version: 66.06
glider: 139
mission: 7
dive: 610
start: 6 26 110 10 22 6
data:
$ID,139
$MISSION,7
$DIVE,610
$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,-2144018.8
$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
$GPS1,101557,2106.733,-15750.314,60,2.5,79,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.3
$GPS2,102114,2106.720,-15750.292,13,2.0,13,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.182,-0.027
$KALMAN_X,-358115.3,375.6,576.1,365178.2,-1005.4
$KALMAN_Y,42309.8,-90.6,-68.1,-42503.7,169.1
$MHEAD_RNG_PITCHd_Wd,88.7,12851,-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,-50.20,0.000,2,0.000,0.000,426,1857,3135,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.3,-5.4,10,95,10.52,2.42,-4.70,0.000,4,0.131,0.052,2404,469,3370,0,0,0,0,0,0
$GC,154,-1.20,-77.9,24.5,-19.8,27,161,0.22,2.30,0.00,0.000,6,0.094,0.020,2448,1901,3370,0,0,0,0,0,0
$GC,361,-1.11,-77.9,50.2,-13.1,49,366,0.10,2.47,0.00,0.000,4,0.116,0.041,2469,462,3372,0,0,0,0,0,0
$GC,396,-1.04,-77.9,54.9,-12.8,52,400,0.00,2.28,0.00,0.000,6,0.000,0.019,2469,1883,3371,0,0,0,0,0,0
$GC,661,-1.04,-77.9,88.2,-11.6,77,666,0.00,2.42,0.00,0.000,4,0.000,0.042,2470,463,3372,0,0,0,0,0,0
$GC,727,-1.04,-77.9,96.0,-11.9,83,732,0.00,2.25,0.00,0.000,6,0.000,0.019,2469,1884,3372,0,0,0,0,0,0
$GC,989,-1.12,-77.9,122.7,-9.0,108,993,0.00,2.45,0.00,0.000,4,0.000,0.042,2469,459,3373,0,0,0,0,0,0
$GC,1073,-1.20,-77.9,130.7,-8.5,116,1080,0.00,2.25,0.00,0.000,6,0.000,0.019,2469,1887,3374,0,0,0,0,0,0
$GC,1336,-1.30,-77.9,147.8,-6.4,141,1341,0.17,2.45,0.00,0.000,4,0.050,0.041,2413,467,3375,0,0,0,0,0,0
$GC,1403,-1.23,-77.9,154.2,-10.5,147,1409,0.15,2.25,0.00,0.000,6,0.091,0.019,2445,1879,3375,0,0,0,0,0,0
$GC,1664,-1.28,-77.9,176.2,-8.3,172,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1883,3375,0,0,0,0,0,0
$GC,1921,-1.35,-77.9,195.9,-7.2,196,1926,0.12,2.42,0.00,0.000,4,0.063,0.043,2402,460,3376,0,0,0,0,0,0
$GC,1978,-1.31,-77.9,201.3,-9.1,201,1983,0.12,2.28,0.00,0.000,6,0.096,0.020,2428,1876,3376,0,0,0,0,0,0
$GC,2296,-1.37,-77.9,225.9,-7.9,216,2300,0.00,2.40,0.00,0.000,4,0.000,0.042,2429,460,3376,0,0,0,0,0,0
$GC,2365,-1.37,-77.9,232.0,-7.8,219,2370,0.00,2.28,0.00,0.000,6,0.000,0.020,2428,1882,3376,0,0,0,0,0,0
$GC,2693,-1.45,-77.9,254.3,-6.7,235,2698,0.12,2.42,0.00,0.000,4,0.063,0.044,2384,466,3376,0,0,0,0,0,0
$GC,2788,-1.39,-77.9,263.9,-10.6,239,2792,0.12,2.25,0.00,0.000,6,0.099,0.021,2410,1879,3376,0,0,0,0,0,0
$GC,3120,-1.44,-77.9,290.5,-7.4,255,3124,0.00,2.25,0.00,0.000,4,0.000,0.028,2410,3260,3375,0,0,0,0,0,0
