version: 66.06
glider: 139
mission: 7
dive: 642
start: 6 30 110 15 56 57
data:
$ID,139
$MISSION,7
$DIVE,642
$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,-2144952.5
$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
$GPS1,154957,2104.411,-15756.870,80,3.5,99,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.2
$GPS2,155606,2104.471,-15756.909,15,1.4,25,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.112,0.145
$KALMAN_X,-344634.0,-73.4,104.1,341187.7,-239.5
$KALMAN_Y,40424.6,-121.1,7.8,-44831.1,-424.3
$MHEAD_RNG_PITCHd_Wd,312.5,11423,-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,-77.9,0.0,0.0,0,74,0.00,0.00,-55.17,0.000,2,0.000,0.000,426,1845,3157,0,0,0,0,0,0
$GC,78,-1.40,-77.9,3.6,-6.8,11,101,10.60,2.45,-4.25,0.000,4,0.133,0.037,2407,3297,3370,0,0,0,0,0,0
$GC,191,-1.40,-77.9,24.6,-14.6,35,196,0.00,2.40,0.00,0.000,6,0.000,0.028,2407,1873,3371,0,0,0,0,0,0
$GC,391,-1.24,-77.9,55.9,-14.7,57,396,0.17,2.42,0.00,0.000,4,0.099,0.043,2441,469,3371,0,0,0,0,0,0
$GC,481,-1.13,-77.9,69.0,-14.0,66,486,0.12,2.33,0.00,0.000,6,0.104,0.019,2467,1916,3371,0,0,0,0,0,0
$GC,744,-1.13,-77.9,98.1,-10.6,90,748,0.00,2.50,0.00,0.000,4,0.000,0.041,2466,463,3372,0,0,0,0,0,0
$GC,833,-1.13,-77.9,109.1,-11.0,99,837,0.00,2.28,0.00,0.000,6,0.000,0.019,2467,1883,3373,0,0,0,0,0,0
$GC,1100,-1.21,-77.9,135.1,-7.6,124,1104,0.00,2.42,0.00,0.000,4,0.000,0.041,2466,466,3373,0,0,0,0,0,0
$GC,1133,-1.27,-77.9,137.7,-7.5,127,1140,0.12,2.25,0.00,0.000,6,0.062,0.019,2422,1880,3373,0,0,0,0,0,0
$GC,1395,-1.27,-77.9,159.1,-8.0,152,1399,0.00,2.40,0.00,0.000,4,0.000,0.041,2422,470,3374,0,0,0,0,0,0
$GC,1436,-1.27,-77.9,163.1,-9.6,156,1441,0.00,2.25,0.00,0.000,6,0.000,0.018,2422,1881,3375,0,0,0,0,0,0
$GC,1698,-1.27,-77.9,186.7,-9.7,181,1702,0.00,2.22,0.00,0.000,4,0.000,0.025,2422,3259,3375,0,0,0,0,0,0
$GC,1729,-1.34,-77.9,189.4,-8.8,183,1734,0.00,2.30,0.00,0.000,6,0.000,0.027,2422,1863,3375,0,0,0,0,0,0
$GC,1999,-1.38,-77.9,210.2,-7.8,203,2003,0.00,2.35,0.00,0.000,4,0.000,0.041,2422,465,3375,0,0,0,0,0,0
$GC,2128,-1.38,-77.9,220.9,-7.3,208,2133,0.00,2.25,0.00,0.000,6,0.000,0.019,2422,1879,3376,0,0,0,0,0,0
$GC,2443,-1.43,-77.9,246.2,-9.2,224,2448,0.00,2.40,0.00,0.000,4,0.000,0.042,2421,463,3376,0,0,0,0,0,0
$GC,2495,-1.43,-77.9,251.4,-9.7,226,2499,0.00,2.25,0.00,0.000,6,0.000,0.020,2421,1877,3376,0,0,0,0,0,0
$GC,2817,-1.50,-77.9,276.5,-7.6,242,2822,0.15,2.40,0.00,0.000,4,0.056,0.044,2374,473,3376,0,0,0,0,0,0
$GC,2908,-1.44,-77.9,284.8,-8.6,245,2914,0.12,2.25,0.00,0.000,6,0.099,0.021,2400,1873,3375,0,0,0,0,0,0
