version: 66.06
glider: 139
mission: 7
dive: 630
start: 6 29 110 1 34 48
data:
$ID,139
$MISSION,7
$DIVE,630
$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,-2144555.8
$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
$GPS1,012840,2058.496,-15750.480,57,1.6,59,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-72.2
$GPS2,013356,2058.533,-15750.524,13,1.5,13,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.101,0.154
$KALMAN_X,-351743.5,195.4,230.8,358932.9,84.2
$KALMAN_Y,44865.1,70.6,203.5,-60646.8,-771.3
$MHEAD_RNG_PITCHd_Wd,316.9,26960,-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,-50.47,0.000,2,0.000,0.000,426,1862,3157,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.4,-5.1,10,95,10.57,2.47,-4.28,0.000,4,0.133,0.040,2404,3311,3370,0,0,0,0,0,0
$GC,189,-1.40,-77.9,26.2,-13.9,35,195,0.00,2.42,0.00,0.000,6,0.000,0.030,2404,1873,3371,0,0,0,0,0,0
$GC,388,-1.21,-77.9,58.4,-16.6,56,393,0.22,2.40,0.00,0.000,4,0.099,0.041,2449,471,3371,0,0,0,0,0,0
$GC,455,-1.12,-77.9,68.5,-13.9,62,461,0.10,2.30,0.00,0.000,6,0.116,0.019,2468,1908,3372,0,0,0,0,0,0
$GC,718,-1.12,-77.9,100.6,-11.4,87,722,0.00,2.47,0.00,0.000,4,0.000,0.040,2468,464,3373,0,0,0,0,0,0
$GC,737,-1.12,-77.9,102.8,-9.7,88,743,0.00,2.25,0.00,0.000,6,0.000,0.019,2468,1880,3373,0,0,0,0,0,0
$GC,1002,-1.18,-77.9,121.8,-5.1,113,1006,0.00,2.25,0.00,0.000,4,0.000,0.025,2468,3257,3374,0,0,0,0,0,0
$GC,1031,-1.28,-77.9,123.7,-5.5,115,1037,0.15,2.30,0.00,0.000,6,0.055,0.026,2418,1871,3374,0,0,0,0,0,0
$GC,1291,-1.28,-77.9,150.2,-11.7,140,1295,0.00,2.38,0.00,0.000,4,0.000,0.041,2417,473,3375,0,0,0,0,0,0
$GC,1405,-1.24,-77.9,162.0,-9.2,152,1409,0.12,2.22,0.00,0.000,6,0.097,0.018,2444,1880,3376,0,0,0,0,0,0
$GC,1671,-1.32,-77.9,181.3,-7.2,177,1675,0.00,2.40,0.00,0.000,4,0.000,0.041,2444,468,3376,0,0,0,0,0,0
$GC,1733,-1.40,-77.9,185.9,-7.4,183,1738,0.15,2.25,0.00,0.000,6,0.054,0.019,2394,1882,3376,0,0,0,0,0,0
$GC,2003,-1.40,-77.9,209.5,-8.4,203,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1886,3376,0,0,0,0,0,0
$GC,2311,-1.40,-77.9,237.0,-8.7,218,2316,0.00,2.40,0.00,0.000,4,0.000,0.043,2393,473,3377,0,0,0,0,0,0
$GC,2363,-1.36,-77.9,241.9,-8.7,220,2368,0.12,2.22,0.00,0.000,6,0.098,0.020,2419,1871,3377,0,0,0,0,0,0
$GC,2686,-1.43,-77.9,266.9,-8.2,236,2690,0.00,2.40,0.00,0.000,4,0.000,0.043,2419,470,3377,0,0,0,0,0,0
$GC,2732,-1.46,-77.9,271.1,-8.8,238,2736,0.12,2.25,0.00,0.000,6,0.062,0.021,2378,1878,3376,0,0,0,0,0,0
$GC,3079,-1.46,-77.9,305.7,-9.4,254,3083,0.00,2.40,0.00,0.000,4,0.000,0.044,2377,471,3376,0,0,0,0,0,0
