version: 66.06
glider: 139
mission: 7
dive: 617
start: 6 27 110 8 35 25
data:
$ID,139
$MISSION,7
$DIVE,617
$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,-2144187.2
$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
$GPS1,082907,2106.095,-15742.593,94,1.4,94,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.1
$GPS2,083432,2106.094,-15742.531,16,1.4,16,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.127,-0.133
$KALMAN_X,-358315.2,444.9,304.1,378985.0,149.9
$KALMAN_Y,43602.8,45.4,291.0,-45453.6,-30.6
$MHEAD_RNG_PITCHd_Wd,213.8,19747,-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,12,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,67,0.00,0.00,-50.08,0.000,2,0.000,0.000,427,1889,3144,0,0,0,0,0,0
$GC,70,-1.40,-77.9,3.5,-6.5,10,94,10.52,2.47,-4.47,0.000,4,0.131,0.052,2404,472,3369,0,0,0,0,0,0
$GC,234,-1.19,-77.9,35.9,-16.3,41,240,0.22,2.33,0.00,0.000,6,0.095,0.020,2451,1911,3371,0,0,0,0,0,0
$GC,497,-1.12,-77.9,70.9,-14.1,66,501,0.00,2.50,0.00,0.000,4,0.000,0.042,2450,462,3372,0,0,0,0,0,0
$GC,525,-1.01,-77.9,75.4,-14.6,68,531,0.20,2.28,0.00,0.000,6,0.091,0.019,2491,1883,3372,0,0,0,0,0,0
$GC,789,-1.10,-77.9,100.2,-9.5,93,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1888,3373,0,0,0,0,0,0
$GC,1044,-1.22,-77.9,120.0,-7.0,117,1048,0.20,2.45,0.00,0.000,4,0.047,0.041,2428,462,3374,0,0,0,0,0,0
$GC,1128,-1.18,-77.9,129.4,-11.3,125,1134,0.12,2.28,0.00,0.000,6,0.097,0.019,2454,1884,3374,0,0,0,0,0,0
$GC,1389,-1.26,-77.9,150.0,-7.8,150,1394,0.00,2.40,0.00,0.000,4,0.000,0.041,2454,469,3375,0,0,0,0,0,0
$GC,1470,-1.31,-77.9,156.9,-9.1,158,1475,0.12,2.25,0.00,0.000,6,0.061,0.019,2410,1880,3376,0,0,0,0,0,0
$GC,1730,-1.31,-77.9,183.2,-8.5,182,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,1885,3376,0,0,0,0,0,0
$GC,1985,-1.31,-77.9,203.6,-7.7,204,1989,0.00,2.40,0.00,0.000,4,0.000,0.041,2409,463,3376,0,0,0,0,0,0
$GC,2005,-1.31,-77.9,205.1,-7.3,205,2009,0.00,2.25,0.00,0.000,6,0.000,0.020,2409,1879,3376,0,0,0,0,0,0
$GC,2334,-1.31,-77.9,236.6,-10.2,221,2339,0.00,2.40,0.00,0.000,4,0.000,0.042,2408,462,3377,0,0,0,0,0,0
$GC,2368,-1.27,-77.9,240.2,-11.2,222,2373,0.12,2.25,0.00,0.000,6,0.096,0.020,2436,1872,3377,0,0,0,0,0,0
$GC,2685,-1.37,-77.9,264.2,-6.8,237,2690,0.00,2.40,0.00,0.000,4,0.000,0.043,2436,458,3377,0,0,0,0,0,0
$GC,2730,-1.45,-77.9,267.6,-7.9,239,2735,0.17,2.28,0.00,0.000,6,0.050,0.021,2380,1876,3377,0,0,0,0,0,0
