version: 66.06
glider: 139
mission: 7
dive: 613
start: 6 26 110 19 56 54
data:
$ID,139
$MISSION,7
$DIVE,613
$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,-2144095
$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
$GPS1,195045,2106.445,-15747.586,53,1.5,62,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-71.4
$GPS2,195602,2106.426,-15747.557,13,1.5,13,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.167,-0.076
$KALMAN_X,-357982.6,-526.5,3.7,371243.1,1078.3
$KALMAN_Y,42771.2,-102.3,93.2,-43660.3,433.2
$MHEAD_RNG_PITCHd_Wd,104.5,8095,-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,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,68,0.00,0.00,-49.95,0.000,2,0.000,0.000,428,1891,3122,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.2,-4.8,10,95,10.55,2.50,-5.10,0.000,4,0.132,0.054,2405,463,3370,0,0,0,0,0,0
$GC,111,-0.75,-77.9,14.0,-24.9,18,117,0.70,2.35,0.00,0.000,6,0.089,0.020,2547,1911,3370,0,0,0,0,0,0
$GC,324,-0.90,-77.9,34.0,-8.2,52,329,0.12,2.50,0.00,0.000,4,0.061,0.042,2503,461,3372,0,0,0,0,0,0
$GC,381,-0.96,-77.9,39.9,-10.5,57,387,0.00,2.28,0.00,0.000,6,0.000,0.019,2503,1879,3372,0,0,0,0,0,0
$GC,644,-1.02,-77.9,66.1,-10.0,82,648,0.00,2.42,0.00,0.000,4,0.000,0.042,2503,469,3372,0,0,0,0,0,0
$GC,691,-1.11,-77.9,71.1,-9.3,86,697,0.15,2.25,0.00,0.000,6,0.056,0.019,2454,1880,3373,0,0,0,0,0,0
$GC,953,-1.11,-77.9,98.7,-10.1,111,957,0.00,2.42,0.00,0.000,4,0.000,0.041,2454,467,3373,0,0,0,0,0,0
$GC,1000,-1.11,-77.9,103.8,-10.6,115,1006,0.00,2.25,0.00,0.000,6,0.000,0.019,2454,1877,3373,0,0,0,0,0,0
$GC,1263,-1.15,-77.9,128.9,-9.2,140,1267,0.00,2.42,0.00,0.000,4,0.000,0.041,2454,459,3375,0,0,0,0,0,0
$GC,1362,-1.20,-77.9,138.2,-9.5,150,1366,0.00,2.28,0.00,0.000,6,0.000,0.019,2454,1884,3375,0,0,0,0,0,0
$GC,1624,-1.27,-77.9,159.2,-8.1,174,1628,0.00,2.40,0.00,0.000,4,0.000,0.041,2454,467,3375,0,0,0,0,0,0
$GC,1687,-1.33,-77.9,164.8,-8.8,180,1692,0.15,2.25,0.00,0.000,6,0.054,0.019,2403,1880,3376,0,0,0,0,0,0
$GC,1947,-1.33,-77.9,192.7,-9.9,204,1951,0.00,2.22,0.00,0.000,4,0.000,0.025,2403,3260,3376,0,0,0,0,0,0
$GC,1982,-1.38,-77.9,195.7,-9.0,207,1986,0.00,2.30,0.00,0.000,6,0.000,0.027,2403,1862,3376,0,0,0,0,0,0
$GC,2236,-1.38,-77.9,217.4,-8.3,221,2240,0.00,2.38,0.00,0.000,4,0.000,0.042,2403,463,3376,0,0,0,0,0,0
$GC,2260,-1.34,-77.9,219.7,-9.3,222,2264,0.00,2.25,0.00,0.000,6,0.000,0.020,2402,1880,3376,0,0,0,0,0,0
$GC,2590,-1.34,-77.9,250.8,-9.6,238,2594,0.00,2.40,0.00,0.000,4,0.000,0.043,2402,464,3376,0,0,0,0,0,0
$GC,2664,-1.34,-77.9,258.6,-9.5,241,2668,0.00,2.25,0.00,0.000,6,0.000,0.021,2403,1870,3376,0,0,0,0,0,0
$GC,2985,-1.34,-77.9,288.3,-10.2,257,2989,0.00,2.30,0.00,0.000,4,0.000,0.028,2396,3268,3376,0,0,0,0,0,0
