version: 66.06
glider: 139
mission: 7
dive: 633
start: 6 29 110 11 19 7
data:
$ID,139
$MISSION,7
$DIVE,633
$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,-2144656.5
$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
$GPS1,110852,2059.927,-15752.017,55,2.2,74,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-70.4
$GPS2,111816,2059.929,-15752.008,14,8.0,33,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.103,0.153
$KALMAN_X,-349851.8,224.4,325.1,354347.6,200.2
$KALMAN_Y,43503.4,-116.0,418.9,-56728.6,-859.6
$MHEAD_RNG_PITCHd_Wd,316.3,23326,-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,-50.47,0.000,2,0.000,0.000,425,1874,3160,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.5,-6.5,10,95,10.57,2.42,-4.25,0.000,4,0.133,0.037,2403,3305,3370,0,0,0,0,0,0
$GC,199,-1.35,-77.9,26.3,-12.9,37,205,0.00,2.40,0.00,0.000,6,0.000,0.030,2403,1874,3372,0,0,0,0,0,0
$GC,398,-1.17,-77.9,57.8,-15.6,58,403,0.25,2.42,0.00,0.000,4,0.095,0.041,2457,459,3373,0,0,0,0,0,0
$GC,439,-1.06,-77.9,63.7,-14.1,61,445,0.12,2.33,0.00,0.000,6,0.104,0.019,2482,1915,3373,0,0,0,0,0,0
$GC,701,-1.10,-77.9,89.2,-8.2,86,705,0.00,2.50,0.00,0.000,4,0.000,0.041,2482,462,3374,0,0,0,0,0,0
$GC,762,-1.13,-77.9,94.9,-8.5,92,768,0.00,2.28,0.00,0.000,6,0.000,0.019,2482,1885,3374,0,0,0,0,0,0
$GC,1025,-1.20,-77.9,116.3,-8.8,117,1030,0.15,2.45,0.00,0.000,4,0.055,0.042,2431,466,3375,0,0,0,0,0,0
$GC,1110,-1.20,-77.9,127.0,-11.1,125,1115,0.00,2.25,0.00,0.000,6,0.000,0.019,2431,1878,3375,0,0,0,0,0,0
$GC,1374,-1.20,-77.9,156.2,-10.8,150,1378,0.00,2.42,0.00,0.000,4,0.000,0.041,2431,462,3376,0,0,0,0,0,0
$GC,1436,-1.16,-77.9,162.8,-10.4,156,1441,0.12,2.25,0.00,0.000,6,0.096,0.019,2458,1878,3376,0,0,0,0,0,0
$GC,1702,-1.24,-77.9,182.5,-6.7,181,1706,0.00,2.25,0.00,0.000,4,0.000,0.025,2457,3259,3376,0,0,0,0,0,0
$GC,1742,-1.43,-77.9,185.2,-7.3,185,1747,0.25,2.30,0.00,0.000,6,0.041,0.026,2383,1868,3376,0,0,0,0,0,0
$GC,2012,-1.36,-77.9,212.2,-10.9,205,2017,0.15,2.40,0.00,0.000,4,0.093,0.042,2414,466,3377,0,0,0,0,0,0
$GC,2102,-1.36,-77.9,222.1,-10.7,209,2106,0.00,2.25,0.00,0.000,6,0.000,0.019,2414,1879,3377,0,0,0,0,0,0
$GC,2433,-1.39,-77.9,252.3,-9.3,225,2437,0.00,2.40,0.00,0.000,4,0.000,0.041,2414,473,3377,0,0,0,0,0,0
$GC,2499,-1.39,-77.9,258.5,-9.0,228,2504,0.00,2.25,0.00,0.000,6,0.000,0.020,2414,1880,3377,0,0,0,0,0,0
$GC,2831,-1.43,-77.9,283.5,-7.5,244,2835,0.00,2.40,0.00,0.000,4,0.000,0.042,2414,474,3376,0,0,0,0,0,0
$GC,2892,-1.43,-77.9,288.5,-8.7,246,2897,0.00,2.25,0.00,0.000,6,0.000,0.021,2414,1878,3376,0,0,0,0,0,0
