version: 66.06
glider: 139
mission: 7
dive: 612
start: 6 26 110 16 52 37
data:
$ID,139
$MISSION,7
$DIVE,612
$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,-2144080.8
$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
$GPS1,164545,2106.372,-15749.188,67,2.1,86,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.3
$GPS2,165146,2106.395,-15749.165,12,2.2,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.176,-0.052
$KALMAN_X,-358207.5,-558.2,-539.8,369264.3,443.2
$KALMAN_Y,42413.3,-319.2,25.9,-43073.6,347.5
$MHEAD_RNG_PITCHd_Wd,96.8,10847,-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,-50.58,0.000,2,0.000,0.000,423,1862,3130,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.0,-4.4,10,95,10.60,2.42,-4.97,0.000,4,0.132,0.038,2406,3298,3370,0,0,0,0,0,0
$GC,174,-1.40,-77.9,22.5,-13.8,31,179,0.00,2.40,0.00,0.000,6,0.000,0.029,2406,1866,3371,0,0,0,0,0,0
$GC,374,-1.21,-77.9,52.3,-15.2,54,379,0.20,2.40,0.00,0.000,4,0.100,0.041,2446,468,3372,0,0,0,0,0,0
$GC,419,-1.08,-77.9,58.9,-13.5,58,424,0.15,2.30,0.00,0.000,6,0.100,0.019,2477,1912,3372,0,0,0,0,0,0
$GC,681,-1.08,-77.9,87.1,-10.9,82,685,0.00,2.47,0.00,0.000,4,0.000,0.041,2477,471,3373,0,0,0,0,0,0
$GC,737,-1.08,-77.9,93.1,-10.0,87,742,0.00,2.25,0.00,0.000,6,0.000,0.019,2477,1883,3374,0,0,0,0,0,0
$GC,999,-1.16,-77.9,118.3,-10.2,112,1003,0.00,2.42,0.00,0.000,4,0.000,0.041,2476,464,3374,0,0,0,0,0,0
$GC,1111,-1.25,-77.9,130.0,-9.9,123,1118,0.17,2.25,0.00,0.000,6,0.050,0.019,2420,1877,3374,0,0,0,0,0,0
$GC,1372,-1.25,-77.9,157.7,-10.0,148,1377,0.10,2.40,0.00,0.000,4,0.105,0.041,2441,470,3375,0,0,0,0,0,0
$GC,1419,-1.25,-77.9,162.2,-9.7,152,1424,0.00,2.22,0.00,0.000,6,0.000,0.019,2441,1877,3375,0,0,0,0,0,0
$GC,1681,-1.31,-77.9,183.5,-8.4,177,1686,0.00,2.40,0.00,0.000,4,0.000,0.041,2441,460,3376,0,0,0,0,0,0
$GC,1709,-1.31,-77.9,186.2,-9.4,179,1714,0.00,2.22,0.00,0.000,6,0.000,0.019,2441,1876,3376,0,0,0,0,0,0
$GC,1967,-1.38,-77.9,209.0,-8.7,199,1972,0.12,2.42,0.00,0.000,4,0.063,0.043,2397,470,3376,0,0,0,0,0,0
$GC,2014,-1.31,-77.9,213.6,-10.0,201,2019,0.15,2.25,0.00,0.000,6,0.091,0.019,2429,1881,3376,0,0,0,0,0,0
$GC,2342,-1.38,-77.9,237.8,-7.4,217,2347,0.00,2.42,0.00,0.000,4,0.000,0.043,2429,464,3376,0,0,0,0,0,0
$GC,2442,-1.41,-77.9,246.3,-8.4,221,2447,0.10,2.28,0.00,0.000,6,0.073,0.020,2392,1883,3376,0,0,0,0,0,0
$GC,2762,-1.41,-77.9,274.4,-10.3,237,2766,0.00,2.25,0.00,0.000,4,0.000,0.028,2387,3265,3376,0,0,0,0,0,0
$GC,2837,-1.50,-77.9,282.1,-10.4,240,2841,0.00,2.30,0.00,0.000,6,0.000,0.030,2391,1875,3376,0,0,0,0,0,0
