version: 66.06
glider: 139
mission: 7
dive: 629
start: 6 28 110 22 24 58
data:
$ID,139
$MISSION,7
$DIVE,629
$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,-2144541.8
$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
$GPS1,221821,2058.308,-15749.812,81,2.5,100,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.4
$GPS2,222407,2058.315,-15749.822,39,0.9,39,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.170,0.070
$KALMAN_X,-351951.8,-167.4,110.5,360840.9,826.0
$KALMAN_Y,45296.7,-121.2,344.9,-61430.5,167.0
$MHEAD_RNG_PITCHd_Wd,282.5,28134,-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,-50.55,0.000,2,0.000,0.000,426,1839,3151,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.5,-6.0,10,95,10.62,2.47,-4.40,0.000,4,0.135,0.038,2406,3295,3370,0,0,0,0,0,0
$GC,203,-1.40,-77.9,27.0,-13.6,38,208,0.00,2.40,0.00,0.000,6,0.000,0.031,2405,1866,3371,0,0,0,0,0,0
$GC,407,-1.22,-77.9,58.3,-15.9,59,412,0.20,2.40,0.00,0.000,4,0.098,0.041,2446,466,3372,0,0,0,0,0,0
$GC,470,-1.12,-77.9,67.7,-13.9,65,475,0.10,2.33,0.00,0.000,6,0.113,0.019,2466,1912,3372,0,0,0,0,0,0
$GC,732,-1.12,-77.9,99.6,-12.1,89,737,0.00,2.47,0.00,0.000,4,0.000,0.041,2465,466,3373,0,0,0,0,0,0
$GC,763,-1.06,-77.9,103.6,-13.5,92,767,0.00,2.28,0.00,0.000,6,0.000,0.019,2466,1884,3373,0,0,0,0,0,0
$GC,1025,-1.10,-77.9,129.8,-8.6,116,1029,0.00,2.42,0.00,0.000,4,0.000,0.041,2465,467,3374,0,0,0,0,0,0
$GC,1059,-1.10,-77.9,133.1,-9.2,119,1063,0.00,2.25,0.00,0.000,6,0.000,0.019,2466,1878,3374,0,0,0,0,0,0
$GC,1322,-1.19,-77.9,154.5,-8.2,143,1326,0.00,2.42,0.00,0.000,4,0.000,0.041,2466,459,3375,0,0,0,0,0,0
$GC,1440,-1.26,-77.9,164.0,-8.1,155,1445,0.12,2.22,0.00,0.000,6,0.062,0.019,2422,1878,3376,0,0,0,0,0,0
$GC,1701,-1.26,-77.9,186.1,-8.0,179,1705,0.00,2.42,0.00,0.000,4,0.000,0.041,2421,459,3376,0,0,0,0,0,0
$GC,1738,-1.22,-77.9,189.5,-9.3,182,1744,0.12,2.22,0.00,0.000,6,0.096,0.019,2448,1870,3376,0,0,0,0,0,0
$GC,2008,-1.31,-77.9,210.4,-8.2,202,2012,0.00,2.40,0.00,0.000,4,0.000,0.041,2448,463,3376,0,0,0,0,0,0
$GC,2032,-1.35,-77.9,212.7,-8.8,203,2037,0.12,2.25,0.00,0.000,6,0.062,0.019,2405,1885,3376,0,0,0,0,0,0
$GC,2363,-1.35,-77.9,243.8,-8.6,219,2367,0.00,2.42,0.00,0.000,4,0.000,0.042,2404,467,3376,0,0,0,0,0,0
$GC,2419,-1.35,-77.9,249.7,-10.8,221,2423,0.00,2.25,0.00,0.000,6,0.000,0.020,2404,1877,3376,0,0,0,0,0,0
$GC,2736,-1.38,-77.9,280.3,-9.0,236,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1881,3376,0,0,0,0,0,0
$GC,3064,-1.42,-77.9,304.0,-6.5,251,3068,0.00,2.42,0.00,0.000,4,0.000,0.044,2404,464,3376,0,0,0,0,0,0
$GC,3139,-1.42,-77.9,309.5,-7.5,252,3143,0.00,2.22,0.00,0.000,6,0.000,0.021,2404,1870,3376,0,0,0,0,0,0
