version: 66.06
glider: 139
mission: 7
dive: 641
start: 6 30 110 12 40 19
data:
$ID,139
$MISSION,7
$DIVE,641
$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,-2144926
$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
$GPS1,123252,2103.748,-15756.223,105,3.5,124,9.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-72.0
$GPS2,123928,2103.753,-15756.206,20,3.4,39,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.102,0.153
$KALMAN_X,-345068.0,35.9,502.8,342327.7,33.7
$KALMAN_Y,40348.7,84.3,273.4,-46552.7,-792.3
$MHEAD_RNG_PITCHd_Wd,316.7,13205,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,67,0.00,0.00,-49.97,0.000,2,0.000,0.000,428,1847,3142,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.4,-5.6,10,94,10.55,2.45,-4.70,0.000,4,0.132,0.037,2407,3298,3370,0,0,0,0,0,0
$GC,179,-1.36,-77.9,22.4,-13.4,33,185,0.00,2.40,0.00,0.000,6,0.000,0.028,2407,1872,3371,0,0,0,0,0,0
$GC,387,-1.21,-77.9,54.1,-15.7,57,392,0.20,2.40,0.00,0.000,4,0.096,0.041,2447,462,3372,0,0,0,0,0,0
$GC,468,-1.15,-77.9,65.8,-12.3,65,473,0.00,2.33,0.00,0.000,6,0.000,0.019,2447,1912,3372,0,0,0,0,0,0
$GC,736,-1.11,-77.9,96.3,-10.7,90,741,0.12,2.50,0.00,0.000,4,0.106,0.041,2471,468,3373,0,0,0,0,0,0
$GC,820,-1.11,-77.9,105.0,-9.3,98,826,0.00,2.25,0.00,0.000,6,0.000,0.019,2472,1879,3374,0,0,0,0,0,0
$GC,1083,-1.18,-77.9,128.5,-9.2,123,1087,0.00,2.40,0.00,0.000,4,0.000,0.041,2472,471,3375,0,0,0,0,0,0
$GC,1121,-1.25,-77.9,131.9,-8.4,127,1126,0.15,2.25,0.00,0.000,6,0.055,0.018,2421,1887,3375,0,0,0,0,0,0
$GC,1382,-1.25,-77.9,154.7,-9.2,151,1386,0.00,2.42,0.00,0.000,4,0.000,0.041,2420,467,3375,0,0,0,0,0,0
$GC,1435,-1.25,-77.9,159.5,-9.1,156,1440,0.00,2.25,0.00,0.000,6,0.000,0.019,2421,1881,3375,0,0,0,0,0,0
$GC,1701,-1.25,-77.9,184.9,-9.4,181,1705,0.00,2.40,0.00,0.000,4,0.000,0.041,2420,470,3376,0,0,0,0,0,0
$GC,1727,-1.25,-77.9,187.0,-8.7,183,1731,0.00,2.25,0.00,0.000,6,0.000,0.019,2421,1880,3376,0,0,0,0,0,0
$GC,1984,-1.29,-77.9,212.7,-9.9,201,1988,0.00,2.40,0.00,0.000,4,0.000,0.041,2421,470,3376,0,0,0,0,0,0
$GC,2061,-1.29,-77.9,220.5,-9.8,204,2065,0.00,2.25,0.00,0.000,6,0.000,0.019,2421,1881,3376,0,0,0,0,0,0
$GC,2381,-1.34,-77.9,244.1,-6.8,220,2386,0.00,2.42,0.00,0.000,4,0.000,0.042,2421,464,3376,0,0,0,0,0,0
$GC,2429,-1.34,-77.9,247.6,-7.1,222,2433,0.00,2.25,0.00,0.000,6,0.000,0.020,2420,1874,3376,0,0,0,0,0,0
$GC,2755,-1.40,-77.9,268.5,-6.2,238,2760,0.00,2.42,0.00,0.000,4,0.000,0.043,2421,460,3376,0,0,0,0,0,0
$GC,2826,-1.43,-77.9,273.7,-6.9,241,2830,0.00,2.28,0.00,0.000,6,0.000,0.021,2420,1878,3376,0,0,0,0,0,0
$GC,3153,-1.50,-77.9,298.0,-6.5,257,3158,0.15,2.42,0.00,0.000,4,0.057,0.044,2374,472,3375,0,0,0,0,0,0
