version: 66.06
glider: 139
mission: 7
dive: 644
start: 6 30 110 22 31 12
data:
$ID,139
$MISSION,7
$DIVE,644
$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,-2145012.5
$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
$GPS1,221815,2105.371,-15758.018,116,2.5,135,9.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-68.2
$GPS2,223019,2105.327,-15758.005,20,5.1,39,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.179,0.040
$KALMAN_X,-343256.0,-56.8,47.8,337950.9,1259.1
$KALMAN_Y,39940.1,-194.6,-38.5,-42633.8,143.4
$MHEAD_RNG_PITCHd_Wd,272.9,8954,-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,-50.15,0.000,2,0.000,0.000,423,1850,3153,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.3,-5.6,10,95,10.57,2.45,-4.32,0.000,4,0.133,0.037,2403,3300,3371,0,0,0,0,0,0
$GC,226,-1.36,-77.9,30.1,-13.4,43,232,0.00,2.40,0.00,0.000,6,0.000,0.029,2404,1873,3372,0,0,0,0,0,0
$GC,489,-1.21,-77.9,65.9,-13.1,68,494,0.22,2.40,0.00,0.000,4,0.094,0.040,2449,470,3372,0,0,0,0,0,0
$GC,534,-1.15,-77.9,71.3,-10.4,72,538,0.00,2.30,0.00,0.000,6,0.000,0.019,2450,1916,3373,0,0,0,0,0,0
$GC,795,-1.15,-77.9,99.3,-11.3,96,799,0.00,2.50,0.00,0.000,4,0.000,0.041,2450,461,3373,0,0,0,0,0,0
$GC,848,-1.15,-77.9,105.4,-11.2,101,852,0.00,2.28,0.00,0.000,6,0.000,0.019,2450,1882,3374,0,0,0,0,0,0
$GC,1112,-1.15,-77.9,130.2,-8.2,125,1116,0.00,2.40,0.00,0.000,4,0.000,0.041,2450,466,3374,0,0,0,0,0,0
$GC,1168,-1.19,-77.9,134.8,-7.0,130,1174,0.00,2.25,0.00,0.000,6,0.000,0.018,2450,1878,3374,0,0,0,0,0,0
$GC,1432,-1.25,-77.9,154.7,-7.8,155,1436,0.00,2.25,0.00,0.000,4,0.000,0.025,2450,3257,3375,0,0,0,0,0,0
$GC,1447,-1.33,-77.9,156.2,-8.1,156,1452,0.12,2.30,0.00,0.000,6,0.062,0.026,2406,1871,3375,0,0,0,0,0,0
$GC,1709,-1.33,-77.9,184.5,-10.2,180,1713,0.00,2.35,0.00,0.000,4,0.000,0.041,2406,471,3376,0,0,0,0,0,0
$GC,1820,-1.27,-77.9,197.0,-11.0,191,1825,0.15,2.25,0.00,0.000,6,0.092,0.018,2438,1884,3375,0,0,0,0,0,0
$GC,2075,-1.34,-77.9,217.6,-8.2,204,2079,0.00,2.40,0.00,0.000,4,0.000,0.041,2438,473,3376,0,0,0,0,0,0
$GC,2127,-1.40,-77.9,222.1,-8.9,206,2131,0.12,2.22,0.00,0.000,6,0.061,0.019,2394,1876,3376,0,0,0,0,0,0
$GC,2448,-1.40,-77.9,255.3,-10.0,222,2452,0.00,2.28,0.00,0.000,4,0.000,0.026,2393,3266,3376,0,0,0,0,0,0
$GC,2482,-1.47,-77.9,258.6,-10.1,223,2486,0.00,2.33,0.00,0.000,6,0.000,0.028,2394,1871,3375,0,0,0,0,0,0
$GC,2797,-1.47,-77.9,286.7,-8.4,238,2801,0.00,2.38,0.00,0.000,4,0.000,0.043,2393,466,3376,0,0,0,0,0,0
