version: 66.06
glider: 139
mission: 7
dive: 621
start: 6 27 110 21 20 27
data:
$ID,139
$MISSION,7
$DIVE,621
$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,-2144273
$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
$GPS1,211056,2102.874,-15744.374,60,4.3,79,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.8
$GPS2,211934,2102.898,-15744.321,15,2.7,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.155,-0.098
$KALMAN_X,-356071.5,-143.9,386.5,374156.8,1032.2
$KALMAN_Y,44045.0,-105.5,392.5,-51766.7,421.0
$MHEAD_RNG_PITCHd_Wd,227.8,13297,-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,-50.33,0.000,2,0.000,0.000,424,1854,3130,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.1,-4.5,10,94,10.57,2.42,-4.97,0.000,4,0.133,0.054,2406,468,3370,0,0,0,0,0,0
$GC,193,-1.17,-77.9,28.2,-16.8,36,199,0.25,2.33,0.00,0.000,6,0.092,0.020,2455,1909,3371,0,0,0,0,0,0
$GC,399,-1.11,-77.9,54.4,-12.0,56,403,0.00,2.47,0.00,0.000,4,0.000,0.042,2456,461,3373,0,0,0,0,0,0
$GC,461,-1.02,-77.9,62.3,-11.9,62,466,0.17,2.28,0.00,0.000,6,0.091,0.019,2492,1877,3372,0,0,0,0,0,0
$GC,726,-1.09,-77.9,88.7,-10.0,86,730,0.00,2.42,0.00,0.000,4,0.000,0.041,2492,466,3373,0,0,0,0,0,0
$GC,778,-1.16,-77.9,94.4,-10.3,91,783,0.15,2.28,0.00,0.000,6,0.055,0.019,2443,1886,3373,0,0,0,0,0,0
$GC,1040,-1.13,-77.9,125.3,-12.6,115,1045,0.12,2.28,0.00,0.000,4,0.098,0.025,2469,3267,3374,0,0,0,0,0,0
$GC,1056,-1.13,-77.9,127.3,-12.6,116,1060,0.00,2.33,0.00,0.000,6,0.000,0.026,2469,1869,3374,0,0,0,0,0,0
$GC,1321,-1.22,-77.9,150.3,-6.7,140,1325,0.00,2.38,0.00,0.000,4,0.000,0.041,2469,471,3375,0,0,0,0,0,0
$GC,1355,-1.30,-77.9,152.7,-6.2,143,1360,0.17,2.25,0.00,0.000,6,0.051,0.018,2413,1884,3375,0,0,0,0,0,0
$GC,1616,-1.30,-77.9,172.5,-8.0,167,1620,0.00,2.42,0.00,0.000,4,0.000,0.041,2413,467,3376,0,0,0,0,0,0
$GC,1699,-1.30,-77.9,180.7,-10.2,175,1705,0.00,2.25,0.00,0.000,6,0.000,0.019,2413,1879,3376,0,0,0,0,0,0
$GC,1970,-1.30,-77.9,206.2,-9.1,198,1975,0.00,2.38,0.00,0.000,4,0.000,0.042,2412,474,3376,0,0,0,0,0,0
$GC,2031,-1.30,-77.9,212.5,-10.3,200,2037,0.00,2.22,0.00,0.000,6,0.000,0.020,2413,1877,3376,0,0,0,0,0,0
$GC,2346,-1.30,-77.9,242.9,-9.5,216,2350,0.00,2.28,0.00,0.000,4,0.000,0.026,2412,3265,3376,0,0,0,0,0,0
$GC,2361,-1.36,-77.9,244.3,-9.6,216,2367,0.00,2.33,0.00,0.000,6,0.000,0.027,2413,1867,3376,0,0,0,0,0,0