$GC,3107,-1.38,-77.9,308.9,-11.3,254,3112,0.17,2.28,0.00,0.000,6,0.089,0.022,2414,1881,3375,0,0,0,0,0,0
$GC,3445,-1.43,-77.9,334.6,-7.5,263,3449,0.00,2.42,0.00,0.000,4,0.000,0.046,2414,475,3374,0,0,0,0,0,0
$GC,3478,-1.43,-77.9,337.6,-8.9,263,3482,0.00,2.28,0.00,0.000,6,0.000,0.024,2414,1878,3374,0,0,0,0,0,0
$GC,3817,-1.49,-77.9,362.4,-7.6,272,3822,0.12,2.45,0.00,0.000,4,0.065,0.048,2375,474,3372,0,0,0,0,0,0
$GC,3855,-1.42,-77.9,366.5,-10.3,272,3861,0.12,2.28,0.00,0.000,6,0.099,0.025,2401,1876,3372,0,0,0,0,0,0
$GC,4188,-1.47,-77.9,396.3,-8.8,281,4193,0.00,2.42,0.00,0.000,4,0.000,0.048,2401,476,3370,0,0,0,0,0,0
$GC,4244,-1.47,-77.9,401.6,-9.5,282,4248,0.00,2.30,0.00,0.000,6,0.000,0.025,2401,1881,3369,0,0,0,0,0,0
$GC,4558,-1.51,-77.9,427.9,-8.3,290,4562,0.00,2.42,0.00,0.000,4,0.000,0.048,2401,474,3367,0,0,0,0,0,0
$GC,4586,-1.51,-77.9,430.5,-9.0,290,4590,0.00,2.30,0.00,0.000,6,0.000,0.026,2401,1877,3367,0,0,0,0,0,0
$STATE,4837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4837,begin apogee
$GC,4844,-0.31,0.0,450.6,8.0,297,4911,1.12,0.00,64.30,0.864,6,0.070,0.000,2645,2033,3050,0,0,0,0,0,0
$STATE,4912,end apogee,CONTROL_FINISHED_OK
$STATE,4912,begin climb
$GC,4915,1.40,77.9,451.9,0.0,298,4990,1.62,2.40,64.62,0.843,4,0.030,0.038,3025,3382,2732,0,0,0,0,0,0
$GC,5171,1.24,147.7,452.8,3.2,303,5239,0.20,2.35,59.55,0.844,6,0.112,0.033,2989,2012,2447,0,0,0,0,0,0
$GC,5554,1.13,147.7,422.4,9.0,313,5559,0.15,2.35,0.00,0.000,4,0.120,0.036,2952,3389,2439,0,0,0,0,0,0
$GC,5569,1.03,147.7,420.7,9.2,313,5574,0.12,2.38,0.00,0.000,6,0.117,0.034,2941,2010,2438,0,0,0,0,0,0
$GC,5919,1.03,147.7,390.5,8.7,322,5923,0.00,2.47,0.00,0.000,4,0.000,0.051,2941,599,2436,0,0,0,0,0,0
$GC,6032,0.97,147.7,380.2,9.2,324,6036,0.00,2.33,0.00,0.000,6,0.000,0.028,2941,1986,2433,0,0,0,0,0,0
$GC,6382,1.00,176.9,357.8,6.0,333,6408,0.00,0.00,24.30,0.802,6,0.000,0.000,2942,1990,2327,0,0,0,0,0,0
$GC,6707,1.00,176.9,331.7,8.6,341,6711,0.00,2.42,0.00,0.000,4,0.000,0.049,2942,599,2323,0,0,0,0,0,0
$GC,6726,1.00,176.9,329.9,9.0,341,6730,0.00,2.38,0.00,0.000,6,0.000,0.029,2941,2015,2321,0,0,0,0,0,0
$GC,7071,1.06,193.3,303.6,6.9,350,7091,0.00,2.58,14.50,0.742,4,0.000,0.050,2942,602,2261,0,0,0,0,0,0
$GC,7102,1.08,206.4,301.5,7.1,350,7122,0.00,2.40,13.43,0.723,6,0.000,0.029,2941,2023,2208,0,0,0,0,0,0
$GC,7450,1.14,206.4,274.4,8.5,366,7454,0.00,2.50,0.00,0.000,4,0.000,0.050,2941,598,2204,0,0,0,0,0,0
$GC,7616,1.14,206.4,259.5,8.7,373,7620,0.00,2.38,0.00,0.000,6,0.000,0.028,2941,2010,2200,0,0,0,0,0,0
$GC,7936,1.23,220.5,236.2,7.1,389,7958,0.20,2.50,12.75,0.686,4,0.058,0.048,2992,604,2150,0,0,0,0,0,0
