version: 66.06
glider: 139
mission: 7
dive: 614
start: 6 26 110 23 7 19
data:
$ID,139
$MISSION,7
$DIVE,614
$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,-2144125.8
$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
$GPS1,230057,2106.268,-15746.031,72,2.5,91,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-72.2
$GPS2,230628,2106.269,-15746.037,10,3.5,29,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.175,-0.056
$KALMAN_X,-358159.2,-161.8,569.2,373121.0,-152.7
$KALMAN_Y,43094.2,180.2,48.6,-44510.1,350.2
$MHEAD_RNG_PITCHd_Wd,98.1,5455,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,67,0.00,0.00,-49.80,0.000,2,0.000,0.000,426,1908,3138,0,0,0,0,0,0
$GC,70,-1.40,-77.9,3.4,-5.2,10,94,10.62,2.53,-4.70,0.000,4,0.136,0.054,2403,466,3370,0,0,0,0,0,0
$GC,135,-1.14,-77.9,18.9,-19.0,23,141,0.30,2.33,0.00,0.000,6,0.091,0.020,2463,1902,3371,0,0,0,0,0,0
$GC,344,-1.09,-77.9,46.2,-12.3,49,348,0.00,2.45,0.00,0.000,4,0.000,0.042,2464,469,3372,0,0,0,0,0,0
$GC,397,-1.02,-77.9,53.6,-13.4,54,402,0.12,2.25,0.00,0.000,6,0.103,0.020,2489,1880,3372,0,0,0,0,0,0
$GC,660,-1.07,-77.9,81.8,-10.3,78,664,0.00,2.42,0.00,0.000,4,0.000,0.042,2489,468,3373,0,0,0,0,0,0
$GC,707,-1.14,-77.9,87.1,-10.6,82,713,0.10,2.25,0.00,0.000,6,0.072,0.019,2452,1878,3373,0,0,0,0,0,0
$GC,970,-1.17,-77.9,114.9,-10.0,107,974,0.00,2.40,0.00,0.000,4,0.000,0.041,2451,464,3374,0,0,0,0,0,0
$GC,1032,-1.17,-77.9,121.4,-10.0,113,1037,0.00,2.28,0.00,0.000,6,0.000,0.019,2451,1888,3374,0,0,0,0,0,0
$GC,1295,-1.24,-77.9,143.4,-8.5,137,1299,0.00,2.42,0.00,0.000,4,0.000,0.041,2451,469,3375,0,0,0,0,0,0
$GC,1352,-1.27,-77.9,149.1,-9.4,142,1357,0.00,2.22,0.00,0.000,6,0.000,0.019,2452,1877,3375,0,0,0,0,0,0
$GC,1614,-1.35,-77.9,171.6,-8.4,167,1619,0.15,2.42,0.00,0.000,4,0.055,0.042,2401,469,3376,0,0,0,0,0,0
$GC,1710,-1.28,-77.9,182.4,-11.8,176,1716,0.17,2.22,0.00,0.000,6,0.087,0.019,2438,1872,3376,0,0,0,0,0,0
$GC,1971,-1.35,-77.9,206.7,-9.2,198,1975,0.00,2.40,0.00,0.000,4,0.000,0.041,2438,467,3376,0,0,0,0,0,0
$GC,2009,-1.39,-77.9,210.6,-10.6,199,2015,0.12,2.25,0.00,0.000,6,0.062,0.020,2394,1879,3376,0,0,0,0,0,0
$GC,2325,-1.39,-77.9,241.6,-9.2,215,2329,0.00,2.40,0.00,0.000,4,0.000,0.042,2395,462,3376,0,0,0,0,0,0
$GC,2357,-1.34,-77.9,244.7,-9.5,216,2362,0.12,2.25,0.00,0.000,6,0.097,0.021,2420,1878,3376,0,0,0,0,0,0
$GC,2675,-1.38,-77.9,270.4,-8.0,231,2679,0.00,2.28,0.00,0.000,4,0.000,0.028,2419,3262,3376,0,0,0,0,0,0
$GC,2713,-1.51,-77.9,273.7,-8.2,232,2719,0.17,2.30,0.00,0.000,6,0.051,0.029,2367,1870,3377,0,0,0,0,0,0
