version: 66.06
glider: 139
mission: 7
dive: 626
start: 6 28 110 12 56 30
data:
$ID,139
$MISSION,7
$DIVE,626
$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,-2144433.5
$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
$GPS1,125006,2100.234,-15747.433,55,1.7,60,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.2
$GPS2,125538,2100.248,-15747.449,14,2.0,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.144,-0.115
$KALMAN_X,-353015.9,-260.4,340.5,365863.1,-399.3
$KALMAN_Y,45282.1,-218.4,429.5,-57831.3,-794.0
$MHEAD_RNG_PITCHd_Wd,221.6,6000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.40,-77.9,0.0,0.0,0,73,0.00,0.00,-53.97,0.000,2,0.000,0.000,426,1893,3261,0,0,0,0,0,0
$GC,77,-1.40,-77.9,4.0,-7.5,11,96,10.55,2.45,-2.10,0.000,4,0.132,0.051,2404,467,3371,0,0,0,0,0,0
$GC,218,-1.19,-77.9,35.2,-18.1,38,223,0.25,2.33,0.00,0.000,6,0.092,0.020,2454,1904,3373,0,0,0,0,0,0
$GC,483,-1.13,-77.9,70.5,-13.5,62,487,0.00,2.45,0.00,0.000,4,0.000,0.041,2454,466,3373,0,0,0,0,0,0
$GC,540,-1.04,-77.9,79.3,-13.4,67,546,0.15,2.28,0.00,0.000,6,0.102,0.019,2484,1887,3373,0,0,0,0,0,0
$GC,803,-1.10,-77.9,107.4,-9.7,92,807,0.00,2.45,0.00,0.000,4,0.000,0.041,2484,459,3374,0,0,0,0,0,0
$GC,877,-1.14,-77.9,115.2,-10.2,99,883,0.00,2.28,0.00,0.000,6,0.000,0.018,2485,1885,3375,0,0,0,0,0,0
$GC,1141,-1.26,-77.9,137.9,-8.2,124,1146,0.20,2.45,0.00,0.000,4,0.047,0.040,2422,458,3375,0,0,0,0,0,0
$GC,1212,-1.26,-77.9,145.0,-9.7,131,1216,0.00,2.28,0.00,0.000,6,0.000,0.019,2422,1882,3376,0,0,0,0,0,0
$GC,1475,-1.26,-77.9,167.3,-9.0,155,1479,0.00,2.40,0.00,0.000,4,0.000,0.041,2422,467,3376,0,0,0,0,0,0
$GC,1537,-1.23,-77.9,173.5,-9.9,161,1542,0.12,2.25,0.00,0.000,6,0.097,0.019,2449,1882,3377,0,0,0,0,0,0
$GC,1798,-1.31,-77.9,196.1,-9.0,185,1802,0.00,2.40,0.00,0.000,4,0.000,0.041,2448,464,3377,0,0,0,0,0,0
$GC,1890,-1.37,-77.9,204.9,-8.6,191,1895,0.15,2.25,0.00,0.000,6,0.054,0.019,2399,1877,3377,0,0,0,0,0,0
$GC,2216,-1.37,-77.9,238.5,-11.0,207,2220,0.00,2.40,0.00,0.000,4,0.000,0.042,2398,460,3377,0,0,0,0,0,0
$GC,2244,-1.29,-77.9,241.8,-11.1,208,2249,0.17,2.28,0.00,0.000,6,0.087,0.020,2435,1880,3377,0,0,0,0,0,0
$GC,2568,-1.38,-77.9,265.0,-6.7,224,2572,0.00,2.42,0.00,0.000,4,0.000,0.044,2435,459,3377,0,0,0,0,0,0
$GC,2624,-1.45,-77.9,269.5,-7.5,226,2629,0.17,2.28,0.00,0.000,6,0.049,0.021,2380,1881,3377,0,0,0,0,0,0
$GC,2945,-1.45,-77.9,297.9,-9.7,242,2949,0.00,2.28,0.00,0.000,4,0.000,0.028,2380,3264,3377,0,0,0,0,0,0