$GC,3135,-1.51,-77.9,292.0,-7.8,255,3141,0.10,2.30,0.00,0.000,6,0.073,0.029,2374,1871,3375,0,0,0,0,0,0
$GC,3469,-1.51,-77.9,324.6,-10.1,266,3473,0.00,2.38,0.00,0.000,4,0.000,0.045,2374,471,3374,0,0,0,0,0,0
$GC,3548,-1.45,-77.9,333.0,-11.1,267,3553,0.10,2.25,0.00,0.000,6,0.108,0.023,2395,1871,3373,0,0,0,0,0,0
$GC,3879,-1.45,-77.9,362.5,-8.7,275,3884,0.00,2.40,0.00,0.000,4,0.000,0.047,2394,473,3372,0,0,0,0,0,0
$GC,3899,-1.45,-77.9,364.2,-8.7,275,3903,0.00,2.30,0.00,0.000,6,0.000,0.025,2395,1883,3372,0,0,0,0,0,0
$GC,4244,-1.48,-77.9,389.6,-6.8,284,4248,0.00,2.42,0.00,0.000,4,0.000,0.048,2395,472,3369,0,0,0,0,0,0
$GC,4342,-1.48,-77.9,397.0,-7.7,286,4346,0.00,2.30,0.00,0.000,6,0.000,0.025,2395,1878,3369,0,0,0,0,0,0
$GC,4661,-1.52,-77.9,420.6,-7.9,294,4665,0.00,2.45,0.00,0.000,4,0.000,0.050,2395,471,3366,0,0,0,0,0,0
$GC,4725,-1.52,-77.9,426.6,-9.1,295,4730,0.00,2.30,0.00,0.000,6,0.000,0.026,2395,1883,3366,0,0,0,0,0,0
$STATE,5032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5032,begin apogee
$GC,5039,-0.31,0.0,453.3,8.5,303,5107,1.15,0.00,64.40,0.871,6,0.072,0.000,2643,2032,3050,0,0,0,0,0,0
$STATE,5107,end apogee,CONTROL_FINISHED_OK
$STATE,5107,begin climb
$GC,5110,1.40,77.9,455.0,0.0,304,5185,1.62,2.40,64.88,0.851,4,0.031,0.038,3022,3377,2732,0,0,0,0,0,0
$GC,5450,1.22,119.6,451.0,5.2,311,5492,0.22,2.35,35.60,0.841,6,0.112,0.035,2984,2010,2562,0,0,0,0,0,0
$GC,5837,1.10,119.6,418.8,8.6,321,5842,0.17,2.40,0.00,0.000,4,0.114,0.039,2953,3391,2556,0,0,0,0,0,0
$GC,6092,1.08,140.5,401.1,6.6,326,6117,0.00,2.38,17.95,0.805,6,0.000,0.037,2953,2011,2477,0,0,0,0,0,0
$GC,6444,1.07,161.8,379.0,6.6,335,6465,0.00,0.00,19.58,0.806,6,0.000,0.000,2953,2011,2390,0,0,0,0,0,0
$GC,6764,1.07,161.8,352.1,8.6,343,6769,0.00,2.47,0.00,0.000,4,0.000,0.051,2953,604,2385,0,0,0,0,0,0
$GC,6802,1.00,161.8,348.5,9.8,343,6808,0.10,2.33,0.00,0.000,6,0.134,0.029,2936,1997,2383,0,0,0,0,0,0
$GC,7134,1.06,187.8,326.3,6.2,352,7163,0.00,2.53,23.12,0.789,4,0.000,0.051,2935,605,2284,0,0,0,0,0,0
$GC,7200,1.06,187.8,321.5,8.2,353,7204,0.00,2.38,0.00,0.000,6,0.000,0.029,2936,2016,2280,0,0,0,0,0,0
$GC,7526,1.12,189.7,296.8,7.9,362,7530,0.00,2.50,0.00,0.000,4,0.000,0.051,2935,604,2278,0,0,0,0,0,0
$GC,7640,1.14,204.2,287.9,7.0,367,7663,0.12,2.38,15.12,0.739,6,0.075,0.029,2967,2022,2217,0,0,0,0,0,0
$GC,7971,1.14,204.2,262.0,8.2,383,7972,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2022,2213,0,0,0,0,0,0