$GC,3031,-1.47,-77.9,301.4,-8.6,248,3036,0.12,2.42,0.00,0.000,4,0.100,0.045,2393,466,3376,0,0,0,0,0,0
$GC,3097,-1.47,-77.9,307.8,-8.7,249,3101,0.00,2.25,0.00,0.000,6,0.000,0.022,2392,1873,3375,0,0,0,0,0,0
$GC,3442,-1.47,-77.9,337.4,-8.8,258,3446,0.00,2.42,0.00,0.000,4,0.000,0.046,2393,465,3374,0,0,0,0,0,0
$GC,3493,-1.47,-77.9,342.7,-9.6,259,3497,0.00,2.30,0.00,0.000,6,0.000,0.023,2392,1881,3374,0,0,0,0,0,0
$GC,3811,-1.47,-77.9,368.8,-8.4,267,3815,0.00,2.45,0.00,0.000,4,0.000,0.048,2393,466,3373,0,0,0,0,0,0
$GC,3873,-1.47,-77.9,375.0,-10.8,268,3877,0.00,2.28,0.00,0.000,6,0.000,0.025,2393,1873,3372,0,0,0,0,0,0
$GC,4222,-1.47,-77.9,407.9,-9.6,277,4226,0.00,2.42,0.00,0.000,4,0.000,0.049,2392,466,3370,0,0,0,0,0,0
$GC,4241,-1.47,-77.9,409.9,-10.4,277,4245,0.00,2.28,0.00,0.000,6,0.000,0.025,2393,1874,3370,0,0,0,0,0,0
$GC,4587,-1.50,-77.9,441.6,-8.5,286,4591,0.00,2.45,0.00,0.000,4,0.000,0.051,2393,473,3367,0,0,0,0,0,0
$GC,4675,-1.50,-77.9,449.4,-8.8,288,4680,0.00,2.30,0.00,0.000,6,0.000,0.027,2393,1870,3366,0,0,0,0,0,0
$STATE,4682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4682,begin apogee
$GC,4689,-0.31,0.0,450.2,8.4,288,4759,1.15,0.00,64.53,0.863,6,0.073,0.000,2643,2031,3050,0,0,0,0,0,0
$STATE,4760,end apogee,CONTROL_FINISHED_OK
$STATE,4760,begin climb
$GC,4763,1.40,77.9,451.4,0.0,290,4838,1.62,2.42,64.78,0.842,4,0.030,0.038,3021,3390,2732,0,0,0,0,0,0
$GC,4936,1.23,136.7,449.4,4.0,293,4994,0.20,2.38,50.45,0.836,6,0.113,0.033,2987,2010,2491,0,0,0,0,0,0
$GC,5313,1.11,136.7,418.8,8.8,303,5318,0.17,2.47,0.00,0.000,4,0.115,0.050,2955,605,2485,0,0,0,0,0,0
$GC,5408,1.00,136.7,410.7,8.2,305,5413,0.12,2.35,0.00,0.000,6,0.123,0.027,2934,2008,2483,0,0,0,0,0,0
$GC,5732,1.03,164.6,390.3,6.1,313,5761,0.00,2.53,23.35,0.808,4,0.000,0.051,2934,604,2378,0,0,0,0,0,0
$GC,5775,1.05,176.3,387.3,7.2,314,5792,0.00,2.35,11.80,0.745,6,0.000,0.028,2934,2013,2331,0,0,0,0,0,0
$GC,6140,1.08,176.3,356.3,9.0,323,6144,0.00,2.47,0.00,0.000,4,0.000,0.051,2935,607,2326,0,0,0,0,0,0
$GC,6344,1.05,176.3,336.9,9.0,327,6348,0.00,2.35,0.00,0.000,6,0.000,0.029,2935,2014,2322,0,0,0,0,0,0
$GC,6689,1.11,190.7,312.3,7.0,336,6709,0.00,2.50,12.73,0.739,4,0.000,0.051,2935,608,2271,0,0,0,0,0,0
$GC,6806,1.11,190.7,302.4,8.4,338,6810,0.00,2.35,0.00,0.000,6,0.000,0.029,2935,2014,2267,0,0,0,0,0,0
$GC,7130,1.21,213.0,281.1,6.5,353,7159,0.20,2.53,20.85,0.749,4,0.060,0.050,2985,604,2180,0,0,0,0,0,0
$GC,7340,1.12,213.0,260.5,10.4,362,7345,0.12,2.35,0.00,0.000,6,0.121,0.028,2963,2020,2175,0,0,0,0,0,0
