version: 66.06
glider: 139
mission: 7
dive: 628
start: 6 28 110 19 17 19
data:
$ID,139
$MISSION,7
$DIVE,628
$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,-2144501.5
$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
$GPS1,191043,2058.633,-15749.301,50,1.9,55,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-71.1
$GPS2,191628,2058.610,-15749.303,14,3.8,33,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.156,-0.097
$KALMAN_X,-352008.9,-505.3,-348.4,362590.8,1395.3
$KALMAN_Y,45706.7,-328.2,-406.8,-60342.1,1380.3
$MHEAD_RNG_PITCHd_Wd,228.3,28465,-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,-50.53,0.000,2,0.000,0.000,426,1889,3142,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.4,-5.5,10,95,10.57,2.50,-4.60,0.000,4,0.133,0.054,2405,466,3370,0,0,0,0,0,0
$GC,194,-1.18,-77.9,29.3,-16.5,36,201,0.25,2.33,0.00,0.000,6,0.094,0.020,2454,1904,3372,0,0,0,0,0,0
$GC,392,-1.11,-77.9,55.1,-12.6,55,396,0.00,2.45,0.00,0.000,4,0.000,0.042,2455,468,3373,0,0,0,0,0,0
$GC,454,-1.04,-77.9,63.9,-14.1,61,459,0.15,2.28,0.00,0.000,6,0.094,0.019,2486,1881,3373,0,0,0,0,0,0
$GC,718,-1.10,-77.9,90.6,-10.6,85,723,0.00,2.42,0.00,0.000,4,0.000,0.042,2485,459,3374,0,0,0,0,0,0
$GC,765,-1.13,-77.9,96.7,-12.4,89,771,0.00,2.28,0.00,0.000,6,0.000,0.019,2486,1889,3374,0,0,0,0,0,0
$GC,1028,-1.23,-77.9,120.7,-8.1,114,1033,0.17,2.45,0.00,0.000,4,0.051,0.041,2428,468,3376,0,0,0,0,0,0
$GC,1045,-1.26,-77.9,122.4,-8.7,115,1049,0.00,2.25,0.00,0.000,6,0.000,0.019,2429,1882,3376,0,0,0,0,0,0
$GC,1309,-1.26,-77.9,149.3,-10.8,139,1313,0.00,2.40,0.00,0.000,4,0.000,0.041,2428,465,3376,0,0,0,0,0,0
$GC,1374,-1.26,-77.9,157.4,-12.1,145,1380,0.00,2.25,0.00,0.000,6,0.000,0.019,2429,1879,3377,0,0,0,0,0,0
$GC,1638,-1.31,-77.9,180.7,-7.9,170,1642,0.00,2.40,0.00,0.000,4,0.000,0.041,2428,463,3377,0,0,0,0,0,0
$GC,1703,-1.31,-77.9,186.3,-8.4,176,1709,0.00,2.25,0.00,0.000,6,0.000,0.019,2429,1878,3377,0,0,0,0,0,0
$GC,1964,-1.37,-77.9,207.8,-8.5,197,1968,0.00,2.40,0.00,0.000,4,0.000,0.041,2428,461,3377,0,0,0,0,0,0
$GC,2030,-1.41,-77.9,213.9,-8.1,200,2035,0.10,2.25,0.00,0.000,6,0.073,0.020,2391,1875,3377,0,0,0,0,0,0
$GC,2361,-1.41,-77.9,245.9,-9.0,216,2366,0.00,2.42,0.00,0.000,4,0.000,0.043,2391,460,3378,0,0,0,0,0,0
$GC,2375,-1.41,-77.9,247.3,-8.6,216,2381,0.00,2.28,0.00,0.000,6,0.000,0.021,2390,1880,3378,0,0,0,0,0,0
$GC,2692,-1.41,-77.9,268.4,-6.7,232,2696,0.00,2.40,0.00,0.000,4,0.000,0.044,2391,469,3378,0,0,0,0,0,0
$GC,2729,-1.36,-77.9,271.6,-8.7,233,2736,0.12,2.25,0.00,0.000,6,0.098,0.021,2417,1870,3377,0,0,0,0,0,0