$GC,3242,-1.44,-77.9,311.3,-8.3,259,3246,0.00,2.40,0.00,0.000,4,0.000,0.044,2400,474,3375,0,0,0,0,0,0
$GC,3279,-1.44,-77.9,314.8,-9.1,259,3283,0.00,2.22,0.00,0.000,6,0.000,0.022,2400,1876,3375,0,0,0,0,0,0
$GC,3611,-1.47,-77.9,342.4,-8.2,267,3615,0.00,2.42,0.00,0.000,4,0.000,0.045,2400,469,3373,0,0,0,0,0,0
$GC,3718,-1.47,-77.9,350.7,-7.3,269,3722,0.00,2.28,0.00,0.000,6,0.000,0.023,2401,1872,3373,0,0,0,0,0,0
$GC,4069,-1.52,-77.9,376.2,-8.1,278,4073,0.00,2.42,0.00,0.000,4,0.000,0.048,2400,473,3371,0,0,0,0,0,0
$GC,4087,-1.52,-77.9,377.9,-8.6,278,4091,0.00,2.30,0.00,0.000,6,0.000,0.025,2401,1881,3371,0,0,0,0,0,0
$GC,4434,-1.56,-77.9,409.6,-9.5,287,4439,0.12,2.47,0.00,0.000,4,0.067,0.049,2362,467,3369,0,0,0,0,0,0
$GC,4473,-1.46,-77.9,414.2,-12.0,287,4479,0.15,2.30,0.00,0.000,6,0.097,0.025,2393,1876,3368,0,0,0,0,0,0
$GC,4805,-1.49,-77.9,442.3,-8.4,296,4809,0.00,2.45,0.00,0.000,4,0.000,0.050,2393,471,3366,0,0,0,0,0,0
$GC,4880,-1.49,-77.9,449.5,-9.7,297,4884,0.00,2.10,0.00,0.000,3,0.000,0.026,2393,1742,3365,0,0,0,0,0,0
$STATE,4885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4885,begin apogee
$GC,4891,-0.31,0.0,450.0,9.5,297,4959,1.15,0.00,64.18,0.860,6,0.075,0.000,2642,2022,3050,0,0,0,0,0,0
$STATE,4960,end apogee,CONTROL_FINISHED_OK
$STATE,4960,begin climb
$GC,4962,1.40,77.9,451.6,0.0,299,5037,1.65,2.45,64.75,0.840,4,0.028,0.038,3021,3390,2730,0,0,0,0,0,0
$GC,5162,1.23,138.9,450.5,3.8,304,5220,0.22,2.35,51.60,0.836,6,0.111,0.032,2983,2006,2483,0,0,0,0,0,0
$GC,5532,1.12,141.3,423.9,7.9,313,5537,0.12,2.47,0.00,0.000,4,0.120,0.050,2963,608,2475,0,0,0,0,0,0
$GC,5547,1.00,142.1,422.5,8.0,313,5552,0.17,2.35,0.00,0.000,6,0.119,0.027,2932,2004,2475,0,0,0,0,0,0
$GC,5898,1.00,142.7,395.8,8.0,322,5903,0.00,2.47,0.00,0.000,4,0.000,0.049,2932,601,2473,0,0,0,0,0,0
$GC,5973,0.94,142.7,388.8,9.7,323,5977,0.00,2.35,0.00,0.000,6,0.000,0.028,2932,2010,2471,0,0,0,0,0,0
$GC,6309,0.95,146.1,361.5,7.8,332,6316,0.00,0.00,5.20,0.611,6,0.000,0.000,2932,2014,2453,0,0,0,0,0,0
$GC,6633,0.99,177.3,340.7,5.9,340,6664,0.00,0.00,28.60,0.799,6,0.000,0.000,2932,2014,2327,0,0,0,0,0,0
$GC,6959,1.06,209.3,322.4,5.8,348,6995,0.00,2.53,29.17,0.784,4,0.000,0.049,2932,609,2195,0,0,0,0,0,0
$GC,7124,1.06,209.3,305.8,10.2,351,7129,0.00,2.38,0.00,0.000,6,0.000,0.029,2932,2013,2188,0,0,0,0,0,0
$GC,7444,1.16,219.5,280.4,7.3,365,7460,0.15,2.50,9.10,0.680,4,0.069,0.048,2969,605,2154,0,0,0,0,0,0
$GC,7591,1.12,219.5,266.7,9.8,371,7596,0.00,2.38,0.00,0.000,6,0.000,0.028,2970,2020,2150,0,0,0,0,0,0
$GC,7912,1.17,225.5,238.8,7.6,387,7925,0.00,2.55,6.30,0.596,4,0.000,0.049,2970,605,2130,0,0,0,0,0,0
