version: 66.06
glider: 139
mission: 7
dive: 594
start: 6 24 110 7 1 46
data:
$ID,139
$MISSION,7
$DIVE,594
$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,-2143335.8
$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
$GPS1,063001,2108.323,-15800.989,126,2.0,126,9.8
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.4
$GPS2,070055,2108.400,-15801.149,41,1.8,41,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.182,-0.025
$KALMAN_X,-346932.0,428.1,187.4,335577.0,-1431.9
$KALMAN_Y,31433.2,86.5,13.2,-28774.6,191.0
$MHEAD_RNG_PITCHd_Wd,88.1,31862,-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,-77.9,0.0,0.0,0,67,0.00,0.00,-49.17,0.000,2,0.000,0.000,424,1889,3128,0,0,0,0,0,0
$GC,70,-1.40,-77.9,3.2,-5.1,10,94,10.50,2.35,-5.03,0.000,4,0.130,0.036,2403,3298,3369,0,0,0,0,0,0
$GC,142,-1.40,-77.9,18.9,-14.9,25,147,0.00,2.40,0.00,0.000,6,0.000,0.034,2404,1875,3370,0,0,0,0,0,0
$GC,351,-1.22,-77.9,49.1,-15.2,51,356,0.20,2.40,0.00,0.000,4,0.097,0.041,2444,469,3370,0,0,0,0,0,0
$GC,391,-1.07,-77.9,55.0,-13.1,54,397,0.17,2.30,0.00,0.000,6,0.098,0.019,2480,1913,3371,0,0,0,0,0,0
$GC,654,-1.12,-77.9,80.2,-10.1,79,658,0.00,2.47,0.00,0.000,4,0.000,0.041,2479,466,3371,0,0,0,0,0,0
$GC,710,-1.16,-77.9,86.5,-11.1,84,715,0.00,2.25,0.00,0.000,6,0.000,0.018,2480,1894,3372,0,0,0,0,0,0
$GC,973,-1.25,-77.9,111.7,-8.4,109,978,0.17,2.45,0.00,0.000,4,0.050,0.041,2423,463,3372,0,0,0,0,0,0
$GC,1039,-1.18,-77.9,119.0,-10.6,115,1045,0.15,2.25,0.00,0.000,6,0.092,0.018,2456,1884,3372,0,0,0,0,0,0
$GC,1300,-1.25,-77.9,139.9,-8.2,140,1305,0.00,2.40,0.00,0.000,4,0.000,0.041,2455,466,3372,0,0,0,0,0,0
$GC,1380,-1.29,-77.9,147.2,-9.3,148,1386,0.12,2.22,0.00,0.000,6,0.062,0.018,2411,1881,3372,0,0,0,0,0,0
$GC,1640,-1.29,-77.9,171.9,-9.5,173,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1885,3372,0,0,0,0,0,0
$GC,1895,-1.29,-77.9,193.4,-8.4,197,1900,0.00,2.42,0.00,0.000,4,0.000,0.041,2411,462,3372,0,0,0,0,0,0
$GC,1926,-1.25,-77.9,196.1,-9.7,199,1932,0.15,2.22,0.00,0.000,6,0.091,0.020,2443,1874,3372,0,0,0,0,0,0
$GC,2193,-1.32,-77.9,216.2,-7.7,215,2197,0.00,2.40,0.00,0.000,4,0.000,0.043,2443,460,3372,0,0,0,0,0,0
$GC,2273,-1.37,-77.9,223.4,-9.3,218,2278,0.12,2.25,0.00,0.000,6,0.061,0.020,2399,1874,3372,0,0,0,0,0,0
$GC,2588,-1.37,-77.9,255.6,-10.2,233,2592,0.00,2.42,0.00,0.000,4,0.000,0.044,2399,460,3371,0,0,0,0,0,0
$GC,2658,-1.37,-77.9,263.4,-10.9,236,2662,0.00,2.28,0.00,0.000,6,0.000,0.021,2400,1876,3371,0,0,0,0,0,0