$GC,2959,-1.45,-77.9,299.5,-9.9,242,2965,0.00,2.33,0.00,0.000,6,0.000,0.028,2379,1869,3377,0,0,0,0,0,0
$GC,3270,-1.45,-77.9,326.9,-8.6,251,3274,0.00,2.38,0.00,0.000,4,0.000,0.044,2379,468,3376,0,0,0,0,0,0
$GC,3307,-1.41,-77.9,330.7,-10.5,251,3312,0.12,2.25,0.00,0.000,6,0.099,0.022,2406,1869,3376,0,0,0,0,0,0
$GC,3640,-1.46,-77.9,357.6,-7.6,259,3644,0.00,2.40,0.00,0.000,4,0.000,0.046,2405,467,3375,0,0,0,0,0,0
$GC,3705,-1.46,-77.9,362.5,-7.3,260,3709,0.00,2.30,0.00,0.000,6,0.000,0.023,2406,1883,3374,0,0,0,0,0,0
$GC,4051,-1.53,-77.9,387.8,-8.2,269,4056,0.12,2.47,0.00,0.000,4,0.064,0.048,2367,467,3373,0,0,0,0,0,0
$GC,4084,-1.45,-77.9,391.5,-11.5,269,4089,0.15,2.30,0.00,0.000,6,0.094,0.025,2398,1881,3373,0,0,0,0,0,0
$GC,4419,-1.49,-77.9,421.2,-8.8,277,4423,0.00,2.45,0.00,0.000,4,0.000,0.048,2398,471,3370,0,0,0,0,0,0
$GC,4521,-1.49,-77.9,431.4,-9.7,279,4525,0.00,2.30,0.00,0.000,6,0.000,0.025,2397,1874,3369,0,0,0,0,0,0
$STATE,4710,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4710,begin apogee
$GC,4717,-0.31,0.0,447.6,8.4,284,4786,1.15,0.00,64.72,0.855,6,0.071,0.000,2645,2030,3050,0,0,0,0,0,0
$STATE,4786,end apogee,CONTROL_FINISHED_OK
$STATE,4787,begin climb
$GC,4789,1.40,77.9,448.8,0.0,285,4864,1.62,2.40,64.47,0.836,4,0.029,0.038,3029,3379,2732,0,0,0,0,0,0
$GC,5050,1.24,148.0,448.3,3.2,290,5117,0.22,2.35,59.53,0.837,6,0.110,0.033,2988,2010,2446,0,0,0,0,0,0
$GC,5428,1.15,158.9,421.6,7.3,300,5444,0.12,2.53,9.43,0.728,4,0.122,0.050,2966,609,2402,0,0,0,0,0,0
$GC,5504,1.03,164.7,416.0,7.6,301,5517,0.15,2.33,6.47,0.660,6,0.120,0.028,2940,1994,2377,0,0,0,0,0,0
$GC,5849,1.03,164.7,387.8,8.8,310,5853,0.00,2.45,0.00,0.000,4,0.000,0.050,2940,604,2374,0,0,0,0,0,0
$GC,5872,0.98,164.7,385.5,10.0,310,5877,0.00,2.35,0.00,0.000,6,0.000,0.028,2939,2004,2373,0,0,0,0,0,0
$GC,6213,0.99,172.6,358.8,7.5,319,6225,0.00,2.50,7.22,0.679,4,0.000,0.050,2940,608,2346,0,0,0,0,0,0
$GC,6277,0.95,172.6,353.2,8.9,320,6281,0.00,2.35,0.00,0.000,6,0.000,0.029,2940,2010,2344,0,0,0,0,0,0
$GC,6591,1.00,184.9,330.1,7.2,328,6605,0.00,0.00,12.20,0.740,6,0.000,0.000,2940,2014,2296,0,0,0,0,0,0
$GC,6917,1.06,192.1,305.5,7.5,336,6929,0.00,2.50,7.65,0.665,4,0.000,0.050,2940,608,2266,0,0,0,0,0,0
$GC,7073,1.06,192.1,290.2,10.6,340,7078,0.00,2.35,0.00,0.000,6,0.000,0.029,2940,2013,2262,0,0,0,0,0,0
$GC,7389,1.12,192.1,261.4,8.5,356,7393,0.00,2.45,0.00,0.000,4,0.000,0.049,2940,605,2262,0,0,0,0,0,0
$GC,7444,1.12,192.1,256.1,9.6,358,7449,0.00,2.35,0.00,0.000,6,0.000,0.028,2939,2011,2260,0,0,0,0,0,0
