version: 66.06
glider: 139
mission: 7
dive: 643
start: 6 30 110 19 11 32
data:
$ID,139
$MISSION,7
$DIVE,643
$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,-2144970.8
$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
$GPS1,185955,2105.056,-15757.681,73,1.9,73,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.0
$GPS2,191038,2105.121,-15757.708,17,1.8,17,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.177,0.051
$KALMAN_X,-344086.9,-113.0,-525.3,339926.7,979.1
$KALMAN_Y,40328.4,-231.2,-209.8,-43200.1,221.7
$MHEAD_RNG_PITCHd_Wd,276.3,9593,-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,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,67,0.00,0.00,-49.85,0.000,2,0.000,0.000,426,1854,3152,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.6,-6.0,10,95,10.60,2.47,-4.25,0.000,4,0.134,0.038,2403,3309,3369,0,0,0,0,0,0
$GC,135,-1.32,-77.9,18.6,-15.5,23,142,0.10,2.42,0.00,0.000,6,0.113,0.028,2423,1873,3370,0,0,0,0,0,0
$GC,345,-1.19,-77.9,50.3,-14.9,49,350,0.15,2.40,0.00,0.000,4,0.108,0.042,2452,470,3371,0,0,0,0,0,0
$GC,417,-1.12,-77.9,60.1,-12.7,56,421,0.00,2.30,0.00,0.000,6,0.000,0.019,2453,1913,3371,0,0,0,0,0,0
$GC,678,-1.12,-77.9,90.9,-11.5,80,683,0.00,2.50,0.00,0.000,4,0.000,0.041,2453,461,3372,0,0,0,0,0,0
$GC,731,-1.08,-77.9,97.2,-11.4,85,736,0.12,2.25,0.00,0.000,6,0.103,0.019,2478,1878,3372,0,0,0,0,0,0
$GC,992,-1.16,-77.9,121.2,-9.6,109,997,0.00,2.40,0.00,0.000,4,0.000,0.041,2478,464,3373,0,0,0,0,0,0
$GC,1105,-1.22,-77.9,131.1,-8.0,120,1111,0.15,2.25,0.00,0.000,6,0.055,0.018,2427,1881,3373,0,0,0,0,0,0
$GC,1366,-1.22,-77.9,152.4,-9.5,145,1371,0.10,2.45,0.00,0.000,4,0.104,0.041,2449,459,3374,0,0,0,0,0,0
$GC,1403,-1.22,-77.9,156.2,-10.0,148,1409,0.00,2.25,0.00,0.000,6,0.000,0.019,2449,1875,3374,0,0,0,0,0,0
$GC,1667,-1.29,-77.9,178.9,-8.4,173,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1880,3374,0,0,0,0,0,0
$GC,1922,-1.36,-77.9,198.7,-7.6,197,1927,0.15,2.42,0.00,0.000,4,0.055,0.042,2399,467,3374,0,0,0,0,0,0
$GC,2065,-1.29,-77.9,214.1,-9.6,204,2070,0.15,2.22,0.00,0.000,6,0.093,0.019,2432,1879,3375,0,0,0,0,0,0
$GC,2388,-1.35,-77.9,238.2,-7.2,220,2393,0.00,2.40,0.00,0.000,4,0.000,0.042,2432,467,3375,0,0,0,0,0,0
$GC,2484,-1.39,-77.9,245.2,-7.0,224,2488,0.00,2.22,0.00,0.000,6,0.000,0.020,2432,1874,3374,0,0,0,0,0,0
$GC,2811,-1.45,-77.9,268.5,-7.4,240,2813,0.15,0.00,0.00,0.000,6,0.055,0.000,2383,1880,3375,0,0,0,0,0,0
$GC,3118,-1.45,-77.9,298.5,-10.3,255,3123,0.00,2.42,0.00,0.000,4,0.000,0.044,2382,463,3375,0,0,0,0,0,0
$GC,3162,-1.40,-77.9,303.6,-11.6,257,3166,0.12,2.28,0.00,0.000,6,0.099,0.021,2408,1878,3374,0,0,0,0,0,0