$GC,3054,-1.46,-77.9,295.9,-10.5,260,3058,0.00,2.33,0.00,0.000,6,0.000,0.030,2402,1868,3376,0,0,0,0,0,0
$GC,3396,-1.49,-77.9,325.0,-7.5,270,3400,0.00,2.40,0.00,0.000,4,0.000,0.045,2402,466,3375,0,0,0,0,0,0
$GC,3447,-1.49,-77.9,328.9,-6.5,271,3451,0.00,2.28,0.00,0.000,6,0.000,0.022,2401,1874,3375,0,0,0,0,0,0
$GC,3770,-1.53,-77.9,351.6,-7.3,279,3775,0.00,2.40,0.00,0.000,4,0.000,0.046,2403,470,3374,0,0,0,0,0,0
$GC,3822,-1.53,-77.9,356.0,-8.0,280,3827,0.00,2.30,0.00,0.000,6,0.000,0.024,2403,1883,3374,0,0,0,0,0,0
$GC,4142,-1.57,-77.9,381.2,-7.9,288,4147,0.15,2.47,0.00,0.000,4,0.059,0.049,2359,464,3371,0,0,0,0,0,0
$GC,4218,-1.49,-77.9,389.0,-10.6,289,4223,0.15,2.28,0.00,0.000,6,0.098,0.025,2390,1870,3371,0,0,0,0,0,0
$GC,4554,-1.49,-77.9,416.1,-7.8,298,4558,0.00,2.42,0.00,0.000,4,0.000,0.050,2389,474,3368,0,0,0,0,0,0
$GC,4614,-1.49,-77.9,421.0,-8.1,299,4618,0.00,2.28,0.00,0.000,6,0.000,0.026,2390,1875,3368,0,0,0,0,0,0
$GC,4963,-1.49,-77.9,447.7,-8.0,308,4968,0.00,2.45,0.00,0.000,4,0.000,0.051,2389,473,3365,0,0,0,0,0,0
$STATE,4989,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4989,begin apogee
$GC,4997,-0.31,0.0,450.4,9.4,308,5066,1.17,0.00,64.72,0.864,6,0.076,0.000,2642,2009,3050,0,0,0,0,0,0
$STATE,5067,end apogee,CONTROL_FINISHED_OK
$STATE,5067,begin climb
$GC,5070,1.40,77.9,451.7,0.0,310,5145,1.62,2.47,65.10,0.846,4,0.030,0.038,3024,3403,2732,0,0,0,0,0,0
$GC,5234,1.25,149.6,452.0,3.1,313,5306,0.17,2.40,61.40,0.843,6,0.116,0.033,2993,2009,2440,0,0,0,0,0,0
$GC,5620,1.12,149.6,417.3,9.7,323,5625,0.17,2.50,0.00,0.000,4,0.111,0.051,2960,600,2432,0,0,0,0,0,0
$GC,5659,1.00,149.6,413.5,9.5,323,5665,0.15,2.38,0.00,0.000,6,0.122,0.028,2935,2014,2430,0,0,0,0,0,0
$GC,5990,1.01,152.1,388.4,7.8,332,5994,0.00,2.47,0.00,0.000,4,0.000,0.051,2935,602,2428,0,0,0,0,0,0
$GC,6032,0.95,152.1,384.7,9.0,332,6038,0.00,2.38,0.00,0.000,6,0.000,0.029,2936,2014,2426,0,0,0,0,0,0
$GC,6363,0.96,156.6,358.8,7.7,341,6376,0.00,2.50,5.07,0.604,4,0.000,0.049,2935,607,2410,0,0,0,0,0,0
$GC,6441,0.92,156.6,352.3,8.5,342,6446,0.12,2.38,0.00,0.000,6,0.123,0.029,2914,2019,2408,0,0,0,0,0,0
$GC,6779,1.02,183.4,330.6,6.2,351,6811,0.10,2.55,24.60,0.794,4,0.085,0.050,2939,608,2301,0,0,0,0,0,0
$GC,6880,0.99,183.4,322.5,8.8,353,6884,0.00,2.35,0.00,0.000,6,0.000,0.029,2939,2012,2296,0,0,0,0,0,0
$GC,7195,1.04,189.8,298.3,7.6,361,7207,0.00,2.55,6.18,0.627,4,0.000,0.051,2940,603,2275,0,0,0,0,0,0
$GC,7393,1.04,189.8,281.4,8.6,369,7398,0.00,2.38,0.00,0.000,6,0.000,0.029,2940,2014,2272,0,0,0,0,0,0
$GC,7709,1.12,214.2,260.3,6.3,384,7738,0.00,2.45,22.65,0.742,4,0.000,0.037,2938,3402,2176,0,0,0,0,0,0
