version: 66.06
glider: 139
mission: 7
dive: 608
start: 6 26 110 4 6 44
data:
$ID,139
$MISSION,7
$DIVE,608
$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,-2143969.5
$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
$GPS1,035900,2107.096,-15753.074,58,2.0,68,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-62.1
$GPS2,040552,2107.131,-15753.068,15,2.8,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.176,-0.051
$KALMAN_X,-357985.5,583.7,-517.5,361136.8,109.2
$KALMAN_Y,41892.1,253.4,34.2,-41766.5,285.5
$MHEAD_RNG_PITCHd_Wd,96.4,17707,-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,-77.9,0.0,0.0,0,124,0.00,0.00,-105.30,0.000,2,0.000,0.000,426,1858,3286,0,0,0,0,0,0
$GC,128,-1.40,-77.9,4.1,-7.8,21,148,10.52,2.40,-1.60,0.000,4,0.131,0.049,2403,470,3370,0,0,0,0,0,0
$GC,188,-1.13,-77.9,21.7,-20.1,33,195,0.30,2.33,0.00,0.000,6,0.090,0.020,2464,1906,3371,0,0,0,0,0,0
$GC,392,-1.09,-77.9,47.8,-12.2,57,396,0.00,2.45,0.00,0.000,4,0.000,0.040,2464,469,3371,0,0,0,0,0,0
$GC,439,-1.02,-77.9,54.4,-13.7,61,445,0.12,2.28,0.00,0.000,6,0.104,0.019,2489,1889,3371,0,0,0,0,0,0
$GC,702,-1.09,-77.9,81.7,-9.4,86,706,0.00,2.42,0.00,0.000,4,0.000,0.042,2489,469,3372,0,0,0,0,0,0
$GC,791,-1.17,-77.9,91.4,-10.9,95,796,0.15,2.25,0.00,0.000,6,0.054,0.018,2439,1889,3372,0,0,0,0,0,0
$GC,1052,-1.17,-77.9,119.6,-9.3,119,1059,0.00,2.42,0.00,0.000,4,0.000,0.041,2438,453,3373,0,0,0,0,0,0
$GC,1074,-1.17,-77.9,121.7,-9.4,121,1078,0.00,2.25,0.00,0.000,6,0.000,0.018,2439,1883,3373,0,0,0,0,0,0
$GC,1337,-1.17,-77.9,144.8,-9.5,145,1341,0.00,2.40,0.00,0.000,4,0.000,0.041,2439,467,3373,0,0,0,0,0,0
$GC,1417,-1.21,-77.9,153.1,-10.2,153,1421,0.00,2.22,0.00,0.000,6,0.000,0.019,2439,1877,3373,0,0,0,0,0,0
$GC,1682,-1.26,-77.9,173.0,-7.4,177,1686,0.00,2.40,0.00,0.000,4,0.000,0.041,2439,459,3374,0,0,0,0,0,0
$GC,1725,-1.30,-77.9,176.3,-7.0,181,1729,0.00,2.25,0.00,0.000,6,0.000,0.019,2439,1884,3374,0,0,0,0,0,0
$GC,1988,-1.37,-77.9,195.7,-8.6,205,1993,0.10,2.42,0.00,0.000,4,0.074,0.042,2400,467,3373,0,0,0,0,0,0
$GC,2007,-1.37,-77.9,197.8,-9.1,206,2013,0.00,2.25,0.00,0.000,6,0.000,0.020,2399,1881,3374,0,0,0,0,0,0
$GC,2262,-1.37,-77.9,222.0,-9.3,220,2266,0.00,2.40,0.00,0.000,4,0.000,0.043,2400,468,3374,0,0,0,0,0,0
$GC,2322,-1.37,-77.9,228.5,-10.6,222,2328,0.00,2.22,0.00,0.000,6,0.000,0.020,2400,1872,3373,0,0,0,0,0,0
$GC,2637,-1.37,-77.9,257.3,-9.3,238,2642,0.00,2.42,0.00,0.000,4,0.000,0.044,2399,460,3373,0,0,0,0,0,0
$GC,2722,-1.33,-77.9,265.3,-10.0,241,2728,0.12,2.28,0.00,0.000,6,0.098,0.021,2426,1871,3372,0,0,0,0,0,0
