version: 66.06
glider: 139
mission: 7
dive: 607
start: 6 26 110 0 59 19
data:
$ID,139
$MISSION,7
$DIVE,607
$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,637.77997
$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,-2143931.8
$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
$GPS1,004207,2107.402,-15753.691,70,1.1,70,9.8
$_CALLS,5
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-72.1
$GPS2,005828,2107.442,-15753.793,13,4.3,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.160,-0.090
$KALMAN_X,-357809.3,144.3,292.7,359337.5,-690.0
$KALMAN_Y,41729.4,146.2,-137.9,-40748.9,834.0
$MHEAD_RNG_PITCHd_Wd,109.6,19030,-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,-50.20,0.000,2,0.000,0.000,425,1895,3146,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.2,-5.0,10,95,10.57,2.50,-4.55,0.000,4,0.133,0.054,2405,470,3371,0,0,0,0,0,0
$GC,159,-1.18,-77.9,22.1,-16.7,28,165,0.25,2.33,0.00,0.000,6,0.093,0.019,2456,1915,3372,0,0,0,0,0,0
$GC,362,-1.12,-77.9,49.6,-13.1,51,366,0.00,2.47,0.00,0.000,4,0.000,0.041,2455,468,3372,0,0,0,0,0,0
$GC,424,-1.03,-77.9,59.0,-15.1,57,429,0.15,2.28,0.00,0.000,6,0.104,0.019,2485,1885,3373,0,0,0,0,0,0
$GC,687,-1.12,-77.9,88.5,-9.2,81,691,0.00,2.22,0.00,0.000,4,0.000,0.025,2485,3264,3373,0,0,0,0,0,0
$GC,720,-1.30,-77.9,91.5,-8.2,84,725,0.25,2.33,0.00,0.000,6,0.041,0.026,2411,1869,3374,0,0,0,0,0,0
$GC,981,-1.23,-77.9,119.4,-10.4,108,986,0.15,2.35,0.00,0.000,4,0.094,0.041,2443,474,3374,0,0,0,0,0,0
$GC,1024,-1.23,-77.9,124.3,-10.6,112,1029,0.00,2.25,0.00,0.000,6,0.000,0.018,2443,1883,3374,0,0,0,0,0,0
$GC,1287,-1.28,-77.9,150.4,-10.3,137,1291,0.00,2.42,0.00,0.000,4,0.000,0.041,2443,467,3375,0,0,0,0,0,0
$GC,1320,-1.28,-77.9,154.1,-11.5,140,1325,0.00,2.25,0.00,0.000,6,0.000,0.018,2443,1883,3375,0,0,0,0,0,0
$GC,1583,-1.34,-77.9,177.7,-8.0,164,1587,0.00,2.40,0.00,0.000,4,0.000,0.041,2442,465,3376,0,0,0,0,0,0
$GC,1645,-1.39,-77.9,182.8,-8.5,170,1650,0.15,2.25,0.00,0.000,6,0.056,0.019,2393,1881,3376,0,0,0,0,0,0
$GC,1916,-1.35,-77.9,208.2,-9.8,191,1921,0.12,2.40,0.00,0.000,4,0.098,0.042,2418,474,3376,0,0,0,0,0,0
$GC,1945,-1.35,-77.9,211.3,-10.1,192,1949,0.00,2.22,0.00,0.000,6,0.000,0.020,2418,1872,3376,0,0,0,0,0,0
$GC,2265,-1.38,-77.9,236.4,-8.2,208,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1877,3376,0,0,0,0,0,0
$GC,2575,-1.43,-77.9,263.3,-8.3,223,2579,0.00,2.40,0.00,0.000,4,0.000,0.043,2418,471,3375,0,0,0,0,0,0
$GC,2631,-1.43,-77.9,268.5,-9.0,225,2635,0.00,2.25,0.00,0.000,6,0.000,0.021,2418,1871,3375,0,0,0,0,0,0
