version: 66.06
glider: 139
mission: 7
dive: 616
start: 6 27 110 5 28 56
data:
$ID,139
$MISSION,7
$DIVE,616
$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,-2144170
$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
$GPS1,052201,2105.890,-15744.317,96,1.7,96,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-71.9
$GPS2,052802,2105.920,-15744.301,14,2.0,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.164,-0.032
$KALMAN_X,-358659.2,512.6,-631.8,377144.3,552.3
$KALMAN_Y,43093.4,268.9,-99.2,-45098.1,164.6
$MHEAD_RNG_PITCHd_Wd,91.2,2397,-23.1,-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,12,begin dive
$GC,15,-1.52,-63.7,0.0,0.0,0,67,0.00,0.00,-50.08,0.000,2,0.000,0.000,424,1894,3142,0,0,0,0,0,0
$GC,71,-1.54,-77.9,3.4,-5.9,10,94,10.43,2.47,-4.55,0.000,4,0.133,0.051,2375,472,3370,0,0,0,0,0,0
$GC,106,-0.76,-77.9,13.3,-26.0,17,112,0.82,2.33,0.00,0.000,6,0.087,0.020,2544,1910,3370,0,0,0,0,0,0
$GC,320,-0.98,-77.9,31.8,-7.4,53,325,0.20,2.47,0.00,0.000,4,0.047,0.040,2482,467,3371,0,0,0,0,0,0
$GC,378,-1.04,-77.9,37.9,-10.6,58,383,0.00,2.25,0.00,0.000,6,0.000,0.019,2481,1885,3371,0,0,0,0,0,0
$GC,641,-1.14,-77.9,66.6,-11.2,83,645,0.00,2.45,0.00,0.000,4,0.000,0.042,2481,462,3372,0,0,0,0,0,0
$GC,724,-1.24,-77.9,76.1,-10.0,91,730,0.17,2.28,0.00,0.000,6,0.050,0.019,2426,1888,3373,0,0,0,0,0,0
$GC,985,-1.24,-77.9,103.6,-9.5,116,989,0.00,2.22,0.00,0.000,4,0.000,0.025,2426,3263,3373,0,0,0,0,0,0
$GC,1060,-1.40,-77.9,110.4,-8.2,123,1065,0.00,2.33,0.00,0.000,6,0.000,0.027,2425,1869,3373,0,0,0,0,0,0
$GC,1323,-1.46,-77.9,134.7,-9.7,148,1328,0.12,2.38,0.00,0.000,4,0.062,0.041,2382,470,3375,0,0,0,0,0,0
$GC,1379,-1.38,-77.9,141.6,-11.4,153,1385,0.15,2.22,0.00,0.000,6,0.097,0.018,2414,1883,3375,0,0,0,0,0,0
$GC,1640,-1.44,-77.9,166.7,-9.9,178,1644,0.00,2.40,0.00,0.000,4,0.000,0.041,2414,464,3375,0,0,0,0,0,0
$GC,1705,-1.48,-77.9,173.5,-10.1,184,1710,0.00,2.22,0.00,0.000,6,0.000,0.019,2414,1876,3376,0,0,0,0,0,0
$GC,1968,-1.55,-77.9,195.6,-8.7,209,1970,0.17,0.00,0.00,0.000,6,0.052,0.000,2362,1880,3376,0,0,0,0,0,0
$GC,2225,-1.55,-77.9,225.9,-12.2,224,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1882,3376,0,0,0,0,0,0
$GC,2535,-1.55,-77.9,257.3,-10.6,239,2539,0.00,2.38,0.00,0.000,4,0.000,0.043,2362,473,3376,0,0,0,0,0,0
$GC,2587,-1.52,-77.9,263.2,-10.5,241,2592,0.10,2.22,0.00,0.000,6,0.113,0.021,2381,1873,3377,0,0,0,0,0,0
$GC,2914,-1.57,-77.9,291.4,-9.1,257,2918,0.00,2.40,0.00,0.000,4,0.000,0.044,2381,470,3376,0,0,0,0,0,0
$GC,2963,-1.62,-77.9,296.7,-10.6,259,2967,0.00,2.25,0.00,0.000,6,0.000,0.022,2381,1879,3376,0,0,0,0,0,0
