909,3371,0,0,0,0,0,0
$GC,617,-1.08,-77.9,74.5,-9.4,74,621,0.00,2.45,0.00,0.000,4,0.000,0.041,2471,471,3372,0,0,0,0,0,0
$GC,697,-1.08,-77.9,82.5,-10.0,82,701,0.00,2.22,0.00,0.000,6,0.000,0.018,2471,1878,3372,0,0,0,0,0,0
$GC,960,-1.14,-77.9,104.7,-8.0,106,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1883,3372,0,0,0,0,0,0
$GC,1215,-1.23,-77.9,121.2,-6.7,130,1220,0.12,2.42,0.00,0.000,4,0.061,0.042,2424,464,3373,0,0,0,0,0,0
$GC,1368,-1.23,-77.9,137.0,-9.0,146,1373,0.00,2.25,0.00,0.000,6,0.000,0.019,2424,1881,3373,0,0,0,0,0,0
$GC,1632,-1.23,-77.9,160.4,-8.4,171,1637,0.10,0.00,0.00,0.000,6,0.106,0.000,2446,1885,3373,0,0,0,0,0,0
$GC,1896,-1.30,-77.9,177.1,-6.8,196,1900,0.00,2.40,0.00,0.000,4,0.000,0.042,2447,466,3373,0,0,0,0,0,0
$GC,1970,-1.36,-77.9,183.3,-7.9,203,1976,0.12,2.25,0.00,0.000,6,0.061,0.020,2402,1877,3373,0,0,0,0,0,0
$GC,2230,-1.36,-77.9,208.1,-9.7,224,2235,0.00,2.40,0.00,0.000,4,0.000,0.042,2402,471,3373,0,0,0,0,0,0
$GC,2282,-1.30,-77.9,214.0,-10.7,226,2287,0.12,2.22,0.00,0.000,6,0.099,0.020,2428,1874,3372,0,0,0,0,0,0
$GC,2605,-1.35,-77.9,238.1,-7.8,242,2609,0.00,2.42,0.00,0.000,4,0.000,0.044,2429,462,3372,0,0,0,0,0,0
$GC,2697,-1.40,-77.9,247.5,-9.6,246,2701,0.00,2.25,0.00,0.000,6,0.000,0.021,2428,1874,3372,0,0,0,0,0,0
$GC,3028,-1.47,-77.9,273.1,-7.2,262,3032,0.15,2.40,0.00,0.000,4,0.056,0.044,2381,472,3371,0,0,0,0,0,0
$GC,3100,-1.41,-77.9,280.0,-9.9,265,3105,0.12,2.25,0.00,0.000,6,0.100,0.021,2407,1870,3371,0,0,0,0,0,0
$GC,3427,-1.45,-77.9,305.4,-6.9,279,3431,0.00,2.42,0.00,0.000,4,0.000,0.046,2407,462,3369,0,0,0,0,0,0
$GC,3446,-1.45,-77.9,307.0,-7.2,279,3450,0.00,2.28,0.00,0.000,6,0.000,0.022,2407,1872,3369,0,0,0,0,0,0
$GC,3796,-1.49,-77.9,333.6,-8.0,288,3800,0.00,2.40,0.00,0.000,4,0.000,0.047,2407,471,3367,0,0,0,0,0,0
$GC,3845,-1.49,-77.9,338.1,-9.6,289,3849,0.00,2.30,0.00,0.000,6,0.000,0.024,2407,1883,3367,0,0,0,0,0,0
$GC,4173,-1.55,-77.9,365.0,-8.3,297,4177,0.15,2.47,0.00,0.000,4,0.059,0.048,2362,466,3364,0,0,0,0,0,0
$GC,4192,-1.51,-77.9,367.0,-9.2,297,4197,0.12,2.30,0.00,0.000,6,0.101,0.025,2387,1876,3364,0,0,0,0,0,0
$GC,4538,-1.51,-77.9,399.8,-9.6,306,4543,0.00,2.45,0.00,0.000,4,0.000,0.049,2387,459,3362,0,0,0,0,0,0
$GC,4581,-1.47,-77.9,404.2,-10.0,306,4586,0.00,2.30,0.00,0.000,6,0.000,0.026,2387,1876,3362,0,0,0,0,0,0
$GC,4912,-1.47,-77.9,433.7,-8.6,315,4916,0.00,2.45,0.00,0.000,4,0.000,0.050,2387,471,3359,0,0,0,0,0,0
$GC,4963,-1.47,-77.9,438.7,-10.1,316,4967,0.00,2.30,0.00,0.000,6,0.000,0.027,2387,1881,3359,0,0,0,0,0,0
$STATE,5116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5116,begin apogee
$GC,5122,-0.31,0.0,452.0,8.5,320,5188,1.20,0.00,62.70,0.871,6,0.072,0.000,2644,2032,3050,0,0,0,0,0,0
$STATE,5189,end apogee,CONTROL_FINISHED_OK
$STATE,5189,begin climb
$GC,5192,1.40,77.9,452.6,0.0,321,5267,1.62,2.40,64.55,0.849,4,0.030,0.039,3024,3382,2732,0,0,0,0,0,0
$GC,5338,1.19,108.1,449.7,5.9,324,5371,0.28,2.35,26.48,0.821,6,0.110,0.034,2977,2004,2608,0,0,0,0,0,0
$GC,5699,1.10,125.6,422.7,6.8,333,5720,0.12,2.45,15.12,0.792,4,0.123,0.040,2953,3390,2537,0,0,0,0,0,0
$GC,5731,1.09,163.5,420.8,5.4,333,5772,0.00,2.40,34.03,0.825,6,0.000,0.037,2956,2011,2382,0,0,0,0,0,0
