version: 66.06
glider: 139
mission: 7
dive: 605
start: 6 25 110 18 22 55
data:
$ID,139
$MISSION,7
$DIVE,605
$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,-2143851.2
$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
$GPS1,180656,2108.040,-15756.285,81,4.2,100,9.8
$_CALLS,3
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.8
$GPS2,182204,2107.995,-15756.303,20,4.0,39,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.159,-0.092
$KALMAN_X,-357344.9,-566.8,-280.5,355821.1,517.7
$KALMAN_Y,40844.6,-346.6,97.0,-38581.3,633.5
$MHEAD_RNG_PITCHd_Wd,110.3,23478,-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,-50.35,0.000,2,0.000,0.000,424,1900,3155,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.2,-5.6,10,95,10.50,2.38,-4.40,0.000,4,0.130,0.038,2406,3297,3370,0,0,0,0,0,0
$GC,136,-1.31,-77.9,17.9,-16.9,23,142,0.10,2.42,0.00,0.000,6,0.113,0.031,2427,1867,3371,0,0,0,0,0,0
$GC,340,-1.17,-77.9,49.9,-13.5,48,345,0.15,2.42,0.00,0.000,4,0.108,0.042,2456,461,3372,0,0,0,0,0,0
$GC,378,-1.06,-77.9,55.9,-13.9,51,384,0.12,2.33,0.00,0.000,6,0.103,0.019,2482,1911,3372,0,0,0,0,0,0
$GC,641,-1.10,-77.9,84.7,-9.7,76,645,0.00,2.50,0.00,0.000,4,0.000,0.042,2481,460,3372,0,0,0,0,0,0
$GC,725,-1.16,-77.9,92.9,-8.2,84,730,0.00,2.28,0.00,0.000,6,0.000,0.018,2482,1888,3373,0,0,0,0,0,0
$GC,988,-1.24,-77.9,114.3,-8.4,109,993,0.17,2.42,0.00,0.000,4,0.051,0.041,2425,470,3373,0,0,0,0,0,0
$GC,1098,-1.15,-77.9,126.9,-11.8,120,1103,0.17,2.25,0.00,0.000,6,0.090,0.018,2462,1881,3374,0,0,0,0,0,0
$GC,1360,-1.23,-77.9,148.9,-7.4,144,1364,0.00,2.40,0.00,0.000,4,0.000,0.041,2462,465,3375,0,0,0,0,0,0
$GC,1385,-1.28,-77.9,150.9,-8.5,146,1390,0.12,2.25,0.00,0.000,6,0.061,0.019,2417,1879,3375,0,0,0,0,0,0
$GC,1645,-1.28,-77.9,174.9,-8.5,170,1650,0.00,2.40,0.00,0.000,4,0.000,0.041,2417,462,3375,0,0,0,0,0,0
$GC,1711,-1.28,-77.9,181.5,-10.7,176,1716,0.00,2.25,0.00,0.000,6,0.000,0.019,2417,1878,3375,0,0,0,0,0,0
$GC,1980,-1.28,-77.9,209.2,-10.4,198,1984,0.00,2.40,0.00,0.000,4,0.000,0.041,2417,470,3375,0,0,0,0,0,0
$GC,2031,-1.23,-77.9,215.2,-12.1,200,2035,0.12,2.25,0.00,0.000,6,0.098,0.019,2443,1886,3375,0,0,0,0,0,0
$GC,2358,-1.32,-77.9,244.1,-8.9,216,2362,0.00,2.40,0.00,0.000,4,0.000,0.043,2442,470,3375,0,0,0,0,0,0
$GC,2396,-1.37,-77.9,248.1,-10.3,217,2402,0.12,2.25,0.00,0.000,6,0.061,0.020,2399,1879,3375,0,0,0,0,0,0
$GC,2711,-1.37,-77.9,279.2,-9.2,233,2716,0.00,2.42,0.00,0.000,4,0.000,0.042,2398,461,3375,0,0,0,0,0,0
$GC,2749,-1.34,-77.9,282.5,-9.4,234,2755,0.12,2.28,0.00,0.000,6,0.097,0.021,2424,1877,3375,0,0,0,0,0,0
$GC,3066,-1.41,-77.9,303.2,-6.5,249,3071,0.00,2.40,0.00,0.000,4,0.000,0.044,2424,466,3374,0,0,0,0,0,0
