version: 66.06
glider: 139
mission: 7
dive: 602
start: 6 25 110 8 30 47
data:
$ID,139
$MISSION,7
$DIVE,602
$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,-2143757
$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
$GPS1,081936,2108.783,-15757.505,51,1.8,51,9.8
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-57.5
$GPS2,082956,2108.740,-15757.473,24,2.0,24,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.167,-0.077
$KALMAN_X,-355926.9,614.4,444.7,350472.4,-1258.6
$KALMAN_Y,39018.4,-12.8,-125.2,-35489.0,732.0
$MHEAD_RNG_PITCHd_Wd,105.0,25725,-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,-77.9,0.0,0.0,0,118,0.00,0.00,-98.62,0.000,2,0.000,0.000,425,1865,3094,0,0,0,0,0,0
$GC,122,-1.40,-77.9,3.0,-5.3,20,145,10.57,2.40,-5.97,0.000,4,0.133,0.054,2404,461,3369,0,0,0,0,0,0
$GC,200,-1.19,-77.9,17.1,-14.5,36,206,0.25,2.33,0.00,0.000,6,0.092,0.019,2453,1902,3370,0,0,0,0,0,0
$GC,410,-1.13,-77.9,47.2,-14.7,63,414,0.00,2.47,0.00,0.000,4,0.000,0.041,2454,465,3370,0,0,0,0,0,0
$GC,438,-1.00,-77.9,50.8,-11.9,65,444,0.20,2.28,0.00,0.000,6,0.096,0.018,2494,1893,3370,0,0,0,0,0,0
$GC,701,-1.07,-77.9,77.4,-10.1,90,706,0.00,2.42,0.00,0.000,4,0.000,0.041,2493,469,3371,0,0,0,0,0,0
$GC,785,-1.17,-77.9,86.0,-9.6,98,791,0.15,2.22,0.00,0.000,6,0.055,0.018,2444,1878,3371,0,0,0,0,0,0
$GC,1045,-1.17,-77.9,114.2,-9.8,123,1050,0.00,2.40,0.00,0.000,4,0.000,0.041,2444,462,3371,0,0,0,0,0,0
$GC,1097,-1.17,-77.9,119.2,-9.5,128,1102,0.00,2.25,0.00,0.000,6,0.000,0.018,2444,1872,3372,0,0,0,0,0,0
$GC,1358,-1.20,-77.9,143.3,-9.4,152,1363,0.00,2.40,0.00,0.000,4,0.000,0.041,2443,467,3372,0,0,0,0,0,0
$GC,1404,-1.20,-77.9,148.0,-10.2,156,1410,0.00,2.25,0.00,0.000,6,0.000,0.018,2444,1877,3372,0,0,0,0,0,0
$GC,1668,-1.26,-77.9,170.9,-7.9,181,1672,0.00,2.22,0.00,0.000,4,0.000,0.025,2444,3259,3372,0,0,0,0,0,0
$GC,1682,-1.33,-77.9,172.2,-8.0,182,1688,0.00,2.30,0.00,0.000,6,0.000,0.025,2444,1866,3373,0,0,0,0,0,0
$GC,1946,-1.42,-77.9,193.6,-7.8,207,1951,0.17,0.00,0.00,0.000,6,0.050,0.000,2388,1864,3372,0,0,0,0,0,0
$GC,2202,-1.38,-77.9,217.0,-8.7,223,2207,0.12,2.38,0.00,0.000,4,0.096,0.043,2413,466,3372,0,0,0,0,0,0
$GC,2254,-1.38,-77.9,221.3,-7.8,225,2258,0.00,2.25,0.00,0.000,6,0.000,0.020,2413,1882,3372,0,0,0,0,0,0
$GC,2574,-1.42,-77.9,246.7,-8.7,241,2578,0.00,2.40,0.00,0.000,4,0.000,0.043,2413,468,3372,0,0,0,0,0,0
$GC,2681,-1.42,-77.9,256.6,-8.8,245,2687,0.00,2.22,0.00,0.000,6,0.000,0.021,2413,1878,3372,0,0,0,0,0,0
$GC,3001,-1.47,-77.9,280.2,-7.4,261,3005,0.00,2.40,0.00,0.000,4,0.000,0.044,2413,474,3371,0,0,0,0,0,0
$GC,3057,-1.47,-77.9,284.6,-7.3,263,3061,0.00,2.22,0.00,0.000,6,0.000,0.022,2412,1875,3370,0,0,0,0,0,0
