version: 66.06
glider: 139
mission: 7
dive: 635
start: 6 29 110 17 31 41
data:
$ID,139
$MISSION,7
$DIVE,635
$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,-2144709.2
$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
$GPS1,172536,2100.699,-15752.980,69,1.3,69,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.8
$GPS2,173049,2100.708,-15752.987,16,1.3,16,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.161,0.089
$KALMAN_X,-348452.7,-227.2,-274.4,352313.9,613.1
$KALMAN_Y,42440.1,-275.6,-491.0,-53156.5,69.4
$MHEAD_RNG_PITCHd_Wd,289.3,21102,-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,-50.42,0.000,2,0.000,0.000,426,1848,3149,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.5,-5.7,10,95,10.60,2.42,-4.38,0.000,4,0.134,0.035,2405,3295,3370,0,0,0,0,0,0
$GC,240,-1.36,-77.9,32.5,-13.9,45,245,0.00,2.40,0.00,0.000,6,0.000,0.030,2404,1869,3372,0,0,0,0,0,0
$GC,504,-1.20,-77.9,72.2,-14.8,69,509,0.22,2.40,0.00,0.000,4,0.097,0.041,2450,470,3373,0,0,0,0,0,0
$GC,566,-1.11,-77.9,81.1,-12.8,75,571,0.10,2.30,0.00,0.000,6,0.117,0.019,2469,1911,3373,0,0,0,0,0,0
$GC,827,-1.11,-77.9,108.1,-9.9,99,831,0.00,2.47,0.00,0.000,4,0.000,0.041,2470,469,3374,0,0,0,0,0,0
$GC,897,-1.11,-77.9,115.5,-10.8,106,902,0.00,2.25,0.00,0.000,6,0.000,0.019,2469,1884,3374,0,0,0,0,0,0
$GC,1168,-1.18,-77.9,140.7,-9.7,131,1172,0.00,2.42,0.00,0.000,4,0.000,0.042,2470,470,3375,0,0,0,0,0,0
$GC,1233,-1.26,-77.9,147.9,-9.6,137,1239,0.15,2.25,0.00,0.000,6,0.055,0.018,2419,1885,3375,0,0,0,0,0,0
$GC,1493,-1.26,-77.9,172.2,-8.9,162,1497,0.00,2.42,0.00,0.000,4,0.000,0.041,2418,466,3376,0,0,0,0,0,0
$GC,1572,-1.26,-77.9,179.9,-9.7,170,1578,0.00,2.25,0.00,0.000,6,0.000,0.019,2418,1883,3376,0,0,0,0,0,0
$GC,1844,-1.26,-77.9,204.1,-8.5,194,1849,0.10,2.42,0.00,0.000,4,0.104,0.042,2440,466,3377,0,0,0,0,0,0
$GC,1892,-1.33,-77.9,208.2,-7.8,196,1896,0.00,2.22,0.00,0.000,6,0.000,0.019,2441,1875,3377,0,0,0,0,0,0
$GC,2219,-1.43,-77.9,231.7,-6.6,212,2224,0.17,2.40,0.00,0.000,4,0.051,0.043,2385,468,3377,0,0,0,0,0,0
$GC,2332,-1.36,-77.9,241.9,-9.1,217,2337,0.15,2.25,0.00,0.000,6,0.093,0.020,2416,1877,3377,0,0,0,0,0,0
$GC,2665,-1.40,-77.9,268.4,-8.9,233,2669,0.00,2.42,0.00,0.000,4,0.000,0.044,2416,462,3377,0,0,0,0,0,0
$GC,2716,-1.40,-77.9,273.4,-9.8,235,2720,0.00,2.28,0.00,0.000,6,0.000,0.021,2416,1878,3377,0,0,0,0,0,0