$GC,6113,1.06,166.5,390.5,7.8,343,6117,0.00,2.50,0.00,0.000,4,0.000,0.052,2953,597,2374,0,0,0,0,0,0
$GC,6226,0.97,166.5,380.7,9.6,345,6231,0.15,2.35,0.00,0.000,6,0.121,0.029,2926,1994,2371,0,0,0,0,0,0
$GC,6572,1.01,174.9,355.1,7.4,354,6583,0.00,0.00,9.23,0.726,6,0.000,0.000,2929,1998,2336,0,0,0,0,0,0
$GC,6898,1.07,181.0,330.4,7.6,362,6906,0.00,0.00,6.57,0.662,6,0.000,0.000,2929,1999,2311,0,0,0,0,0,0
$GC,7222,1.13,181.0,303.6,8.3,370,7227,0.15,2.47,0.00,0.000,4,0.069,0.052,2964,594,2309,0,0,0,0,0,0
$GC,7405,1.07,181.0,284.4,11.1,377,7409,0.00,2.40,0.00,0.000,6,0.000,0.030,2964,2017,2306,0,0,0,0,0,0
$GC,7734,1.08,187.9,257.3,7.5,393,7746,0.00,2.55,6.75,0.633,4,0.000,0.051,2963,605,2283,0,0,0,0,0,0
$GC,7789,1.02,187.9,252.7,8.8,395,7794,0.15,2.38,0.00,0.000,6,0.120,0.029,2938,2018,2280,0,0,0,0,0,0
$GC,8112,1.10,203.0,231.4,7.0,411,8134,0.00,2.58,14.62,0.703,4,0.000,0.050,2934,602,2221,0,0,0,0,0,0
$GC,8293,1.14,203.2,217.2,8.0,418,8299,0.10,2.35,0.00,0.000,6,0.083,0.028,2965,2020,2217,0,0,0,0,0,0
$GC,8610,1.16,220.0,195.5,6.9,437,8631,0.00,2.55,15.93,0.675,4,0.000,0.048,2964,598,2151,0,0,0,0,0,0
$GC,8714,1.13,220.0,186.7,9.0,448,8718,0.00,2.38,0.00,0.000,6,0.000,0.027,2965,2021,2147,0,0,0,0,0,0
$GC,8982,1.17,223.2,162.2,7.8,473,8986,0.00,2.50,0.00,0.000,4,0.000,0.047,2964,593,2147,0,0,0,0,0,0
$GC,9103,1.17,223.2,151.6,8.2,485,9109,0.00,2.38,0.00,0.000,6,0.000,0.025,2966,2025,2146,0,0,0,0,0,0
$GC,9366,1.22,223.2,131.5,8.7,510,9371,0.00,2.45,0.00,0.000,4,0.000,0.044,2966,601,2146,0,0,0,0,0,0
$GC,9385,1.23,229.1,129.7,7.6,511,9400,0.00,2.30,8.32,0.561,6,0.000,0.025,2966,2017,2116,0,0,0,0,0,0
$GC,9655,1.32,243.9,107.8,7.0,537,9677,0.17,2.53,14.82,0.588,4,0.059,0.045,3013,602,2054,0,0,0,0,0,0
$GC,9803,1.25,243.9,93.1,11.2,553,9808,0.12,2.33,0.00,0.000,6,0.112,0.024,2990,2012,2050,0,0,0,0,0,0
$GC,10065,1.33,261.5,73.3,6.8,577,10084,0.00,0.00,16.30,0.561,6,0.000,0.000,2990,2017,1983,0,0,0,0,0,0
$GC,10341,1.43,284.0,53.7,6.5,603,10368,0.15,2.47,20.60,0.551,4,0.061,0.043,3033,600,1890,0,0,0,0,0,0
$GC,10513,1.39,284.0,36.4,9.8,621,10519,0.00,2.33,0.00,0.000,6,0.000,0.021,3033,2019,1885,0,0,0,0,0,0
$GC,10784,1.41,298.2,12.6,7.0,663,10803,0.00,2.47,12.85,0.493,4,0.000,0.042,3033,595,1833,0,0,0,0,0,0
$STATE,10883,end climb,SURFACE_DEPTH_REACHED
$STATE,10884,begin surface coast
$FINISH,0.5,1.022505
$STATE,10916,end surface coast,CONTROL_FINISHED_OK
$STATE,10916,begin surface
$SM_CCo,10999,0.00,0.000,0,0,1823,300.98
$SM_GC,1.42,11.35,0.00,0.00,0.030,0.000,0.000,427,1904,1823,-10.45,0.82,300.98
$IRIDIUM_FIX,2057.14,-15801.19,170999,070709
$TT8_MAMPS,0.029146
$HUMID,54.37
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,23.4,52.187
$10V_AH,10.0,47.132
$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,27.550,119.300,328.875,0.000,0.000,129.053,135.392,752.673,4.500,0.000,53.998,1311.359,7780.706,392.066,1593.745,1309.426,33.373,1249.516,0.000,1522.156,0.000,29.267,0.000
$DEVICE_MAMPS,134.225,53.690,871.312,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,464.345,463.995,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,34892,691
$CAP_FILE_SIZE,141399,0
$CFSIZE,260165632,224165888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230610,103030,2107.543,-15801.870,75,2.4,94,9.8