$GC,3372,-1.51,-77.9,307.2,-7.6,276,3377,0.12,2.33,0.00,0.000,4,0.065,0.029,2374,3272,3369,0,0,0,0,0,0
$GC,3391,-1.51,-77.9,309.0,-8.3,276,3395,0.00,2.35,0.00,0.000,6,0.000,0.031,2375,1875,3368,0,0,0,0,0,0
$GC,3737,-1.47,-77.9,340.0,-8.8,285,3742,0.00,2.42,0.00,0.000,4,0.000,0.047,2374,466,3366,0,0,0,0,0,0
$GC,3756,-1.39,-77.9,342.1,-9.5,285,3761,0.17,2.28,0.00,0.000,6,0.091,0.024,2411,1881,3366,0,0,0,0,0,0
$GC,4073,-1.44,-77.9,364.8,-7.0,293,4078,0.00,2.42,0.00,0.000,4,0.000,0.047,2410,467,3364,0,0,0,0,0,0
$GC,4088,-1.47,-77.9,366.1,-7.4,293,4092,0.00,2.30,0.00,0.000,6,0.000,0.025,2410,1881,3364,0,0,0,0,0,0
$GC,4439,-1.54,-77.9,392.6,-7.2,302,4444,0.15,2.47,0.00,0.000,4,0.058,0.049,2367,467,3362,0,0,0,0,0,0
$GC,4550,-1.46,-77.9,401.8,-7.8,304,4555,0.15,2.28,0.00,0.000,6,0.096,0.025,2397,1866,3361,0,0,0,0,0,0
$GC,4903,-1.49,-77.9,427.6,-7.9,313,4906,0.00,2.42,0.00,0.000,4,0.000,0.050,2397,473,3358,0,0,0,0,0,0
$GC,4963,-1.49,-77.9,432.9,-8.5,314,4967,0.00,2.30,0.00,0.000,6,0.000,0.026,2398,1874,3358,0,0,0,0,0,0
$STATE,5194,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5194,begin apogee
$GC,5200,-0.31,0.0,450.7,7.7,320,5267,1.15,0.00,62.83,0.867,6,0.071,0.000,2646,2030,3050,0,0,0,0,0,0
$STATE,5267,end apogee,CONTROL_FINISHED_OK
$STATE,5267,begin climb
$GC,5270,1.40,77.9,451.6,0.0,321,5345,1.62,2.42,64.85,0.847,4,0.031,0.039,3023,3386,2731,0,0,0,0,0,0
$GC,5531,1.18,90.1,444.9,7.2,326,5548,0.30,2.35,11.30,0.760,6,0.107,0.034,2971,2007,2681,0,0,0,0,0,0
$GC,5875,1.09,98.7,421.5,7.4,335,5888,0.00,2.38,8.25,0.724,4,0.000,0.037,2968,3381,2646,0,0,0,0,0,0
$GC,5996,1.01,122.3,413.2,6.4,337,6025,0.20,2.35,21.10,0.815,6,0.109,0.035,2935,2004,2551,0,0,0,0,0,0
$GC,6339,1.05,150.4,391.1,6.1,346,6371,0.00,2.50,24.88,0.815,4,0.000,0.051,2933,605,2436,0,0,0,0,0,0
$GC,6421,1.01,164.9,386.1,7.0,347,6441,0.00,2.33,13.77,0.770,6,0.000,0.029,2934,1991,2377,0,0,0,0,0,0
$GC,6762,1.01,166.6,360.6,7.9,356,6766,0.00,2.45,0.00,0.000,4,0.000,0.051,2934,604,2372,0,0,0,0,0,0
$GC,6932,1.01,166.6,344.2,9.3,359,6937,0.00,2.35,0.00,0.000,6,0.000,0.029,2935,2010,2369,0,0,0,0,0,0
$GC,7269,1.06,173.5,317.9,7.5,368,7282,0.00,2.53,7.55,0.679,4,0.000,0.051,2934,603,2342,0,0,0,0,0,0
$GC,7339,1.06,173.5,311.5,9.4,369,7343,0.00,2.38,0.00,0.000,6,0.000,0.029,2935,2010,2340,0,0,0,0,0,0
$GC,7662,1.12,179.9,287.4,7.6,381,7674,0.00,2.53,6.95,0.649,4,0.000,0.051,2934,612,2315,0,0,0,0,0,0
$GC,7732,1.12,179.9,281.5,8.8,384,7736,0.00,2.35,0.00,0.000,6,0.000,0.030,2935,2010,2314,0,0,0,0,0,0
$GC,8062,1.20,192.2,256.5,7.2,400,8077,0.17,0.00,12.23,0.706,6,0.065,0.000,2978,2015,2266,0,0,0,0,0,0