$GC,7940,1.17,228.2,236.5,7.8,388,7949,0.00,2.38,4.07,0.479,6,0.000,0.028,2970,2022,2119,0,0,0,0,0,0
$GC,8267,1.21,228.2,212.2,8.2,404,8271,0.00,2.45,0.00,0.000,4,0.000,0.048,2969,608,2118,0,0,0,0,0,0
$GC,8380,1.24,248.7,203.8,6.6,409,8405,0.00,2.33,19.45,0.682,6,0.000,0.027,2969,2015,2036,0,0,0,0,0,0
$GC,8733,1.29,248.7,177.1,8.2,439,8737,0.12,2.45,0.00,0.000,4,0.071,0.046,3004,607,2033,0,0,0,0,0,0
$GC,8758,1.24,248.7,174.7,10.1,441,8762,0.00,2.33,0.00,0.000,6,0.000,0.025,3004,2007,2031,0,0,0,0,0,0
$GC,9021,1.26,260.9,151.9,7.2,465,9039,0.00,2.50,11.77,0.598,4,0.000,0.046,3004,600,1986,0,0,0,0,0,0
$GC,9161,1.19,260.9,139.9,8.3,480,9166,0.15,2.35,0.00,0.000,6,0.104,0.024,2976,2020,1982,0,0,0,0,0,0
$GC,9425,1.32,283.7,121.4,6.5,504,9453,0.12,2.50,21.15,0.598,4,0.068,0.043,3013,607,1892,0,0,0,0,0,0
$GC,9550,1.29,283.7,109.8,9.5,517,9556,0.00,2.33,0.00,0.000,6,0.000,0.022,3013,2022,1889,0,0,0,0,0,0
$GC,9813,1.34,283.7,89.4,8.4,542,9817,0.00,2.45,0.00,0.000,4,0.000,0.043,3013,598,1888,0,0,0,0,0,0
$GC,9976,1.34,283.7,74.7,9.8,559,9980,0.00,2.30,0.00,0.000,6,0.000,0.021,3013,2013,1887,0,0,0,0,0,0
$GC,10244,1.39,283.7,51.8,8.7,584,10248,0.00,2.40,0.00,0.000,4,0.000,0.042,3013,605,1887,0,0,0,0,0,0
$GC,10346,1.39,283.7,42.0,9.7,594,10352,0.00,2.25,0.00,0.000,6,0.000,0.021,3013,2011,1887,0,0,0,0,0,0
$GC,10614,1.43,283.7,19.4,8.3,629,10619,0.00,2.42,0.00,0.000,4,0.000,0.043,3013,602,1887,0,0,0,0,0,0
$GC,10717,1.43,283.7,10.3,11.0,651,10723,0.00,2.28,0.00,0.000,6,0.000,0.020,3012,2016,1887,0,0,0,0,0,0
$STATE,10794,end climb,SURFACE_DEPTH_REACHED
$STATE,10794,begin surface coast
$FINISH,0.5,1.016706
$STATE,10832,end surface coast,CONTROL_FINISHED_OK
$STATE,10832,begin surface
$SM_CCo,10853,13.12,0.479,0,0,1826,300.00
$SM_GC,1.72,0.00,0.00,13.12,0.000,0.000,0.479,427,1854,1826,-10.52,-0.59,300.00
$IRIDIUM_FIX,2057.14,-15753.90,240999,121230
$TT8_MAMPS,0.029146
$HUMID,53.78
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,23.3,57.407
$10V_AH,10.0,50.297
$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,26.450,128.600,315.350,13.125,0.000,30.475,28.741,175.257,4.500,0.000,25.858,1299.050,7469.552,411.154,1564.342,487.922,33.384,1264.266,0.000,1515.279,0.000,29.249,0.000
$DEVICE_MAMPS,133.458,49.855,859.807,478.608,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,450.913,437.273,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,34966,671
$CAP_FILE_SIZE,124926,0
$CFSIZE,260165632,220823552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300610,185955,2105.056,-15757.681,73,1.9,73,9.8