version: 66.06
glider: 139
mission: 7
dive: 646
start: 7 1 110 4 56 16
data:
$ID,139
$MISSION,7
$DIVE,646
$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,-2145079.2
$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
$GPS1,044930,2106.208,-15759.271,114,1.6,114,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-67.4
$GPS2,045524,2106.228,-15759.327,14,1.6,17,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.132,0.128
$KALMAN_X,-342195.2,170.5,-83.6,334514.8,-16.5
$KALMAN_Y,39360.1,63.7,2.2,-40689.6,-200.7
$MHEAD_RNG_PITCHd_Wd,304.3,6130,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.40,-77.9,0.0,0.0,0,79,0.00,0.00,-59.80,0.000,2,0.000,0.000,421,1868,3044,0,0,0,0,0,0
$GC,83,-1.40,-77.9,3.1,-5.3,12,106,10.60,2.38,-6.62,0.000,4,0.132,0.034,2404,3311,3368,0,0,0,0,0,0
$GC,205,-1.40,-77.9,26.8,-15.6,38,211,0.00,2.42,0.00,0.000,6,0.000,0.030,2405,1867,3369,0,0,0,0,0,0
$GC,405,-1.22,-77.9,57.8,-16.6,59,410,0.20,2.40,0.00,0.000,4,0.098,0.041,2444,466,3369,0,0,0,0,0,0
$GC,445,-1.11,-77.9,64.6,-17.5,62,451,0.12,2.33,0.00,0.000,6,0.105,0.019,2469,1912,3370,0,0,0,0,0,0
$GC,708,-1.14,-77.9,94.1,-9.1,87,712,0.00,2.47,0.00,0.000,4,0.000,0.041,2469,472,3370,0,0,0,0,0,0
$GC,772,-1.14,-77.9,100.8,-9.7,93,778,0.00,2.25,0.00,0.000,6,0.000,0.018,2469,1882,3371,0,0,0,0,0,0
$GC,1035,-1.22,-77.9,122.9,-8.4,118,1039,0.00,2.42,0.00,0.000,4,0.000,0.041,2469,467,3372,0,0,0,0,0,0
$GC,1089,-1.30,-77.9,127.7,-9.3,123,1094,0.17,2.25,0.00,0.000,6,0.051,0.019,2414,1878,3372,0,0,0,0,0,0
$GC,1349,-1.30,-77.9,157.3,-11.8,147,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1884,3372,0,0,0,0,0,0
$GC,1605,-1.30,-77.9,184.1,-9.6,171,1609,0.00,2.42,0.00,0.000,4,0.000,0.041,2413,461,3372,0,0,0,0,0,0
$GC,1707,-1.30,-77.9,194.3,-10.1,182,1711,0.00,2.25,0.00,0.000,6,0.000,0.020,2413,1872,3373,0,0,0,0,0,0
$GC,1974,-1.30,-77.9,212.6,-6.4,198,1978,0.00,2.40,0.00,0.000,4,0.000,0.041,2413,468,3373,0,0,0,0,0,0
$GC,2034,-1.30,-77.9,217.8,-8.6,200,2040,0.00,2.25,0.00,0.000,6,0.000,0.020,2413,1878,3373,0,0,0,0,0,0
$GC,2353,-1.34,-77.9,240.5,-6.2,216,2357,0.00,2.42,0.00,0.000,4,0.000,0.044,2413,464,3373,0,0,0,0,0,0
$GC,2437,-1.34,-77.9,246.8,-6.9,219,2442,0.00,2.25,0.00,0.000,6,0.000,0.021,2413,1876,3373,0,0,0,0,0,0
$GC,2753,-1.39,-77.9,272.2,-8.2,235,2758,0.00,2.42,0.00,0.000,4,0.000,0.044,2413,465,3373,0,0,0,0,0,0
$GC,2872,-1.39,-77.9,282.0,-8.5,240,2876,0.00,2.28,0.00,0.000,6,0.000,0.021,2413,1877,3372,0,0,0,0,0,0
