version: 66.06
glider: 139
mission: 7
dive: 639
start: 6 30 110 6 11 28
data:
$ID,139
$MISSION,7
$DIVE,639
$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,-2144815
$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
$GPS1,055712,2102.592,-15755.312,76,1.8,82,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-68.9
$GPS2,061037,2102.725,-15755.364,28,1.9,28,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.155,0.099
$KALMAN_X,-346365.3,138.4,-416.8,345900.2,555.6
$KALMAN_Y,40762.7,332.4,-248.4,-48602.8,-46.2
$MHEAD_RNG_PITCHd_Wd,292.7,15552,-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,-50.65,0.000,2,0.000,0.000,425,1889,3103,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.2,-5.6,10,96,10.55,2.38,-5.57,0.000,4,0.131,0.039,2404,3291,3370,0,0,0,0,0,0
$GC,223,-1.35,-77.9,28.4,-13.8,42,229,0.00,2.35,0.00,0.000,6,0.000,0.025,2405,1869,3371,0,0,0,0,0,0
$GC,422,-1.19,-77.9,57.3,-14.3,62,427,0.22,2.38,0.00,0.000,4,0.094,0.040,2449,468,3372,0,0,0,0,0,0
$GC,498,-1.13,-77.9,67.4,-12.1,69,503,0.00,2.30,0.00,0.000,6,0.000,0.019,2450,1908,3373,0,0,0,0,0,0
$GC,759,-1.13,-77.9,97.0,-11.6,94,763,0.00,2.47,0.00,0.000,4,0.000,0.041,2449,466,3373,0,0,0,0,0,0
$GC,802,-1.13,-77.9,102.7,-13.2,98,806,0.00,2.28,0.00,0.000,6,0.000,0.019,2450,1885,3373,0,0,0,0,0,0
$GC,1065,-1.18,-77.9,129.1,-9.1,122,1069,0.00,2.40,0.00,0.000,4,0.000,0.041,2450,470,3374,0,0,0,0,0,0
$GC,1184,-1.22,-77.9,139.5,-8.6,134,1189,0.00,2.25,0.00,0.000,6,0.000,0.018,2450,1885,3374,0,0,0,0,0,0
$GC,1453,-1.31,-77.9,160.4,-7.9,159,1457,0.00,2.42,0.00,0.000,4,0.000,0.041,2450,463,3375,0,0,0,0,0,0
$GC,1563,-1.38,-77.9,169.8,-8.8,170,1568,0.17,2.25,0.00,0.000,6,0.050,0.019,2395,1880,3375,0,0,0,0,0,0
$GC,1825,-1.34,-77.9,193.0,-8.4,194,1830,0.12,2.40,0.00,0.000,4,0.097,0.041,2420,471,3375,0,0,0,0,0,0
$GC,1850,-1.34,-77.9,195.1,-8.1,196,1854,0.00,2.22,0.00,0.000,6,0.000,0.020,2420,1877,3375,0,0,0,0,0,0
$GC,2110,-1.34,-77.9,213.4,-7.4,212,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,1881,3375,0,0,0,0,0,0
$GC,2420,-1.38,-77.9,239.9,-8.4,227,2427,0.00,2.40,0.00,0.000,4,0.000,0.042,2421,473,3375,0,0,0,0,0,0
$GC,2501,-1.38,-77.9,246.6,-7.3,230,2505,0.00,2.22,0.00,0.000,6,0.000,0.021,2421,1874,3375,0,0,0,0,0,0
$GC,2822,-1.42,-77.9,271.3,-8.3,246,2826,0.00,2.40,0.00,0.000,4,0.000,0.044,2420,473,3375,0,0,0,0,0,0
$GC,2859,-1.42,-77.9,274.6,-7.8,247,2865,0.00,2.25,0.00,0.000,6,0.000,0.021,2420,1876,3375,0,0,0,0,0,0
$GC,3175,-1.49,-77.9,296.1,-8.0,263,3180,0.15,2.42,0.00,0.000,4,0.056,0.044,2373,473,3374,0,0,0,0,0,0
