version: 66.06
glider: 139
mission: 7
dive: 647
start: 7 1 110 7 56 18
data:
$ID,139
$MISSION,7
$DIVE,647
$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,-2145111.5
$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
$GPS1,074924,2106.840,-15759.858,58,1.5,74,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-70.4
$GPS2,075525,2106.891,-15759.886,26,1.6,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.175,0.057
$KALMAN_X,-341294.6,202.1,-511.1,333040.3,1261.8
$KALMAN_Y,39134.9,162.0,-77.7,-39254.0,-136.1
$MHEAD_RNG_PITCHd_Wd,278.1,4616,-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,-50.10,0.000,2,0.000,0.000,418,1883,3133,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.4,-6.2,10,94,10.65,2.38,-4.85,0.000,4,0.133,0.038,2407,3291,3370,0,0,0,0,0,0
$GC,174,-1.40,-77.9,21.8,-14.0,32,180,0.00,2.40,0.00,0.000,6,0.000,0.027,2407,1862,3371,0,0,0,0,0,0
$GC,377,-1.23,-77.9,51.7,-15.1,56,382,0.17,2.40,0.00,0.000,4,0.100,0.042,2441,469,3371,0,0,0,0,0,0
$GC,458,-1.13,-77.9,63.6,-14.4,64,463,0.12,2.30,0.00,0.000,6,0.103,0.019,2467,1913,3371,0,0,0,0,0,0
$GC,721,-1.13,-77.9,92.5,-10.1,88,725,0.00,2.47,0.00,0.000,4,0.000,0.041,2467,472,3372,0,0,0,0,0,0
$GC,772,-1.13,-77.9,98.2,-10.5,93,776,0.00,2.25,0.00,0.000,6,0.000,0.019,2467,1880,3372,0,0,0,0,0,0
$GC,1042,-1.18,-77.9,122.3,-7.8,118,1046,0.00,2.42,0.00,0.000,4,0.000,0.041,2467,463,3373,0,0,0,0,0,0
$GC,1116,-1.24,-77.9,128.8,-8.7,125,1122,0.12,2.22,0.00,0.000,6,0.062,0.018,2423,1878,3374,0,0,0,0,0,0
$GC,1377,-1.24,-77.9,154.1,-8.8,150,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,1882,3374,0,0,0,0,0,0
$GC,1632,-1.24,-77.9,177.2,-9.8,174,1636,0.00,2.40,0.00,0.000,4,0.000,0.040,2421,472,3375,0,0,0,0,0,0
$GC,1696,-1.21,-77.9,184.5,-11.1,180,1702,0.12,2.22,0.00,0.000,6,0.096,0.019,2448,1878,3375,0,0,0,0,0,0
$GC,1969,-1.30,-77.9,210.1,-8.9,201,1973,0.00,2.38,0.00,0.000,4,0.000,0.041,2448,472,3375,0,0,0,0,0,0
$GC,2035,-1.39,-77.9,216.0,-7.8,204,2040,0.17,2.22,0.00,0.000,6,0.049,0.019,2392,1880,3376,0,0,0,0,0,0
$GC,2369,-1.39,-77.9,235.8,-6.1,220,2373,0.00,2.40,0.00,0.000,4,0.000,0.041,2391,473,3375,0,0,0,0,0,0
$GC,2430,-1.33,-77.9,241.3,-9.6,222,2436,0.15,2.22,0.00,0.000,6,0.092,0.020,2423,1873,3375,0,0,0,0,0,0
$GC,2747,-1.38,-77.9,266.7,-8.7,238,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,1878,3375,0,0,0,0,0,0
$GC,3055,-1.44,-77.9,291.3,-7.7,253,3059,0.00,2.40,0.00,0.000,4,0.000,0.044,2422,473,3375,0,0,0,0,0,0
$GC,3093,-1.47,-77.9,294.8,-9.6,254,3099,0.12,2.25,0.00,0.000,6,0.062,0.021,2381,1872,3375,0,0,0,0,0,0
$GC,3405,-1.47,-77.9,325.9,-10.1,264,3409,0.00,2.40,0.00,0.000,4,0.000,0.044,2380,474,3373,0,0,0,0,0,0
$GC,3461,-1.39,-77.9,331.5,-10.3,265,3466,0.15,2.25,0.00,0.000,6,0.094,0.022,2412,1874,3373,0,0,0,0,0,0
$GC,3780,-1.45,-77.9,350.4,-5.7,273,3784,0.00,2.42,0.00,0.000,4,0.000,0.045,2413,468,3373,0,0,0,0,0,0
$GC,3836,-1.49,-77.9,353.8,-6.0,274,3841,0.00,2.25,0.00,0.000,6,0.000,0.023,2412,1871,3373,0,0,0,0,0,0