$GC,3475,-1.45,-77.9,335.3,-8.4,261,3479,0.00,2.45,0.00,0.000,4,0.000,0.046,2403,465,3375,0,0,0,0,0,0
$GC,3513,-1.45,-77.9,338.9,-10.2,261,3518,0.00,2.28,0.00,0.000,6,0.000,0.023,2404,1871,3375,0,0,0,0,0,0
$GC,3844,-1.50,-77.9,364.1,-7.6,270,3848,0.00,2.42,0.00,0.000,4,0.000,0.046,2403,469,3373,0,0,0,0,0,0
$GC,3890,-1.50,-77.9,368.2,-9.0,271,3895,0.00,2.28,0.00,0.000,6,0.000,0.024,2404,1882,3374,0,0,0,0,0,0
$GC,4214,-1.55,-77.9,394.9,-8.3,279,4219,0.12,2.47,0.00,0.000,4,0.066,0.048,2365,466,3371,0,0,0,0,0,0
$GC,4247,-1.48,-77.9,398.4,-10.6,279,4252,0.12,2.30,0.00,0.000,6,0.100,0.025,2390,1873,3371,0,0,0,0,0,0
$GC,4579,-1.48,-77.9,424.6,-7.9,287,4583,0.00,2.45,0.00,0.000,4,0.000,0.050,2390,466,3369,0,0,0,0,0,0
$GC,4607,-1.45,-77.9,427.4,-9.8,287,4612,0.00,2.30,0.00,0.000,6,0.000,0.026,2391,1881,3368,0,0,0,0,0,0
$STATE,4859,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4859,begin apogee
$GC,4865,-0.31,0.0,450.7,9.4,294,4934,1.17,0.00,64.60,0.860,6,0.072,0.000,2643,2033,3050,0,0,0,0,0,0
$STATE,4934,end apogee,CONTROL_FINISHED_OK
$STATE,4934,begin climb
$GC,4938,1.40,77.9,452.4,0.0,295,5013,1.62,2.40,64.53,0.841,4,0.029,0.038,3026,3379,2731,0,0,0,0,0,0
$GC,5277,1.23,135.4,448.2,4.1,302,5333,0.17,2.35,48.55,0.842,6,0.114,0.034,2993,2004,2498,0,0,0,0,0,0
$GC,5667,1.10,135.4,418.2,8.4,312,5672,0.22,2.40,0.00,0.000,4,0.110,0.035,2950,3389,2491,0,0,0,0,0,0
$GC,5753,1.06,144.6,411.5,7.4,313,5767,0.00,2.35,8.18,0.713,6,0.000,0.035,2955,2010,2460,0,0,0,0,0,0
$GC,6087,1.02,144.6,384.2,8.7,322,6092,0.00,2.47,0.00,0.000,4,0.000,0.051,2954,605,2457,0,0,0,0,0,0
$GC,6136,0.93,144.6,379.6,9.6,323,6141,0.20,2.33,0.00,0.000,6,0.110,0.028,2918,1994,2455,0,0,0,0,0,0
$GC,6460,1.00,157.1,356.1,7.2,331,6476,0.00,2.50,11.38,0.752,4,0.000,0.051,2918,602,2409,0,0,0,0,0,0
$GC,6491,1.02,172.2,353.8,7.0,331,6512,0.00,2.35,14.75,0.763,6,0.000,0.029,2918,2014,2347,0,0,0,0,0,0
$GC,6839,1.14,212.3,332.5,5.3,340,6882,0.20,2.55,36.42,0.797,4,0.061,0.049,2966,600,2182,0,0,0,0,0,0
$GC,6908,1.06,214.1,327.7,7.9,341,6912,0.00,2.40,0.00,0.000,6,0.000,0.029,2966,2011,2179,0,0,0,0,0,0
$GC,7253,1.06,214.1,299.6,8.7,350,7257,0.00,2.47,0.00,0.000,4,0.000,0.050,2967,607,2176,0,0,0,0,0,0
$GC,7314,0.99,214.1,293.8,10.0,352,7321,0.15,2.35,0.00,0.000,6,0.097,0.029,2934,2010,2173,0,0,0,0,0,0
$GC,7630,1.09,233.9,269.3,6.7,368,7654,0.00,2.55,18.70,0.732,4,0.000,0.051,2934,614,2095,0,0,0,0,0,0
$GC,7826,1.15,233.9,251.9,9.9,376,7831,0.12,2.38,0.00,0.000,6,0.074,0.029,2966,2022,2089,0,0,0,0,0,0