$GC,3039,-1.47,-77.9,298.0,-7.7,251,3042,0.00,2.40,0.00,0.000,4,0.000,0.044,2416,470,3376,0,0,0,0,0,0
$GC,3077,-1.50,-77.9,301.9,-9.0,252,3082,0.12,2.28,0.00,0.000,6,0.062,0.022,2375,1882,3376,0,0,0,0,0,0
$GC,3410,-1.50,-77.9,334.8,-9.7,260,3414,0.00,2.45,0.00,0.000,4,0.000,0.046,2374,462,3374,0,0,0,0,0,0
$GC,3471,-1.42,-77.9,341.1,-9.5,261,3476,0.15,2.30,0.00,0.000,6,0.093,0.024,2406,1878,3374,0,0,0,0,0,0
$GC,3825,-1.47,-77.9,364.4,-6.3,270,3829,0.00,2.42,0.00,0.000,4,0.000,0.047,2405,473,3373,0,0,0,0,0,0
$GC,3891,-1.47,-77.9,369.3,-7.3,271,3895,0.00,2.28,0.00,0.000,6,0.000,0.025,2406,1876,3372,0,0,0,0,0,0
$GC,4236,-1.52,-77.9,396.2,-8.8,280,4240,0.10,2.45,0.00,0.000,4,0.075,0.049,2373,473,3370,0,0,0,0,0,0
$GC,4275,-1.46,-77.9,400.7,-12.2,280,4282,0.10,2.30,0.00,0.000,6,0.110,0.025,2394,1878,3370,0,0,0,0,0,0
$GC,4607,-1.49,-77.9,436.0,-10.4,289,4612,0.00,2.45,0.00,0.000,4,0.000,0.050,2394,472,3367,0,0,0,0,0,0
$GC,4654,-1.49,-77.9,441.4,-11.3,290,4658,0.00,2.30,0.00,0.000,6,0.000,0.026,2394,1873,3367,0,0,0,0,0,0
$STATE,4771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4771,begin apogee
$GC,4778,-0.31,0.0,453.7,10.2,293,4846,1.15,0.00,64.32,0.865,6,0.070,0.000,2643,2037,3050,0,0,0,0,0,0
$STATE,4846,end apogee,CONTROL_FINISHED_OK
$STATE,4847,begin climb
$GC,4849,1.40,77.9,455.6,0.0,294,4924,1.62,2.38,64.60,0.845,4,0.030,0.038,3011,3376,2732,0,0,0,0,0,0
$GC,4949,1.32,220.0,461.2,-1.7,296,5078,0.12,2.35,121.72,0.845,6,0.125,0.032,3004,2008,2152,0,0,0,0,0,0
$GC,5390,1.20,220.0,412.3,12.8,307,5395,0.15,2.45,0.00,0.000,4,0.117,0.051,2971,604,2142,0,0,0,0,0,0
$GC,5442,1.09,220.0,405.1,13.2,308,5447,0.15,2.30,0.00,0.000,6,0.117,0.027,2951,1990,2139,0,0,0,0,0,0
$GC,5761,1.09,220.0,374.3,9.1,316,5766,0.00,2.45,0.00,0.000,4,0.000,0.051,2951,602,2137,0,0,0,0,0,0
$GC,5817,1.04,220.0,368.2,10.7,317,5822,0.00,2.35,0.00,0.000,6,0.000,0.028,2951,2015,2134,0,0,0,0,0,0
$GC,6131,1.04,220.0,335.7,10.2,325,6135,0.00,2.47,0.00,0.000,4,0.000,0.051,2951,604,2135,0,0,0,0,0,0
$GC,6160,0.99,220.0,332.5,11.4,325,6164,0.00,2.35,0.00,0.000,6,0.000,0.028,2951,2020,2132,0,0,0,0,0,0
$GC,6496,1.04,220.0,298.1,10.2,334,6500,0.00,2.50,0.00,0.000,4,0.000,0.051,2951,607,2132,0,0,0,0,0,0
$GC,6589,1.04,220.0,288.6,9.7,338,6593,0.00,2.35,0.00,0.000,6,0.000,0.028,2951,2011,2130,0,0,0,0,0,0
$GC,6914,1.10,220.0,261.3,9.0,354,6918,0.00,2.45,0.00,0.000,4,0.000,0.051,2951,605,2131,0,0,0,0,0,0
