version: 66.06
glider: 139
mission: 7
dive: 609
start: 6 26 110 7 11 50
data:
$ID,139
$MISSION,7
$DIVE,609
$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,-2144004.5
$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
$GPS1,070427,2106.795,-15751.777,55,2.4,74,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.5
$GPS2,071058,2106.775,-15751.733,14,2.5,33,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.014
$KALMAN_X,-358067.2,674.0,-204.0,363120.1,258.4
$KALMAN_Y,41959.0,130.2,13.4,-42348.3,-114.0
$MHEAD_RNG_PITCHd_Wd,84.6,15336,-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,-50.38,0.000,2,0.000,0.000,426,1903,3160,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.7,-6.8,10,95,10.57,2.53,-4.10,0.000,4,0.133,0.053,2404,467,3370,0,0,0,0,0,0
$GC,159,-1.16,-77.9,24.7,-19.0,28,165,0.28,2.33,0.00,0.000,6,0.091,0.020,2460,1899,3372,0,0,0,0,0,0
$GC,366,-1.12,-77.9,53.6,-11.8,50,370,0.00,2.47,0.00,0.000,4,0.000,0.042,2460,467,3372,0,0,0,0,0,0
$GC,394,-1.01,-77.9,58.2,-14.9,52,401,0.15,2.28,0.00,0.000,6,0.106,0.019,2490,1890,3372,0,0,0,0,0,0
$GC,657,-1.10,-77.9,85.8,-9.3,77,662,0.00,2.45,0.00,0.000,4,0.000,0.042,2490,469,3374,0,0,0,0,0,0
$GC,760,-1.19,-77.9,94.6,-7.6,87,766,0.15,2.25,0.00,0.000,6,0.055,0.019,2441,1882,3374,0,0,0,0,0,0
$GC,1024,-1.19,-77.9,119.6,-9.6,112,1029,0.00,2.42,0.00,0.000,4,0.000,0.041,2440,467,3375,0,0,0,0,0,0
$GC,1081,-1.19,-77.9,125.8,-10.4,118,1085,0.00,2.22,0.00,0.000,6,0.000,0.019,2440,1874,3375,0,0,0,0,0,0
$GC,1344,-1.23,-77.9,150.1,-8.6,142,1348,0.00,2.42,0.00,0.000,4,0.000,0.041,2440,458,3376,0,0,0,0,0,0
$GC,1434,-1.27,-77.9,157.5,-8.3,151,1438,0.00,2.25,0.00,0.000,6,0.000,0.019,2441,1882,3376,0,0,0,0,0,0
$GC,1698,-1.33,-77.9,180.8,-9.9,175,1702,0.00,2.42,0.00,0.000,4,0.000,0.042,2440,466,3376,0,0,0,0,0,0
$GC,1767,-1.33,-77.9,188.8,-10.7,182,1771,0.00,2.25,0.00,0.000,6,0.000,0.019,2440,1877,3376,0,0,0,0,0,0
$GC,2026,-1.40,-77.9,210.6,-8.0,200,2031,0.15,2.42,0.00,0.000,4,0.057,0.042,2391,467,3376,0,0,0,0,0,0
$GC,2051,-1.32,-77.9,213.0,-9.3,201,2056,0.15,2.22,0.00,0.000,6,0.094,0.020,2423,1874,3377,0,0,0,0,0,0
$GC,2378,-1.36,-77.9,237.7,-7.2,217,2383,0.00,2.40,0.00,0.000,4,0.000,0.042,2423,459,3376,0,0,0,0,0,0
$GC,2516,-1.36,-77.9,250.0,-9.6,223,2520,0.00,2.28,0.00,0.000,6,0.000,0.021,2423,1876,3377,0,0,0,0,0,0
$GC,2847,-1.43,-77.9,275.9,-7.9,239,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1881,3376,0,0,0,0,0,0
$GC,3156,-1.51,-77.9,298.8,-6.5,254,3161,0.17,2.45,0.00,0.000,4,0.052,0.045,2371,463,3375,0,0,0,0,0,0