$GC,8144,1.21,236.6,227.3,7.8,391,8148,0.00,2.50,0.00,0.000,4,0.000,0.048,2966,601,2089,0,0,0,0,0,0
$GC,8214,1.21,236.6,220.6,9.9,394,8218,0.00,2.38,0.00,0.000,6,0.000,0.028,2966,2021,2088,0,0,0,0,0,0
$GC,8543,1.27,238.4,193.6,7.9,413,8554,0.10,2.50,3.90,0.444,4,0.081,0.048,2994,606,2078,0,0,0,0,0,0
$GC,8666,1.21,238.4,182.8,8.6,426,8670,0.00,2.33,0.00,0.000,6,0.000,0.026,2995,2017,2077,0,0,0,0,0,0
$GC,8930,1.22,244.3,162.9,7.6,450,8942,0.00,2.53,7.05,0.555,4,0.000,0.047,2994,601,2053,0,0,0,0,0,0
$GC,8986,1.18,244.3,157.8,9.1,456,8991,0.12,2.35,0.00,0.000,6,0.113,0.025,2973,2024,2051,0,0,0,0,0,0
$GC,9247,1.26,244.3,137.3,8.2,480,9251,0.00,2.47,0.00,0.000,4,0.000,0.044,2972,600,2051,0,0,0,0,0,0
$GC,9374,1.26,244.3,125.3,9.5,493,9378,0.00,2.33,0.00,0.000,6,0.000,0.024,2972,2014,2050,0,0,0,0,0,0
$GC,9638,1.39,268.1,105.4,6.4,517,9666,0.20,2.53,22.50,0.588,4,0.052,0.044,3026,588,1956,0,0,0,0,0,0
$GC,9691,1.34,285.5,101.8,6.8,523,9713,0.00,2.35,16.42,0.566,6,0.000,0.023,3027,2020,1884,0,0,0,0,0,0
$GC,9969,1.38,296.3,82.4,7.3,549,9987,0.00,2.35,10.43,0.521,4,0.000,0.028,3027,3390,1840,0,0,0,0,0,0
$GC,10021,1.47,296.3,78.0,8.1,554,10027,0.00,2.35,0.00,0.000,6,0.000,0.029,3026,2005,1840,0,0,0,0,0,0
$GC,10284,1.50,296.3,56.3,8.3,579,10288,0.00,2.38,0.00,0.000,4,0.000,0.043,3026,604,1840,0,0,0,0,0,0
$GC,10440,1.47,296.3,41.8,9.8,595,10445,0.00,2.28,0.00,0.000,6,0.000,0.020,3027,2010,1837,0,0,0,0,0,0
$GC,10708,1.51,296.3,18.7,9.1,631,10713,0.00,2.42,0.00,0.000,4,0.000,0.041,3027,600,1837,0,0,0,0,0,0
$GC,10849,1.51,296.3,4.4,9.8,661,10854,0.00,2.28,0.00,0.000,6,0.000,0.020,3027,2011,1837,0,0,0,0,0,0
$STATE,10864,end climb,SURFACE_DEPTH_REACHED
$STATE,10864,begin surface coast
$FINISH,0.5,1.022998
$STATE,10900,end surface coast,CONTROL_FINISHED_OK
$STATE,10901,begin surface
$SM_CCo,10922,2.60,0.222,0,0,1826,300.00
$SM_GC,2.12,0.00,0.00,2.60,0.000,0.000,0.222,427,1862,1826,-10.52,-0.37,300.00
$IRIDIUM_FIX,2050.21,-15750.49,220999,191925
$TT8_MAMPS,0.029146
$HUMID,53.50
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.3,56.249
$10V_AH,10.0,49.561
$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,27.025,133.800,327.400,2.600,0.000,30.112,31.084,141.141,4.750,0.000,39.465,1304.469,7524.391,394.405,1590.573,455.311,33.384,1263.773,0.000,1522.981,0.000,32.149,0.000
$DEVICE_MAMPS,134.992,52.923,859.807,221.663,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,449.909,438.382,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34896,670
$CAP_FILE_SIZE,128306,0
$CFSIZE,260165632,221614080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290610,012840,2058.496,-15750.480,57,1.6,59,9.8