$GC,3226,-1.49,-77.9,311.1,-6.2,259,3228,0.12,0.00,0.00,0.000,6,0.064,0.000,2373,1882,3375,0,0,0,0,0,0
$GC,3550,-1.49,-77.9,339.0,-9.2,267,3554,0.00,2.42,0.00,0.000,4,0.000,0.045,2373,471,3374,0,0,0,0,0,0
$GC,3629,-1.42,-77.9,347.4,-11.1,268,3634,0.15,2.28,0.00,0.000,6,0.094,0.023,2404,1873,3374,0,0,0,0,0,0
$GC,3961,-1.46,-77.9,373.0,-7.4,276,3965,0.00,2.42,0.00,0.000,4,0.000,0.048,2404,473,3372,0,0,0,0,0,0
$GC,4008,-1.46,-77.9,377.2,-9.2,277,4012,0.00,2.28,0.00,0.000,6,0.000,0.025,2404,1874,3373,0,0,0,0,0,0
$GC,4334,-1.51,-77.9,403.0,-7.9,285,4338,0.00,2.40,0.00,0.000,4,0.000,0.048,2404,477,3370,0,0,0,0,0,0
$GC,4385,-1.51,-77.9,407.5,-8.7,286,4389,0.00,2.30,0.00,0.000,6,0.000,0.025,2404,1881,3369,0,0,0,0,0,0
$GC,4704,-1.56,-77.9,431.2,-7.1,294,4709,0.15,2.47,0.00,0.000,4,0.060,0.051,2361,473,3367,0,0,0,0,0,0
$GC,4752,-1.48,-77.9,435.7,-9.3,295,4756,0.15,2.30,0.00,0.000,6,0.096,0.026,2392,1875,3367,0,0,0,0,0,0
$STATE,4950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4950,begin apogee
$GC,4957,-0.31,0.0,451.8,8.0,300,5025,1.17,0.00,64.25,0.861,6,0.073,0.000,2645,2031,3050,0,0,0,0,0,0
$STATE,5026,end apogee,CONTROL_FINISHED_OK
$STATE,5026,begin climb
$GC,5029,1.40,77.9,453.1,0.0,301,5104,1.62,2.40,64.55,0.839,4,0.030,0.037,3020,3382,2732,0,0,0,0,0,0
$GC,5133,1.26,165.7,455.4,2.0,303,5217,0.20,2.35,74.88,0.836,6,0.114,0.031,2993,2012,2373,0,0,0,0,0,0
$GC,5532,1.15,165.7,416.2,11.0,313,5537,0.15,2.47,0.00,0.000,4,0.122,0.049,2965,605,2363,0,0,0,0,0,0
$GC,5588,1.02,165.7,410.0,10.0,314,5593,0.15,2.30,0.00,0.000,6,0.125,0.027,2941,1991,2360,0,0,0,0,0,0
$GC,5903,1.02,165.7,382.5,8.7,322,5907,0.00,2.45,0.00,0.000,4,0.000,0.051,2939,605,2359,0,0,0,0,0,0
$GC,5987,0.98,165.7,374.3,10.0,323,5992,0.00,2.33,0.00,0.000,6,0.000,0.028,2940,2010,2357,0,0,0,0,0,0
$GC,6317,0.98,165.7,345.0,9.0,332,6322,0.00,2.45,0.00,0.000,4,0.000,0.049,2940,604,2356,0,0,0,0,0,0
$GC,6411,0.94,165.7,335.9,9.8,334,6416,0.12,2.35,0.00,0.000,6,0.123,0.028,2918,2010,2355,0,0,0,0,0,0
$GC,6735,1.02,172.6,310.4,7.5,342,6739,0.00,2.45,0.00,0.000,4,0.000,0.050,2918,602,2354,0,0,0,0,0,0
$GC,6884,1.03,183.4,298.1,7.3,345,6904,0.00,2.35,12.90,0.729,6,0.000,0.028,2918,2014,2301,0,0,0,0,0,0
$GC,7227,1.16,200.2,273.2,6.9,362,7251,0.22,2.40,16.17,0.730,4,0.058,0.035,2972,3405,2232,0,0,0,0,0,0
$GC,7284,1.16,200.2,268.2,8.8,364,7289,0.00,2.40,0.00,0.000,6,0.000,0.035,2973,2015,2232,0,0,0,0,0,0
$GC,7599,1.19,230.2,246.9,6.0,380,7631,0.00,2.53,27.35,0.731,4,0.000,0.050,2973,598,2111,0,0,0,0,0,0