$GC,2910,-1.47,-77.9,296.9,-8.8,243,2914,0.00,2.25,0.00,0.000,6,0.000,0.021,2393,1871,3375,0,0,0,0,0,0
$GC,3237,-1.47,-77.9,321.4,-7.4,252,3241,0.00,2.40,0.00,0.000,4,0.000,0.044,2393,475,3375,0,0,0,0,0,0
$GC,3293,-1.47,-77.9,326.1,-8.0,253,3297,0.00,2.22,0.00,0.000,6,0.000,0.023,2393,1870,3374,0,0,0,0,0,0
$GC,3606,-1.47,-77.9,351.9,-8.9,261,3610,0.00,2.42,0.00,0.000,4,0.000,0.046,2394,466,3373,0,0,0,0,0,0
$GC,3625,-1.47,-77.9,353.9,-10.5,261,3629,0.00,2.28,0.00,0.000,6,0.000,0.024,2393,1880,3373,0,0,0,0,0,0
$GC,3971,-1.47,-77.9,382.6,-7.9,270,3975,0.00,2.42,0.00,0.000,4,0.000,0.047,2393,476,3370,0,0,0,0,0,0
$GC,4068,-1.47,-77.9,391.3,-8.8,272,4072,0.00,2.28,0.00,0.000,6,0.000,0.025,2393,1879,3370,0,0,0,0,0,0
$GC,4387,-1.47,-77.9,415.7,-7.7,280,4391,0.00,2.45,0.00,0.000,4,0.000,0.049,2393,469,3367,0,0,0,0,0,0
$GC,4456,-1.47,-77.9,421.7,-8.4,281,4461,0.00,2.30,0.00,0.000,6,0.000,0.025,2393,1874,3366,0,0,0,0,0,0
$GC,4797,-1.50,-77.9,449.7,-8.1,290,4801,0.00,2.45,0.00,0.000,4,0.000,0.051,2393,469,3364,0,0,0,0,0,0
$STATE,4804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4804,begin apogee
$GC,4813,-0.31,0.0,450.5,7.9,290,4880,1.15,0.00,63.65,0.864,6,0.073,0.000,2643,2021,3050,0,0,0,0,0,0
$STATE,4881,end apogee,CONTROL_FINISHED_OK
$STATE,4881,begin climb
$GC,4883,1.40,77.9,451.6,0.0,291,4959,1.62,2.45,64.75,0.843,4,0.029,0.039,2993,3397,2731,0,0,0,0,0,0
$GC,5224,1.19,107.0,441.9,6.0,298,5258,0.22,2.38,25.05,0.820,6,0.112,0.034,2979,2013,2613,0,0,0,0,0,0
$GC,5577,1.09,131.8,419.7,6.3,307,5601,0.15,0.00,21.73,0.816,6,0.120,0.000,2952,2013,2512,0,0,0,0,0,0
$GC,5902,1.04,135.4,395.7,7.8,315,5911,0.00,2.50,3.95,0.522,4,0.000,0.051,2958,605,2497,0,0,0,0,0,0
$GC,5959,0.91,135.4,390.9,8.7,316,5964,0.22,2.35,0.00,0.000,6,0.115,0.028,2916,2009,2495,0,0,0,0,0,0
$GC,6276,1.01,181.5,373.7,4.9,324,6324,0.00,2.45,41.17,0.828,4,0.000,0.036,2918,3407,2309,0,0,0,0,0,0
$GC,6332,1.12,225.0,370.9,5.0,325,6378,0.17,2.42,39.72,0.808,6,0.061,0.035,2961,2013,2132,0,0,0,0,0,0
$GC,6686,1.12,225.0,333.9,11.7,334,6690,0.00,2.50,0.00,0.000,4,0.000,0.051,2961,597,2123,0,0,0,0,0,0
$GC,6761,1.06,225.0,324.1,13.1,335,6765,0.00,2.40,0.00,0.000,6,0.000,0.029,2961,2019,2120,0,0,0,0,0,0
$GC,7077,1.06,225.0,291.3,10.4,345,7082,0.00,2.50,0.00,0.000,4,0.000,0.051,2961,597,2119,0,0,0,0,0,0
$GC,7252,1.06,225.0,273.6,8.5,352,7258,0.00,2.40,0.00,0.000,6,0.000,0.030,2961,2023,2116,0,0,0,0,0,0
$GC,7569,1.12,233.2,252.8,7.5,368,7576,0.00,0.00,5.65,0.584,6,0.000,0.000,2961,2027,2099,0,0,0,0,0,0