$GC,2982,-1.37,-77.9,293.8,-9.4,252,2986,0.00,2.42,0.00,0.000,4,0.000,0.044,2399,464,3370,0,0,0,0,0,0
$GC,3032,-1.37,-77.9,298.8,-10.1,254,3036,0.00,2.28,0.00,0.000,6,0.000,0.021,2399,1877,3370,0,0,0,0,0,0
$GC,3354,-1.37,-77.9,323.3,-7.7,263,3358,0.00,2.40,0.00,0.000,4,0.000,0.045,2400,470,3368,0,0,0,0,0,0
$GC,3396,-1.37,-77.9,327.6,-10.2,264,3401,0.00,2.25,0.00,0.000,6,0.000,0.022,2399,1874,3368,0,0,0,0,0,0
$GC,3724,-1.37,-77.9,355.1,-8.4,272,3728,0.00,2.42,0.00,0.000,4,0.000,0.047,2399,462,3366,0,0,0,0,0,0
$GC,3776,-1.37,-77.9,360.1,-9.2,273,3780,0.00,2.28,0.00,0.000,6,0.000,0.024,2400,1870,3366,0,0,0,0,0,0
$GC,4099,-1.40,-77.9,385.5,-7.5,281,4103,0.00,2.40,0.00,0.000,4,0.000,0.047,2399,470,3364,0,0,0,0,0,0
$GC,4122,-1.40,-77.9,387.4,-8.2,281,4126,0.00,2.30,0.00,0.000,6,0.000,0.025,2400,1879,3364,0,0,0,0,0,0
$GC,4462,-1.44,-77.9,414.7,-8.5,290,4467,0.00,2.45,0.00,0.000,4,0.000,0.050,2399,471,3361,0,0,0,0,0,0
$GC,4533,-1.44,-77.9,421.6,-10.0,291,4537,0.00,2.30,0.00,0.000,6,0.000,0.026,2400,1874,3361,0,0,0,0,0,0
$STATE,4871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4871,begin apogee
$GC,4878,-0.31,0.0,451.5,8.5,300,4944,1.15,0.00,62.88,0.864,6,0.072,0.000,2647,2027,3050,0,0,0,0,0,0
$STATE,4945,end apogee,CONTROL_FINISHED_OK
$STATE,4945,begin climb
$GC,4947,1.40,77.9,452.6,0.0,301,5023,1.60,2.40,64.40,0.844,4,0.030,0.038,3022,3378,2732,0,0,0,0,0,0
$GC,5287,1.21,111.3,438.5,5.7,308,5324,0.25,2.33,28.42,0.827,6,0.111,0.034,2978,2006,2595,0,0,0,0,0,0
$GC,5638,1.11,117.2,411.8,7.6,317,5645,0.00,0.00,5.57,0.633,6,0.000,0.000,2978,2006,2571,0,0,0,0,0,0
$GC,5964,1.02,127.6,387.8,7.3,325,5981,0.20,2.53,10.05,0.748,4,0.111,0.052,2939,610,2528,0,0,0,0,0,0
$GC,5991,0.98,131.7,385.7,7.7,325,6003,0.00,2.33,5.00,0.597,6,0.000,0.029,2940,1991,2513,0,0,0,0,0,0
$GC,6334,1.01,161.1,362.7,6.0,334,6367,0.00,2.50,26.33,0.813,4,0.000,0.038,2939,3400,2393,0,0,0,0,0,0
$GC,6436,1.04,181.7,355.9,6.6,336,6460,0.00,2.40,19.35,0.784,6,0.000,0.038,2940,2014,2309,0,0,0,0,0,0
$GC,6792,1.07,181.7,327.3,9.3,345,6797,0.00,2.50,0.00,0.000,4,0.000,0.052,2938,598,2302,0,0,0,0,0,0
$GC,6935,1.07,181.7,311.9,11.0,348,6940,0.00,2.35,0.00,0.000,6,0.000,0.029,2939,2007,2298,0,0,0,0,0,0
$GC,7257,1.12,185.8,284.5,7.7,360,7261,0.00,2.45,0.00,0.000,4,0.000,0.051,2938,604,2298,0,0,0,0,0,0
$GC,7394,1.12,185.8,271.8,8.9,366,7398,0.00,2.38,0.00,0.000,6,0.000,0.029,2939,2019,2296,0,0,0,0,0,0
$GC,7724,1.20,197.3,246.4,7.2,382,7746,0.15,2.55,13.10,0.706,4,0.068,0.049,2977,596,2243,0,0,0,0,0,0