$GC,3288,-1.68,-77.9,328.6,-9.7,268,3293,0.15,2.42,0.00,0.000,4,0.061,0.046,2336,470,3375,0,0,0,0,0,0
$GC,3359,-1.59,-77.9,336.4,-10.9,269,3364,0.15,2.28,0.00,0.000,6,0.104,0.023,2366,1871,3374,0,0,0,0,0,0
$GC,3700,-1.62,-77.9,367.0,-8.9,278,3704,0.00,2.42,0.00,0.000,4,0.000,0.048,2366,472,3373,0,0,0,0,0,0
$GC,3733,-1.62,-77.9,370.3,-9.9,278,3737,0.00,2.28,0.00,0.000,6,0.000,0.025,2366,1880,3373,0,0,0,0,0,0
$GC,4064,-1.66,-77.9,399.8,-9.0,286,4069,0.00,2.42,0.00,0.000,4,0.000,0.048,2366,461,3370,0,0,0,0,0,0
$GC,4116,-1.66,-77.9,405.2,-10.4,287,4120,0.00,2.30,0.00,0.000,6,0.000,0.025,2366,1872,3370,0,0,0,0,0,0
$GC,4441,-1.71,-77.9,438.7,-10.8,295,4446,0.12,2.42,0.00,0.000,4,0.070,0.050,2328,474,3367,0,0,0,0,0,0
$GC,4507,-1.62,-77.9,447.7,-13.2,296,4512,0.15,2.28,0.00,0.000,6,0.106,0.027,2358,1873,3367,0,0,0,0,0,0
$STATE,4525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4525,begin apogee
$GC,4531,-0.31,0.0,450.2,12.3,297,4600,1.35,0.00,64.80,0.866,6,0.074,0.000,2646,2038,3050,0,0,0,0,0,0
$STATE,4601,end apogee,CONTROL_FINISHED_OK
$STATE,4601,begin climb
$GC,4604,1.54,77.9,452.1,0.0,298,4679,1.75,2.40,64.55,0.846,4,0.028,0.039,3056,3383,2732,0,0,0,0,0,0
$GC,4943,1.35,99.3,444.8,6.2,305,4968,0.25,2.35,18.83,0.808,6,0.145,0.035,3009,2010,2644,0,0,0,0,0,0
$GC,5296,1.24,110.3,420.5,7.1,314,5309,0.15,0.00,10.10,0.751,6,0.121,0.000,2984,2009,2600,0,0,0,0,0,0
$GC,5621,1.20,125.4,399.6,6.7,322,5642,0.00,2.38,13.88,0.786,4,0.000,0.037,2984,3376,2537,0,0,0,0,0,0
$GC,5690,1.17,135.1,394.6,7.2,323,5706,0.00,2.35,9.57,0.737,6,0.000,0.036,2984,2009,2499,0,0,0,0,0,0
$GC,6038,1.14,143.1,368.1,7.3,332,6051,0.00,2.47,8.07,0.713,4,0.000,0.050,2984,605,2466,0,0,0,0,0,0
$GC,6115,1.05,157.0,362.8,6.9,333,6136,0.22,2.33,13.43,0.771,6,0.117,0.029,2944,2001,2409,0,0,0,0,0,0
$GC,6460,1.13,161.7,337.1,7.6,342,6467,0.00,0.00,5.20,0.605,6,0.000,0.000,2945,2001,2390,0,0,0,0,0,0
$GC,6786,1.21,164.9,311.8,7.7,350,6796,0.15,2.47,4.18,0.530,4,0.071,0.050,2981,596,2377,0,0,0,0,0,0
$GC,6884,1.14,164.9,302.7,8.8,352,6888,0.00,2.35,0.00,0.000,6,0.000,0.030,2982,2006,2375,0,0,0,0,0,0
$GC,7207,1.14,164.9,277.9,8.2,367,7211,0.00,2.38,0.00,0.000,4,0.000,0.038,2982,3411,2375,0,0,0,0,0,0
$GC,7227,1.17,164.9,276.1,8.9,368,7231,0.00,2.40,0.00,0.000,6,0.000,0.037,2982,2008,2375,0,0,0,0,0,0
$GC,7556,1.22,176.5,250.4,7.1,384,7573,0.00,2.47,11.18,0.703,4,0.000,0.038,2982,3405,2330,0,0,0,0,0,0
$GC,7629,1.28,177.1,245.0,8.0,387,7633,0.00,2.42,0.00,0.000,6,0.000,0.035,2982,1998,2330,0,0,0,0,0,0
