version: 66.06
glider: 139
mission: 7
dive: 627
start: 6 28 110 16 8 55
data:
$ID,139
$MISSION,7
$DIVE,627
$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,-2144466
$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
$GPS1,155827,2059.065,-15748.460,125,4.4,144,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-71.4
$GPS2,160804,2059.086,-15748.447,11,4.6,30,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.148,-0.109
$KALMAN_X,-352274.7,-529.1,-248.5,364253.0,638.1
$KALMAN_Y,45472.4,-372.6,-468.5,-59119.1,316.1
$MHEAD_RNG_PITCHd_Wd,223.8,3265,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,68,0.00,0.00,-50.25,0.000,2,0.000,0.000,425,1896,3151,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.3,-5.2,10,95,10.60,2.38,-4.40,0.000,4,0.133,0.041,2404,3289,3369,0,0,0,0,0,0
$GC,222,-1.40,-77.9,30.3,-13.4,42,226,0.00,2.40,0.00,0.000,6,0.000,0.029,2405,1865,3371,0,0,0,0,0,0
$GC,485,-1.21,-77.9,71.2,-16.4,66,490,0.22,2.38,0.00,0.000,4,0.097,0.040,2449,462,3372,0,0,0,0,0,0
$GC,515,-1.08,-77.9,76.6,-16.2,68,521,0.15,2.33,0.00,0.000,6,0.103,0.019,2479,1918,3372,0,0,0,0,0,0
$GC,779,-1.13,-77.9,104.1,-10.1,93,784,0.00,2.50,0.00,0.000,4,0.000,0.041,2478,462,3372,0,0,0,0,0,0
$GC,842,-1.20,-77.9,111.4,-10.7,99,847,0.12,2.28,0.00,0.000,6,0.062,0.019,2435,1887,3373,0,0,0,0,0,0
$GC,1102,-1.20,-77.9,139.6,-10.7,123,1109,0.00,2.42,0.00,0.000,4,0.000,0.041,2435,470,3373,0,0,0,0,0,0
$GC,1116,-1.20,-77.9,141.1,-11.1,124,1120,0.00,2.25,0.00,0.000,6,0.000,0.019,2435,1886,3373,0,0,0,0,0,0
$GC,1379,-1.20,-77.9,163.2,-7.0,148,1383,0.00,2.40,0.00,0.000,4,0.000,0.041,2435,470,3374,0,0,0,0,0,0
$GC,1435,-1.20,-77.9,167.8,-8.4,153,1440,0.00,2.22,0.00,0.000,6,0.000,0.018,2435,1874,3375,0,0,0,0,0,0
$GC,1697,-1.25,-77.9,188.6,-8.1,178,1701,0.00,2.38,0.00,0.000,4,0.000,0.041,2435,471,3375,0,0,0,0,0,0
$GC,1767,-1.25,-77.9,194.2,-7.4,185,1772,0.00,2.22,0.00,0.000,6,0.000,0.019,2435,1874,3375,0,0,0,0,0,0
$GC,2023,-1.31,-77.9,211.7,-7.0,202,2028,0.00,2.38,0.00,0.000,4,0.000,0.042,2435,471,3375,0,0,0,0,0,0
$GC,2090,-1.35,-77.9,217.2,-9.5,205,2094,0.00,2.25,0.00,0.000,6,0.000,0.020,2435,1880,3375,0,0,0,0,0,0
$GC,2422,-1.42,-77.9,243.9,-8.0,221,2427,0.15,2.42,0.00,0.000,4,0.056,0.043,2386,462,3375,0,0,0,0,0,0
$GC,2451,-1.34,-77.9,247.0,-11.0,222,2456,0.17,2.25,0.00,0.000,6,0.087,0.021,2423,1873,3375,0,0,0,0,0,0
$GC,2775,-1.41,-77.9,269.1,-6.8,238,2779,0.00,2.40,0.00,0.000,4,0.000,0.043,2422,472,3375,0,0,0,0,0,0
$GC,2889,-1.46,-77.9,278.4,-8.0,243,2894,0.12,2.25,0.00,0.000,6,0.063,0.021,2381,1876,3374,0,0,0,0,0,0
$GC,3221,-1.46,-77.9,303.8,-7.7,258,3225,0.00,2.40,0.00,0.000,4,0.000,0.044,2381,467,3373,0,0,0,0,0,0