$GC,3039,-1.41,-77.9,290.3,-7.8,257,3043,0.00,2.42,0.00,0.000,4,0.000,0.044,2426,464,3371,0,0,0,0,0,0
$GC,3119,-1.45,-77.9,297.9,-9.6,260,3124,0.12,2.28,0.00,0.000,6,0.064,0.022,2384,1883,3371,0,0,0,0,0,0
$GC,3430,-1.45,-77.9,329.4,-10.2,268,3434,0.00,2.42,0.00,0.000,4,0.000,0.046,2384,467,3369,0,0,0,0,0,0
$GC,3458,-1.39,-77.9,332.6,-11.4,268,3463,0.12,2.28,0.00,0.000,6,0.100,0.024,2410,1882,3369,0,0,0,0,0,0
$GC,3796,-1.45,-77.9,362.4,-8.7,277,3800,0.00,2.42,0.00,0.000,4,0.000,0.048,2410,470,3367,0,0,0,0,0,0
$GC,3902,-1.45,-77.9,372.5,-8.7,279,3906,0.00,2.30,0.00,0.000,6,0.000,0.025,2410,1879,3367,0,0,0,0,0,0
$GC,4252,-1.51,-77.9,399.6,-7.7,288,4258,0.12,2.45,0.00,0.000,4,0.065,0.049,2371,469,3364,0,0,0,0,0,0
$GC,4277,-1.46,-77.9,402.0,-9.6,288,4282,0.10,2.33,0.00,0.000,6,0.109,0.025,2392,1881,3364,0,0,0,0,0,0
$GC,4623,-1.46,-77.9,431.1,-8.4,297,4628,0.00,2.45,0.00,0.000,4,0.000,0.051,2391,467,3361,0,0,0,0,0,0
$GC,4707,-1.46,-77.9,439.1,-8.8,298,4712,0.00,2.30,0.00,0.000,6,0.000,0.026,2391,1878,3361,0,0,0,0,0,0
$STATE,4832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4832,begin apogee
$GC,4838,-0.31,0.0,450.5,8.9,302,4905,1.17,0.00,63.53,0.863,6,0.072,0.000,2643,2031,3050,0,0,0,0,0,0
$STATE,4906,end apogee,CONTROL_FINISHED_OK
$STATE,4906,begin climb
$GC,4909,1.40,77.9,451.9,0.0,303,4984,1.62,2.40,65.05,0.843,4,0.030,0.038,3026,3377,2732,0,0,0,0,0,0
$GC,5043,1.27,164.7,455.4,2.1,306,5129,0.17,2.35,74.55,0.841,6,0.114,0.033,2995,2000,2377,0,0,0,0,0,0
$GC,5451,1.16,164.7,417.4,10.6,316,5456,0.15,2.45,0.00,0.000,4,0.117,0.051,2966,605,2367,0,0,0,0,0,0
$GC,5513,1.03,164.7,410.3,11.3,317,5518,0.15,2.30,0.00,0.000,6,0.121,0.028,2940,1989,2364,0,0,0,0,0,0
$GC,5863,1.03,164.7,377.9,9.5,326,5867,0.00,2.45,0.00,0.000,4,0.000,0.051,2940,605,2362,0,0,0,0,0,0
$GC,5901,0.99,164.7,373.6,11.7,326,5906,0.00,2.35,0.00,0.000,6,0.000,0.028,2942,2009,2360,0,0,0,0,0,0
$GC,6232,0.99,169.1,346.7,7.7,335,6237,0.00,2.45,0.00,0.000,4,0.000,0.050,2941,606,2359,0,0,0,0,0,0
$GC,6330,0.95,169.1,339.1,8.6,337,6334,0.00,2.35,0.00,0.000,6,0.000,0.029,2942,2013,2358,0,0,0,0,0,0
$GC,6653,0.98,192.8,317.2,6.4,345,6681,0.00,2.58,22.12,0.775,4,0.000,0.051,2941,607,2262,0,0,0,0,0,0
$GC,6835,0.98,192.8,300.5,9.3,349,6839,0.00,2.35,0.00,0.000,6,0.000,0.029,2942,2013,2258,0,0,0,0,0,0
$GC,7170,1.08,222.2,277.4,6.0,364,7202,0.00,2.58,26.35,0.751,4,0.000,0.051,2942,609,2143,0,0,0,0,0,0
$GC,7262,1.08,222.2,270.1,9.1,368,7266,0.00,2.35,0.00,0.000,6,0.000,0.028,2942,2012,2139,0,0,0,0,0,0