$GC,8281,1.15,211.4,238.4,7.5,398,8293,0.00,2.53,7.05,0.620,4,0.000,0.051,2967,605,2188,0,0,0,0,0,0
$GC,8322,1.10,211.4,234.5,9.6,399,8328,0.00,2.35,0.00,0.000,6,0.000,0.028,2968,2018,2185,0,0,0,0,0,0
$GC,8638,1.16,231.8,210.9,6.6,415,8663,0.00,2.55,19.52,0.693,4,0.000,0.050,2967,601,2104,0,0,0,0,0,0
$GC,8928,1.16,231.8,184.0,10.4,437,8933,0.00,2.33,0.00,0.000,6,0.000,0.026,2968,2017,2098,0,0,0,0,0,0
$GC,9192,1.26,260.7,164.3,6.0,462,9227,0.10,2.58,25.98,0.656,4,0.082,0.048,2996,605,1986,0,0,0,0,0,0
$GC,9262,1.21,260.7,158.2,10.7,469,9267,0.00,2.35,0.00,0.000,6,0.000,0.025,2996,2014,1983,0,0,0,0,0,0
$GC,9525,1.25,260.7,134.5,9.1,494,9529,0.00,2.45,0.00,0.000,4,0.000,0.045,2996,600,1983,0,0,0,0,0,0
$GC,9618,1.21,260.7,125.3,8.9,503,9623,0.00,2.33,0.00,0.000,6,0.000,0.024,2996,2021,1980,0,0,0,0,0,0
$GC,9882,1.26,263.0,103.5,7.9,528,9886,0.00,2.47,0.00,0.000,4,0.000,0.044,2995,598,1980,0,0,0,0,0,0
$GC,9965,1.26,263.0,95.7,9.0,536,9970,0.00,2.30,0.00,0.000,6,0.000,0.023,2996,2016,1979,0,0,0,0,0,0
$GC,10228,1.34,275.6,79.4,7.1,561,10247,0.00,2.47,13.65,0.544,4,0.000,0.043,2996,597,1925,0,0,0,0,0,0
$GC,10354,1.40,293.8,69.7,6.8,574,10378,0.00,2.30,16.85,0.542,6,0.000,0.021,2996,2021,1851,0,0,0,0,0,0
$GC,10633,1.52,313.4,50.5,6.7,601,10660,0.22,2.53,18.17,0.525,4,0.047,0.044,3060,602,1771,0,0,0,0,0,0
$GC,10768,1.42,313.4,34.2,13.7,615,10774,0.20,2.28,0.00,0.000,6,0.094,0.021,3021,2011,1767,0,0,0,0,0,0
$GC,11042,1.46,318.8,9.8,7.6,660,11052,0.00,2.42,5.53,0.399,4,0.000,0.041,3020,601,1749,0,0,0,0,0,0
$STATE,11098,end climb,SURFACE_DEPTH_REACHED
$STATE,11098,begin surface coast
$FINISH,0.4,1.023191
$STATE,11125,end surface coast,CONTROL_FINISHED_OK
$STATE,11125,begin surface
$SM_CCo,11208,0.00,0.000,0,0,1743,320.36
$SM_GC,1.44,11.18,0.00,0.00,0.025,0.000,0.000,424,1908,1743,-10.46,0.93,320.36
$IRIDIUM_FIX,2059.45,-15750.89,200999,070702
$TT8_MAMPS,0.029146
$HUMID,52.63
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,23.3,54.642
$10V_AH,10.0,48.519
$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,26.975,123.550,347.400,0.000,0.000,24.406,31.200,144.338,4.500,0.000,13.543,1312.166,7710.116,408.938,1636.935,453.169,33.384,1306.173,0.000,1597.541,0.000,29.243,0.000
$DEVICE_MAMPS,134.225,53.690,870.545,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,454.302,445.450,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,34847,677
$CAP_FILE_SIZE,127118,0
$CFSIZE,260165632,222769152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260610,133027,2106.381,-15749.810,37,2.8,56,9.8