version: 66.06
glider: 139
mission: 7
dive: 606
start: 6 25 110 21 37 31
data:
$ID,139
$MISSION,7
$DIVE,606
$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,-2143897.2
$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
$GPS1,212646,2107.757,-15754.826,171,2.4,190,9.8
$_CALLS,1
$_XMS_NAKs,25
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.9
$GPS2,213638,2107.744,-15754.844,45,1.5,45,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.154,-0.101
$KALMAN_X,-357638.8,-363.0,544.2,357607.6,-194.8
$KALMAN_Y,41388.1,-100.8,-123.8,-39617.9,862.0
$MHEAD_RNG_PITCHd_Wd,113.4,20914,-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,-77.9,0.0,0.0,0,72,0.00,0.00,-54.95,0.000,2,0.000,0.000,427,1857,3293,0,0,0,0,0,0
$GC,76,-1.40,-77.9,4.0,-7.3,11,95,10.50,2.40,-1.48,0.000,4,0.130,0.050,2403,469,3369,0,0,0,0,0,0
$GC,177,-1.18,-77.9,27.7,-16.6,32,184,0.25,2.33,0.00,0.000,6,0.091,0.019,2455,1908,3371,0,0,0,0,0,0
$GC,383,-1.11,-77.9,57.0,-14.5,52,387,0.00,2.47,0.00,0.000,4,0.000,0.041,2453,469,3371,0,0,0,0,0,0
$GC,427,-1.00,-77.9,64.3,-15.7,56,432,0.20,2.28,0.00,0.000,6,0.094,0.019,2496,1883,3371,0,0,0,0,0,0
$GC,689,-1.07,-77.9,94.4,-10.4,80,694,0.00,2.42,0.00,0.000,4,0.000,0.043,2495,463,3372,0,0,0,0,0,0
$GC,760,-1.18,-77.9,101.3,-8.3,87,765,0.17,2.28,0.00,0.000,6,0.050,0.018,2440,1887,3372,0,0,0,0,0,0
$GC,1021,-1.18,-77.9,125.1,-10.4,111,1025,0.00,2.42,0.00,0.000,4,0.000,0.042,2439,462,3373,0,0,0,0,0,0
$GC,1064,-1.18,-77.9,130.0,-11.9,115,1068,0.00,2.28,0.00,0.000,6,0.000,0.018,2439,1885,3373,0,0,0,0,0,0
$GC,1326,-1.18,-77.9,155.1,-8.3,139,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,1891,3373,0,0,0,0,0,0
$GC,1581,-1.23,-77.9,176.0,-8.7,163,1585,0.00,2.42,0.00,0.000,4,0.000,0.041,2439,465,3374,0,0,0,0,0,0
$GC,1670,-1.23,-77.9,183.3,-7.7,172,1674,0.00,2.25,0.00,0.000,6,0.000,0.019,2439,1881,3374,0,0,0,0,0,0
$GC,1943,-1.30,-77.9,202.0,-7.2,196,1948,0.00,2.40,0.00,0.000,4,0.000,0.042,2439,466,3374,0,0,0,0,0,0
$GC,1981,-1.36,-77.9,205.1,-7.9,197,1986,0.00,2.25,0.00,0.000,6,0.000,0.020,2439,1879,3375,0,0,0,0,0,0
$GC,2297,-1.44,-77.9,227.4,-7.3,213,2302,0.17,2.45,0.00,0.000,4,0.051,0.043,2382,459,3375,0,0,0,0,0,0
$GC,2331,-1.35,-77.9,230.5,-9.0,214,2336,0.17,2.25,0.00,0.000,6,0.091,0.021,2419,1874,3374,0,0,0,0,0,0
$GC,2649,-1.40,-77.9,253.6,-6.7,229,2653,0.00,2.40,0.00,0.000,4,0.000,0.044,2419,460,3374,0,0,0,0,0,0
$GC,2705,-1.44,-77.9,258.5,-8.2,231,2709,0.00,2.25,0.00,0.000,6,0.000,0.021,2419,1871,3374,0,0,0,0,0,0
$GC,3022,-1.50,-77.9,282.6,-7.9,246,3027,0.15,2.42,0.00,0.000,4,0.057,0.045,2372,470,3373,0,0,0,0,0,0