$GC,3492,-1.45,-77.9,331.4,-7.6,265,3496,0.00,2.42,0.00,0.000,4,0.000,0.044,2408,465,3373,0,0,0,0,0,0
$GC,3525,-1.45,-77.9,333.7,-6.5,265,3529,0.00,2.28,0.00,0.000,6,0.000,0.022,2408,1875,3373,0,0,0,0,0,0
$GC,3861,-1.49,-77.9,352.0,-5.8,274,3866,0.00,2.40,0.00,0.000,4,0.000,0.045,2408,470,3373,0,0,0,0,0,0
$GC,3945,-1.49,-77.9,358.4,-7.6,275,3951,0.00,2.28,0.00,0.000,6,0.000,0.024,2408,1870,3372,0,0,0,0,0,0
$GC,4277,-1.53,-77.9,381.8,-7.0,284,4282,0.12,2.45,0.00,0.000,4,0.064,0.048,2368,467,3370,0,0,0,0,0,0
$GC,4312,-1.45,-77.9,384.9,-9.7,284,4317,0.15,2.28,0.00,0.000,6,0.093,0.025,2400,1873,3369,0,0,0,0,0,0
$GC,4643,-1.49,-77.9,412.7,-8.1,292,4647,0.00,2.45,0.00,0.000,4,0.000,0.048,2399,463,3367,0,0,0,0,0,0
$GC,4695,-1.49,-77.9,417.4,-8.6,293,4699,0.00,2.33,0.00,0.000,6,0.000,0.025,2399,1883,3367,0,0,0,0,0,0
$GC,5016,-1.53,-77.9,442.1,-7.8,301,5020,0.00,2.47,0.00,0.000,4,0.000,0.050,2399,465,3365,0,0,0,0,0,0
$STATE,5106,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5106,begin apogee
$GC,5115,-0.31,0.0,450.2,8.1,303,5183,1.12,0.00,63.45,0.857,6,0.079,0.000,2640,2015,3050,0,0,0,0,0,0
$STATE,5184,end apogee,CONTROL_FINISHED_OK
$STATE,5184,begin climb
$GC,5186,1.40,77.9,451.4,0.0,304,5262,1.65,2.47,64.47,0.838,4,0.038,0.038,3011,3407,2732,0,0,0,0,0,0
$GC,5320,1.25,139.3,452.8,3.8,307,5380,0.15,2.40,52.20,0.831,6,0.122,0.032,2987,2008,2482,0,0,0,0,0,0
$GC,5692,1.12,139.3,421.0,9.2,316,5697,0.15,2.42,0.00,0.000,4,0.120,0.049,2965,606,2473,0,0,0,0,0,0
$GC,5784,0.98,139.3,412.2,9.0,318,5789,0.20,2.38,0.00,0.000,6,0.114,0.027,2929,2019,2472,0,0,0,0,0,0
$GC,6113,1.02,170.0,389.4,5.9,326,6146,0.00,2.58,25.62,0.805,4,0.000,0.050,2929,612,2356,0,0,0,0,0,0
$GC,6206,1.03,178.0,383.3,7.5,328,6219,0.00,2.38,8.20,0.693,6,0.000,0.028,2929,2021,2324,0,0,0,0,0,0
$GC,6536,1.09,178.0,356.0,8.6,336,6540,0.00,2.47,0.00,0.000,4,0.000,0.050,2929,605,2320,0,0,0,0,0,0
$GC,6568,1.09,178.0,352.5,10.0,336,6573,0.00,2.38,0.00,0.000,6,0.000,0.029,2929,2018,2318,0,0,0,0,0,0
$GC,6899,1.15,178.0,324.5,8.4,344,6904,0.15,2.50,0.00,0.000,4,0.067,0.050,2967,608,2318,0,0,0,0,0,0
$GC,7094,1.06,178.0,306.2,8.4,348,7099,0.00,2.35,0.00,0.000,6,0.000,0.028,2967,2011,2315,0,0,0,0,0,0
$GC,7411,1.06,178.0,279.7,8.8,361,7412,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2015,2315,0,0,0,0,0,0
$GC,7720,1.07,181.4,255.5,7.8,376,7724,0.00,2.45,0.00,0.000,4,0.000,0.048,2967,605,2314,0,0,0,0,0,0
$GC,7744,1.03,187.5,253.7,7.6,377,7758,0.15,2.33,7.93,0.647,6,0.120,0.028,2941,2015,2285,0,0,0,0,0,0