$GC,3047,-1.43,-77.9,297.6,-8.1,249,3051,0.00,2.40,0.00,0.000,4,0.000,0.045,2417,466,3376,0,0,0,0,0,0
$GC,3079,-1.43,-77.9,300.7,-9.2,250,3084,0.00,2.28,0.00,0.000,6,0.000,0.023,2417,1872,3376,0,0,0,0,0,0
$GC,3411,-1.49,-77.9,327.4,-8.0,258,3416,0.12,2.45,0.00,0.000,4,0.064,0.047,2376,466,3375,0,0,0,0,0,0
$GC,3468,-1.43,-77.9,333.1,-10.0,259,3473,0.12,2.30,0.00,0.000,6,0.099,0.024,2402,1878,3375,0,0,0,0,0,0
$GC,3785,-1.46,-77.9,357.7,-7.6,267,3789,0.00,2.45,0.00,0.000,4,0.000,0.047,2401,463,3373,0,0,0,0,0,0
$GC,3808,-1.46,-77.9,359.9,-8.6,267,3813,0.00,2.30,0.00,0.000,6,0.000,0.025,2402,1876,3373,0,0,0,0,0,0
$GC,4155,-1.51,-77.9,382.5,-6.1,276,4159,0.00,2.42,0.00,0.000,4,0.000,0.048,2402,467,3370,0,0,0,0,0,0
$GC,4220,-1.51,-77.9,387.1,-6.6,277,4224,0.00,2.30,0.00,0.000,6,0.000,0.025,2402,1873,3370,0,0,0,0,0,0
$GC,4566,-1.56,-77.9,410.5,-7.4,286,4571,0.12,2.45,0.00,0.000,4,0.067,0.051,2365,466,3368,0,0,0,0,0,0
$GC,4622,-1.48,-77.9,416.4,-11.3,287,4627,0.12,2.30,0.00,0.000,6,0.101,0.027,2390,1871,3367,0,0,0,0,0,0
$GC,4937,-1.48,-77.9,445.8,-9.3,295,4941,0.00,2.42,0.00,0.000,4,0.000,0.051,2390,471,3365,0,0,0,0,0,0
$STATE,4978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4978,begin apogee
$GC,4986,-0.31,0.0,450.2,9.8,296,5054,1.20,0.00,64.30,0.871,6,0.077,0.000,2646,2015,3050,0,0,0,0,0,0
$STATE,5055,end apogee,CONTROL_FINISHED_OK
$STATE,5055,begin climb
$GC,5058,1.40,77.9,451.8,0.0,297,5133,1.60,2.47,64.65,0.851,4,0.030,0.039,3005,3400,2732,0,0,0,0,0,0
$GC,5176,1.26,154.7,453.9,2.7,299,5252,0.17,2.40,65.85,0.845,6,0.114,0.032,2991,2000,2418,0,0,0,0,0,0
$GC,5561,1.14,154.7,414.2,11.5,309,5566,0.15,2.45,0.00,0.000,4,0.115,0.050,2965,607,2408,0,0,0,0,0,0
$GC,5646,1.01,154.7,404.3,10.7,310,5653,0.15,2.38,0.00,0.000,6,0.118,0.028,2937,2016,2405,0,0,0,0,0,0
$GC,5977,1.02,156.2,376.4,7.9,319,5982,0.00,2.50,0.00,0.000,4,0.000,0.051,2938,601,2404,0,0,0,0,0,0
$GC,6024,0.96,156.2,372.3,9.1,320,6028,0.00,2.38,0.00,0.000,6,0.000,0.028,2938,2014,2403,0,0,0,0,0,0
$GC,6347,0.96,156.2,346.9,8.2,328,6352,0.00,2.45,0.00,0.000,4,0.000,0.051,2938,608,2402,0,0,0,0,0,0
$GC,6445,0.92,156.2,337.9,10.3,330,6450,0.12,2.35,0.00,0.000,6,0.118,0.030,2916,2010,2400,0,0,0,0,0,0
$GC,6765,1.03,183.4,316.9,6.2,338,6794,0.10,2.53,22.90,0.782,4,0.084,0.051,2941,608,2301,0,0,0,0,0,0
$GC,6819,1.00,183.4,312.8,9.0,339,6823,0.00,2.38,0.00,0.000,6,0.000,0.029,2941,2010,2298,0,0,0,0,0,0
$GC,7141,1.05,192.7,286.3,7.4,351,7152,0.00,0.00,9.00,0.689,6,0.000,0.000,2942,2014,2264,0,0,0,0,0,0
$GC,7449,1.14,208.6,265.1,6.9,366,7472,0.00,2.50,15.45,0.728,4,0.000,0.051,2942,608,2198,0,0,0,0,0,0