$GC,7667,1.15,213.0,233.5,8.4,378,7671,0.00,2.47,0.00,0.000,4,0.000,0.049,2962,607,2174,0,0,0,0,0,0
$GC,7728,1.15,213.0,227.8,8.8,380,7734,0.00,2.35,0.00,0.000,6,0.000,0.028,2963,2013,2172,0,0,0,0,0,0
$GC,8044,1.22,230.8,203.2,6.8,396,8066,0.00,2.53,15.90,0.676,4,0.000,0.049,2962,605,2108,0,0,0,0,0,0
$GC,8182,1.22,230.8,191.3,9.0,408,8187,0.00,2.33,0.00,0.000,6,0.000,0.026,2963,2014,2104,0,0,0,0,0,0
$GC,8446,1.30,243.7,171.0,7.1,432,8465,0.15,2.50,12.45,0.629,4,0.064,0.046,3003,607,2055,0,0,0,0,0,0
$GC,8543,1.22,243.7,162.2,9.4,442,8548,0.12,2.33,0.00,0.000,6,0.114,0.025,2982,2016,2052,0,0,0,0,0,0
$GC,8804,1.28,243.7,137.7,11.0,466,8808,0.00,2.47,0.00,0.000,4,0.000,0.046,2981,600,2052,0,0,0,0,0,0
$GC,8911,1.28,243.7,126.9,9.2,477,8915,0.00,2.33,0.00,0.000,6,0.000,0.025,2981,2018,2051,0,0,0,0,0,0
$GC,9176,1.36,245.4,107.1,7.9,501,9181,0.12,2.45,0.00,0.000,4,0.067,0.046,3017,605,2050,0,0,0,0,0,0
$GC,9359,1.30,245.4,90.4,9.2,520,9364,0.00,2.28,0.00,0.000,6,0.000,0.023,3018,2012,2050,0,0,0,0,0,0
$GC,9622,1.33,264.8,72.4,6.7,544,9648,0.00,2.47,19.40,0.558,4,0.000,0.043,3017,604,1969,0,0,0,0,0,0
$GC,9681,1.33,264.8,67.5,9.4,550,9686,0.00,2.30,0.00,0.000,6,0.000,0.021,3017,2011,1967,0,0,0,0,0,0
$GC,9944,1.37,265.9,46.6,7.9,575,9949,0.00,2.42,0.00,0.000,4,0.000,0.043,3018,597,1967,0,0,0,0,0,0
$GC,10075,1.37,265.9,34.7,9.0,588,10081,0.00,2.28,0.00,0.000,6,0.000,0.021,3018,2015,1965,0,0,0,0,0,0
$GC,10349,1.41,266.3,12.2,8.0,632,10354,0.00,2.42,0.00,0.000,4,0.000,0.042,3018,604,1965,0,0,0,0,0,0
$STATE,10445,end climb,SURFACE_DEPTH_REACHED
$STATE,10445,begin surface coast
$FINISH,0.5,1.009149
$STATE,10483,end surface coast,CONTROL_FINISHED_OK
$STATE,10484,begin surface
$SM_CCo,10506,22.33,0.496,0,0,1826,300.00
$SM_GC,1.75,0.00,0.00,22.33,0.000,0.000,0.496,425,1901,1826,-10.53,0.74,300.00
$IRIDIUM_FIX,2059.45,-15748.75,200999,202027
$TT8_MAMPS,0.029146
$HUMID,53.03
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,23.10
$XPDR_PINGS,2
$24V_AH,23.3,54.972
$10V_AH,10.0,48.738
$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,27.100,132.900,296.225,22.325,0.000,31.104,26.407,137.998,5.000,0.000,29.958,1299.260,7094.354,383.659,1631.390,447.985,33.384,1274.158,0.000,1575.564,0.000,29.241,0.000
$DEVICE_MAMPS,135.759,53.690,862.875,496.249,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,444.396,437.240,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,34860,661
$CAP_FILE_SIZE,126849,0
$CFSIZE,260165632,222527488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270610,020627,2105.721,-15745.265,161,2.2,180,9.8