version: 66.06
glider: 139
mission: 7
dive: 634
start: 6 29 110 14 25 14
data:
$ID,139
$MISSION,7
$DIVE,634
$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,-2144692.5
$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
$GPS1,141801,2020.899,-16036.707,99,2.0,99,9.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.7
$GPS2,142423,2100.303,-15752.427,15,2.1,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.079,0.166
$KALMAN_X,-349105.8,-43.2,275.9,353198.6,-84.2
$KALMAN_Y,42981.0,-254.0,59.0,-55018.6,-997.5
$MHEAD_RNG_PITCHd_Wd,324.8,22324,-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,-77.9,0.0,0.0,0,69,0.00,0.00,-50.25,0.000,2,0.000,0.000,423,1854,3135,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.2,-5.1,10,96,10.77,2.42,-4.90,0.000,4,0.140,0.038,2403,3291,3370,0,0,0,0,0,0
$GC,181,-1.35,-77.9,22.8,-13.9,33,187,0.00,2.40,0.00,0.000,6,0.000,0.029,2403,1869,3371,0,0,0,0,0,0
$GC,382,-1.17,-77.9,54.0,-15.2,56,387,0.25,2.38,0.00,0.000,4,0.110,0.041,2454,470,3372,0,0,0,0,0,0
$GC,411,-1.04,-77.9,58.6,-14.4,58,418,0.10,2.30,0.00,0.000,6,0.088,0.019,2485,1913,3372,0,0,0,0,0,0
$GC,674,-1.09,-77.9,86.1,-10.4,83,678,0.00,2.50,0.00,0.000,4,0.000,0.042,2485,463,3373,0,0,0,0,0,0
$GC,773,-1.12,-77.9,96.8,-10.6,93,777,0.00,2.25,0.00,0.000,6,0.000,0.018,2485,1881,3373,0,0,0,0,0,0
$GC,1035,-1.21,-77.9,123.1,-10.4,117,1040,0.15,2.45,0.00,0.000,4,0.054,0.042,2433,463,3374,0,0,0,0,0,0
$GC,1118,-1.21,-77.9,132.8,-11.0,125,1124,0.00,2.25,0.00,0.000,6,0.000,0.019,2433,1877,3374,0,0,0,0,0,0
$GC,1381,-1.21,-77.9,157.0,-8.5,150,1385,0.00,2.40,0.00,0.000,4,0.000,0.041,2433,470,3375,0,0,0,0,0,0
$GC,1499,-1.21,-77.9,168.0,-9.8,162,1503,0.00,2.22,0.00,0.000,6,0.000,0.019,2433,1881,3375,0,0,0,0,0,0
$GC,1762,-1.26,-77.9,189.9,-8.2,186,1766,0.00,2.42,0.00,0.000,4,0.000,0.041,2433,460,3376,0,0,0,0,0,0
$GC,1805,-1.26,-77.9,194.0,-9.0,190,1809,0.00,2.28,0.00,0.000,6,0.000,0.019,2433,1884,3376,0,0,0,0,0,0
$GC,2071,-1.32,-77.9,217.3,-8.8,206,2075,0.00,2.42,0.00,0.000,4,0.000,0.042,2433,469,3376,0,0,0,0,0,0
$GC,2115,-1.37,-77.9,221.3,-9.7,208,2119,0.00,2.22,0.00,0.000,6,0.000,0.020,2433,1879,3376,0,0,0,0,0,0
$GC,2446,-1.45,-77.9,248.7,-7.5,224,2451,0.15,2.42,0.00,0.000,4,0.055,0.043,2380,461,3376,0,0,0,0,0,0
$GC,2485,-1.37,-77.9,252.6,-10.0,225,2491,0.17,2.28,0.00,0.000,6,0.099,0.021,2416,1880,3376,0,0,0,0,0,0
$GC,2802,-1.41,-77.9,277.7,-8.0,241,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1883,3376,0,0,0,0,0,0
$GC,3130,-1.49,-77.9,306.9,-8.4,255,3135,0.12,2.45,0.00,0.000,4,0.062,0.045,2372,466,3375,0,0,0,0,0,0
