version: 66.06
glider: 139
mission: 7
dive: 611
start: 6 26 110 13 36 42
data:
$ID,139
$MISSION,7
$DIVE,611
$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,-2144047.5
$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
$GPS1,133027,2106.381,-15749.810,37,2.8,56,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.6
$GPS2,133551,2106.397,-15749.822,14,2.0,27,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.182,-0.023
$KALMAN_X,-358404.9,-177.6,195.0,367216.9,-1434.0
$KALMAN_Y,42242.9,-307.3,-69.1,-42811.0,207.2
$MHEAD_RNG_PITCHd_Wd,87.5,11978,-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,-77.9,0.0,0.0,0,73,0.00,0.00,-55.10,0.000,2,0.000,0.000,423,1907,3176,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.3,-5.6,11,97,10.55,2.30,-3.80,0.000,4,0.132,0.036,2401,3302,3369,0,0,0,0,0,0
$GC,103,-0.22,-77.9,12.5,-29.1,16,110,1.27,2.40,0.00,0.000,6,0.083,0.028,2665,1872,3370,0,0,0,0,0,0
$GC,314,-0.89,-77.9,26.3,-8.0,53,320,0.62,2.40,0.00,0.000,4,0.042,0.040,2513,462,3370,0,0,0,0,0,0
$GC,367,-1.03,-77.9,31.4,-9.2,62,373,0.00,2.33,0.00,0.000,6,0.000,0.019,2512,1915,3371,0,0,0,0,0,0
$GC,630,-1.12,-77.9,53.0,-10.5,87,635,0.20,2.47,0.00,0.000,4,0.048,0.041,2450,469,3372,0,0,0,0,0,0
$GC,693,-1.03,-77.9,61.1,-14.4,93,698,0.17,2.25,0.00,0.000,6,0.090,0.019,2486,1870,3372,0,0,0,0,0,0
$GC,957,-1.11,-77.9,91.2,-8.5,117,961,0.00,2.40,0.00,0.000,4,0.000,0.041,2486,470,3373,0,0,0,0,0,0
$GC,1046,-1.16,-77.9,98.7,-8.0,126,1051,0.12,2.25,0.00,0.000,6,0.063,0.019,2442,1880,3373,0,0,0,0,0,0
$GC,1307,-1.16,-77.9,124.0,-10.9,150,1311,0.00,2.42,0.00,0.000,4,0.000,0.041,2442,463,3374,0,0,0,0,0,0
$GC,1322,-1.16,-77.9,125.6,-11.0,151,1326,0.00,2.25,0.00,0.000,6,0.000,0.019,2442,1876,3374,0,0,0,0,0,0
$GC,1587,-1.20,-77.9,150.7,-9.2,175,1591,0.00,2.38,0.00,0.000,4,0.000,0.041,2442,470,3375,0,0,0,0,0,0
$GC,1611,-1.20,-77.9,153.5,-10.2,177,1615,0.00,2.25,0.00,0.000,6,0.000,0.019,2442,1880,3375,0,0,0,0,0,0
$GC,1879,-1.25,-77.9,175.5,-7.9,202,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1884,3375,0,0,0,0,0,0
$GC,2132,-1.32,-77.9,195.5,-8.2,226,2136,0.00,2.40,0.00,0.000,4,0.000,0.041,2442,463,3376,0,0,0,0,0,0
$GC,2206,-1.37,-77.9,202.6,-9.9,232,2211,0.12,2.25,0.00,0.000,6,0.061,0.020,2397,1883,3375,0,0,0,0,0,0
$GC,2527,-1.37,-77.9,233.0,-8.8,248,2531,0.00,2.42,0.00,0.000,4,0.000,0.042,2397,466,3376,0,0,0,0,0,0
$GC,2560,-1.31,-77.9,236.4,-9.9,249,2564,0.15,2.25,0.00,0.000,6,0.091,0.020,2429,1884,3376,0,0,0,0,0,0
$GC,2878,-1.41,-77.9,260.5,-7.4,264,2882,0.00,2.42,0.00,0.000,4,0.000,0.044,2429,471,3375,0,0,0,0,0,0