$GC,3063,-1.45,-77.9,300.3,-10.6,255,3068,0.00,2.40,0.00,0.000,4,0.000,0.044,2381,466,3376,0,0,0,0,0,0
$GC,3125,-1.39,-77.9,307.8,-11.5,256,3130,0.15,2.28,0.00,0.000,6,0.093,0.022,2412,1873,3376,0,0,0,0,0,0
$GC,3475,-1.45,-77.9,339.5,-8.7,265,3479,0.00,2.40,0.00,0.000,4,0.000,0.046,2412,470,3375,0,0,0,0,0,0
$GC,3541,-1.49,-77.9,345.5,-8.9,266,3545,0.00,2.28,0.00,0.000,6,0.000,0.023,2411,1876,3375,0,0,0,0,0,0
$GC,3890,-1.56,-77.9,371.3,-7.0,275,3895,0.17,2.45,0.00,0.000,4,0.054,0.048,2361,470,3373,0,0,0,0,0,0
$GC,3957,-1.48,-77.9,378.2,-10.8,276,3962,0.15,2.30,0.00,0.000,6,0.095,0.025,2392,1878,3373,0,0,0,0,0,0
$GC,4303,-1.48,-77.9,406.6,-7.9,285,4307,0.00,2.45,0.00,0.000,4,0.000,0.049,2391,469,3370,0,0,0,0,0,0
$GC,4365,-1.48,-77.9,411.8,-8.3,286,4369,0.00,2.30,0.00,0.000,6,0.000,0.025,2392,1878,3370,0,0,0,0,0,0
$GC,4716,-1.51,-77.9,438.2,-7.4,295,4720,0.00,2.45,0.00,0.000,4,0.000,0.050,2392,472,3367,0,0,0,0,0,0
$GC,4794,-1.51,-77.9,445.0,-9.1,296,4799,0.00,2.30,0.00,0.000,6,0.000,0.026,2392,1873,3366,0,0,0,0,0,0
$STATE,4881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4881,begin apogee
$GC,4888,-0.31,0.0,451.7,7.8,298,4956,1.17,0.00,64.60,0.866,6,0.071,0.000,2646,2038,3050,0,0,0,0,0,0
$STATE,4957,end apogee,CONTROL_FINISHED_OK
$STATE,4957,begin climb
$GC,4959,1.40,77.9,452.6,0.0,299,5035,1.60,2.40,64.75,0.846,4,0.029,0.038,3024,3385,2732,0,0,0,0,0,0
$GC,5041,1.32,215.0,455.0,-1.4,300,5169,0.12,2.40,117.85,0.843,6,0.127,0.033,3004,1999,2172,0,0,0,0,0,0
$GC,5496,1.21,215.0,404.0,13.0,312,5501,0.12,2.45,0.00,0.000,4,0.121,0.051,2982,602,2161,0,0,0,0,0,0
$GC,5543,1.09,215.0,397.4,12.9,313,5548,0.15,2.33,0.00,0.000,6,0.114,0.028,2954,1989,2158,0,0,0,0,0,0
$GC,5867,1.09,215.0,363.8,10.5,321,5871,0.00,2.45,0.00,0.000,4,0.000,0.051,2954,601,2157,0,0,0,0,0,0
$GC,5937,1.05,215.0,354.8,13.6,322,5941,0.00,2.38,0.00,0.000,6,0.000,0.028,2954,2012,2154,0,0,0,0,0,0
$GC,6277,1.05,215.0,316.5,10.4,331,6281,0.00,2.47,0.00,0.000,4,0.000,0.051,2954,608,2154,0,0,0,0,0,0
$GC,6395,1.02,215.0,305.5,9.3,333,6399,0.00,2.35,0.00,0.000,6,0.000,0.029,2954,2020,2151,0,0,0,0,0,0
$GC,6723,1.06,215.0,278.0,9.1,347,6727,0.00,2.47,0.00,0.000,4,0.000,0.051,2954,607,2151,0,0,0,0,0,0
$GC,6894,1.06,215.0,260.9,9.7,354,6898,0.00,2.35,0.00,0.000,6,0.000,0.028,2954,2013,2149,0,0,0,0,0,0
$GC,7210,1.16,236.8,238.2,6.5,369,7232,0.00,2.53,16.40,0.707,4,0.000,0.049,2954,605,2083,0,0,0,0,0,0