$GC,8372,1.20,192.2,229.2,8.6,415,8376,0.00,2.45,0.00,0.000,4,0.000,0.050,2977,605,2263,0,0,0,0,0,0
$GC,8509,1.13,192.2,216.5,9.1,421,8513,0.00,2.33,0.00,0.000,6,0.000,0.028,2978,2012,2260,0,0,0,0,0,0
$GC,8834,1.15,208.3,191.4,6.9,442,8854,0.00,2.53,14.98,0.671,4,0.000,0.048,2977,611,2199,0,0,0,0,0,0
$GC,8902,1.09,208.3,185.6,8.4,449,8908,0.12,2.35,0.00,0.000,6,0.118,0.028,2956,2020,2197,0,0,0,0,0,0
$GC,9165,1.22,256.1,171.3,4.7,474,9217,0.10,2.42,42.65,0.681,4,0.085,0.033,2982,3402,2004,0,0,0,0,0,0
$GC,9234,1.29,256.1,166.1,9.0,481,9239,0.00,2.40,0.00,0.000,6,0.000,0.033,2983,2002,2004,0,0,0,0,0,0
$GC,9496,1.33,256.1,142.4,8.4,506,9501,0.10,2.45,0.00,0.000,4,0.081,0.047,3011,603,1999,0,0,0,0,0,0
$GC,9523,1.27,256.1,139.6,10.2,508,9528,0.00,2.33,0.00,0.000,6,0.000,0.025,3011,2017,1997,0,0,0,0,0,0
$GC,9786,1.27,256.1,115.6,8.0,532,9791,0.00,2.47,0.00,0.000,4,0.000,0.046,3011,599,1997,0,0,0,0,0,0
$GC,9944,1.21,256.1,99.4,10.3,548,9950,0.17,2.33,0.00,0.000,6,0.098,0.024,2978,2014,1994,0,0,0,0,0,0
$GC,10205,1.31,261.3,79.4,7.7,573,10216,0.10,2.47,4.47,0.413,4,0.079,0.044,3008,598,1983,0,0,0,0,0,0
$GC,10462,1.32,265.2,55.4,7.8,600,10472,0.00,2.30,4.88,0.418,6,0.000,0.022,3008,2018,1968,0,0,0,0,0,0
$GC,10728,1.42,291.2,39.3,6.2,625,10757,0.00,2.50,24.08,0.537,4,0.000,0.043,3007,597,1861,0,0,0,0,0,0
$GC,10866,1.42,291.2,25.2,11.5,644,10871,0.00,2.28,0.00,0.000,6,0.000,0.021,3007,2010,1857,0,0,0,0,0,0
$GC,11074,1.50,291.2,8.0,9.1,681,11080,0.15,2.45,0.00,0.000,4,0.058,0.044,3053,593,1856,0,0,0,0,0,0
$STATE,11118,end climb,SURFACE_DEPTH_REACHED
$STATE,11118,begin surface coast
$FINISH,0.6,1.023398
$STATE,11153,end surface coast,CONTROL_FINISHED_OK
$STATE,11153,begin surface
$SM_CCo,11176,4.97,0.384,0,0,1826,300.00
$SM_GC,2.44,0.00,0.00,4.97,0.000,0.000,0.384,426,1901,1826,-10.53,0.74,300.00
$IRIDIUM_FIX,2059.45,-15801.19,190999,050546
$TT8_MAMPS,0.029146
$HUMID,54.33
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,23.4,53.868
$10V_AH,10.0,48.056
$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,27.575,132.625,324.750,4.975,0.000,92.460,105.231,172.861,4.500,0.000,24.771,1344.286,7720.798,434.492,1659.279,639.091,33.383,1349.438,0.000,1610.271,0.000,29.261,0.000
$DEVICE_MAMPS,132.691,54.457,867.477,383.500,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,466.923,461.268,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,34977,697
$CAP_FILE_SIZE,133961,0
$CFSIZE,260165632,223256576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4
$GPS,250610,114137,2108.536,-15757.016,231,1.7,231,9.8