$GC,2989,-1.46,-77.9,268.8,-7.2,268,2995,0.15,2.22,0.00,0.000,6,0.055,0.021,2379,1874,3376,0,0,0,0,0,0
$GC,3304,-1.46,-77.9,294.7,-9.0,284,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1879,3375,0,0,0,0,0,0
$GC,3611,-1.46,-77.9,323.9,-9.8,293,3615,0.00,2.42,0.00,0.000,4,0.000,0.045,2379,466,3374,0,0,0,0,0,0
$GC,3654,-1.39,-77.9,328.5,-10.9,294,3659,0.15,2.28,0.00,0.000,6,0.094,0.023,2411,1871,3374,0,0,0,0,0,0
$GC,3984,-1.44,-77.9,357.0,-8.4,302,3989,0.00,2.42,0.00,0.000,4,0.000,0.047,2410,467,3373,0,0,0,0,0,0
$GC,4074,-1.44,-77.9,364.7,-8.0,304,4078,0.00,2.28,0.00,0.000,6,0.000,0.024,2411,1872,3372,0,0,0,0,0,0
$GC,4407,-1.50,-77.9,389.1,-7.6,312,4411,0.00,2.40,0.00,0.000,4,0.000,0.048,2410,473,3371,0,0,0,0,0,0
$GC,4467,-1.53,-77.9,394.9,-10.1,313,4472,0.15,2.28,0.00,0.000,6,0.058,0.025,2365,1878,3369,0,0,0,0,0,0
$GC,4818,-1.50,-77.9,430.2,-9.7,322,4823,0.10,2.47,0.00,0.000,4,0.116,0.050,2385,467,3367,0,0,0,0,0,0
$GC,4856,-1.47,-77.9,434.5,-11.1,322,4862,0.00,2.30,0.00,0.000,6,0.000,0.025,2385,1872,3367,0,0,0,0,0,0
$STATE,5022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5022,begin apogee
$GC,5028,-0.31,0.0,450.4,9.6,327,5097,1.20,0.00,64.78,0.855,6,0.074,0.000,2641,2031,3050,0,0,0,0,0,0
$STATE,5097,end apogee,CONTROL_FINISHED_OK
$STATE,5098,begin climb
$GC,5101,1.40,77.9,451.9,0.0,328,5176,1.62,2.40,64.70,0.840,4,0.031,0.038,3023,3383,2732,0,0,0,0,0,0
$GC,5439,1.22,121.7,444.6,5.0,335,5484,0.22,2.35,37.28,0.831,6,0.111,0.034,2982,2009,2553,0,0,0,0,0,0
$GC,5830,1.11,121.7,415.3,8.1,345,5832,0.15,0.00,0.00,0.000,6,0.117,0.000,2956,2009,2547,0,0,0,0,0,0
$GC,6155,1.08,145.8,392.2,6.4,353,6183,0.00,2.50,20.70,0.803,4,0.000,0.049,2955,601,2454,0,0,0,0,0,0
$GC,6200,0.99,148.2,388.9,7.9,354,6205,0.15,2.35,0.00,0.000,6,0.119,0.028,2930,1987,2452,0,0,0,0,0,0
$GC,6529,1.02,168.0,366.2,6.7,362,6554,0.00,2.50,19.85,0.791,4,0.000,0.051,2930,607,2365,0,0,0,0,0,0
$GC,6607,1.02,170.5,360.5,7.8,363,6611,0.00,2.35,0.00,0.000,6,0.000,0.028,2931,2010,2361,0,0,0,0,0,0
$GC,6939,1.08,182.9,336.2,7.2,371,6959,0.00,2.55,13.93,0.756,4,0.000,0.051,2931,612,2303,0,0,0,0,0,0
$GC,7006,1.08,182.9,330.7,8.5,372,7010,0.00,2.35,0.00,0.000,6,0.000,0.029,2931,2015,2299,0,0,0,0,0,0
$GC,7352,1.16,192.4,304.4,7.4,381,7368,0.15,2.50,9.23,0.696,4,0.069,0.050,2969,606,2264,0,0,0,0,0,0
$GC,7523,1.08,192.4,288.0,9.4,386,7527,0.00,2.38,0.00,0.000,6,0.000,0.028,2968,2018,2261,0,0,0,0,0,0
$GC,7844,1.09,195.3,261.3,7.8,402,7847,0.00,2.35,0.00,0.000,4,0.000,0.037,2968,3409,2260,0,0,0,0,0,0
$GC,8007,1.11,218.0,249.6,6.5,409,8036,0.00,2.38,23.55,0.730,6,0.000,0.034,2969,2009,2161,0,0,0,0,0,0