$GC,3104,-1.47,-77.9,306.2,-7.9,249,3110,0.12,2.28,0.00,0.000,6,0.062,0.021,2380,1878,3374,0,0,0,0,0,0
$GC,3435,-1.47,-77.9,335.8,-9.0,258,3439,0.00,2.42,0.00,0.000,4,0.000,0.046,2382,471,3373,0,0,0,0,0,0
$GC,3510,-1.42,-77.9,343.5,-10.3,259,3515,0.10,2.28,0.00,0.000,6,0.109,0.023,2402,1880,3372,0,0,0,0,0,0
$GC,3847,-1.47,-77.9,367.5,-6.9,268,3851,0.00,2.45,0.00,0.000,4,0.000,0.048,2402,465,3371,0,0,0,0,0,0
$GC,3931,-1.47,-77.9,374.2,-8.0,269,3936,0.00,2.30,0.00,0.000,6,0.000,0.025,2402,1876,3370,0,0,0,0,0,0
$GC,4262,-1.51,-77.9,399.1,-8.1,278,4266,0.00,2.42,0.00,0.000,4,0.000,0.049,2402,467,3368,0,0,0,0,0,0
$GC,4313,-1.51,-77.9,404.8,-10.9,279,4318,0.00,2.30,0.00,0.000,6,0.000,0.025,2402,1872,3367,0,0,0,0,0,0
$GC,4636,-1.57,-77.9,438.1,-10.0,287,4641,0.15,2.47,0.00,0.000,4,0.059,0.051,2359,464,3365,0,0,0,0,0,0
$GC,4684,-1.49,-77.9,444.1,-12.5,288,4689,0.15,2.33,0.00,0.000,6,0.097,0.026,2390,1879,3364,0,0,0,0,0,0
$STATE,4762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4762,begin apogee
$GC,4769,-0.31,0.0,452.4,9.9,290,4837,1.17,0.00,64.25,0.858,6,0.071,0.000,2644,2033,3050,0,0,0,0,0,0
$STATE,4838,end apogee,CONTROL_FINISHED_OK
$STATE,4838,begin climb
$GC,4840,1.40,77.9,454.2,0.0,291,4916,1.62,2.40,64.55,0.839,4,0.030,0.038,3026,3380,2731,0,0,0,0,0,0
$GC,5102,1.22,121.6,452.1,5.0,296,5147,0.22,2.35,37.15,0.834,6,0.112,0.035,2983,2010,2553,0,0,0,0,0,0
$GC,5479,1.10,130.3,425.0,7.4,306,5493,0.15,2.40,7.95,0.709,4,0.117,0.037,2934,3384,2518,0,0,0,0,0,0
$GC,5508,1.08,151.2,422.8,6.6,306,5533,0.00,2.38,19.67,0.801,6,0.000,0.035,2958,2012,2433,0,0,0,0,0,0
$GC,5851,1.04,155.0,395.2,7.8,315,5860,0.00,2.50,3.85,0.507,4,0.000,0.052,2957,604,2418,0,0,0,0,0,0
$GC,5875,0.95,155.0,392.7,9.1,315,5880,0.20,2.30,0.00,0.000,6,0.112,0.028,2921,1989,2416,0,0,0,0,0,0
$GC,6217,1.01,170.0,367.6,7.0,324,6238,0.00,2.53,14.25,0.775,4,0.000,0.052,2922,611,2356,0,0,0,0,0,0
$GC,6289,1.01,170.0,361.9,8.1,325,6293,0.00,2.38,0.00,0.000,6,0.000,0.029,2921,2014,2353,0,0,0,0,0,0
$GC,6635,1.12,207.7,341.7,5.4,334,6677,0.15,2.60,33.95,0.802,4,0.070,0.051,2959,601,2202,0,0,0,0,0,0
$GC,6789,1.05,207.7,328.6,10.4,337,6793,0.00,2.38,0.00,0.000,6,0.000,0.028,2959,2020,2196,0,0,0,0,0,0
$GC,7139,1.05,207.7,296.9,9.1,346,7140,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2025,2194,0,0,0,0,0,0
$GC,7448,1.05,209.2,270.0,7.9,361,7452,0.00,2.47,0.00,0.000,4,0.000,0.050,2960,604,2193,0,0,0,0,0,0
$GC,7518,1.05,209.2,263.9,9.0,364,7522,0.00,2.38,0.00,0.000,6,0.000,0.028,2960,2024,2191,0,0,0,0,0,0
$GC,7844,1.10,212.8,239.8,7.8,380,7852,0.00,2.53,3.67,0.447,4,0.000,0.049,2959,600,2182,0,0,0,0,0,0