$GC,7877,1.17,233.2,224.5,9.6,383,7881,0.00,2.47,0.00,0.000,4,0.000,0.050,2961,604,2098,0,0,0,0,0,0
$GC,8026,1.17,233.2,208.3,11.4,389,8030,0.00,2.35,0.00,0.000,6,0.000,0.027,2961,2016,2095,0,0,0,0,0,0
$GC,8349,1.24,233.2,182.5,8.2,414,8354,0.10,2.50,0.00,0.000,4,0.082,0.048,2988,597,2095,0,0,0,0,0,0
$GC,8421,1.19,233.2,175.7,9.7,421,8426,0.00,2.35,0.00,0.000,6,0.000,0.026,2988,2012,2094,0,0,0,0,0,0
$GC,8684,1.19,233.2,155.0,8.4,445,8688,0.00,2.45,0.00,0.000,4,0.000,0.046,2988,603,2094,0,0,0,0,0,0
$GC,8749,1.19,233.2,148.7,8.4,451,8755,0.00,2.33,0.00,0.000,6,0.000,0.025,2989,2013,2093,0,0,0,0,0,0
$GC,9012,1.26,252.1,130.9,6.7,476,9038,0.00,2.38,17.62,0.613,4,0.000,0.028,2988,3409,2020,0,0,0,0,0,0
$GC,9111,1.35,252.1,121.9,9.6,486,9117,0.00,2.40,0.00,0.000,6,0.000,0.030,2988,1998,2020,0,0,0,0,0,0
$GC,9374,1.50,315.7,105.2,3.6,511,9436,0.22,2.47,56.03,0.605,4,0.049,0.045,3047,601,1761,0,0,0,0,0,0
$GC,9631,1.41,315.7,82.1,13.1,539,9636,0.12,2.33,0.00,0.000,6,0.108,0.021,3025,2017,1754,0,0,0,0,0,0
$GC,9892,1.46,315.7,56.1,9.6,563,9897,0.00,2.45,0.00,0.000,4,0.000,0.044,3024,596,1754,0,0,0,0,0,0
$GC,10004,1.46,315.7,43.6,11.1,574,10010,0.00,2.33,0.00,0.000,6,0.000,0.021,3025,2018,1753,0,0,0,0,0,0
$GC,10273,1.50,315.7,17.9,9.8,610,10278,0.00,2.42,0.00,0.000,4,0.000,0.043,3025,602,1752,0,0,0,0,0,0
$GC,10364,1.50,315.7,8.4,10.0,629,10370,0.00,2.28,0.00,0.000,6,0.000,0.021,3024,2018,1752,0,0,0,0,0,0
$STATE,10414,end climb,SURFACE_DEPTH_REACHED
$STATE,10414,begin surface coast
$FINISH,0.5,1.023354
$STATE,10442,end surface coast,CONTROL_FINISHED_OK
$STATE,10442,begin surface
$SM_CCo,10523,0.00,0.000,0,0,1747,319.63
$SM_GC,1.39,11.23,0.00,0.00,0.028,0.000,0.000,425,1853,1747,-10.46,-0.62,319.63
$IRIDIUM_FIX,2059.45,-15758.18,240999,222258
$TT8_MAMPS,0.028379
$HUMID,54.64
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,23.3,57.606
$10V_AH,10.0,50.414
$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,26.425,123.900,339.325,0.000,0.000,53.813,59.935,386.717,4.500,0.000,40.948,1253.177,7259.128,389.822,1580.019,759.862,33.402,1248.147,0.000,1514.296,0.000,29.264,0.000
$DEVICE_MAMPS,132.691,51.389,863.642,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,432.035,419.264,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355828
$DATA_FILE_SIZE,34973,643
$CAP_FILE_SIZE,126674,0
$CFSIZE,260165632,220696576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010710,012906,2105.519,-15758.422,116,1.9,116,9.8