$GC,3218,-1.42,-77.9,309.4,-7.7,254,3223,0.00,2.42,0.00,0.000,4,0.000,0.045,2413,471,3371,0,0,0,0,0,0
$GC,3279,-1.42,-77.9,314.4,-7.9,255,3283,0.00,2.28,0.00,0.000,6,0.000,0.023,2413,1872,3370,0,0,0,0,0,0
$GC,3631,-1.47,-77.9,340.1,-7.7,264,3636,0.00,2.42,0.00,0.000,4,0.000,0.046,2413,467,3369,0,0,0,0,0,0
$GC,3692,-1.47,-77.9,345.4,-8.5,265,3696,0.00,2.30,0.00,0.000,6,0.000,0.024,2413,1881,3368,0,0,0,0,0,0
$GC,4042,-1.52,-77.9,373.4,-8.2,274,4047,0.15,2.47,0.00,0.000,4,0.058,0.048,2368,462,3366,0,0,0,0,0,0
$GC,4081,-1.42,-77.9,377.1,-10.5,274,4087,0.17,2.30,0.00,0.000,6,0.090,0.025,2405,1872,3366,0,0,0,0,0,0
$GC,4414,-1.46,-77.9,403.4,-7.8,283,4418,0.00,2.42,0.00,0.000,4,0.000,0.048,2404,466,3364,0,0,0,0,0,0
$GC,4526,-1.46,-77.9,414.2,-9.5,285,4530,0.00,2.30,0.00,0.000,6,0.000,0.025,2404,1874,3363,0,0,0,0,0,0
$GC,4871,-1.51,-77.9,444.2,-8.6,294,4875,0.00,2.42,0.00,0.000,4,0.000,0.050,2404,469,3361,0,0,0,0,0,0
$GC,4922,-1.51,-77.9,449.1,-10.0,295,4926,0.00,2.30,0.00,0.000,6,0.000,0.026,2404,1874,3361,0,0,0,0,0,0
$STATE,4933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4933,begin apogee
$GC,4940,-0.31,0.0,450.4,9.3,295,5007,1.08,0.00,63.42,0.855,6,0.069,0.000,2640,2032,3050,0,0,0,0,0,0
$STATE,5008,end apogee,CONTROL_FINISHED_OK
$STATE,5008,begin climb
$GC,5011,1.40,77.9,452.6,0.0,297,5086,1.65,2.40,64.60,0.837,4,0.028,0.037,3027,3382,2731,0,0,0,0,0,0
$GC,5115,1.29,194.3,456.3,0.0,299,5225,0.15,2.35,99.25,0.837,6,0.118,0.031,2997,2008,2256,0,0,0,0,0,0
$GC,5548,1.17,194.3,410.6,11.9,310,5553,0.15,2.45,0.00,0.000,4,0.118,0.048,2975,607,2247,0,0,0,0,0,0
$GC,5592,1.04,194.3,404.9,12.6,311,5597,0.20,2.33,0.00,0.000,6,0.115,0.026,2942,1991,2244,0,0,0,0,0,0
$GC,5922,1.04,194.3,371.1,10.3,319,5927,0.00,2.42,0.00,0.000,4,0.000,0.050,2940,605,2242,0,0,0,0,0,0
$GC,6031,1.01,194.3,358.7,11.7,321,6035,0.00,2.35,0.00,0.000,6,0.000,0.027,2941,2011,2240,0,0,0,0,0,0
$GC,6381,1.04,194.3,322.5,10.0,330,6385,0.00,2.47,0.00,0.000,4,0.000,0.049,2940,604,2240,0,0,0,0,0,0
$GC,6400,1.04,194.3,320.4,9.9,330,6404,0.00,2.35,0.00,0.000,6,0.000,0.028,2940,2011,2238,0,0,0,0,0,0
$GC,6725,1.11,214.6,296.3,6.6,339,6747,0.00,2.50,15.60,0.732,4,0.000,0.050,2940,609,2175,0,0,0,0,0,0
$GC,6846,1.11,216.4,286.8,7.9,344,6850,0.00,2.38,0.00,0.000,6,0.000,0.028,2941,2021,2170,0,0,0,0,0,0
$GC,7171,1.19,216.4,261.8,8.1,360,7176,0.15,2.50,0.00,0.000,4,0.067,0.049,2979,608,2169,0,0,0,0,0,0