$GC,7029,1.10,220.0,250.5,9.6,359,7033,0.00,2.35,0.00,0.000,6,0.000,0.028,2951,2020,2129,0,0,0,0,0,0
$GC,7359,1.20,244.3,227.4,6.4,375,7384,0.10,2.55,18.42,0.700,4,0.083,0.049,2979,612,2053,0,0,0,0,0,0
$GC,7506,1.16,244.3,214.1,9.9,381,7510,0.00,2.33,0.00,0.000,6,0.000,0.028,2979,2014,2048,0,0,0,0,0,0
$GC,7832,1.21,244.3,184.7,9.7,404,7837,0.00,2.45,0.00,0.000,4,0.000,0.048,2978,604,2048,0,0,0,0,0,0
$GC,8009,1.21,244.3,166.5,10.0,422,8015,0.00,2.35,0.00,0.000,6,0.000,0.025,2979,2018,2046,0,0,0,0,0,0
$GC,8272,1.25,244.6,145.9,8.0,447,8277,0.00,2.45,0.00,0.000,4,0.000,0.046,2979,607,2045,0,0,0,0,0,0
$GC,8420,1.25,244.6,132.1,9.3,462,8426,0.00,2.33,0.00,0.000,6,0.000,0.024,2979,2021,2045,0,0,0,0,0,0
$GC,8684,1.33,264.7,112.3,6.6,487,8711,0.10,2.53,18.30,0.592,4,0.079,0.045,3010,610,1970,0,0,0,0,0,0
$GC,8980,1.31,277.5,84.5,7.1,518,8998,0.00,2.28,12.38,0.545,6,0.000,0.023,3010,2018,1918,0,0,0,0,0,0
$GC,9254,1.38,289.9,65.5,7.2,544,9273,0.00,2.47,12.10,0.525,4,0.000,0.044,3009,605,1867,0,0,0,0,0,0
$GC,9509,1.38,289.9,43.3,9.3,571,9514,0.00,2.25,0.00,0.000,6,0.000,0.021,3010,2010,1863,0,0,0,0,0,0
$GC,9776,1.44,289.9,21.4,8.2,605,9781,0.00,2.42,0.00,0.000,4,0.000,0.042,3010,603,1863,0,0,0,0,0,0
$GC,9875,1.44,289.9,12.3,9.6,626,9880,0.00,2.28,0.00,0.000,6,0.000,0.021,3009,2011,1863,0,0,0,0,0,0
$STATE,9997,end climb,SURFACE_DEPTH_REACHED
$STATE,9997,begin surface coast
$FINISH,0.6,1.010275
$STATE,10049,end surface coast,CONTROL_FINISHED_OK
$STATE,10049,begin surface
$SM_CCo,10070,7.90,0.444,0,0,1826,300.00
$SM_GC,1.66,0.00,0.00,7.90,0.000,0.000,0.444,431,1851,1826,-10.50,-0.65,300.00
$IRIDIUM_FIX,2050.21,-15754.77,230999,141455
$TT8_MAMPS,0.029146
$HUMID,54.17
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.3,56.770
$10V_AH,10.0,49.894
$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,26.500,119.075,311.850,7.900,0.000,24.127,26.686,138.096,4.500,0.000,16.102,1268.798,6753.765,372.778,1554.453,439.828,33.386,1225.246,0.000,1515.341,0.000,29.253,0.000
$DEVICE_MAMPS,134.225,51.389,865.176,444.093,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,441.672,438.727,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,34927,657
$CAP_FILE_SIZE,118535,0
$CFSIZE,260165632,221257728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290610,202237,2101.221,-15753.597,140,1.1,140,9.8