$GC,3228,-1.41,-77.9,301.6,-9.5,265,3233,0.15,2.25,0.00,0.000,6,0.094,0.021,2405,1873,3373,0,0,0,0,0,0
$GC,3549,-1.44,-77.9,326.3,-7.2,273,3553,0.00,2.40,0.00,0.000,4,0.000,0.044,2405,474,3373,0,0,0,0,0,0
$GC,3573,-1.44,-77.9,328.5,-8.3,273,3577,0.00,2.28,0.00,0.000,6,0.000,0.023,2405,1883,3373,0,0,0,0,0,0
$GC,3914,-1.48,-77.9,351.0,-6.3,282,3918,0.00,2.45,0.00,0.000,4,0.000,0.047,2405,467,3371,0,0,0,0,0,0
$GC,3974,-1.48,-77.9,356.8,-9.7,283,3979,0.00,2.28,0.00,0.000,6,0.000,0.024,2405,1870,3370,0,0,0,0,0,0
$GC,4324,-1.54,-77.9,389.7,-9.7,292,4329,0.12,2.42,0.00,0.000,4,0.066,0.048,2366,471,3368,0,0,0,0,0,0
$GC,4455,-1.46,-77.9,404.9,-11.5,294,4461,0.10,2.25,0.00,0.000,6,0.076,0.025,2392,1866,3367,0,0,0,0,0,0
$GC,4787,-1.49,-77.9,434.6,-8.4,303,4792,0.00,2.42,0.00,0.000,4,0.000,0.052,2392,477,3365,0,0,0,0,0,0
$GC,4857,-1.49,-77.9,441.6,-10.1,304,4861,0.00,2.30,0.00,0.000,6,0.000,0.027,2391,1874,3364,0,0,0,0,0,0
$STATE,4991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4991,begin apogee
$GC,4998,-0.31,0.0,453.2,8.4,308,5066,1.17,0.00,63.88,0.864,6,0.070,0.000,2645,2038,3050,0,0,0,0,0,0
$STATE,5066,end apogee,CONTROL_FINISHED_OK
$STATE,5067,begin climb
$GC,5069,1.40,77.9,454.6,0.0,309,5145,1.62,2.40,64.30,0.843,4,0.029,0.038,3025,3383,2732,0,0,0,0,0,0
$GC,5330,1.21,122.6,451.8,4.9,314,5376,0.25,2.35,38.08,0.834,6,0.108,0.033,2979,2012,2549,0,0,0,0,0,0
$GC,5707,1.10,122.6,422.9,8.6,324,5712,0.12,2.45,0.00,0.000,4,0.121,0.048,2958,606,2543,0,0,0,0,0,0
$GC,5808,0.97,125.4,414.7,7.8,326,5813,0.17,2.30,0.00,0.000,6,0.117,0.027,2928,1993,2541,0,0,0,0,0,0
$GC,6127,1.01,157.4,393.7,5.8,334,6163,0.00,2.50,29.45,0.821,4,0.000,0.048,2927,604,2406,0,0,0,0,0,0
$GC,6298,1.03,202.9,384.4,4.9,337,6348,0.00,2.38,40.88,0.821,6,0.000,0.028,2928,2021,2221,0,0,0,0,0,0
$GC,6673,1.09,202.9,359.0,8.2,347,6678,0.10,2.47,0.00,0.000,4,0.137,0.051,2951,607,2214,0,0,0,0,0,0
$GC,6766,1.03,202.9,350.9,8.3,349,6770,0.00,2.35,0.00,0.000,6,0.000,0.029,2952,2012,2210,0,0,0,0,0,0
$GC,7093,1.03,202.9,324.7,8.8,357,7097,0.00,2.38,0.00,0.000,4,0.000,0.037,2952,3414,2210,0,0,0,0,0,0
$GC,7117,1.09,202.9,322.6,9.1,357,7121,0.00,2.42,0.00,0.000,6,0.000,0.035,2952,2006,2210,0,0,0,0,0,0
$GC,7443,1.12,202.9,294.9,8.3,367,7447,0.00,2.47,0.00,0.000,4,0.000,0.051,2952,592,2208,0,0,0,0,0,0
$GC,7587,1.12,202.9,282.0,9.4,373,7591,0.00,2.38,0.00,0.000,6,0.000,0.028,2952,2015,2205,0,0,0,0,0,0