$GC,2946,-1.49,-77.9,293.4,-8.0,240,2951,0.12,2.30,0.00,0.000,4,0.063,0.028,2377,3263,3374,0,0,0,0,0,0
$GC,2970,-1.49,-77.9,295.7,-9.3,241,2974,0.00,2.30,0.00,0.000,6,0.000,0.030,2375,1876,3374,0,0,0,0,0,0
$GC,3311,-1.46,-77.9,329.3,-10.3,251,3316,0.10,2.42,0.00,0.000,4,0.110,0.047,2396,467,3373,0,0,0,0,0,0
$GC,3355,-1.46,-77.9,334.1,-10.9,252,3359,0.00,2.28,0.00,0.000,6,0.000,0.023,2396,1874,3373,0,0,0,0,0,0
$GC,3686,-1.46,-77.9,368.3,-10.6,260,3691,0.00,2.40,0.00,0.000,4,0.000,0.048,2397,473,3371,0,0,0,0,0,0
$GC,3761,-1.46,-77.9,376.6,-11.0,261,3766,0.00,2.28,0.00,0.000,6,0.000,0.025,2397,1876,3370,0,0,0,0,0,0
$GC,4097,-1.46,-77.9,407.7,-8.9,270,4101,0.00,2.45,0.00,0.000,4,0.000,0.048,2396,466,3368,0,0,0,0,0,0
$GC,4147,-1.46,-77.9,412.9,-10.5,271,4152,0.00,2.30,0.00,0.000,6,0.000,0.025,2397,1877,3368,0,0,0,0,0,0
$GC,4467,-1.49,-77.9,439.7,-7.9,279,4472,0.00,2.40,0.00,0.000,4,0.000,0.050,2396,474,3365,0,0,0,0,0,0
$GC,4551,-1.49,-77.9,446.8,-8.5,280,4555,0.00,2.30,0.00,0.000,6,0.000,0.026,2396,1879,3365,0,0,0,0,0,0
$STATE,4595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4595,begin apogee
$GC,4602,-0.31,0.0,450.1,7.5,281,4670,1.15,0.00,64.25,0.857,6,0.073,0.000,2644,2032,3050,0,0,0,0,0,0
$STATE,4671,end apogee,CONTROL_FINISHED_OK
$STATE,4671,begin climb
$GC,4673,1.40,77.9,450.9,0.0,282,4748,1.62,2.40,64.90,0.835,4,0.031,0.038,3022,3378,2732,0,0,0,0,0,0
$GC,4853,1.23,127.7,448.9,4.6,286,4902,0.20,2.35,42.75,0.826,6,0.115,0.033,2986,2002,2529,0,0,0,0,0,0
$GC,5226,1.12,141.8,421.6,7.1,295,5246,0.15,2.47,12.27,0.760,4,0.120,0.049,2960,604,2471,0,0,0,0,0,0
$GC,5330,1.02,153.9,413.6,7.2,297,5348,0.12,2.33,11.88,0.753,6,0.125,0.027,2936,1994,2422,0,0,0,0,0,0
$GC,5686,1.02,153.9,384.0,8.9,306,5690,0.00,2.42,0.00,0.000,4,0.000,0.050,2939,605,2417,0,0,0,0,0,0
$GC,5765,0.97,153.9,376.2,8.9,307,5769,0.00,2.35,0.00,0.000,6,0.000,0.028,2939,2006,2415,0,0,0,0,0,0
$GC,6096,0.98,165.6,351.0,7.2,315,6112,0.00,2.53,10.20,0.732,4,0.000,0.050,2939,611,2374,0,0,0,0,0,0
$GC,6251,0.95,167.8,338.6,7.9,318,6256,0.00,2.35,0.00,0.000,6,0.000,0.029,2939,2009,2371,0,0,0,0,0,0
$GC,6601,0.95,170.3,311.8,7.8,327,6614,0.00,2.47,5.40,0.598,4,0.000,0.049,2939,607,2354,0,0,0,0,0,0
$GC,6696,0.92,170.3,303.6,8.5,329,6700,0.12,2.35,0.00,0.000,6,0.123,0.029,2917,2018,2352,0,0,0,0,0,0
$GC,7030,1.03,191.2,281.4,6.6,343,7055,0.00,2.42,19.40,0.743,4,0.000,0.037,2918,3409,2269,0,0,0,0,0,0
$GC,7088,1.18,191.2,276.3,9.7,345,7093,0.25,2.42,0.00,0.000,6,0.051,0.036,2980,2007,2269,0,0,0,0,0,0
$GC,7404,1.18,191.2,246.4,8.8,360,7408,0.00,2.47,0.00,0.000,4,0.000,0.050,2978,594,2266,0,0,0,0,0,0