$GC,3155,-1.50,-77.9,311.5,-9.1,253,3159,0.00,2.40,0.00,0.000,4,0.000,0.045,2391,472,3375,0,0,0,0,0,0
$GC,3192,-1.47,-77.9,314.9,-9.4,253,3196,0.00,2.25,0.00,0.000,6,0.000,0.022,2391,1878,3375,0,0,0,0,0,0
$GC,3524,-1.47,-77.9,343.3,-8.4,261,3528,0.00,2.40,0.00,0.000,4,0.000,0.046,2392,473,3373,0,0,0,0,0,0
$GC,3586,-1.47,-77.9,348.9,-9.0,262,3590,0.00,2.28,0.00,0.000,6,0.000,0.024,2391,1876,3373,0,0,0,0,0,0
$GC,3935,-1.47,-77.9,376.9,-8.1,271,3939,0.00,2.45,0.00,0.000,4,0.000,0.048,2391,464,3371,0,0,0,0,0,0
$GC,3968,-1.44,-77.9,379.8,-9.4,271,3973,0.00,2.30,0.00,0.000,6,0.000,0.025,2392,1874,3371,0,0,0,0,0,0
$GC,4304,-1.44,-77.9,406.9,-8.2,280,4308,0.00,2.45,0.00,0.000,4,0.000,0.049,2391,467,3368,0,0,0,0,0,0
$GC,4397,-1.44,-77.9,416.0,-9.5,282,4401,0.00,2.30,0.00,0.000,6,0.000,0.025,2391,1871,3368,0,0,0,0,0,0
$GC,4721,-1.44,-77.9,445.0,-9.1,290,4725,0.00,2.45,0.00,0.000,4,0.000,0.051,2391,468,3365,0,0,0,0,0,0
$GC,4767,-1.44,-77.9,449.5,-9.1,291,4771,0.00,2.10,0.00,0.000,3,0.000,0.026,2392,1741,3365,0,0,0,0,0,0
$STATE,4772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4772,begin apogee
$GC,4779,-0.31,0.0,450.1,9.8,291,4847,1.15,0.00,64.25,0.865,6,0.074,0.000,2641,2033,3050,0,0,0,0,0,0
$STATE,4848,end apogee,CONTROL_FINISHED_OK
$STATE,4848,begin climb
$GC,4850,1.40,77.9,451.5,0.0,292,4926,1.65,2.42,64.93,0.844,4,0.031,0.038,3023,3394,2732,0,0,0,0,0,0
$GC,5000,1.23,146.8,452.7,3.3,295,5067,0.20,2.38,59.10,0.841,6,0.115,0.034,2988,2003,2450,0,0,0,0,0,0
$GC,5392,1.12,146.8,418.8,9.1,305,5397,0.17,2.47,0.00,0.000,4,0.115,0.051,2956,598,2442,0,0,0,0,0,0
$GC,5417,1.00,146.8,416.5,8.6,305,5422,0.12,2.38,0.00,0.000,6,0.127,0.028,2935,2007,2440,0,0,0,0,0,0
$GC,5758,1.03,174.9,395.7,6.1,314,5787,0.00,2.53,23.50,0.814,4,0.000,0.051,2936,605,2336,0,0,0,0,0,0
$GC,5850,0.99,174.9,387.9,10.2,316,5854,0.00,2.38,0.00,0.000,6,0.000,0.028,2937,2012,2332,0,0,0,0,0,0
$GC,6173,0.99,174.9,357.9,9.6,324,6177,0.00,2.50,0.00,0.000,4,0.000,0.051,2937,602,2329,0,0,0,0,0,0
$GC,6229,0.96,174.9,352.0,10.2,325,6233,0.00,2.38,0.00,0.000,6,0.000,0.029,2937,2021,2328,0,0,0,0,0,0
$GC,6542,0.99,196.4,328.8,6.5,333,6563,0.00,0.00,19.08,0.778,6,0.000,0.000,2937,2025,2249,0,0,0,0,0,0
$GC,6868,1.04,197.0,303.3,8.0,341,6872,0.00,2.50,0.00,0.000,4,0.000,0.051,2937,607,2245,0,0,0,0,0,0
$GC,6982,1.04,198.3,294.1,7.9,345,6987,0.00,2.38,0.00,0.000,6,0.000,0.029,2937,2021,2242,0,0,0,0,0,0
$GC,7312,1.12,210.2,271.6,7.2,361,7334,0.00,2.53,12.93,0.712,4,0.000,0.049,2937,601,2190,0,0,0,0,0,0