$GC,3268,-1.40,-77.9,308.1,-9.0,259,3273,0.12,2.28,0.00,0.000,6,0.100,0.022,2406,1874,3373,0,0,0,0,0,0
$GC,3596,-1.45,-77.9,333.0,-7.9,267,3600,0.00,2.40,0.00,0.000,4,0.000,0.046,2406,473,3372,0,0,0,0,0,0
$GC,3656,-1.45,-77.9,339.0,-8.8,268,3660,0.00,2.28,0.00,0.000,6,0.000,0.024,2406,1874,3372,0,0,0,0,0,0
$GC,4008,-1.50,-77.9,366.8,-8.0,277,4012,0.00,2.40,0.00,0.000,4,0.000,0.048,2407,473,3369,0,0,0,0,0,0
$GC,4054,-1.50,-77.9,371.3,-9.1,278,4058,0.00,2.28,0.00,0.000,6,0.000,0.025,2406,1871,3369,0,0,0,0,0,0
$GC,4379,-1.54,-77.9,401.5,-9.3,286,4383,0.12,2.45,0.00,0.000,4,0.066,0.049,2369,468,3367,0,0,0,0,0,0
$GC,4435,-1.46,-77.9,407.8,-10.8,287,4440,0.12,2.30,0.00,0.000,6,0.100,0.025,2394,1873,3366,0,0,0,0,0,0
$GC,4751,-1.46,-77.9,431.3,-7.1,295,4755,0.00,2.42,0.00,0.000,4,0.000,0.050,2394,470,3364,0,0,0,0,0,0
$GC,4817,-1.46,-77.9,436.6,-7.9,296,4821,0.00,2.30,0.00,0.000,6,0.000,0.026,2394,1875,3364,0,0,0,0,0,0
$STATE,5037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5037,begin apogee
$GC,5043,-0.31,0.0,452.4,7.2,302,5111,1.17,0.00,63.65,0.870,6,0.071,0.000,2647,2031,3050,0,0,0,0,0,0
$STATE,5111,end apogee,CONTROL_FINISHED_OK
$STATE,5112,begin climb
$GC,5115,1.40,77.9,453.2,0.0,303,5190,1.60,2.40,64.47,0.850,4,0.030,0.038,3019,3377,2731,0,0,0,0,0,0
$GC,5274,1.24,143.2,453.9,3.5,306,5336,0.17,2.35,55.67,0.842,6,0.114,0.034,2991,2009,2466,0,0,0,0,0,0
$GC,5661,1.11,143.2,421.7,8.9,316,5666,0.17,2.45,0.00,0.000,4,0.114,0.050,2960,600,2458,0,0,0,0,0,0
$GC,5810,0.99,143.2,407.6,9.2,319,5815,0.15,2.33,0.00,0.000,6,0.120,0.028,2931,1989,2455,0,0,0,0,0,0
$GC,6124,1.01,160.2,384.9,6.9,327,6145,0.00,2.53,13.88,0.779,4,0.000,0.050,2934,604,2396,0,0,0,0,0,0
$GC,6151,1.01,160.2,382.7,8.2,327,6155,0.00,2.38,0.00,0.000,6,0.000,0.029,2933,2009,2395,0,0,0,0,0,0
$GC,6491,1.02,165.1,356.8,7.7,336,6503,0.00,2.50,5.32,0.614,4,0.000,0.049,2934,607,2376,0,0,0,0,0,0
$GC,6539,0.99,165.1,352.9,8.5,337,6543,0.00,2.38,0.00,0.000,6,0.000,0.029,2933,2011,2375,0,0,0,0,0,0
$GC,6867,0.99,165.1,324.9,9.2,345,6872,0.00,2.47,0.00,0.000,4,0.000,0.050,2935,606,2374,0,0,0,0,0,0
$GC,6951,0.99,165.1,317.1,9.1,346,6956,0.00,2.38,0.00,0.000,6,0.000,0.029,2934,2020,2372,0,0,0,0,0,0
$GC,7263,1.05,181.3,293.5,6.9,356,7285,0.00,2.55,15.07,0.749,4,0.000,0.051,2934,605,2309,0,0,0,0,0,0
$GC,7333,1.08,200.9,288.6,6.7,359,7358,0.00,2.35,19.02,0.749,6,0.000,0.029,2933,2017,2229,0,0,0,0,0,0
$GC,7688,1.18,226.9,265.8,6.2,376,7717,0.17,2.55,23.75,0.746,4,0.064,0.059,2977,607,2124,0,0,0,0,0,0
$GC,7877,1.13,226.9,246.8,11.0,384,7881,0.00,2.35,0.00,0.000,6,0.000,0.028,2977,2007,2117,0,0,0,0,0,0