$GC,7591,1.17,241.6,244.8,6.7,384,7616,0.12,2.55,17.90,0.703,4,0.074,0.049,2974,612,2064,0,0,0,0,0,0
$GC,7676,1.12,241.6,237.6,8.7,387,7680,0.00,2.33,0.00,0.000,6,0.000,0.028,2974,2015,2060,0,0,0,0,0,0
$GC,7991,1.12,241.6,213.4,8.4,402,7995,0.00,2.47,0.00,0.000,4,0.000,0.048,2974,607,2059,0,0,0,0,0,0
$GC,8084,1.12,241.6,204.4,10.1,406,8089,0.00,2.33,0.00,0.000,6,0.000,0.026,2974,2018,2056,0,0,0,0,0,0
$GC,8418,1.17,244.7,174.1,7.8,435,8422,0.00,2.45,0.00,0.000,4,0.000,0.047,2974,604,2056,0,0,0,0,0,0
$GC,8552,1.17,244.7,162.5,9.0,449,8556,0.00,2.33,0.00,0.000,6,0.000,0.025,2974,2013,2055,0,0,0,0,0,0
$GC,8819,1.25,264.4,144.0,6.7,474,8846,0.00,2.50,20.02,0.622,4,0.000,0.046,2975,605,1971,0,0,0,0,0,0
$GC,8925,1.25,264.4,134.8,9.3,485,8931,0.00,2.33,0.00,0.000,6,0.000,0.024,2974,2014,1967,0,0,0,0,0,0
$GC,9188,1.33,264.4,114.0,9.5,510,9193,0.12,2.45,0.00,0.000,4,0.069,0.046,3009,604,1967,0,0,0,0,0,0
$GC,9315,1.29,264.4,99.3,11.7,523,9320,0.00,2.30,0.00,0.000,6,0.000,0.023,3010,2023,1965,0,0,0,0,0,0
$GC,9579,1.33,265.1,77.7,8.0,547,9583,0.00,2.42,0.00,0.000,4,0.000,0.044,3010,604,1966,0,0,0,0,0,0
$GC,9706,1.34,273.6,67.7,7.4,560,9720,0.00,2.28,8.82,0.502,6,0.000,0.022,3010,2020,1934,0,0,0,0,0,0
$GC,9976,1.42,294.6,50.0,6.6,585,10003,0.00,2.47,19.73,0.531,4,0.000,0.044,3010,604,1847,0,0,0,0,0,0
$GC,10143,1.42,294.6,35.3,10.8,603,10147,0.00,2.28,0.00,0.000,6,0.000,0.021,3010,2015,1843,0,0,0,0,0,0
$GC,10415,1.47,294.6,13.7,8.9,645,10421,0.12,2.45,0.00,0.000,4,0.064,0.043,3049,596,1843,0,0,0,0,0,0
$STATE,10499,end climb,SURFACE_DEPTH_REACHED
$STATE,10499,begin surface coast
$FINISH,0.6,1.023171
$STATE,10524,end surface coast,CONTROL_FINISHED_OK
$STATE,10524,begin surface
$SM_CCo,10547,2.92,0.255,0,0,1826,300.00
$SM_GC,2.19,0.00,0.00,2.92,0.000,0.000,0.255,426,1902,1826,-10.52,0.71,300.00
$IRIDIUM_FIX,2057.14,-15753.90,200999,010116
$TT8_MAMPS,0.029146
$HUMID,53.34
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,23.3,54.469
$10V_AH,10.1,48.409
$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,26.750,132.875,318.075,2.925,0.000,30.815,29.645,210.425,4.500,0.000,36.919,1281.675,7134.111,424.785,1602.582,517.222,33.374,1306.558,0.000,1538.580,0.000,29.277,0.000
$DEVICE_MAMPS,131.157,52.923,862.875,255.411,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.966,441.770,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34873,668
$CAP_FILE_SIZE,126034,0
$CFSIZE,260165632,222896128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260610,070427,2106.795,-15751.777,55,2.4,74,9.8