$GC,3182,-1.41,-77.9,312.1,-10.4,256,3187,0.15,2.25,0.00,0.000,6,0.104,0.022,2402,1872,3375,0,0,0,0,0,0
$GC,3502,-1.45,-77.9,338.4,-8.7,264,3506,0.00,2.42,0.00,0.000,4,0.000,0.046,2402,467,3374,0,0,0,0,0,0
$GC,3585,-1.45,-77.9,346.8,-9.3,265,3591,0.00,2.28,0.00,0.000,6,0.000,0.024,2402,1873,3374,0,0,0,0,0,0
$GC,3918,-1.48,-77.9,375.6,-8.3,274,3922,0.00,2.42,0.00,0.000,4,0.000,0.048,2402,473,3371,0,0,0,0,0,0
$GC,4004,-1.48,-77.9,382.9,-7.9,275,4010,0.00,2.30,0.00,0.000,6,0.000,0.025,2402,1881,3371,0,0,0,0,0,0
$GC,4335,-1.52,-77.9,407.9,-7.2,284,4340,0.00,2.45,0.00,0.000,4,0.000,0.048,2402,472,3369,0,0,0,0,0,0
$GC,4415,-1.52,-77.9,415.3,-9.3,285,4419,0.00,2.30,0.00,0.000,6,0.000,0.025,2402,1881,3368,0,0,0,0,0,0
$GC,4752,-1.57,-77.9,444.4,-8.4,294,4757,0.12,2.47,0.00,0.000,4,0.066,0.051,2362,473,3365,0,0,0,0,0,0
$GC,4805,-1.49,-77.9,450.0,-10.6,295,4809,0.00,2.08,0.00,0.000,3,0.000,0.026,2363,1735,3365,0,0,0,0,0,0
$STATE,4810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4810,begin apogee
$GC,4816,-0.31,0.0,450.6,11.0,295,4886,1.33,0.00,64.10,0.861,6,0.086,0.000,2641,2023,3050,0,0,0,0,0,0
$STATE,4887,end apogee,CONTROL_FINISHED_OK
$STATE,4887,begin climb
$GC,4889,1.40,77.9,452.9,0.0,297,4965,1.65,2.45,64.30,0.842,4,0.038,0.038,2991,3398,2732,0,0,0,0,0,0
$GC,5031,1.26,147.5,454.0,3.2,300,5099,0.15,2.40,59.25,0.837,6,0.122,0.033,2992,2003,2448,0,0,0,0,0,0
$GC,5430,1.14,147.5,422.4,8.5,310,5435,0.15,2.42,0.00,0.000,4,0.120,0.050,2965,605,2439,0,0,0,0,0,0
$GC,5445,1.01,147.5,421.1,8.2,310,5450,0.17,2.35,0.00,0.000,6,0.118,0.027,2935,2006,2438,0,0,0,0,0,0
$GC,5796,1.02,159.0,396.7,7.2,319,5813,0.00,2.50,9.50,0.731,4,0.000,0.048,2935,606,2400,0,0,0,0,0,0
$GC,5865,0.97,159.0,391.1,8.5,320,5869,0.00,2.35,0.00,0.000,6,0.000,0.028,2935,2010,2397,0,0,0,0,0,0
$GC,6213,0.97,159.0,363.4,8.1,329,6218,0.00,2.47,0.00,0.000,4,0.000,0.050,2934,605,2396,0,0,0,0,0,0
$GC,6358,0.93,159.0,349.9,8.6,332,6362,0.00,2.33,0.00,0.000,6,0.000,0.028,2935,2013,2394,0,0,0,0,0,0
$GC,6677,0.94,167.2,325.5,7.5,340,6689,0.00,2.53,7.25,0.670,4,0.000,0.051,2935,599,2368,0,0,0,0,0,0
$GC,6819,0.94,167.7,313.6,8.0,343,6823,0.00,2.35,0.00,0.000,6,0.000,0.028,2935,2012,2366,0,0,0,0,0,0
$GC,7145,1.03,201.5,291.8,5.7,354,7181,0.00,2.55,31.25,0.771,4,0.000,0.051,2935,607,2228,0,0,0,0,0,0
$GC,7274,1.04,208.7,282.5,7.5,359,7287,0.00,2.35,7.30,0.640,6,0.000,0.029,2935,2018,2198,0,0,0,0,0,0
$GC,7614,1.13,208.7,257.4,8.1,376,7619,0.10,2.50,0.00,0.000,4,0.084,0.049,2962,605,2195,0,0,0,0,0,0