$GC,3201,-1.43,-77.9,301.9,-8.2,259,3206,0.12,2.25,0.00,0.000,6,0.096,0.022,2400,1878,3375,0,0,0,0,0,0
$GC,3531,-1.47,-77.9,325.5,-7.4,267,3536,0.00,2.42,0.00,0.000,4,0.000,0.045,2400,470,3374,0,0,0,0,0,0
$GC,3578,-1.47,-77.9,329.9,-8.9,268,3582,0.00,2.28,0.00,0.000,6,0.000,0.023,2400,1874,3374,0,0,0,0,0,0
$GC,3903,-1.51,-77.9,351.9,-6.6,276,3907,0.00,2.40,0.00,0.000,4,0.000,0.047,2400,473,3372,0,0,0,0,0,0
$GC,3949,-1.51,-77.9,355.6,-8.0,277,3954,0.00,2.28,0.00,0.000,6,0.000,0.025,2400,1871,3372,0,0,0,0,0,0
$GC,4273,-1.54,-77.9,378.8,-6.9,285,4278,0.00,2.42,0.00,0.000,4,0.000,0.048,2400,473,3370,0,0,0,0,0,0
$GC,4320,-1.54,-77.9,382.9,-8.4,286,4324,0.00,2.30,0.00,0.000,6,0.000,0.025,2400,1877,3369,0,0,0,0,0,0
$GC,4643,-1.58,-77.9,410.0,-9.2,294,4648,0.15,2.47,0.00,0.000,4,0.060,0.050,2357,467,3367,0,0,0,0,0,0
$GC,4705,-1.48,-77.9,417.5,-12.1,295,4710,0.17,2.33,0.00,0.000,6,0.094,0.026,2393,1879,3367,0,0,0,0,0,0
$STATE,5054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5054,begin apogee
$GC,5063,-0.31,0.0,452.9,10.0,304,5134,1.17,0.00,64.05,0.867,6,0.072,0.000,2646,2031,3050,0,0,0,0,0,0
$STATE,5135,end apogee,CONTROL_FINISHED_OK
$STATE,5135,begin climb
$GC,5137,1.40,77.9,455.3,0.0,306,5212,1.60,2.40,64.70,0.848,4,0.029,0.039,3013,3377,2732,0,0,0,0,0,0
$GC,5463,1.22,116.7,446.1,5.4,313,5504,0.22,2.35,32.88,0.835,6,0.111,0.034,2980,2010,2574,0,0,0,0,0,0
$GC,5827,1.12,134.3,420.6,6.8,322,5848,0.12,2.42,15.50,0.792,4,0.120,0.038,2958,3384,2502,0,0,0,0,0,0
$GC,5929,1.07,135.1,413.3,8.0,324,5933,0.00,2.38,0.00,0.000,6,0.000,0.035,2960,2008,2501,0,0,0,0,0,0
$GC,6243,1.02,139.3,389.5,7.7,332,6255,0.12,2.55,5.40,0.624,4,0.121,0.051,2938,593,2481,0,0,0,0,0,0
$GC,6280,0.95,141.0,386.6,7.9,332,6285,0.00,2.35,0.00,0.000,6,0.000,0.029,2939,1991,2479,0,0,0,0,0,0
$GC,6611,0.99,177.4,366.3,5.5,340,6651,0.00,0.00,34.65,0.818,6,0.000,0.000,2939,1995,2325,0,0,0,0,0,0
$GC,6976,0.99,177.4,336.7,8.4,349,6980,0.00,2.45,0.00,0.000,4,0.000,0.051,2938,597,2319,0,0,0,0,0,0
$GC,7051,0.95,177.4,329.4,9.6,350,7056,0.00,2.40,0.00,0.000,6,0.000,0.029,2939,2017,2316,0,0,0,0,0,0
$GC,7388,1.00,186.2,303.9,7.4,359,7400,0.00,2.50,7.53,0.670,4,0.000,0.051,2938,605,2290,0,0,0,0,0,0
$GC,7476,1.00,186.2,295.8,9.2,361,7481,0.00,2.38,0.00,0.000,6,0.000,0.029,2939,2017,2287,0,0,0,0,0,0
$GC,7806,1.11,223.3,276.7,5.5,377,7848,0.00,2.58,33.85,0.765,4,0.000,0.051,2938,612,2138,0,0,0,0,0,0
$GC,7918,1.11,223.3,267.0,10.2,382,7923,0.00,2.38,0.00,0.000,6,0.000,0.029,2939,2016,2133,0,0,0,0,0,0