$GC,7340,1.18,210.7,269.2,8.0,362,7345,0.15,2.38,0.00,0.000,6,0.067,0.029,2974,2017,2189,0,0,0,0,0,0
$GC,7666,1.19,223.2,242.7,7.2,378,7682,0.00,0.00,12.45,0.690,6,0.000,0.000,2975,2021,2139,0,0,0,0,0,0
$GC,7998,1.19,223.2,214.8,9.0,394,8003,0.00,2.50,0.00,0.000,4,0.000,0.050,2974,600,2136,0,0,0,0,0,0
$GC,8226,1.19,223.2,193.0,9.7,409,8230,0.00,2.35,0.00,0.000,6,0.000,0.027,2975,2022,2133,0,0,0,0,0,0
$GC,8489,1.23,223.2,171.6,8.3,433,8493,0.00,2.45,0.00,0.000,4,0.000,0.046,2974,604,2133,0,0,0,0,0,0
$GC,8535,1.23,223.2,167.0,9.5,437,8541,0.00,2.33,0.00,0.000,6,0.000,0.025,2974,2022,2132,0,0,0,0,0,0
$GC,8799,1.31,244.1,148.7,6.6,462,8826,0.10,2.53,19.20,0.630,4,0.081,0.046,3003,606,2053,0,0,0,0,0,0
$GC,8977,1.25,244.1,131.2,9.4,481,8981,0.00,2.33,0.00,0.000,6,0.000,0.024,3004,2024,2048,0,0,0,0,0,0
$GC,9239,1.26,255.6,111.8,7.2,505,9257,0.00,2.53,10.70,0.558,4,0.000,0.044,3003,608,2008,0,0,0,0,0,0
$GC,9291,1.22,255.6,107.1,10.5,510,9298,0.12,2.30,0.00,0.000,6,0.110,0.023,2981,2021,2006,0,0,0,0,0,0
$GC,9554,1.34,273.1,85.4,6.8,535,9581,0.12,2.50,16.98,0.561,4,0.067,0.043,3017,605,1934,0,0,0,0,0,0
$GC,9848,1.34,273.1,58.1,9.3,566,9854,0.00,2.30,0.00,0.000,6,0.000,0.021,3017,2021,1931,0,0,0,0,0,0
$GC,10111,1.39,274.1,37.4,8.0,591,10115,0.00,2.42,0.00,0.000,4,0.000,0.041,3017,599,1931,0,0,0,0,0,0
$GC,10256,1.39,274.1,24.3,9.3,612,10262,0.00,2.30,0.00,0.000,6,0.000,0.021,3017,2019,1931,0,0,0,0,0,0
$GC,10464,1.44,274.1,7.1,8.3,649,10470,0.00,2.45,0.00,0.000,4,0.000,0.041,3017,595,1931,0,0,0,0,0,0
$STATE,10511,end climb,SURFACE_DEPTH_REACHED
$STATE,10511,begin surface coast
$FINISH,0.6,0.998001
$STATE,10548,end surface coast,CONTROL_FINISHED_OK
$STATE,10551,begin surface
$SM_CCo,10573,15.07,0.482,0,0,1826,300.00
$SM_GC,1.70,0.00,0.00,15.07,0.000,0.000,0.482,428,1891,1826,-10.52,0.45,300.00
$IRIDIUM_FIX,2059.45,-15751.76,200999,131300
$TT8_MAMPS,0.029146
$HUMID,53.30
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,23.3,54.807
$10V_AH,10.0,48.629
$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,26.500,128.475,303.100,15.075,0.000,29.739,40.899,148.698,4.750,0.000,32.392,1279.652,7245.279,389.400,1567.596,463.319,33.378,1247.223,0.000,1511.858,0.000,29.253,0.000
$DEVICE_MAMPS,131.924,51.389,865.176,481.676,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,448.834,441.516,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,34849,667
$CAP_FILE_SIZE,122175,0
$CFSIZE,260165632,222654464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260610,195045,2106.445,-15747.586,53,1.5,62,9.8