$GC,7958,1.36,203.8,224.4,5.8,403,7991,0.12,2.50,25.42,0.724,4,0.073,0.048,3015,600,2217,0,0,0,0,0,0
$GC,8062,1.28,203.8,215.1,10.8,407,8067,0.12,2.35,0.00,0.000,6,0.115,0.028,2993,2017,2213,0,0,0,0,0,0
$GC,8385,1.34,209.4,187.7,7.6,428,8396,0.00,2.50,5.47,0.537,4,0.000,0.047,2992,604,2195,0,0,0,0,0,0
$GC,8428,1.34,209.4,183.8,8.4,432,8434,0.00,2.35,0.00,0.000,6,0.000,0.026,2993,2014,2193,0,0,0,0,0,0
$GC,8692,1.41,214.4,163.4,7.6,457,8706,0.12,2.53,5.82,0.530,4,0.071,0.046,3028,604,2175,0,0,0,0,0,0
$GC,8823,1.34,214.4,150.2,10.4,471,8827,0.12,2.33,0.00,0.000,6,0.111,0.025,3005,2018,2173,0,0,0,0,0,0
$GC,9086,1.43,243.7,132.9,5.6,495,9121,0.00,2.40,27.08,0.629,4,0.000,0.031,3004,3398,2055,0,0,0,0,0,0
$GC,9183,1.54,243.7,125.4,10.0,505,9189,0.20,2.38,0.00,0.000,6,0.053,0.031,3058,2001,2055,0,0,0,0,0,0
$GC,9447,1.54,245.5,100.4,7.9,530,9451,0.00,2.42,0.00,0.000,4,0.000,0.044,3058,597,2052,0,0,0,0,0,0
$GC,9484,1.45,245.5,97.0,8.2,533,9490,0.15,2.33,0.00,0.000,6,0.106,0.023,3030,2026,2050,0,0,0,0,0,0
$GC,9748,1.52,249.7,78.4,7.7,558,9760,0.00,2.33,6.25,0.467,4,0.000,0.028,3029,3394,2030,0,0,0,0,0,0
$GC,9780,1.62,253.1,75.5,7.7,561,9790,0.17,2.33,4.65,0.413,6,0.054,0.028,3079,2004,2017,0,0,0,0,0,0
$GC,10045,1.62,253.1,53.1,9.3,586,10049,0.00,2.38,0.00,0.000,4,0.000,0.042,3079,604,2017,0,0,0,0,0,0
$GC,10226,1.52,253.1,35.2,9.8,605,10231,0.17,2.30,0.00,0.000,6,0.097,0.021,3045,2024,2015,0,0,0,0,0,0
$GC,10504,1.56,253.1,12.4,8.2,649,10510,0.00,2.42,0.00,0.000,4,0.000,0.041,3045,597,2015,0,0,0,0,0,0
$STATE,10597,end climb,SURFACE_DEPTH_REACHED
$STATE,10597,begin surface coast
$FINISH,0.7,1.023187
$STATE,10630,end surface coast,CONTROL_FINISHED_OK
$STATE,10630,begin surface
$SM_CCo,10653,24.48,0.498,0,0,1826,300.00
$SM_GC,1.06,0.00,0.00,24.48,0.000,0.000,0.498,427,1887,1826,-10.52,0.42,300.00
$IRIDIUM_FIX,2054.83,-15746.61,210999,020205
$TT8_MAMPS,0.029146
$HUMID,53.26
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.3,55.138
$10V_AH,10.0,48.851
$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,29.075,123.000,298.475,24.475,0.000,28.845,32.373,176.172,4.750,0.000,15.067,1311.881,7292.607,400.463,1534.128,499.935,33.391,1249.145,0.000,1502.650,0.000,29.252,0.000
$DEVICE_MAMPS,144.963,51.389,865.943,497.783,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,454.650,455.027,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34955,676
$CAP_FILE_SIZE,127485,0
$CFSIZE,260165632,222400512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270610,082907,2106.095,-15742.593,94,1.4,94,9.8