$GC,7735,1.15,230.2,235.7,9.0,386,7739,0.00,2.38,0.00,0.000,6,0.000,0.028,2973,2012,2105,0,0,0,0,0,0
$GC,8065,1.19,230.2,205.9,9.2,402,8070,0.00,2.45,0.00,0.000,4,0.000,0.048,2973,604,2104,0,0,0,0,0,0
$GC,8182,1.19,230.2,194.4,10.3,411,8186,0.00,2.35,0.00,0.000,6,0.000,0.027,2973,2017,2102,0,0,0,0,0,0
$GC,8445,1.25,230.2,174.8,8.1,435,8449,0.00,2.47,0.00,0.000,4,0.000,0.048,2972,601,2102,0,0,0,0,0,0
$GC,8497,1.25,230.2,170.0,8.7,440,8501,0.00,2.33,0.00,0.000,6,0.000,0.026,2973,2011,2100,0,0,0,0,0,0
$GC,8761,1.33,231.9,150.1,7.9,464,8766,0.15,2.45,0.00,0.000,4,0.064,0.046,3013,602,2101,0,0,0,0,0,0
$GC,8871,1.28,231.9,138.7,10.7,475,8875,0.00,2.33,0.00,0.000,6,0.000,0.024,3014,2022,2100,0,0,0,0,0,0
$GC,9139,1.33,267.1,119.1,5.6,500,9176,0.00,2.53,31.77,0.611,4,0.000,0.044,3014,602,1961,0,0,0,0,0,0
$GC,9287,1.33,267.1,106.8,8.7,516,9293,0.00,2.33,0.00,0.000,6,0.000,0.022,3014,2021,1956,0,0,0,0,0,0
$GC,9551,1.37,268.5,86.7,7.9,541,9555,0.00,2.45,0.00,0.000,4,0.000,0.043,3014,594,1956,0,0,0,0,0,0
$GC,9678,1.37,268.5,75.6,9.0,554,9683,0.00,2.30,0.00,0.000,6,0.000,0.021,3013,2018,1954,0,0,0,0,0,0
$GC,9942,1.42,276.1,56.0,7.5,578,9959,0.00,2.45,8.85,0.487,4,0.000,0.041,3014,598,1923,0,0,0,0,0,0
$GC,10085,1.42,276.1,43.0,9.3,593,10090,0.00,2.28,0.00,0.000,6,0.000,0.020,3014,2015,1921,0,0,0,0,0,0
$GC,10352,1.50,289.7,21.5,7.1,627,10371,0.12,2.45,13.48,0.489,4,0.066,0.041,3053,599,1867,0,0,0,0,0,0
$GC,10475,1.41,289.7,9.7,11.8,653,10481,0.15,2.28,0.00,0.000,6,0.100,0.020,3023,2017,1863,0,0,0,0,0,0
$STATE,10536,end climb,SURFACE_DEPTH_REACHED
$STATE,10536,begin surface coast
$FINISH,0.5,1.012231
$STATE,10568,end surface coast,CONTROL_FINISHED_OK
$STATE,10568,begin surface
$SM_CCo,10589,7.97,0.438,0,0,1827,300.00
$SM_GC,2.37,0.00,0.00,7.97,0.000,0.000,0.438,424,1850,1827,-10.54,-0.71,300.00
$IRIDIUM_FIX,2052.52,-15754.77,230999,111135
$TT8_MAMPS,0.029146
$HUMID,53.30
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,23.3,56.601
$10V_AH,10.0,49.786
$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,27.425,128.550,314.200,7.975,0.000,54.810,54.520,239.655,4.750,0.000,34.785,1290.365,7273.486,389.316,1591.030,612.852,33.378,1255.255,0.000,1530.741,0.000,30.830,0.000
$DEVICE_MAMPS,132.691,52.923,861.341,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,448.849,443.674,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,34899,669
$CAP_FILE_SIZE,128870,0
$CFSIZE,260165632,221368320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290610,141801,2020.899,-16036.707,99,2.0,99,9.6