$GC,7974,1.10,212.8,228.9,8.1,385,7979,0.00,2.35,0.00,0.000,6,0.000,0.028,2960,2013,2180,0,0,0,0,0,0
$GC,8289,1.15,212.8,204.3,8.1,401,8293,0.00,2.47,0.00,0.000,4,0.000,0.048,2960,597,2180,0,0,0,0,0,0
$GC,8434,1.15,212.8,190.6,10.1,413,8438,0.00,2.33,0.00,0.000,6,0.000,0.027,2960,2017,2179,0,0,0,0,0,0
$GC,8697,1.24,228.4,169.4,6.9,437,8718,0.10,2.53,15.32,0.636,4,0.082,0.048,2988,599,2118,0,0,0,0,0,0
$GC,8845,1.19,229.8,157.2,7.9,453,8849,0.00,2.35,0.00,0.000,6,0.000,0.025,2988,2022,2113,0,0,0,0,0,0
$GC,9113,1.24,250.2,138.8,6.6,478,9139,0.00,2.53,19.90,0.614,4,0.000,0.046,2988,602,2030,0,0,0,0,0,0
$GC,9154,1.25,251.8,135.4,7.9,482,9159,0.00,2.33,0.00,0.000,6,0.000,0.024,2988,2019,2027,0,0,0,0,0,0
$GC,9417,1.29,251.8,112.5,9.1,507,9421,0.00,2.47,0.00,0.000,4,0.000,0.044,2987,598,2026,0,0,0,0,0,0
$GC,9555,1.29,251.8,98.6,9.6,521,9560,0.00,2.33,0.00,0.000,6,0.000,0.023,2988,2020,2025,0,0,0,0,0,0
$GC,9819,1.40,266.4,79.9,7.0,546,9840,0.12,2.53,15.15,0.550,4,0.067,0.043,3025,602,1963,0,0,0,0,0,0
$GC,9869,1.34,266.4,75.6,8.4,551,9875,0.10,2.30,0.00,0.000,6,0.115,0.022,3007,2013,1961,0,0,0,0,0,0
$GC,10133,1.41,271.0,56.6,7.7,576,10144,0.00,2.45,5.28,0.420,4,0.000,0.041,3006,593,1944,0,0,0,0,0,0
$GC,10265,1.41,271.0,44.0,10.7,590,10270,0.00,2.30,0.00,0.000,6,0.000,0.021,3006,2024,1942,0,0,0,0,0,0
$GC,10531,1.49,278.1,22.8,7.5,622,10546,0.15,2.47,7.82,0.451,4,0.058,0.041,3052,600,1915,0,0,0,0,0,0
$GC,10710,1.38,278.1,5.2,8.5,660,10716,0.17,2.25,0.00,0.000,6,0.096,0.020,3016,2011,1913,0,0,0,0,0,0
$STATE,10731,end climb,SURFACE_DEPTH_REACHED
$STATE,10732,begin surface coast
$FINISH,0.6,1.000152
$STATE,10767,end surface coast,CONTROL_FINISHED_OK
$STATE,10767,begin surface
$SM_CCo,10789,13.07,0.472,0,0,1825,300.00
$SM_GC,1.42,0.00,0.00,13.07,0.000,0.000,0.472,427,1854,1825,-10.52,-0.51,300.00
$IRIDIUM_FIX,2059.45,-15750.89,190999,181846
$TT8_MAMPS,0.029146
$HUMID,52.79
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,23.4,54.165
$10V_AH,10.0,48.235
$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,27.550,133.925,312.775,13.075,0.000,73.492,153.684,406.546,4.750,0.000,40.664,1303.310,7518.748,399.143,1585.804,899.528,33.379,1268.259,0.000,1522.949,0.000,29.253,0.000
$DEVICE_MAMPS,129.623,52.923,858.273,472.472,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,449.466,440.564,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355772
$DATA_FILE_SIZE,34820,670
$CAP_FILE_SIZE,136304,0
$CFSIZE,260165632,223068160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250610,212646,2107.757,-15754.826,171,2.4,190,9.8