version: 66.06
glider: 139
mission: 7
dive: 636
start: 6 29 110 20 29 6
data:
$ID,139
$MISSION,7
$DIVE,636
$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,-2144723
$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
$GPS1,202237,2101.221,-15753.597,140,1.1,140,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-71.0
$GPS2,202814,2101.219,-15753.595,12,1.6,12,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.181,0.033
$KALMAN_X,-347697.8,-245.7,-260.4,350511.9,1388.2
$KALMAN_Y,41855.9,-150.2,-88.8,-52155.4,201.0
$MHEAD_RNG_PITCHd_Wd,270.7,19690,-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,-50.03,0.000,2,0.000,0.000,431,1852,3137,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.3,-5.2,10,96,10.48,2.45,-4.78,0.000,4,0.130,0.036,2407,3301,3371,0,0,0,0,0,0
$GC,232,-1.40,-77.9,30.1,-13.3,44,236,0.00,2.42,0.00,0.000,6,0.000,0.030,2406,1867,3372,0,0,0,0,0,0
$GC,495,-1.24,-77.9,67.3,-13.3,68,500,0.17,2.40,0.00,0.000,4,0.099,0.041,2442,469,3373,0,0,0,0,0,0
$GC,548,-1.14,-77.9,74.7,-12.6,73,553,0.10,2.30,0.00,0.000,6,0.115,0.019,2464,1909,3373,0,0,0,0,0,0
$GC,812,-1.18,-77.9,99.5,-8.5,97,819,0.00,2.45,0.00,0.000,4,0.000,0.041,2463,473,3374,0,0,0,0,0,0
$GC,884,-1.22,-77.9,106.8,-10.1,104,890,0.00,2.25,0.00,0.000,6,0.000,0.018,2463,1885,3374,0,0,0,0,0,0
$GC,1148,-1.29,-77.9,129.4,-8.5,129,1150,0.15,0.00,0.00,0.000,6,0.054,0.000,2413,1889,3375,0,0,0,0,0,0
$GC,1402,-1.29,-77.9,155.5,-10.6,153,1406,0.00,2.40,0.00,0.000,4,0.000,0.041,2413,470,3376,0,0,0,0,0,0
$GC,1491,-1.26,-77.9,165.6,-11.1,162,1496,0.12,2.25,0.00,0.000,6,0.097,0.019,2440,1878,3376,0,0,0,0,0,0
$GC,1758,-1.30,-77.9,188.1,-7.5,187,1762,0.00,2.40,0.00,0.000,4,0.000,0.042,2439,464,3377,0,0,0,0,0,0
$GC,1801,-1.35,-77.9,191.6,-7.7,191,1806,0.00,2.25,0.00,0.000,6,0.000,0.019,2440,1877,3377,0,0,0,0,0,0
$GC,2058,-1.42,-77.9,211.1,-8.5,210,2060,0.15,0.00,0.00,0.000,6,0.055,0.000,2391,1881,3377,0,0,0,0,0,0
$GC,2368,-1.39,-77.9,242.2,-10.0,225,2373,0.10,2.42,0.00,0.000,4,0.107,0.043,2410,470,3377,0,0,0,0,0,0
$GC,2440,-1.39,-77.9,249.3,-9.6,228,2444,0.00,2.25,0.00,0.000,6,0.000,0.020,2411,1876,3377,0,0,0,0,0,0
$GC,2764,-1.39,-77.9,276.3,-7.9,244,2769,0.00,2.42,0.00,0.000,4,0.000,0.044,2410,464,3377,0,0,0,0,0,0
$GC,2802,-1.39,-77.9,279.7,-9.0,245,2809,0.00,2.28,0.00,0.000,6,0.000,0.021,2411,1884,3377,0,0,0,0,0,0
$GC,3120,-1.45,-77.9,301.2,-6.4,261,3125,0.00,2.40,0.00,0.000,4,0.000,0.044,2411,470,3376,0,0,0,0,0,0
$GC,3213,-1.45,-77.9,308.6,-9.2,263,3218,0.00,2.25,0.00,0.000,6,0.000,0.021,2411,1881,3376,0,0,0,0,0,0