$GC,8070,1.13,200.2,232.5,7.2,392,8092,0.00,2.47,12.88,0.682,4,0.000,0.047,2940,607,2232,0,0,0,0,0,0
$GC,8173,1.13,200.2,223.8,8.8,396,8178,0.00,2.33,0.00,0.000,6,0.000,0.027,2940,2007,2228,0,0,0,0,0,0
$GC,8494,1.23,214.6,201.3,7.0,412,8517,0.20,2.53,13.75,0.657,4,0.056,0.048,2992,611,2173,0,0,0,0,0,0
$GC,8693,1.17,217.0,183.2,7.9,432,8697,0.12,2.35,0.00,0.000,6,0.120,0.026,2971,2020,2169,0,0,0,0,0,0
$GC,8954,1.22,228.3,165.7,7.2,456,8973,0.00,2.50,13.05,0.621,4,0.000,0.044,2970,607,2118,0,0,0,0,0,0
$GC,9071,1.22,228.3,156.4,8.0,468,9076,0.00,2.33,0.00,0.000,6,0.000,0.025,2970,2023,2114,0,0,0,0,0,0
$GC,9334,1.31,242.3,138.2,7.1,493,9353,0.12,2.55,13.55,0.595,4,0.067,0.044,3008,605,2061,0,0,0,0,0,0
$GC,9416,1.24,242.3,130.1,10.7,501,9422,0.12,2.33,0.00,0.000,6,0.117,0.024,2985,2012,2058,0,0,0,0,0,0
$GC,9680,1.36,279.8,111.5,5.4,526,9723,0.12,2.50,33.75,0.603,4,0.067,0.044,3024,605,1907,0,0,0,0,0,0
$GC,9837,1.32,280.7,98.2,8.0,543,9841,0.00,2.33,0.00,0.000,6,0.000,0.023,3024,2016,1903,0,0,0,0,0,0
$GC,10100,1.32,280.7,77.7,8.4,567,10105,0.10,2.45,0.00,0.000,4,0.114,0.044,3003,600,1902,0,0,0,0,0,0
$GC,10276,1.32,280.7,60.7,10.0,585,10281,0.00,2.28,0.00,0.000,6,0.000,0.021,3004,2012,1901,0,0,0,0,0,0
$GC,10539,1.41,290.6,40.1,7.3,610,10557,0.00,2.50,9.70,0.487,4,0.000,0.042,3004,604,1864,0,0,0,0,0,0
$GC,10711,1.41,290.6,24.3,9.5,634,10716,0.00,2.28,0.00,0.000,6,0.000,0.021,3003,2024,1861,0,0,0,0,0,0
$GC,10920,1.48,290.6,7.2,8.3,671,10926,0.15,2.45,0.00,0.000,4,0.058,0.040,3051,603,1861,0,0,0,0,0,0
$STATE,10964,end climb,SURFACE_DEPTH_REACHED
$STATE,10964,begin surface coast
$FINISH,0.5,1.004808
$STATE,10998,end surface coast,CONTROL_FINISHED_OK
$STATE,10998,begin surface
$SM_CCo,11021,7.40,0.435,0,0,1827,300.00
$SM_GC,2.14,0.00,0.00,7.40,0.000,0.000,0.435,423,1849,1827,-10.54,-0.74,300.00
$IRIDIUM_FIX,2057.14,-15759.05,240999,191932
$TT8_MAMPS,0.029146
$HUMID,53.58
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,22.90
$XPDR_PINGS,1
$24V_AH,23.3,57.503
$10V_AH,10.0,50.355
$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,27.925,128.950,318.550,7.400,0.000,53.650,56.797,333.904,4.750,0.000,17.598,1337.461,7570.225,385.822,1651.839,727.600,33.384,1292.629,0.000,1606.422,0.000,29.253,0.000
$DEVICE_MAMPS,134.225,49.855,856.739,434.889,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,461.426,453.226,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,34825,687
$CAP_FILE_SIZE,135703,0
$CFSIZE,260165632,220749824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300610,221815,2105.371,-15758.018,116,2.5,135,9.8