$GC,2677,-1.41,-77.9,273.3,-8.5,232,2681,0.00,2.38,0.00,0.000,4,0.000,0.044,2412,473,3376,0,0,0,0,0,0
$GC,2805,-1.41,-77.9,284.5,-8.2,237,2811,0.00,2.25,0.00,0.000,6,0.000,0.021,2413,1880,3376,0,0,0,0,0,0
$GC,3139,-1.45,-77.9,316.0,-9.8,250,3143,0.00,2.40,0.00,0.000,4,0.000,0.044,2413,474,3375,0,0,0,0,0,0
$GC,3181,-1.45,-77.9,319.4,-8.6,250,3186,0.00,2.25,0.00,0.000,6,0.000,0.022,2413,1882,3375,0,0,0,0,0,0
$GC,3514,-1.51,-77.9,346.1,-8.1,259,3519,0.12,2.30,0.00,0.000,4,0.065,0.030,2373,3261,3373,0,0,0,0,0,0
$GC,3539,-1.55,-77.9,348.7,-9.7,259,3543,0.00,2.33,0.00,0.000,6,0.000,0.031,2373,1879,3373,0,0,0,0,0,0
$GC,3879,-1.55,-77.9,378.9,-8.5,268,3882,0.00,2.42,0.00,0.000,4,0.000,0.047,2372,464,3372,0,0,0,0,0,0
$GC,3907,-1.46,-77.9,381.6,-10.4,268,3912,0.10,2.28,0.00,0.000,6,0.111,0.024,2394,1863,3372,0,0,0,0,0,0
$GC,4248,-1.46,-77.9,410.1,-8.4,277,4252,0.00,2.42,0.00,0.000,4,0.000,0.048,2392,464,3369,0,0,0,0,0,0
$GC,4322,-1.46,-77.9,417.6,-9.7,278,4326,0.00,2.30,0.00,0.000,6,0.000,0.025,2393,1868,3369,0,0,0,0,0,0
$STATE,4660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4660,begin apogee
$GC,4666,-0.31,0.0,451.4,10.1,287,4734,1.15,0.00,64.55,0.861,6,0.069,0.000,2643,2034,3050,0,0,0,0,0,0
$STATE,4735,end apogee,CONTROL_FINISHED_OK
$STATE,4735,begin climb
$GC,4738,1.40,77.9,453.4,0.0,288,4814,1.62,2.40,64.70,0.842,4,0.030,0.038,3024,3382,2731,0,0,0,0,0,0
$GC,4884,1.25,157.8,457.3,2.5,291,4961,0.20,2.38,68.22,0.842,6,0.114,0.034,2990,2004,2406,0,0,0,0,0,0
$GC,5284,1.15,157.8,422.3,9.2,301,5286,0.12,0.00,0.00,0.000,6,0.121,0.000,2968,2004,2396,0,0,0,0,0,0
$GC,5609,1.10,157.8,393.9,8.6,309,5613,0.00,2.47,0.00,0.000,4,0.000,0.051,2967,598,2394,0,0,0,0,0,0
$GC,5718,0.99,157.8,384.1,8.6,311,5723,0.20,2.35,0.00,0.000,6,0.113,0.028,2931,1996,2391,0,0,0,0,0,0
$GC,6069,1.04,169.9,359.8,7.2,320,6080,0.00,0.00,8.95,0.719,6,0.000,0.000,2932,2001,2357,0,0,0,0,0,0
$GC,6394,1.08,169.9,332.3,8.6,328,6399,0.00,2.45,0.00,0.000,4,0.000,0.051,2931,605,2354,0,0,0,0,0,0
$GC,6437,1.08,169.9,328.0,10.0,329,6441,0.00,2.38,0.00,0.000,6,0.000,0.028,2931,2020,2353,0,0,0,0,0,0
$GC,6765,1.15,179.7,303.2,7.3,337,6778,0.15,0.00,9.50,0.701,6,0.070,0.000,2969,2024,2317,0,0,0,0,0,0
$GC,7102,1.16,187.9,280.6,7.5,351,7113,0.00,0.00,8.77,0.673,6,0.000,0.000,2969,2024,2283,0,0,0,0,0,0
$GC,7409,1.16,187.9,253.5,8.7,366,7413,0.00,2.47,0.00,0.000,4,0.000,0.049,2968,598,2281,0,0,0,0,0,0