$GC,7370,1.13,216.4,240.3,11.2,368,7376,0.00,2.35,0.00,0.000,6,0.000,0.027,2980,2014,2167,0,0,0,0,0,0
$GC,7686,1.16,234.9,216.1,6.7,384,7711,0.00,2.55,18.17,0.684,4,0.000,0.048,2979,611,2092,0,0,0,0,0,0
$GC,7976,1.11,234.9,190.8,10.6,402,7982,0.12,2.35,0.00,0.000,6,0.118,0.026,2958,2020,2086,0,0,0,0,0,0
$GC,8239,1.21,253.8,168.9,6.7,427,8266,0.00,2.53,17.52,0.637,4,0.000,0.044,2957,603,2013,0,0,0,0,0,0
$GC,8409,1.26,253.8,156.6,8.8,445,8416,0.12,2.35,0.00,0.000,6,0.071,0.025,2992,2017,2010,0,0,0,0,0,0
$GC,8673,1.30,253.8,132.5,9.5,470,8674,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2022,2009,0,0,0,0,0,0
$GC,8925,1.38,261.4,110.6,7.5,494,8937,0.00,2.45,7.60,0.516,4,0.000,0.044,2992,605,1984,0,0,0,0,0,0
$GC,9091,1.38,262.8,98.1,7.9,512,9096,0.00,2.33,0.00,0.000,6,0.000,0.022,2992,2024,1981,0,0,0,0,0,0
$GC,9354,1.50,292.9,81.0,6.0,536,9390,0.22,2.47,28.92,0.568,4,0.048,0.041,3055,605,1853,0,0,0,0,0,0
$GC,9461,1.40,292.9,70.5,10.1,547,9467,0.17,2.30,0.00,0.000,6,0.097,0.021,3021,2014,1850,0,0,0,0,0,0
$GC,9724,1.45,292.9,45.8,8.9,572,9728,0.00,2.42,0.00,0.000,4,0.000,0.041,3020,597,1850,0,0,0,0,0,0
$GC,9835,1.46,300.8,35.4,7.5,583,9850,0.00,2.30,7.50,0.454,6,0.000,0.021,3020,2017,1822,0,0,0,0,0,0
$GC,10115,1.51,300.8,8.3,11.3,627,10121,0.00,2.40,0.00,0.000,4,0.000,0.041,3020,604,1822,0,0,0,0,0,0
$STATE,10161,end climb,SURFACE_DEPTH_REACHED
$STATE,10161,begin surface coast
$FINISH,0.5,0.999776
$STATE,10196,end surface coast,CONTROL_FINISHED_OK
$STATE,10196,begin surface
$SM_CCo,10279,0.00,0.000,0,0,1815,302.95
$SM_GC,1.39,11.10,0.00,0.00,0.023,0.000,0.000,419,1880,1815,-10.46,0.14,302.95
$IRIDIUM_FIX,2057.14,-15759.05,250999,010149
$TT8_MAMPS,0.029146
$HUMID,53.38
$INTERNAL_PRESSURE,9.74301
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,23.3,57.793
$10V_AH,10.0,50.529
$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,26.550,118.825,322.600,0.000,0.000,30.276,34.850,159.908,4.500,0.000,17.511,1248.988,6958.671,384.807,1569.246,464.868,33.378,1246.324,0.000,1524.857,0.000,29.242,0.000
$DEVICE_MAMPS,131.924,52.923,855.205,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,431.677,419.783,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,34871,644
$CAP_FILE_SIZE,119384,0
$CFSIZE,260165632,220581888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010710,074924,2106.840,-15759.858,58,1.5,74,9.8