$GC,8248,1.19,223.3,239.7,8.1,398,8253,0.15,2.53,0.00,0.000,4,0.068,0.051,2976,600,2132,0,0,0,0,0,0
$GC,8269,1.19,223.3,237.7,9.4,399,8273,0.00,2.38,0.00,0.000,6,0.000,0.028,2976,2014,2131,0,0,0,0,0,0
$GC,8599,1.21,243.5,212.1,6.6,415,8624,0.00,2.58,17.83,0.693,4,0.000,0.049,2976,600,2057,0,0,0,0,0,0
$GC,8860,1.21,243.5,189.9,8.6,433,8866,0.00,2.38,0.00,0.000,6,0.000,0.027,2976,2016,2051,0,0,0,0,0,0
$GC,9123,1.27,249.2,168.2,7.6,458,9136,0.00,2.55,5.75,0.533,4,0.000,0.048,2976,604,2033,0,0,0,0,0,0
$GC,9146,1.27,249.2,166.1,8.6,460,9153,0.00,2.33,0.00,0.000,6,0.000,0.026,2976,2007,2032,0,0,0,0,0,0
$GC,9409,1.36,267.9,145.5,6.7,485,9436,0.15,2.53,18.30,0.631,4,0.063,0.047,3017,609,1956,0,0,0,0,0,0
$GC,9567,1.30,267.9,131.2,8.6,502,9571,0.00,2.33,0.00,0.000,6,0.000,0.025,3017,2014,1952,0,0,0,0,0,0
$GC,9835,1.30,267.9,112.7,8.3,527,9839,0.00,2.42,0.00,0.000,4,0.000,0.044,3017,603,1952,0,0,0,0,0,0
$GC,9850,1.30,267.9,111.2,8.4,528,9854,0.00,2.33,0.00,0.000,6,0.000,0.024,3017,2016,1951,0,0,0,0,0,0
$GC,10113,1.30,267.9,90.5,8.3,552,10118,0.00,2.45,0.00,0.000,4,0.000,0.044,3017,601,1952,0,0,0,0,0,0
$GC,10176,1.26,267.9,84.5,9.8,558,10181,0.15,2.28,0.00,0.000,6,0.102,0.022,2988,2013,1950,0,0,0,0,0,0
$GC,10437,1.39,292.5,66.1,6.3,582,10467,0.12,2.53,22.00,0.556,4,0.066,0.043,3026,598,1856,0,0,0,0,0,0
$GC,10671,1.35,292.5,44.7,8.1,607,10676,0.00,2.30,0.00,0.000,6,0.000,0.021,3026,2008,1852,0,0,0,0,0,0
$GC,10937,1.39,325.6,23.7,5.7,640,10973,0.00,2.45,29.45,0.522,4,0.000,0.042,3026,603,1720,0,0,0,0,0,0
$GC,11083,1.39,325.6,10.1,11.8,671,11089,0.00,2.30,0.00,0.000,6,0.000,0.020,3026,2015,1716,0,0,0,0,0,0
$STATE,11137,end climb,SURFACE_DEPTH_REACHED
$STATE,11137,begin surface coast
$FINISH,0.6,1.022330
$STATE,11161,end surface coast,CONTROL_FINISHED_OK
$STATE,11161,begin surface
$SM_CCo,11243,0.00,0.000,0,0,1710,328.46
$SM_GC,1.45,11.15,0.00,0.00,0.024,0.000,0.000,426,1841,1710,-10.43,-0.96,328.46
$IRIDIUM_FIX,2057.14,-15756.91,240999,090907
$TT8_MAMPS,0.029146
$HUMID,53.42
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,23.3,57.322
$10V_AH,10.0,50.242
$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,26.600,134.075,351.875,0.000,0.000,25.528,27.870,195.156,4.500,0.000,40.803,1326.408,7721.437,420.422,1662.624,502.060,33.376,1324.178,0.000,1596.140,0.000,29.252,0.000
$DEVICE_MAMPS,131.924,52.923,867.477,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.957,445.363,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34880,685
$CAP_FILE_SIZE,130738,0
$CFSIZE,260165632,220880896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,300610,154957,2104.411,-15756.870,80,3.5,99,9.8