version: 66.06
glider: 139
mission: 7
dive: 632
start: 6 29 110 8 4 27
data:
$ID,139
$MISSION,7
$DIVE,632
$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,-2144621
$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
$GPS1,075330,2059.536,-15751.658,58,1.5,74,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.5
$GPS2,080336,2059.564,-15751.663,17,1.4,33,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.165,0.081
$KALMAN_X,-350811.0,410.3,-151.8,356196.5,454.9
$KALMAN_Y,44185.4,59.2,-219.0,-57628.6,361.0
$MHEAD_RNG_PITCHd_Wd,286.2,24220,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.40,-77.9,0.0,0.0,0,74,0.00,0.00,-55.03,0.000,2,0.000,0.000,427,1887,3251,0,0,0,0,0,0
$GC,78,-1.40,-77.9,3.9,-7.0,11,97,10.57,2.35,-2.28,0.000,4,0.133,0.036,2405,3309,3370,0,0,0,0,0,0
$GC,205,-1.40,-77.9,27.9,-12.6,38,211,0.00,2.40,0.00,0.000,6,0.000,0.028,2406,1871,3371,0,0,0,0,0,0
$GC,404,-1.23,-77.9,57.0,-14.8,58,409,0.20,2.40,0.00,0.000,4,0.098,0.041,2444,469,3372,0,0,0,0,0,0
$GC,439,-1.13,-77.9,62.2,-14.0,61,444,0.10,2.30,0.00,0.000,6,0.117,0.019,2464,1908,3372,0,0,0,0,0,0
$GC,707,-1.13,-77.9,94.9,-11.2,86,711,0.00,2.47,0.00,0.000,4,0.000,0.042,2464,470,3373,0,0,0,0,0,0
$GC,779,-1.13,-77.9,102.1,-8.8,93,783,0.00,2.25,0.00,0.000,6,0.000,0.018,2464,1881,3373,0,0,0,0,0,0
$GC,1041,-1.20,-77.9,124.4,-8.3,117,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1885,3374,0,0,0,0,0,0
$GC,1297,-1.29,-77.9,146.2,-8.2,141,1302,0.15,2.40,0.00,0.000,4,0.054,0.041,2415,472,3375,0,0,0,0,0,0
$GC,1372,-1.26,-77.9,153.8,-9.9,148,1378,0.12,2.22,0.00,0.000,6,0.097,0.019,2441,1875,3375,0,0,0,0,0,0
$GC,1634,-1.32,-77.9,172.2,-7.9,173,1638,0.00,2.40,0.00,0.000,4,0.000,0.041,2441,469,3376,0,0,0,0,0,0
$GC,1690,-1.35,-77.9,177.3,-8.9,178,1695,0.00,2.25,0.00,0.000,6,0.000,0.019,2442,1883,3376,0,0,0,0,0,0
$GC,1953,-1.43,-77.9,199.2,-7.5,203,1958,0.17,2.45,0.00,0.000,4,0.051,0.042,2386,463,3376,0,0,0,0,0,0
$GC,1982,-1.33,-77.9,202.3,-10.4,205,1987,0.17,2.25,0.00,0.000,6,0.089,0.020,2422,1876,3376,0,0,0,0,0,0
$GC,2306,-1.37,-77.9,230.0,-8.2,221,2310,0.00,2.40,0.00,0.000,4,0.000,0.042,2422,464,3376,0,0,0,0,0,0
$GC,2361,-1.37,-77.9,234.9,-8.1,223,2365,0.00,2.25,0.00,0.000,6,0.000,0.020,2422,1877,3376,0,0,0,0,0,0
$GC,2683,-1.44,-77.9,260.8,-8.8,239,2687,0.00,2.42,0.00,0.000,4,0.000,0.043,2422,463,3375,0,0,0,0,0,0
$GC,2751,-1.48,-77.9,267.6,-10.1,242,2756,0.15,2.28,0.00,0.000,6,0.056,0.021,2374,1880,3375,0,0,0,0,0,0
$GC,3083,-1.45,-77.9,299.0,-8.6,258,3088,0.10,2.30,0.00,0.000,4,0.110,0.028,2394,3264,3375,0,0,0,0,0,0