$GC,3052,-1.41,-77.9,285.7,-10.7,247,3057,0.17,2.28,0.00,0.000,6,0.090,0.022,2408,1876,3373,0,0,0,0,0,0
$GC,3393,-1.45,-77.9,308.4,-6.3,261,3397,0.00,2.42,0.00,0.000,4,0.000,0.045,2409,470,3372,0,0,0,0,0,0
$GC,3473,-1.45,-77.9,314.6,-7.6,262,3477,0.00,2.28,0.00,0.000,6,0.000,0.023,2409,1876,3372,0,0,0,0,0,0
$GC,3804,-1.50,-77.9,338.7,-7.1,270,3809,0.00,2.42,0.00,0.000,4,0.000,0.048,2409,462,3370,0,0,0,0,0,0
$GC,3908,-1.50,-77.9,346.5,-7.7,272,3913,0.00,2.30,0.00,0.000,6,0.000,0.024,2409,1875,3369,0,0,0,0,0,0
$GC,4222,-1.56,-77.9,369.2,-7.3,280,4227,0.15,2.42,0.00,0.000,4,0.060,0.048,2364,470,3367,0,0,0,0,0,0
$GC,4289,-1.47,-77.9,375.7,-10.0,281,4294,0.15,2.30,0.00,0.000,6,0.097,0.025,2395,1877,3366,0,0,0,0,0,0
$GC,4635,-1.50,-77.9,405.5,-8.6,290,4639,0.00,2.45,0.00,0.000,4,0.000,0.048,2395,466,3364,0,0,0,0,0,0
$GC,4696,-1.50,-77.9,411.0,-9.2,291,4700,0.00,2.30,0.00,0.000,6,0.000,0.026,2395,1878,3363,0,0,0,0,0,0
$GC,5010,-1.54,-77.9,435.8,-7.6,299,5014,0.00,2.47,0.00,0.000,4,0.000,0.051,2395,462,3361,0,0,0,0,0,0
$GC,5061,-1.54,-77.9,440.3,-8.8,300,5066,0.00,2.35,0.00,0.000,6,0.000,0.027,2395,1881,3361,0,0,0,0,0,0
$STATE,5214,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5214,begin apogee
$GC,5221,-0.31,0.0,452.8,8.0,304,5288,1.17,0.00,63.38,0.874,6,0.074,0.000,2646,2032,3050,0,0,0,0,0,0
$STATE,5289,end apogee,CONTROL_FINISHED_OK
$STATE,5289,begin climb
$GC,5291,1.40,77.9,453.7,0.0,305,5367,1.62,2.42,65.03,0.854,4,0.031,0.040,3023,3387,2732,0,0,0,0,0,0
$GC,5428,1.23,144.0,453.9,3.5,308,5495,0.22,2.38,56.67,0.846,6,0.113,0.034,2986,2006,2463,0,0,0,0,0,0
$GC,5836,1.12,144.0,415.9,9.7,318,5841,0.15,2.45,0.00,0.000,4,0.118,0.051,2958,604,2454,0,0,0,0,0,0
$GC,5870,0.99,144.0,412.9,8.5,318,5875,0.15,2.33,0.00,0.000,6,0.120,0.028,2933,1997,2453,0,0,0,0,0,0
$GC,6201,1.01,165.0,390.8,6.6,326,6225,0.00,2.50,17.62,0.802,4,0.000,0.051,2933,605,2376,0,0,0,0,0,0
$GC,6254,0.96,165.0,386.3,9.2,327,6259,0.00,2.38,0.00,0.000,6,0.000,0.030,2933,2018,2373,0,0,0,0,0,0
$GC,6572,0.96,165.0,359.4,8.4,335,6577,0.00,2.50,0.00,0.000,4,0.000,0.051,2933,608,2372,0,0,0,0,0,0
$GC,6692,0.93,165.0,348.6,9.4,337,6696,0.00,2.35,0.00,0.000,6,0.000,0.031,2933,2017,2369,0,0,0,0,0,0
$GC,7032,0.99,184.7,324.8,6.7,346,7052,0.00,0.00,17.55,0.775,6,0.000,0.000,2933,2021,2297,0,0,0,0,0,0
$GC,7358,1.04,184.7,299.2,8.3,354,7362,0.00,2.50,0.00,0.000,4,0.000,0.051,2933,602,2292,0,0,0,0,0,0
$GC,7597,1.04,184.7,277.4,9.5,364,7602,0.00,2.38,0.00,0.000,6,0.000,0.030,2933,2012,2289,0,0,0,0,0,0