$GC,7767,1.21,217.9,256.1,7.8,386,7778,0.17,2.40,5.05,0.546,6,0.061,0.035,2984,2004,2161,0,0,0,0,0,0
$GC,8088,1.21,219.4,228.3,7.9,402,8092,0.00,2.45,0.00,0.000,4,0.000,0.051,2983,604,2157,0,0,0,0,0,0
$GC,8155,1.14,219.4,222.3,9.2,405,8159,0.00,2.35,0.00,0.000,6,0.000,0.028,2983,2017,2154,0,0,0,0,0,0
$GC,8474,1.16,232.2,198.6,7.1,421,8493,0.00,2.53,13.25,0.658,4,0.000,0.047,2983,604,2102,0,0,0,0,0,0
$GC,8574,1.12,232.2,190.0,9.3,431,8580,0.12,2.35,0.00,0.000,6,0.115,0.026,2962,2016,2098,0,0,0,0,0,0
$GC,8837,1.20,240.9,170.3,7.4,456,8854,0.00,2.50,8.68,0.591,4,0.000,0.046,2961,603,2067,0,0,0,0,0,0
$GC,8888,1.20,240.9,165.8,8.5,461,8893,0.00,2.33,0.00,0.000,6,0.000,0.025,2961,2013,2065,0,0,0,0,0,0
$GC,9151,1.29,247.0,145.3,7.6,486,9164,0.15,2.53,6.90,0.540,4,0.064,0.046,3001,602,2042,0,0,0,0,0,0
$GC,9300,1.24,247.0,129.9,10.7,502,9305,0.00,2.30,0.00,0.000,6,0.000,0.025,3001,2013,2039,0,0,0,0,0,0
$GC,9565,1.24,254.7,109.1,7.5,526,9578,0.00,2.47,8.12,0.530,4,0.000,0.045,3001,598,2010,0,0,0,0,0,0
$GC,9670,1.21,254.7,100.4,8.6,536,9676,0.12,2.33,0.00,0.000,6,0.107,0.023,2978,2011,2008,0,0,0,0,0,0
$GC,9934,1.34,291.0,83.6,5.5,561,9976,0.12,2.50,33.03,0.580,4,0.067,0.044,3016,602,1861,0,0,0,0,0,0
$GC,10196,1.34,291.0,58.3,8.7,589,10202,0.00,2.33,0.00,0.000,6,0.000,0.021,3016,2024,1855,0,0,0,0,0,0
$GC,10461,1.40,295.7,39.3,7.7,614,10471,0.00,2.45,4.65,0.390,4,0.000,0.041,3016,602,1843,0,0,0,0,0,0
$GC,10616,1.40,295.7,24.1,10.2,636,10622,0.00,2.28,0.00,0.000,6,0.000,0.021,3015,2016,1841,0,0,0,0,0,0
$GC,10825,1.46,295.7,5.1,9.2,673,10831,0.00,2.42,0.00,0.000,4,0.000,0.043,3015,598,1841,0,0,0,0,0,0
$STATE,10849,end climb,SURFACE_DEPTH_REACHED
$STATE,10849,begin surface coast
$FINISH,0.5,1.023168
$STATE,10886,end surface coast,CONTROL_FINISHED_OK
$STATE,10886,begin surface
$SM_CCo,10910,3.50,0.311,0,0,1827,300.00
$SM_GC,2.35,0.00,0.00,3.50,0.000,0.000,0.311,426,1908,1827,-10.52,0.90,300.00
$IRIDIUM_FIX,2059.45,-15743.60,200999,161639
$TT8_MAMPS,0.029146
$HUMID,53.74
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,23.3,54.890
$10V_AH,10.0,48.683
$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,27.350,142.950,329.400,3.500,0.000,31.183,30.186,139.283,4.500,0.000,13.439,1328.266,7432.855,403.328,1608.846,456.787,33.379,1305.135,0.000,1573.731,0.000,29.255,0.000
$DEVICE_MAMPS,131.924,53.690,864.409,310.635,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,460.282,452.482,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,34900,686
$CAP_FILE_SIZE,130427,0
$CFSIZE,260165632,222584832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260610,230057,2106.268,-15746.031,72,2.5,91,9.8