$GC,3180,-1.45,-77.9,300.9,-9.1,255,3185,0.12,2.28,0.00,0.000,6,0.099,0.022,2397,1871,3375,0,0,0,0,0,0
$GC,3522,-1.48,-77.9,327.3,-8.7,264,3526,0.00,2.42,0.00,0.000,4,0.000,0.046,2397,467,3374,0,0,0,0,0,0
$GC,3605,-1.48,-77.9,335.9,-10.0,265,3611,0.00,2.25,0.00,0.000,6,0.000,0.024,2397,1871,3373,0,0,0,0,0,0
$GC,3936,-1.48,-77.9,365.0,-8.9,274,3941,0.00,2.40,0.00,0.000,4,0.000,0.048,2397,470,3372,0,0,0,0,0,0
$GC,3950,-1.48,-77.9,366.4,-8.8,274,3954,0.00,2.28,0.00,0.000,6,0.000,0.025,2397,1880,3372,0,0,0,0,0,0
$GC,4300,-1.52,-77.9,396.8,-8.8,283,4304,0.00,2.42,0.00,0.000,4,0.000,0.049,2396,470,3370,0,0,0,0,0,0
$GC,4371,-1.52,-77.9,403.0,-9.0,284,4375,0.00,2.28,0.00,0.000,6,0.000,0.026,2397,1870,3369,0,0,0,0,0,0
$GC,4712,-1.57,-77.9,429.8,-7.9,293,4717,0.12,2.45,0.00,0.000,4,0.067,0.051,2360,464,3366,0,0,0,0,0,0
$GC,4797,-1.49,-77.9,438.4,-10.0,294,4803,0.12,2.33,0.00,0.000,6,0.103,0.027,2385,1880,3366,0,0,0,0,0,0
$STATE,4963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4963,begin apogee
$GC,4969,-0.31,0.0,452.0,8.1,299,5037,1.20,0.00,64.68,0.867,6,0.073,0.000,2643,2031,3050,0,0,0,0,0,0
$STATE,5038,end apogee,CONTROL_FINISHED_OK
$STATE,5038,begin climb
$GC,5041,1.40,77.9,452.8,0.0,300,5116,1.62,2.40,64.97,0.846,4,0.031,0.040,3021,3377,2732,0,0,0,0,0,0
$GC,5178,1.23,133.4,452.7,4.2,303,5232,0.20,2.35,47.60,0.837,6,0.115,0.034,2984,2001,2506,0,0,0,0,0,0
$GC,5543,1.10,133.4,421.4,8.7,312,5545,0.15,0.00,0.00,0.000,6,0.120,0.000,2958,2001,2498,0,0,0,0,0,0
$GC,5869,1.07,160.6,399.6,6.2,320,5897,0.00,2.50,23.15,0.815,4,0.000,0.052,2960,604,2395,0,0,0,0,0,0
$GC,5990,0.95,160.6,390.4,8.5,322,5995,0.22,2.35,0.00,0.000,6,0.112,0.028,2922,1997,2390,0,0,0,0,0,0
$GC,6327,1.03,188.4,369.3,6.1,331,6359,0.00,2.53,25.15,0.808,4,0.000,0.051,2921,604,2280,0,0,0,0,0,0
$GC,6383,1.03,188.4,364.9,8.2,332,6387,0.00,2.38,0.00,0.000,6,0.000,0.029,2922,2015,2276,0,0,0,0,0,0
$GC,6697,1.10,188.4,338.9,8.4,340,6702,0.15,2.53,0.00,0.000,4,0.070,0.051,2958,601,2274,0,0,0,0,0,0
$GC,6749,1.04,188.4,333.8,10.4,341,6754,0.00,2.38,0.00,0.000,6,0.000,0.030,2958,2018,2272,0,0,0,0,0,0
$GC,7067,1.04,188.4,306.2,8.8,349,7071,0.00,2.50,0.00,0.000,4,0.000,0.051,2958,599,2271,0,0,0,0,0,0
$GC,7159,0.98,188.4,297.4,10.2,351,7164,0.15,2.38,0.00,0.000,6,0.117,0.029,2932,2018,2269,0,0,0,0,0,0
$GC,7487,1.07,201.8,273.3,7.1,367,7504,0.00,2.42,11.10,0.710,4,0.000,0.038,2932,3416,2227,0,0,0,0,0,0
$GC,7541,1.17,201.8,268.8,8.5,369,7547,0.17,2.42,0.00,0.000,6,0.062,0.035,2975,2013,2227,0,0,0,0,0,0