$GC,7761,1.21,201.9,236.2,7.4,373,7773,0.17,0.00,9.35,0.656,6,0.062,0.000,2985,2016,2226,0,0,0,0,0,0
$GC,8095,1.22,205.0,208.2,7.8,389,8104,0.00,2.47,4.40,0.491,4,0.000,0.047,2984,608,2213,0,0,0,0,0,0
$GC,8140,1.15,205.0,204.5,8.7,391,8144,0.00,2.35,0.00,0.000,6,0.000,0.027,2984,2016,2211,0,0,0,0,0,0
$GC,8466,1.19,235.3,183.8,5.9,419,8501,0.00,2.53,27.95,0.675,4,0.000,0.048,2984,607,2090,0,0,0,0,0,0
$GC,8564,1.15,235.3,176.6,8.2,429,8571,0.10,2.35,0.00,0.000,6,0.123,0.025,2967,2018,2086,0,0,0,0,0,0
$GC,8827,1.23,255.2,156.8,6.7,454,8854,0.00,2.53,18.20,0.629,4,0.000,0.045,2967,613,2008,0,0,0,0,0,0
$GC,9025,1.23,261.3,141.5,7.6,475,9039,0.00,2.33,6.38,0.516,6,0.000,0.024,2968,2024,1983,0,0,0,0,0,0
$GC,9295,1.36,276.4,121.0,7.0,501,9316,0.20,2.55,14.75,0.581,4,0.053,0.045,3021,603,1922,0,0,0,0,0,0
$GC,9585,1.32,276.4,95.0,9.2,532,9589,0.00,2.33,0.00,0.000,6,0.000,0.022,3021,2018,1918,0,0,0,0,0,0
$GC,9847,1.32,276.4,72.0,8.2,556,9852,0.00,2.45,0.00,0.000,4,0.000,0.043,3021,598,1918,0,0,0,0,0,0
$GC,9965,1.32,276.4,61.3,8.6,568,9969,0.00,2.30,0.00,0.000,6,0.000,0.021,3020,2012,1917,0,0,0,0,0,0
$GC,10227,1.36,276.4,40.6,8.2,592,10232,0.00,2.42,0.00,0.000,4,0.000,0.042,3021,603,1917,0,0,0,0,0,0
$GC,10346,1.36,276.4,29.8,9.0,604,10352,0.00,2.28,0.00,0.000,6,0.000,0.021,3021,2015,1917,0,0,0,0,0,0
$GC,10556,1.40,276.4,12.2,8.2,641,10562,0.00,2.40,0.00,0.000,4,0.000,0.041,3021,608,1917,0,0,0,0,0,0
$STATE,10654,end climb,SURFACE_DEPTH_REACHED
$STATE,10654,begin surface coast
$FINISH,0.5,1.010743
$STATE,10692,end surface coast,CONTROL_FINISHED_OK
$STATE,10692,begin surface
$SM_CCo,10714,18.23,0.492,0,0,1826,300.00
$SM_GC,1.73,0.00,0.00,18.23,0.000,0.000,0.492,426,1895,1826,-10.52,0.57,300.00
$IRIDIUM_FIX,2052.52,-15747.49,220999,101015
$TT8_MAMPS,0.029146
$HUMID,53.22
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,22.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,421.2,54.3
$24V_AH,23.3,55.990
$10V_AH,10.0,49.395
$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,27.050,123.500,312.725,18.225,0.000,28.643,30.994,152.892,4.500,0.000,14.360,1291.033,7353.873,395.633,1557.760,466.454,33.386,1251.070,0.000,1521.491,0.000,30.684,0.000
$DEVICE_MAMPS,131.924,52.923,855.205,492.414,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,450.231,446.781,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,34993,670
$CAP_FILE_SIZE,123900,0
$CFSIZE,260165632,221802496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280610,155827,2059.065,-15748.460,125,4.4,144,9.8