$GC,7616,1.17,208.6,250.9,9.6,373,7621,0.12,2.35,0.00,0.000,6,0.073,0.028,2973,2010,2193,0,0,0,0,0,0
$GC,7941,1.19,224.5,223.9,6.9,389,7963,0.00,2.55,14.75,0.692,4,0.000,0.049,2973,608,2134,0,0,0,0,0,0
$GC,8045,1.19,252.3,216.9,6.1,393,8079,0.00,2.38,26.08,0.706,6,0.000,0.028,2973,2027,2020,0,0,0,0,0,0
$GC,8391,1.24,252.3,194.2,8.0,413,8395,0.00,2.50,0.00,0.000,4,0.000,0.048,2973,602,2015,0,0,0,0,0,0
$GC,8581,1.24,252.3,175.8,9.8,433,8585,0.00,2.35,0.00,0.000,6,0.000,0.025,2973,2011,2012,0,0,0,0,0,0
$GC,8846,1.33,267.0,154.8,7.0,457,8865,0.12,2.50,13.43,0.617,4,0.070,0.045,3008,604,1960,0,0,0,0,0,0
$GC,9037,1.28,267.0,136.7,9.5,477,9043,0.00,2.33,0.00,0.000,6,0.000,0.025,3008,2013,1956,0,0,0,0,0,0
$GC,9300,1.31,267.0,115.7,8.1,502,9304,0.00,2.35,0.00,0.000,4,0.000,0.030,3005,3404,1955,0,0,0,0,0,0
$GC,9381,1.37,267.0,108.7,8.5,510,9385,0.00,2.38,0.00,0.000,6,0.000,0.030,2998,2001,1955,0,0,0,0,0,0
$GC,9644,1.45,285.5,90.8,6.7,534,9670,0.10,2.45,17.15,0.568,4,0.077,0.042,3038,601,1883,0,0,0,0,0,0
$GC,9682,1.45,285.5,87.6,8.9,538,9686,0.00,2.35,0.00,0.000,6,0.000,0.022,3038,2025,1883,0,0,0,0,0,0
$GC,9946,1.45,286.9,65.6,7.9,562,9950,0.00,2.45,0.00,0.000,4,0.000,0.042,3038,604,1882,0,0,0,0,0,0
$GC,10081,1.39,286.9,52.9,9.7,576,10086,0.10,2.30,0.00,0.000,6,0.114,0.021,3019,2018,1880,0,0,0,0,0,0
$GC,10343,1.43,286.9,31.9,8.2,600,10347,0.00,2.45,0.00,0.000,4,0.000,0.042,3019,596,1880,0,0,0,0,0,0
$GC,10496,1.43,286.9,16.8,10.1,630,10502,0.00,2.30,0.00,0.000,6,0.000,0.020,3019,2021,1880,0,0,0,0,0,0
$STATE,10654,end climb,SURFACE_DEPTH_REACHED
$STATE,10654,begin surface coast
$FINISH,0.5,1.009388
$STATE,10693,end surface coast,CONTROL_FINISHED_OK
$STATE,10693,begin surface
$SM_CCo,10714,8.95,0.450,0,0,1827,300.00
$SM_GC,2.42,0.00,0.00,8.95,0.000,0.000,0.450,426,1839,1827,-10.52,-1.02,300.00
$IRIDIUM_FIX,2050.21,-15747.49,220999,161622
$TT8_MAMPS,0.029146
$HUMID,53.30
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,23.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,422.8,69.3
$24V_AH,23.3,56.166
$10V_AH,10.0,49.507
$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,26.925,133.925,313.550,8.950,0.000,25.764,32.899,145.268,4.500,0.000,34.715,1294.440,7364.938,398.761,1559.467,447.028,33.386,1249.909,0.000,1496.593,0.000,30.725,0.000
$DEVICE_MAMPS,132.691,53.690,871.312,450.229,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.229,437.156,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,34838,665
$CAP_FILE_SIZE,126166,0
$CFSIZE,260165632,221679616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280610,221821,2058.308,-15749.812,81,2.5,100,9.8