$GC,7907,1.17,212.6,257.9,7.4,389,7920,0.00,2.55,6.78,0.625,4,0.000,0.051,2952,602,2183,0,0,0,0,0,0
$GC,8059,1.17,212.6,243.5,9.8,395,8063,0.00,2.35,0.00,0.000,6,0.000,0.028,2951,2011,2181,0,0,0,0,0,0
$GC,8375,1.27,240.6,220.8,6.1,410,8408,0.17,2.58,26.23,0.713,4,0.061,0.049,2997,600,2068,0,0,0,0,0,0
$GC,8535,1.19,240.6,207.5,9.3,417,8540,0.12,2.38,0.00,0.000,6,0.117,0.027,2975,2016,2063,0,0,0,0,0,0
$GC,8862,1.23,240.6,179.8,8.3,443,8866,0.00,2.47,0.00,0.000,4,0.000,0.048,2974,602,2062,0,0,0,0,0,0
$GC,8914,1.23,240.6,174.9,9.2,448,8918,0.00,2.33,0.00,0.000,6,0.000,0.026,2975,2015,2061,0,0,0,0,0,0
$GC,9177,1.28,240.6,150.8,9.2,472,9181,0.00,2.47,0.00,0.000,4,0.000,0.048,2975,600,2061,0,0,0,0,0,0
$GC,9334,1.28,240.6,133.4,11.5,488,9340,0.00,2.33,0.00,0.000,6,0.000,0.025,2974,2017,2060,0,0,0,0,0,0
$GC,9598,1.36,240.6,113.4,8.3,513,9603,0.15,2.45,0.00,0.000,4,0.062,0.045,3017,591,2060,0,0,0,0,0,0
$GC,9802,1.30,240.6,91.9,9.1,534,9807,0.00,2.35,0.00,0.000,6,0.000,0.024,3017,2023,2060,0,0,0,0,0,0
$GC,10065,1.35,281.7,76.2,5.2,559,10108,0.00,2.53,35.85,0.581,4,0.000,0.044,3017,601,1900,0,0,0,0,0,0
$GC,10143,1.35,281.7,70.2,8.9,567,10149,0.00,2.33,0.00,0.000,6,0.000,0.022,3017,2015,1897,0,0,0,0,0,0
$GC,10406,1.41,286.5,49.6,7.7,592,10416,0.00,2.45,5.18,0.421,4,0.000,0.041,3016,600,1880,0,0,0,0,0,0
$GC,10588,1.41,286.5,34.5,8.6,611,10594,0.00,2.30,0.00,0.000,6,0.000,0.021,3017,2017,1877,0,0,0,0,0,0
$GC,10862,1.48,302.6,13.7,6.9,654,10885,0.00,2.53,15.05,0.498,4,0.000,0.044,3017,598,1816,0,0,0,0,0,0
$STATE,10981,end climb,SURFACE_DEPTH_REACHED
$STATE,10981,begin surface coast
$FINISH,1.4,1.023154
$STATE,11000,end surface coast,CONTROL_FINISHED_OK
$STATE,11000,begin surface
$SM_CCo,11084,0.00,0.000,0,0,1807,304.91
$SM_GC,1.48,11.18,0.00,0.00,0.027,0.000,0.000,428,1873,1807,-10.43,-0.06,304.91
$IRIDIUM_FIX,2057.14,-15753.90,240999,060615
$TT8_MAMPS,0.029146
$HUMID,53.93
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,23.2,57.134
$10V_AH,10.0,50.125
$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,26.675,128.375,325.650,0.000,0.000,90.938,97.119,335.593,4.750,0.000,28.711,1333.514,7638.188,389.878,1718.468,801.263,33.390,1314.414,0.000,1658.898,0.000,29.274,0.000
$DEVICE_MAMPS,137.293,52.156,863.642,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.718,446.874,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,34979,684
$CAP_FILE_SIZE,135904,0
$CFSIZE,260165632,220995584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300610,091848,2103.260,-15755.783,101,2.5,120,9.8