$GC,3536,-1.50,-77.9,336.7,-8.4,271,3541,0.10,2.45,0.00,0.000,4,0.074,0.047,2376,463,3375,0,0,0,0,0,0
$GC,3612,-1.43,-77.9,345.0,-11.6,272,3617,0.12,2.30,0.00,0.000,6,0.097,0.023,2402,1880,3374,0,0,0,0,0,0
$GC,3949,-1.47,-77.9,370.8,-7.0,281,3953,0.00,2.42,0.00,0.000,4,0.000,0.047,2402,469,3373,0,0,0,0,0,0
$GC,3987,-1.47,-77.9,373.7,-7.4,281,3993,0.00,2.30,0.00,0.000,6,0.000,0.024,2402,1883,3372,0,0,0,0,0,0
$GC,4319,-1.51,-77.9,398.3,-7.7,290,4323,0.00,2.45,0.00,0.000,4,0.000,0.048,2402,471,3371,0,0,0,0,0,0
$GC,4369,-1.51,-77.9,402.8,-9.1,291,4374,0.00,2.28,0.00,0.000,6,0.000,0.025,2402,1874,3370,0,0,0,0,0,0
$GC,4693,-1.56,-77.9,424.2,-6.5,299,4698,0.12,2.45,0.00,0.000,4,0.067,0.050,2364,466,3368,0,0,0,0,0,0
$GC,4802,-1.46,-77.9,434.7,-10.6,301,4807,0.15,2.33,0.00,0.000,6,0.095,0.026,2396,1879,3367,0,0,0,0,0,0
$STATE,4988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4988,begin apogee
$GC,4995,-0.31,0.0,450.5,8.2,306,5063,1.15,0.00,64.47,0.865,6,0.070,0.000,2644,2034,3050,0,0,0,0,0,0
$STATE,5063,end apogee,CONTROL_FINISHED_OK
$STATE,5064,begin climb
$GC,5066,1.40,77.9,451.5,0.0,307,5142,1.62,2.40,64.72,0.844,4,0.030,0.038,3014,3379,2732,0,0,0,0,0,0
$GC,5217,1.25,159.0,453.0,2.4,310,5297,0.20,2.35,69.30,0.844,6,0.114,0.033,2989,2008,2401,0,0,0,0,0,0
$GC,5616,1.14,159.0,422.7,8.2,320,5621,0.15,2.47,0.00,0.000,4,0.118,0.050,2960,603,2391,0,0,0,0,0,0
$GC,5640,1.01,159.0,420.4,8.4,320,5645,0.15,2.33,0.00,0.000,6,0.117,0.028,2936,1987,2389,0,0,0,0,0,0
$GC,5982,1.01,159.0,394.0,8.3,329,5986,0.00,2.45,0.00,0.000,4,0.000,0.050,2937,601,2388,0,0,0,0,0,0
$GC,6033,0.96,159.0,388.9,10.0,330,6037,0.00,2.35,0.00,0.000,6,0.000,0.028,2937,2015,2386,0,0,0,0,0,0
$GC,6351,0.96,159.0,362.7,8.3,338,6355,0.00,2.47,0.00,0.000,4,0.000,0.050,2937,608,2385,0,0,0,0,0,0
$GC,6417,0.91,159.1,357.4,8.0,339,6422,0.12,2.38,0.00,0.000,6,0.120,0.028,2915,2021,2384,0,0,0,0,0,0
$GC,6768,1.01,179.4,333.9,6.6,348,6787,0.00,0.00,15.65,0.769,6,0.000,0.000,2915,2025,2318,0,0,0,0,0,0
$GC,7097,1.11,185.8,309.1,7.6,356,7110,0.17,2.53,6.78,0.653,4,0.063,0.050,2958,600,2292,0,0,0,0,0,0
$GC,7296,1.06,185.8,292.0,8.6,361,7300,0.00,2.38,0.00,0.000,6,0.000,0.029,2957,2015,2288,0,0,0,0,0,0
$GC,7611,1.07,196.2,268.8,7.3,376,7627,0.00,2.55,10.20,0.692,4,0.000,0.050,2958,608,2250,0,0,0,0,0,0
$GC,7651,1.03,196.2,265.3,9.5,377,7657,0.00,2.38,0.00,0.000,6,0.000,0.029,2957,2013,2248,0,0,0,0,0,0
$GC,7968,1.11,229.7,242.5,5.7,393,8004,0.00,2.58,30.92,0.733,4,0.000,0.049,2958,602,2112,0,0,0,0,0,0