$GC,7638,1.13,208.7,255.0,9.1,377,7642,0.00,2.35,0.00,0.000,6,0.000,0.028,2961,2010,2193,0,0,0,0,0,0
$GC,7964,1.19,227.8,229.6,6.7,393,7986,0.00,2.58,17.60,0.700,4,0.000,0.048,2961,601,2121,0,0,0,0,0,0
$GC,8015,1.20,236.7,225.8,7.4,395,8033,0.00,2.38,9.10,0.632,6,0.000,0.027,2962,2017,2085,0,0,0,0,0,0
$GC,8345,1.29,240.5,202.3,7.8,411,8357,0.15,2.47,4.93,0.512,4,0.064,0.047,3001,604,2068,0,0,0,0,0,0
$GC,8532,1.23,240.5,183.9,9.0,430,8536,0.00,2.35,0.00,0.000,6,0.000,0.025,3002,2018,2065,0,0,0,0,0,0
$GC,8795,1.23,240.5,163.6,8.1,454,8799,0.00,2.47,0.00,0.000,4,0.000,0.046,3001,601,2064,0,0,0,0,0,0
$GC,8841,1.18,240.5,159.0,9.7,458,8848,0.15,2.35,0.00,0.000,6,0.110,0.025,2975,2023,2064,0,0,0,0,0,0
$GC,9107,1.28,250.2,139.9,7.4,483,9125,0.00,2.53,9.68,0.573,4,0.000,0.044,2974,606,2028,0,0,0,0,0,0
$GC,9257,1.32,251.8,128.0,7.9,499,9262,0.12,2.30,0.00,0.000,6,0.067,0.023,3011,2021,2025,0,0,0,0,0,0
$GC,9518,1.41,295.0,110.8,5.0,523,9563,0.00,2.53,39.65,0.602,4,0.000,0.044,3011,598,1847,0,0,0,0,0,0
$GC,9786,1.41,295.0,84.1,11.9,552,9792,0.00,2.33,0.00,0.000,6,0.000,0.021,3011,2022,1842,0,0,0,0,0,0
$GC,10050,1.48,298.1,60.5,7.8,577,10055,0.10,2.47,0.00,0.000,4,0.075,0.042,3045,601,1841,0,0,0,0,0,0
$GC,10181,1.40,298.1,46.1,10.4,590,10187,0.12,2.30,0.00,0.000,6,0.106,0.021,3021,2018,1840,0,0,0,0,0,0
$GC,10446,1.45,298.1,22.8,8.4,622,10451,0.00,2.42,0.00,0.000,4,0.000,0.041,3021,597,1840,0,0,0,0,0,0
$GC,10522,1.45,298.1,15.4,10.0,638,10527,0.00,2.30,0.00,0.000,6,0.000,0.021,3021,2014,1840,0,0,0,0,0,0
$STATE,10655,end climb,SURFACE_DEPTH_REACHED
$STATE,10657,begin surface coast
$FINISH,0.7,1.023152
$STATE,10690,end surface coast,CONTROL_FINISHED_OK
$STATE,10690,begin surface
$SM_CCo,10711,3.22,0.288,0,0,1827,300.00
$SM_GC,2.24,0.00,0.00,3.22,0.000,0.000,0.288,427,1847,1827,-10.52,-0.76,300.00
$IRIDIUM_FIX,2052.52,-15749.62,230999,111157
$TT8_MAMPS,0.029146
$HUMID,53.74
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,23.3,56.686
$10V_AH,10.0,49.842
$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,27.375,129.400,323.900,3.225,0.000,30.081,42.055,168.253,4.500,0.000,35.244,1298.088,7302.489,382.290,1624.921,486.778,33.375,1271.953,0.000,1558.366,0.000,29.252,0.000
$DEVICE_MAMPS,140.361,50.622,861.341,287.625,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,448.509,433.786,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,34919,668
$CAP_FILE_SIZE,127247,0
$CFSIZE,260165632,221306880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290610,172536,2100.699,-15752.980,69,1.3,69,9.8