$GC,8197,1.13,226.9,215.8,8.8,400,8201,0.00,2.45,0.00,0.000,4,0.000,0.049,2977,605,2117,0,0,0,0,0,0
$GC,8235,1.08,226.9,212.1,10.0,401,8241,0.15,2.35,0.00,0.000,6,0.117,0.028,2950,2011,2115,0,0,0,0,0,0
$GC,8557,1.17,226.9,185.7,8.1,425,8561,0.00,2.47,0.00,0.000,4,0.000,0.048,2950,600,2114,0,0,0,0,0,0
$GC,8701,1.17,226.9,172.1,9.9,440,8705,0.00,2.35,0.00,0.000,6,0.000,0.026,2950,2015,2113,0,0,0,0,0,0
$GC,8964,1.28,241.8,153.7,7.0,464,8984,0.20,2.53,12.68,0.623,4,0.058,0.047,3001,598,2063,0,0,0,0,0,0
$GC,9075,1.22,241.8,142.9,9.8,475,9081,0.10,2.35,0.00,0.000,6,0.118,0.025,2983,2014,2060,0,0,0,0,0,0
$GC,9338,1.30,255.6,123.7,7.1,500,9356,0.00,2.50,13.32,0.594,4,0.000,0.044,2982,602,2007,0,0,0,0,0,0
$GC,9438,1.34,255.6,115.6,9.3,510,9444,0.10,2.35,0.00,0.000,6,0.079,0.025,3012,2019,2003,0,0,0,0,0,0
$GC,9702,1.39,264.5,95.6,7.4,535,9719,0.00,2.47,9.20,0.538,4,0.000,0.043,3012,605,1969,0,0,0,0,0,0
$GC,9739,1.39,264.5,92.5,8.5,539,9744,0.00,2.33,0.00,0.000,6,0.000,0.023,3012,2015,1968,0,0,0,0,0,0
$GC,10003,1.45,275.9,73.3,7.2,563,10021,0.00,2.35,11.15,0.530,4,0.000,0.028,3012,3392,1925,0,0,0,0,0,0
$GC,10037,1.54,279.5,70.5,7.8,566,10051,0.17,2.35,5.10,0.428,6,0.054,0.029,3060,2008,1910,0,0,0,0,0,0
$GC,10306,1.49,279.5,45.5,9.8,592,10311,0.12,2.40,0.00,0.000,4,0.104,0.043,3037,604,1909,0,0,0,0,0,0
$GC,10412,1.43,279.5,34.7,10.9,602,10418,0.00,2.30,0.00,0.000,6,0.000,0.021,3037,2024,1907,0,0,0,0,0,0
$GC,10685,1.43,279.5,8.9,8.9,647,10691,0.00,2.45,0.00,0.000,4,0.000,0.041,3037,597,1907,0,0,0,0,0,0
$STATE,10741,end climb,SURFACE_DEPTH_REACHED
$STATE,10741,begin surface coast
$FINISH,0.6,1.010427
$STATE,10778,end surface coast,CONTROL_FINISHED_OK
$STATE,10778,begin surface
$SM_CCo,10801,13.15,0.481,0,0,1826,300.00
$SM_GC,2.27,0.00,0.00,13.15,0.000,0.000,0.481,426,1886,1826,-10.52,0.40,300.00
$IRIDIUM_FIX,2052.52,-15749.62,220999,161608
$TT8_MAMPS,0.029146
$HUMID,54.25
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,422.7,61.2
$24V_AH,23.3,56.082
$10V_AH,10.0,49.454
$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,27.475,137.825,312.300,13.150,0.000,60.467,59.823,249.528,4.750,0.000,31.633,1307.101,7442.047,403.466,1586.181,650.826,33.387,1278.739,0.000,1532.138,0.000,30.719,0.000
$DEVICE_MAMPS,133.458,59.059,869.778,480.909,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.429,441.448,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,34937,666
$CAP_FILE_SIZE,132764,0
$CFSIZE,260165632,221732864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280610,191043,2058.633,-15749.301,50,1.9,55,9.8