$GC,8064,1.12,235.0,235.6,7.7,397,8078,0.00,2.38,5.40,0.548,6,0.000,0.028,2958,2023,2092,0,0,0,0,0,0
$GC,8391,1.20,250.6,211.4,6.9,413,8413,0.00,2.55,15.32,0.673,4,0.000,0.048,2958,600,2028,0,0,0,0,0,0
$GC,8562,1.20,250.6,197.1,8.5,422,8568,0.00,2.35,0.00,0.000,6,0.000,0.026,2958,2008,2023,0,0,0,0,0,0
$GC,8825,1.29,250.6,174.5,9.3,447,8830,0.15,2.47,0.00,0.000,4,0.064,0.048,2997,605,2023,0,0,0,0,0,0
$GC,8873,1.23,250.6,168.6,12.2,451,8879,0.00,2.35,0.00,0.000,6,0.000,0.025,2998,2024,2021,0,0,0,0,0,0
$GC,9136,1.26,250.6,145.1,8.4,476,9140,0.00,2.45,0.00,0.000,4,0.000,0.046,2997,605,2021,0,0,0,0,0,0
$GC,9308,1.28,262.5,130.8,7.2,494,9325,0.00,2.33,11.10,0.578,6,0.000,0.024,2998,2027,1978,0,0,0,0,0,0
$GC,9587,1.37,273.8,110.5,7.2,521,9605,0.00,2.50,11.32,0.558,4,0.000,0.044,2998,605,1933,0,0,0,0,0,0
$GC,9709,1.37,273.8,99.8,8.4,534,9713,0.00,2.30,0.00,0.000,6,0.000,0.022,2998,2007,1929,0,0,0,0,0,0
$GC,9975,1.46,285.7,79.6,7.2,558,9994,0.15,2.47,11.70,0.534,4,0.059,0.044,3042,602,1884,0,0,0,0,0,0
$GC,10092,1.39,285.7,68.4,10.0,570,10098,0.12,2.30,0.00,0.000,6,0.107,0.021,3019,2021,1881,0,0,0,0,0,0
$GC,10353,1.45,300.8,48.6,7.0,595,10374,0.00,2.50,14.60,0.518,4,0.000,0.043,3018,612,1822,0,0,0,0,0,0
$GC,10486,1.45,300.8,37.4,9.0,609,10491,0.00,2.28,0.00,0.000,6,0.000,0.021,3018,2014,1819,0,0,0,0,0,0
$GC,10756,1.50,300.8,16.0,8.5,649,10762,0.10,2.42,0.00,0.000,4,0.075,0.042,3052,601,1819,0,0,0,0,0,0
$GC,10821,1.41,300.8,8.9,11.8,662,10827,0.15,2.28,0.00,0.000,6,0.100,0.020,3022,2008,1818,0,0,0,0,0,0
$STATE,10888,end climb,SURFACE_DEPTH_REACHED
$STATE,10889,begin surface coast
$FINISH,0.5,1.023219
$STATE,10930,end surface coast,CONTROL_FINISHED_OK
$STATE,10931,begin surface
$SM_CCo,11012,0.00,0.000,0,0,1814,303.44
$SM_GC,1.48,11.18,0.00,0.00,0.028,0.000,0.000,428,1858,1814,-10.44,-0.48,303.44
$IRIDIUM_FIX,2052.52,-15754.77,230999,171711
$TT8_MAMPS,0.029146
$HUMID,53.38
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.3,56.855
$10V_AH,10.0,49.950
$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,27.200,124.500,331.500,0.000,0.000,25.066,30.275,158.304,4.500,0.000,13.042,1320.758,7556.604,392.917,1599.974,475.334,33.383,1280.902,0.000,1563.277,0.000,29.261,0.000
$DEVICE_MAMPS,129.623,52.923,865.176,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,457.458,446.731,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34939,681
$CAP_FILE_SIZE,127313,0
$CFSIZE,260165632,221188096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290610,233523,2101.354,-15753.957,109,4.1,128,9.8