$GC,7918,1.13,197.3,230.0,9.1,390,7922,0.00,2.38,0.00,0.000,6,0.000,0.028,2977,2013,2240,0,0,0,0,0,0
$GC,8238,1.13,197.3,204.4,9.1,406,8242,0.00,2.47,0.00,0.000,4,0.000,0.048,2977,600,2240,0,0,0,0,0,0
$GC,8461,1.07,197.3,182.1,8.3,427,8467,0.17,2.33,0.00,0.000,6,0.113,0.027,2947,2015,2237,0,0,0,0,0,0
$GC,8724,1.18,230.9,166.1,5.7,452,8759,0.12,2.58,29.80,0.670,4,0.074,0.047,2979,602,2107,0,0,0,0,0,0
$GC,8800,1.14,230.9,160.0,9.8,460,8804,0.00,2.35,0.00,0.000,6,0.000,0.026,2979,2017,2103,0,0,0,0,0,0
$GC,9067,1.18,230.9,139.0,8.1,485,9071,0.00,2.33,0.00,0.000,4,0.000,0.031,2979,3404,2103,0,0,0,0,0,0
$GC,9087,1.25,237.5,137.4,7.6,486,9101,0.00,2.40,6.80,0.528,6,0.000,0.032,2978,1999,2080,0,0,0,0,0,0
$GC,9357,1.32,254.0,117.9,6.9,512,9378,0.10,2.47,15.48,0.597,4,0.080,0.045,3008,597,2014,0,0,0,0,0,0
$GC,9476,1.26,254.0,106.9,10.1,525,9481,0.00,2.35,0.00,0.000,6,0.000,0.024,3007,2020,2009,0,0,0,0,0,0
$GC,9739,1.26,254.0,83.8,8.9,549,9743,0.00,2.47,0.00,0.000,4,0.000,0.044,3007,595,2009,0,0,0,0,0,0
$GC,9832,1.23,254.0,73.0,11.6,558,9838,0.15,2.30,0.00,0.000,6,0.103,0.022,2979,2011,2007,0,0,0,0,0,0
$GC,10096,1.35,275.6,53.5,6.5,583,10122,0.12,2.50,19.45,0.548,4,0.067,0.044,3017,597,1926,0,0,0,0,0,0
$GC,10291,1.35,275.7,35.8,8.0,604,10295,0.00,2.33,0.00,0.000,6,0.000,0.021,3017,2021,1921,0,0,0,0,0,0
$GC,10562,1.41,275.7,16.3,8.1,644,10567,0.00,2.45,0.00,0.000,4,0.000,0.042,3017,601,1921,0,0,0,0,0,0
$STATE,10729,end climb,SURFACE_DEPTH_REACHED
$STATE,10729,begin surface coast
$FINISH,0.6,1.023310
$STATE,10762,end surface coast,CONTROL_FINISHED_OK
$STATE,10762,begin surface
$SM_CCo,10785,14.73,0.489,0,0,1826,300.00
$SM_GC,2.07,0.00,0.00,14.73,0.000,0.000,0.489,423,1891,1826,-10.54,0.45,300.00
$IRIDIUM_FIX,2101.76,-15800.33,180999,060657
$TT8_MAMPS,0.029146
$HUMID,54.52
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,23.4,53.044
$10V_AH,10.0,47.581
$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,26.750,123.650,306.625,14.725,0.000,142.482,170.701,1115.919,4.500,0.000,41.920,1322.038,7575.862,388.948,1665.240,1699.453,33.369,1277.037,0.000,1596.202,0.000,29.268,0.000
$DEVICE_MAMPS,129.623,52.923,864.409,488.579,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,461.896,453.208,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355852
$DATA_FILE_SIZE,34940,687
$CAP_FILE_SIZE,147508,0
$CFSIZE,260165632,223723520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240610,100427,2108.366,-15800.863,103,5.7,122,9.8