$GC,8357,1.12,223.7,222.8,7.6,426,8369,0.00,2.50,6.03,0.571,4,0.000,0.050,2968,612,2137,0,0,0,0,0,0
$GC,8583,1.12,223.7,203.2,9.7,435,8588,0.00,2.33,0.00,0.000,6,0.000,0.027,2968,2018,2132,0,0,0,0,0,0
$GC,8908,1.18,223.7,178.2,8.1,464,8912,0.00,2.47,0.00,0.000,4,0.000,0.047,2968,604,2132,0,0,0,0,0,0
$GC,8991,1.18,223.7,170.6,8.7,472,8997,0.00,2.35,0.00,0.000,6,0.000,0.025,2968,2023,2131,0,0,0,0,0,0
$GC,9254,1.24,223.7,150.4,8.2,497,9258,0.00,2.47,0.00,0.000,4,0.000,0.045,2968,601,2131,0,0,0,0,0,0
$GC,9279,1.24,223.7,148.1,9.2,499,9283,0.00,2.30,0.00,0.000,6,0.000,0.025,2968,2016,2131,0,0,0,0,0,0
$GC,9542,1.35,251.0,128.8,6.1,523,9576,0.17,2.50,24.77,0.614,4,0.058,0.044,3016,598,2023,0,0,0,0,0,0
$GC,9623,1.27,251.1,123.1,8.0,531,9629,0.12,2.33,0.00,0.000,6,0.110,0.024,2993,2018,2021,0,0,0,0,0,0
$GC,9886,1.34,263.1,103.6,7.2,556,9904,0.00,2.50,11.35,0.548,4,0.000,0.045,2993,603,1976,0,0,0,0,0,0
$GC,10039,1.34,263.1,90.7,8.1,572,10044,0.00,2.30,0.00,0.000,6,0.000,0.022,2993,2018,1973,0,0,0,0,0,0
$GC,10303,1.46,283.1,73.3,6.6,597,10330,0.17,2.53,18.45,0.548,4,0.055,0.044,3042,607,1895,0,0,0,0,0,0
$GC,10480,1.40,283.1,56.5,9.3,616,10485,0.12,2.28,0.00,0.000,6,0.106,0.021,3019,2015,1892,0,0,0,0,0,0
$GC,10743,1.46,285.5,38.0,7.9,640,10747,0.00,2.45,0.00,0.000,4,0.000,0.042,3018,597,1891,0,0,0,0,0,0
$GC,10879,1.42,285.5,27.0,9.0,657,10884,0.00,2.30,0.00,0.000,6,0.000,0.021,3018,2020,1890,0,0,0,0,0,0
$GC,11087,1.47,285.5,9.5,8.1,694,11093,0.00,2.42,0.00,0.000,4,0.000,0.040,3018,601,1890,0,0,0,0,0,0
$STATE,11147,end climb,SURFACE_DEPTH_REACHED
$STATE,11147,begin surface coast
$FINISH,0.6,1.009509
$STATE,11183,end surface coast,CONTROL_FINISHED_OK
$STATE,11183,begin surface
$SM_CCo,11205,12.40,0.472,0,0,1826,300.00
$SM_GC,2.19,0.00,0.00,12.40,0.000,0.000,0.472,422,1862,1826,-10.54,-0.37,300.00
$IRIDIUM_FIX,2059.45,-15753.90,200999,101037
$TT8_MAMPS,0.029146
$HUMID,53.03
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.3,54.724
$10V_AH,10.0,48.575
$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,29.025,128.150,314.600,12.400,0.000,22.348,26.766,142.659,4.500,0.000,27.998,1383.991,7594.480,398.807,1708.153,453.411,33.386,1320.517,0.000,1653.983,0.000,29.248,0.000
$DEVICE_MAMPS,131.924,52.156,855.205,471.705,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,479.931,478.365,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,38078,714
$CAP_FILE_SIZE,130773,0
$CFSIZE,260165632,222703616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260610,164545,2106.372,-15749.188,67,2.1,86,9.8