$GC,7523,1.12,197.5,244.6,7.4,371,7540,0.00,2.38,9.55,0.662,6,0.000,0.028,2969,2024,2244,0,0,0,0,0,0
$GC,7857,1.17,244.0,225.1,4.8,387,7902,0.00,0.00,42.62,0.719,6,0.000,0.000,2969,2024,2055,0,0,0,0,0,0
$GC,8207,1.22,244.0,192.1,10.2,407,8211,0.00,2.50,0.00,0.000,4,0.000,0.048,2969,598,2049,0,0,0,0,0,0
$GC,8351,1.22,244.0,176.7,10.3,422,8355,0.00,2.35,0.00,0.000,6,0.000,0.026,2969,2013,2045,0,0,0,0,0,0
$GC,8614,1.29,247.9,154.1,7.8,446,8619,0.12,2.47,0.00,0.000,4,0.071,0.048,3003,598,2045,0,0,0,0,0,0
$GC,8883,1.25,247.9,129.9,8.4,474,8889,0.00,2.33,0.00,0.000,6,0.000,0.025,3004,2013,2044,0,0,0,0,0,0
$GC,9146,1.27,261.2,111.7,7.1,499,9167,0.00,2.53,14.75,0.581,4,0.000,0.044,3004,602,1985,0,0,0,0,0,0
$GC,9243,1.27,261.2,103.1,9.2,509,9248,0.00,2.33,0.00,0.000,6,0.000,0.023,3004,2023,1981,0,0,0,0,0,0
$GC,9506,1.32,261.2,81.8,8.1,534,9511,0.00,2.45,0.00,0.000,4,0.000,0.044,3004,597,1981,0,0,0,0,0,0
$GC,9643,1.32,261.2,69.4,8.2,548,9647,0.00,2.30,0.00,0.000,6,0.000,0.022,3005,2010,1980,0,0,0,0,0,0
$GC,9911,1.39,261.7,49.4,8.0,573,9915,0.00,2.42,0.00,0.000,4,0.000,0.042,3004,602,1980,0,0,0,0,0,0
$GC,10064,1.39,261.7,36.6,8.1,589,10069,0.00,2.30,0.00,0.000,6,0.000,0.021,3004,2021,1980,0,0,0,0,0,0
$GC,10335,1.48,275.5,17.6,7.1,628,10354,0.15,2.47,13.70,0.490,4,0.059,0.040,3050,601,1926,0,0,0,0,0,0
$STATE,10478,end climb,SURFACE_DEPTH_REACHED
$STATE,10478,begin surface coast
$FINISH,0.5,1.009482
$STATE,10511,end surface coast,CONTROL_FINISHED_OK
$STATE,10511,begin surface
$SM_CCo,10534,16.00,0.482,0,0,1827,300.00
$SM_GC,1.97,0.00,0.00,16.00,0.000,0.000,0.482,428,1892,1827,-10.52,0.51,300.00
$IRIDIUM_FIX,2054.83,-15746.61,210999,212147
$TT8_MAMPS,0.029146
$HUMID,52.95
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,23.3,55.569
$10V_AH,10.0,49.124
$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,26.700,108.650,305.325,16.000,0.000,58.254,113.369,144.232,5.000,0.000,35.351,1256.475,7382.190,392.110,1480.448,556.196,33.383,1183.442,0.000,1425.100,0.000,32.107,0.000
$DEVICE_MAMPS,132.691,53.690,860.574,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.815,442.452,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34865,666
$CAP_FILE_SIZE,115250,0
$CFSIZE,260165632,222109696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280610,001820,2102.712,-15744.693,64,4.8,83,9.8