$GC,3104,-1.48,-77.9,300.7,-7.6,259,3108,0.00,2.33,0.00,0.000,6,0.000,0.030,2395,1873,3375,0,0,0,0,0,0
$GC,3449,-1.48,-77.9,323.9,-6.9,268,3453,0.00,2.38,0.00,0.000,4,0.000,0.045,2394,473,3374,0,0,0,0,0,0
$GC,3560,-1.48,-77.9,334.4,-9.5,270,3564,0.00,2.28,0.00,0.000,6,0.000,0.023,2395,1878,3373,0,0,0,0,0,0
$GC,3909,-1.48,-77.9,368.2,-9.6,279,3913,0.00,2.42,0.00,0.000,4,0.000,0.046,2395,473,3371,0,0,0,0,0,0
$GC,3953,-1.48,-77.9,372.2,-9.6,280,3957,0.00,2.30,0.00,0.000,6,0.000,0.025,2395,1882,3371,0,0,0,0,0,0
$GC,4281,-1.52,-77.9,399.5,-7.6,288,4285,0.00,2.45,0.00,0.000,4,0.000,0.048,2395,464,3369,0,0,0,0,0,0
$GC,4338,-1.52,-77.9,404.0,-8.0,289,4342,0.00,2.30,0.00,0.000,6,0.000,0.025,2396,1874,3369,0,0,0,0,0,0
$GC,4657,-1.55,-77.9,425.0,-6.6,297,4660,0.00,2.42,0.00,0.000,4,0.000,0.049,2395,474,3366,0,0,0,0,0,0
$GC,4721,-1.55,-77.9,430.4,-8.5,298,4725,0.00,2.30,0.00,0.000,6,0.000,0.026,2396,1876,3366,0,0,0,0,0,0
$STATE,4987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4987,begin apogee
$GC,4994,-0.31,0.0,451.9,8.2,305,5061,1.15,0.00,64.15,0.865,6,0.071,0.000,2643,2032,3050,0,0,0,0,0,0
$STATE,5062,end apogee,CONTROL_FINISHED_OK
$STATE,5062,begin climb
$GC,5065,1.40,77.9,453.3,0.0,306,5140,1.62,2.40,64.62,0.846,4,0.029,0.038,3017,3381,2732,0,0,0,0,0,0
$GC,5321,1.24,138.8,452.0,3.8,311,5379,0.20,2.35,51.65,0.844,6,0.113,0.034,2990,2011,2484,0,0,0,0,0,0
$GC,5705,1.12,146.2,424.4,7.5,321,5718,0.17,2.53,6.43,0.667,4,0.114,0.051,2959,611,2454,0,0,0,0,0,0
$GC,5834,1.00,146.2,414.2,8.7,323,5839,0.15,2.30,0.00,0.000,6,0.123,0.028,2933,1990,2451,0,0,0,0,0,0
$GC,6165,1.02,164.4,391.6,6.8,331,6189,0.00,2.47,16.95,0.801,4,0.000,0.050,2933,605,2378,0,0,0,0,0,0
$GC,6200,1.04,182.4,389.2,6.8,331,6224,0.00,2.40,17.23,0.790,6,0.000,0.029,2933,2022,2306,0,0,0,0,0,0
$GC,6540,1.09,183.7,363.2,7.9,340,6545,0.00,2.50,0.00,0.000,4,0.000,0.051,2932,605,2300,0,0,0,0,0,0
$GC,6667,1.09,183.7,351.9,9.1,342,6672,0.00,2.35,0.00,0.000,6,0.000,0.029,2932,2014,2296,0,0,0,0,0,0
$GC,6999,1.14,187.7,324.9,7.7,350,7011,0.15,2.47,4.65,0.568,4,0.071,0.049,2970,607,2283,0,0,0,0,0,0
$GC,7174,1.07,195.3,310.2,7.5,353,7188,0.12,2.38,8.10,0.687,6,0.127,0.029,2949,2023,2253,0,0,0,0,0,0
$GC,7515,1.12,203.8,285.2,7.4,366,7531,0.00,2.38,9.10,0.689,4,0.000,0.035,2950,3404,2218,0,0,0,0,0,0
$GC,7578,1.21,230.3,280.8,6.2,368,7611,0.12,2.40,24.98,0.757,6,0.071,0.035,2982,2010,2111,0,0,0,0,0,0