$GC,7914,1.13,201.2,253.8,6.9,379,7936,0.12,2.53,15.15,0.723,4,0.077,0.051,2964,608,2228,0,0,0,0,0,0
$GC,7992,1.09,201.2,247.2,9.9,382,7996,0.00,2.38,0.00,0.000,6,0.000,0.030,2964,2017,2225,0,0,0,0,0,0
$GC,8317,1.10,213.4,223.3,7.2,398,8334,0.00,2.53,11.60,0.676,4,0.000,0.051,2964,604,2180,0,0,0,0,0,0
$GC,8394,1.10,213.4,215.2,12.2,400,8399,0.00,2.35,0.00,0.000,6,0.000,0.028,2965,2014,2177,0,0,0,0,0,0
$GC,8716,1.14,213.4,186.3,8.0,422,8717,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2019,2176,0,0,0,0,0,0
$GC,8969,1.23,253.7,168.1,5.3,446,9012,0.00,2.53,36.58,0.678,4,0.000,0.048,2965,607,2014,0,0,0,0,0,0
$GC,9276,1.25,267.6,144.6,7.1,479,9294,0.00,2.35,12.82,0.607,6,0.000,0.025,2965,2024,1958,0,0,0,0,0,0
$GC,9549,1.35,267.6,121.8,8.6,505,9551,0.20,0.00,0.00,0.000,6,0.054,0.000,3017,2023,1956,0,0,0,0,0,0
$GC,9805,1.35,267.6,96.3,9.6,529,9809,0.00,2.45,0.00,0.000,4,0.000,0.045,3017,601,1955,0,0,0,0,0,0
$GC,9917,1.30,267.6,84.8,11.8,540,9923,0.00,2.30,0.00,0.000,6,0.000,0.023,3017,2014,1952,0,0,0,0,0,0
$GC,10181,1.35,267.6,61.5,8.6,565,10185,0.00,2.30,0.00,0.000,4,0.000,0.029,3014,3398,1952,0,0,0,0,0,0
$GC,10209,1.43,267.6,59.0,8.3,567,10214,0.00,2.35,0.00,0.000,6,0.000,0.028,3017,2002,1952,0,0,0,0,0,0
$GC,10472,1.47,268.0,38.9,8.0,592,10476,0.00,2.38,0.00,0.000,4,0.000,0.043,3017,602,1952,0,0,0,0,0,0
$GC,10626,1.47,268.0,25.0,8.7,613,10631,0.00,2.28,0.00,0.000,6,0.000,0.021,3017,2021,1951,0,0,0,0,0,0
$GC,10834,1.51,268.0,8.2,8.4,650,10840,0.12,2.45,0.00,0.000,4,0.065,0.041,3056,603,1951,0,0,0,0,0,0
$STATE,10890,end climb,SURFACE_DEPTH_REACHED
$STATE,10891,begin surface coast
$FINISH,0.6,1.018205
$STATE,10928,end surface coast,CONTROL_FINISHED_OK
$STATE,10928,begin surface
$SM_CCo,10952,16.27,0.487,0,0,1827,300.00
$SM_GC,1.79,0.00,0.00,16.27,0.000,0.000,0.487,425,1898,1827,-10.53,0.65,300.00
$IRIDIUM_FIX,2101.76,-15756.04,190999,181801
$TT8_MAMPS,0.029913
$HUMID,54.09
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,23.3,54.261
$10V_AH,10.0,48.295
$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,27.150,123.550,296.400,16.275,0.000,29.026,33.537,379.064,4.500,0.000,45.202,1303.916,7602.729,385.551,1584.019,682.895,33.377,1231.590,0.000,1514.475,0.000,30.925,0.000
$DEVICE_MAMPS,129.623,54.457,874.380,487.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,451.437,441.262,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355808
$DATA_FILE_SIZE,35004,670
$CAP_FILE_SIZE,128736,0
$CFSIZE,260165632,223014912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260610,004207,2107.402,-15753.691,70,1.1,70,9.8