$GC,7863,1.17,205.4,241.1,7.8,385,7870,0.00,0.00,4.78,0.537,6,0.000,0.000,2975,2013,2212,0,0,0,0,0,0
$GC,8172,1.18,214.5,219.0,7.4,400,8188,0.00,2.53,9.55,0.649,4,0.000,0.049,2974,607,2174,0,0,0,0,0,0
$GC,8401,1.18,214.5,200.0,8.3,410,8405,0.00,2.33,0.00,0.000,6,0.000,0.027,2975,2017,2170,0,0,0,0,0,0
$GC,8666,1.25,243.2,183.8,6.0,434,8701,0.00,2.58,26.17,0.676,4,0.000,0.048,2975,599,2057,0,0,0,0,0,0
$GC,8759,1.25,243.2,176.0,10.1,444,8764,0.00,2.35,0.00,0.000,6,0.000,0.026,2975,2021,2053,0,0,0,0,0,0
$GC,9024,1.31,248.6,154.1,7.7,468,9038,0.10,2.55,5.50,0.502,4,0.081,0.046,3004,603,2035,0,0,0,0,0,0
$GC,9215,1.24,248.6,136.4,9.8,488,9221,0.00,2.33,0.00,0.000,6,0.000,0.024,3004,2016,2033,0,0,0,0,0,0
$GC,9477,1.24,248.6,112.8,9.1,513,9482,0.00,2.45,0.00,0.000,4,0.000,0.044,3004,600,2033,0,0,0,0,0,0
$GC,9558,1.19,248.6,104.9,9.2,521,9563,0.15,2.33,0.00,0.000,6,0.104,0.023,2976,2018,2032,0,0,0,0,0,0
$GC,9821,1.33,281.1,85.9,5.8,545,9857,0.12,2.53,29.40,0.579,4,0.069,0.044,3012,596,1903,0,0,0,0,0,0
$GC,9953,1.33,281.1,74.7,9.5,559,9957,0.00,2.30,0.00,0.000,6,0.000,0.022,3012,2015,1899,0,0,0,0,0,0
$GC,10216,1.41,288.9,55.4,7.5,583,10229,0.00,2.50,7.38,0.470,4,0.000,0.044,3012,592,1872,0,0,0,0,0,0
$GC,10359,1.41,288.9,43.8,8.7,598,10364,0.00,2.30,0.00,0.000,6,0.000,0.021,3012,2022,1869,0,0,0,0,0,0
$GC,10624,1.47,297.8,23.4,7.4,630,10639,0.00,2.45,9.30,0.467,4,0.000,0.039,3012,598,1835,0,0,0,0,0,0
$GC,10806,1.47,297.8,4.7,10.6,669,10812,0.00,2.25,0.00,0.000,6,0.000,0.020,3012,2007,1831,0,0,0,0,0,0
$STATE,10821,end climb,SURFACE_DEPTH_REACHED
$STATE,10822,begin surface coast
$FINISH,0.4,1.011258
$STATE,10851,end surface coast,CONTROL_FINISHED_OK
$STATE,10851,begin surface
$SM_CCo,10932,0.00,0.000,0,0,1826,300.00
$SM_GC,1.47,11.15,0.00,0.00,0.027,0.000,0.000,427,1858,1826,-10.45,-0.45,300.00
$IRIDIUM_FIX,2057.14,-15753.90,200999,040441
$TT8_MAMPS,0.029146
$HUMID,53.34
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,23.3,54.556
$10V_AH,10.0,48.464
$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,27.400,124.450,328.725,0.000,0.000,25.611,31.099,195.012,4.750,0.000,34.304,1299.831,7557.422,385.891,1581.630,494.352,33.376,1251.446,0.000,1523.055,0.000,29.255,0.000
$DEVICE_MAMPS,133.458,53.690,867.477,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,455.224,446.961,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,34889,677
$CAP_FILE_SIZE,126064,0
$CFSIZE,260165632,222834688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260610,101557,2106.733,-15750.314,60,2.5,79,9.8