$GC,7459,1.11,191.2,241.2,9.0,362,7464,0.12,2.38,0.00,0.000,6,0.120,0.028,2957,2011,2263,0,0,0,0,0,0
$GC,7775,1.17,209.6,218.5,6.8,377,7794,0.00,0.00,16.98,0.686,6,0.000,0.000,2958,2016,2195,0,0,0,0,0,0
$GC,8108,1.25,218.1,192.2,7.4,397,8126,0.12,2.50,8.77,0.605,4,0.073,0.047,2991,591,2159,0,0,0,0,0,0
$GC,8351,1.18,218.1,169.2,10.1,423,8356,0.00,2.38,0.00,0.000,6,0.000,0.025,2991,2019,2154,0,0,0,0,0,0
$GC,8614,1.19,229.7,150.0,7.2,447,8632,0.00,2.53,11.05,0.594,4,0.000,0.046,2990,605,2113,0,0,0,0,0,0
$GC,8672,1.16,229.7,144.9,9.9,453,8677,0.12,2.33,0.00,0.000,6,0.114,0.025,2968,2013,2111,0,0,0,0,0,0
$GC,8939,1.26,253.6,126.1,6.4,478,8968,0.00,2.58,22.02,0.607,4,0.000,0.044,2968,584,2015,0,0,0,0,0,0
$GC,9041,1.31,253.6,118.0,8.7,489,9046,0.12,2.38,0.00,0.000,6,0.071,0.024,3004,2018,2012,0,0,0,0,0,0
$GC,9304,1.34,253.6,96.1,8.5,513,9308,0.00,2.47,0.00,0.000,4,0.000,0.044,3003,594,2012,0,0,0,0,0,0
$GC,9338,1.30,253.6,92.8,8.9,516,9342,0.00,2.33,0.00,0.000,6,0.000,0.023,3004,2016,2010,0,0,0,0,0,0
$GC,9602,1.35,261.2,72.2,7.5,540,9611,0.00,0.00,7.65,0.488,6,0.000,0.000,3004,2021,1985,0,0,0,0,0,0
$GC,9866,1.44,275.6,52.2,7.0,565,9887,0.10,2.53,14.10,0.515,4,0.077,0.042,3036,598,1926,0,0,0,0,0,0
$GC,9903,1.40,275.6,48.8,8.4,569,9908,0.00,2.30,0.00,0.000,6,0.000,0.021,3035,2019,1923,0,0,0,0,0,0
$GC,10166,1.41,284.5,29.9,7.4,593,10181,0.00,2.47,9.12,0.469,4,0.000,0.041,3035,599,1888,0,0,0,0,0,0
$GC,10391,1.34,284.5,7.5,9.8,641,10397,0.15,2.28,0.00,0.000,6,0.099,0.020,3006,2020,1885,0,0,0,0,0,0
$STATE,10435,end climb,SURFACE_DEPTH_REACHED
$STATE,10435,begin surface coast
$FINISH,0.5,1.009809
$STATE,10473,end surface coast,CONTROL_FINISHED_OK
$STATE,10473,begin surface
$SM_CCo,10494,181.45,0.499,0,0,450,637.78
$SM_GC,1.12,0.00,0.00,181.45,0.000,0.000,0.499,426,1858,450,-10.53,-0.51,637.78
$IRIDIUM_FIX,2101.76,-15750.89,200999,000044
$TT8_MAMPS,0.029146
$HUMID,50.66
$INTERNAL_PRESSURE,9.61605
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,54.382
$10V_AH,10.1,48.354
$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,27.375,123.950,320.750,181.450,0.000,139.470,204.900,221.785,4.500,0.000,33.717,1264.524,7473.252,564.563,1501.278,850.795,33.377,1393.452,0.000,1447.829,0.000,29.271,0.000
$DEVICE_MAMPS,132.691,54.457,856.739,499.317,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,440.332,440.947,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,34866,655
$CAP_FILE_SIZE,129845,0
$CFSIZE,260165632,222941184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260610,035900,2107.096,-15753.074,58,2.0,68,9.8