$GC,7966,1.19,220.5,233.7,8.3,390,7970,0.00,2.38,0.00,0.000,6,0.000,0.028,2992,2013,2149,0,0,0,0,0,0
$GC,8290,1.19,220.5,206.8,8.6,406,8294,0.00,2.47,0.00,0.000,4,0.000,0.048,2992,604,2148,0,0,0,0,0,0
$GC,8462,1.11,220.5,190.2,10.4,419,8467,0.20,2.33,0.00,0.000,6,0.107,0.026,2956,2014,2145,0,0,0,0,0,0
$GC,8724,1.18,224.2,168.7,7.8,443,8735,0.00,2.47,4.28,0.447,4,0.000,0.046,2956,594,2135,0,0,0,0,0,0
$GC,8814,1.19,227.7,161.5,7.8,452,8823,0.00,2.35,4.47,0.466,6,0.000,0.026,2956,2014,2121,0,0,0,0,0,0
$GC,9080,1.29,234.6,140.8,7.5,477,9094,0.17,2.47,8.30,0.565,4,0.058,0.046,3002,597,2092,0,0,0,0,0,0
$GC,9360,1.29,234.6,117.3,8.3,506,9365,0.00,2.33,0.00,0.000,6,0.000,0.024,3003,2010,2088,0,0,0,0,0,0
$GC,9623,1.36,253.4,101.6,6.7,531,9649,0.00,2.55,17.75,0.582,4,0.000,0.048,3003,590,2014,0,0,0,0,0,0
$GC,9739,1.36,254.8,92.5,7.9,543,9744,0.00,2.35,0.00,0.000,6,0.000,0.023,3003,2017,2011,0,0,0,0,0,0
$GC,10002,1.45,277.5,74.8,6.5,568,10031,0.12,2.38,22.10,0.561,4,0.066,0.027,3040,3402,1917,0,0,0,0,0,0
$GC,10053,1.48,277.5,70.5,9.4,573,10059,0.00,2.38,0.00,0.000,6,0.000,0.029,3041,2006,1917,0,0,0,0,0,0
$GC,10315,1.48,277.5,48.1,8.7,598,10320,0.00,2.40,0.00,0.000,4,0.000,0.042,3041,604,1916,0,0,0,0,0,0
$GC,10447,1.40,277.5,35.1,10.9,611,10454,0.10,2.30,0.00,0.000,6,0.117,0.020,3023,2024,1912,0,0,0,0,0,0
$GC,10720,1.44,277.5,12.9,8.2,655,10726,0.00,2.42,0.00,0.000,4,0.000,0.041,3022,597,1912,0,0,0,0,0,0
$GC,10815,1.44,277.5,3.8,9.2,675,10820,0.00,2.28,0.00,0.000,6,0.000,0.019,3022,2017,1912,0,0,0,0,0,0
$STATE,10831,end climb,SURFACE_DEPTH_REACHED
$STATE,10831,begin surface coast
$FINISH,0.6,1.023078
$STATE,10870,end surface coast,CONTROL_FINISHED_OK
$STATE,10870,begin surface
$SM_CCo,10892,14.20,0.478,0,0,1827,300.00
$SM_GC,1.86,0.00,0.00,14.20,0.000,0.000,0.478,428,1854,1827,-10.52,-0.59,300.00
$IRIDIUM_FIX,2050.21,-15747.49,220999,222203
$TT8_MAMPS,0.029146
$HUMID,53.03
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.3,56.331
$10V_AH,10.0,49.614
$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,27.150,128.650,310.350,14.200,0.000,28.550,26.780,143.366,4.750,0.000,13.328,1312.260,7509.730,403.204,1549.165,446.838,33.382,1257.603,0.000,1508.213,0.000,30.770,0.000
$DEVICE_MAMPS,133.458,52.923,863.642,477.841,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,460.087,448.474,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,34893,685
$CAP_FILE_SIZE,125714,0
$CFSIZE,260165632,221556736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290610,044021,2058.894,-15751.037,168,3.7,187,9.8