$GC,7385,1.16,236.8,223.0,8.6,376,7389,0.00,2.35,0.00,0.000,6,0.000,0.027,2954,2012,2078,0,0,0,0,0,0
$GC,7702,1.25,243.2,197.2,7.6,392,7715,0.15,2.53,6.28,0.562,4,0.066,0.047,2994,604,2058,0,0,0,0,0,0
$GC,7758,1.20,243.2,191.4,10.7,398,7763,0.00,2.35,0.00,0.000,6,0.000,0.026,2994,2020,2056,0,0,0,0,0,0
$GC,8026,1.20,243.2,167.1,8.0,423,8030,0.00,2.47,0.00,0.000,4,0.000,0.046,2993,603,2056,0,0,0,0,0,0
$GC,8080,1.14,243.2,162.5,8.8,428,8085,0.15,2.35,0.00,0.000,6,0.107,0.025,2966,2023,2055,0,0,0,0,0,0
$GC,8342,1.25,267.6,144.1,6.3,452,8371,0.00,2.55,22.98,0.626,4,0.000,0.045,2966,607,1957,0,0,0,0,0,0
$GC,8641,1.30,272.2,120.0,7.7,484,8652,0.12,2.33,4.60,0.436,6,0.071,0.023,3001,2021,1940,0,0,0,0,0,0
$GC,8907,1.37,290.0,98.2,6.8,509,8933,0.00,2.33,17.65,0.569,4,0.000,0.027,3000,3400,1866,0,0,0,0,0,0
$GC,9002,1.48,290.0,90.7,8.1,519,9007,0.17,2.38,0.00,0.000,6,0.055,0.030,3049,2002,1866,0,0,0,0,0,0
$GC,9265,1.48,290.0,67.6,9.2,543,9266,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2002,1865,0,0,0,0,0,0
$GC,9517,1.48,290.0,43.0,10.1,567,9521,0.00,2.40,0.00,0.000,4,0.000,0.042,3050,600,1865,0,0,0,0,0,0
$GC,9592,1.40,290.0,34.3,12.3,575,9597,0.15,2.30,0.00,0.000,6,0.099,0.021,3020,2017,1863,0,0,0,0,0,0
$GC,9866,1.45,290.0,8.0,10.1,619,9871,0.00,2.42,0.00,0.000,4,0.000,0.041,3020,603,1863,0,0,0,0,0,0
$STATE,9909,end climb,SURFACE_DEPTH_REACHED
$STATE,9909,begin surface coast
$FINISH,0.6,1.009937
$STATE,9941,end surface coast,CONTROL_FINISHED_OK
$STATE,9941,begin surface
$SM_CCo,9965,7.03,0.429,0,0,1827,300.00
$SM_GC,2.51,0.00,0.00,7.03,0.000,0.000,0.429,425,1884,1827,-10.52,0.25,300.00
$IRIDIUM_FIX,2057.14,-15744.48,210999,050544
$TT8_MAMPS,0.029146
$HUMID,53.66
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.3,55.222
$10V_AH,10.0,48.902
$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,27.275,114.150,315.100,7.025,0.000,26.004,28.381,148.000,4.750,0.000,16.431,1228.759,6789.653,372.701,1472.076,433.818,33.380,1186.211,0.000,1433.852,0.000,32.326,0.000
$DEVICE_MAMPS,131.157,52.156,865.943,428.753,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.952,426.997,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,31749,635
$CAP_FILE_SIZE,117055,0
$CFSIZE,260165632,222355456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270610,112335,2105.392,-15743.089,60,4.6,79,9.8