$GC,7936,1.21,230.3,249.2,8.7,386,7940,0.00,2.50,0.00,0.000,4,0.000,0.051,2981,601,2105,0,0,0,0,0,0
$GC,8130,1.16,230.3,230.5,10.3,394,8134,0.00,2.35,0.00,0.000,6,0.000,0.028,2982,2010,2102,0,0,0,0,0,0
$GC,8445,1.16,230.3,204.0,8.6,409,8449,0.00,2.47,0.00,0.000,4,0.000,0.048,2982,600,2102,0,0,0,0,0,0
$GC,8483,1.11,230.3,200.3,9.6,410,8489,0.12,2.35,0.00,0.000,6,0.119,0.027,2959,2013,2100,0,0,0,0,0,0
$GC,8808,1.18,231.7,175.1,7.9,441,8812,0.00,2.45,0.00,0.000,4,0.000,0.048,2959,598,2101,0,0,0,0,0,0
$GC,8999,1.22,268.5,160.6,5.5,461,9037,0.00,2.35,32.95,0.659,6,0.000,0.025,2959,2024,1955,0,0,0,0,0,0
$GC,9299,1.35,269.8,139.1,7.9,490,9304,0.22,2.47,0.00,0.000,4,0.051,0.045,3017,598,1952,0,0,0,0,0,0
$GC,9421,1.30,269.8,126.2,10.0,502,9427,0.00,2.30,0.00,0.000,6,0.000,0.025,3017,2007,1948,0,0,0,0,0,0
$GC,9685,1.33,269.8,105.5,8.5,527,9689,0.00,2.42,0.00,0.000,4,0.000,0.044,3017,596,1948,0,0,0,0,0,0
$GC,9822,1.29,269.8,91.7,9.8,541,9827,0.12,2.33,0.00,0.000,6,0.107,0.023,2994,2024,1948,0,0,0,0,0,0
$GC,10088,1.41,293.8,72.2,6.4,566,10118,0.12,2.55,22.30,0.557,4,0.067,0.043,3031,597,1851,0,0,0,0,0,0
$GC,10248,1.36,293.8,57.3,10.6,583,10254,0.10,2.30,0.00,0.000,6,0.117,0.021,3013,2018,1847,0,0,0,0,0,0
$GC,10511,1.42,296.1,36.7,7.9,608,10516,0.00,2.42,0.00,0.000,4,0.000,0.042,3013,600,1847,0,0,0,0,0,0
$GC,10661,1.42,296.1,23.0,9.2,631,10667,0.00,2.30,0.00,0.000,6,0.000,0.020,3013,2027,1846,0,0,0,0,0,0
$GC,10871,1.49,296.1,5.3,10.1,668,10877,0.10,2.45,0.00,0.000,4,0.076,0.041,3047,594,1846,0,0,0,0,0,0
$STATE,10890,end climb,SURFACE_DEPTH_REACHED
$STATE,10890,begin surface coast
$FINISH,0.7,1.023219
$STATE,10923,end surface coast,CONTROL_FINISHED_OK
$STATE,10923,begin surface
$SM_CCo,10947,4.43,0.359,0,0,1826,300.00
$SM_GC,2.37,0.00,0.00,4.43,0.000,0.000,0.359,425,1874,1826,-10.53,0.00,300.00
$IRIDIUM_FIX,2054.83,-15452.85,230999,080814
$TT8_MAMPS,0.029146
$HUMID,53.54
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,23.3,56.512
$10V_AH,10.0,49.730
$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,27.525,128.200,323.100,4.425,0.000,52.660,64.282,280.101,4.500,0.000,33.459,1334.623,7458.377,384.732,1707.004,670.057,33.389,1305.536,0.000,1647.328,0.000,29.257,0.000
$DEVICE_MAMPS,132.691,53.690,865.176,358.956,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,456.464,451.007,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,34942,679
$CAP_FILE_SIZE,134389,0
$CFSIZE,260165632,221425664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290610,110852,2059.927,-15752.017,55,2.2,74,9.8