$GC,4151,-1.55,-77.9,370.5,-5.4,282,4156,0.17,2.42,0.00,0.000,4,0.053,0.047,2361,474,3370,0,0,0,0,0,0
$GC,4203,-1.45,-77.9,374.9,-8.6,283,4208,0.17,2.25,0.00,0.000,6,0.091,0.024,2397,1873,3370,0,0,0,0,0,0
$GC,4523,-1.45,-77.9,397.3,-7.0,291,4527,0.00,2.40,0.00,0.000,4,0.000,0.048,2397,474,3368,0,0,0,0,0,0
$GC,4620,-1.45,-77.9,404.7,-7.4,293,4625,0.00,2.28,0.00,0.000,6,0.000,0.025,2397,1882,3368,0,0,0,0,0,0
$GC,4940,-1.48,-77.9,422.2,-5.1,301,4944,0.00,2.45,0.00,0.000,4,0.000,0.049,2397,473,3365,0,0,0,0,0,0
$GC,4968,-1.48,-77.9,424.1,-6.1,301,4972,0.00,2.30,0.00,0.000,6,0.000,0.025,2397,1876,3365,0,0,0,0,0,0
$GC,5305,-1.51,-77.9,445.6,-6.7,310,5309,0.00,2.45,0.00,0.000,4,0.000,0.050,2396,472,3363,0,0,0,0,0,0
$GC,5360,-1.51,-77.9,449.8,-7.6,311,5365,0.00,2.30,0.00,0.000,6,0.000,0.027,2397,1874,3363,0,0,0,0,0,0
$STATE,5367,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5367,begin apogee
$GC,5374,-0.31,0.0,450.5,7.2,311,5441,1.12,0.00,63.90,0.864,6,0.071,0.000,2643,2028,3050,0,0,0,0,0,0
$STATE,5442,end apogee,CONTROL_FINISHED_OK
$STATE,5442,begin climb
$GC,5445,1.40,77.9,451.4,0.0,313,5520,1.62,2.40,64.93,0.844,4,0.028,0.038,3018,3379,2732,0,0,0,0,0,0
$GC,5535,1.30,193.2,452.9,0.1,315,5644,0.10,2.35,98.82,0.842,6,0.130,0.031,3009,2005,2261,0,0,0,0,0,0
$GC,5985,1.17,193.2,396.4,14.7,326,5990,0.20,2.47,0.00,0.000,4,0.109,0.048,2973,601,2250,0,0,0,0,0,0
$GC,6056,1.05,193.2,386.9,13.7,327,6061,0.17,2.33,0.00,0.000,6,0.113,0.028,2942,2000,2247,0,0,0,0,0,0
$GC,6397,1.05,193.2,351.0,10.0,336,6401,0.00,2.45,0.00,0.000,4,0.000,0.051,2941,601,2245,0,0,0,0,0,0
$GC,6524,1.05,193.2,336.5,11.4,338,6528,0.00,2.35,0.00,0.000,6,0.000,0.028,2943,2010,2242,0,0,0,0,0,0
$GC,6860,1.10,198.5,308.1,7.7,347,6864,0.00,2.45,0.00,0.000,4,0.000,0.049,2943,608,2243,0,0,0,0,0,0
$GC,6879,1.11,210.3,306.6,7.2,347,6900,0.00,2.35,12.80,0.727,6,0.000,0.029,2943,2016,2192,0,0,0,0,0,0
$GC,7211,1.19,222.8,285.7,7.2,361,7233,0.15,2.50,12.38,0.713,4,0.067,0.049,2981,606,2139,0,0,0,0,0,0
$GC,7429,1.12,222.8,256.9,13.1,370,7434,0.12,2.35,0.00,0.000,6,0.120,0.028,2960,2008,2134,0,0,0,0,0,0
$GC,7752,1.19,232.3,228.2,7.4,386,7768,0.00,2.50,9.15,0.647,4,0.000,0.048,2959,605,2101,0,0,0,0,0,0
$GC,7941,1.19,232.3,210.9,8.4,394,7945,0.00,2.35,0.00,0.000,6,0.000,0.027,2959,2018,2097,0,0,0,0,0,0
$GC,8273,1.26,232.3,185.0,8.6,418,8278,0.12,2.50,0.00,0.000,4,0.071,0.048,2993,601,2097,0,0,0,0,0,0
$GC,8307,1.18,232.3,181.1,10.9,421,8312,0.12,2.35,0.00,0.000,6,0.113,0.026,2971,2018,2096,0,0,0,0,0,0
$GC,8568,1.22,232.3,156.9,8.2,445,8573,0.00,2.47,0.00,0.000,4,0.000,0.046,2971,599,2096,0,0,0,0,0,0
$GC,8809,1.25,254.2,136.9,6.5,470,8834,0.00,2.33,19.88,0.622,6,0.000,0.025,2971,2019,2012,0,0,0,0,0,0
$GC,9096,1.37,278.5,121.0,6.4,498,9125,0.17,2.53,22.40,0.601,4,0.056,0.044,3020,609,1913,0,0,0,0,0,0
$GC,9391,1.31,278.5,89.2,9.8,530,9396,0.00,2.28,0.00,0.000,6,0.000,0.023,3019,2007,1908,0,0,0,0,0,0
$GC,9655,1.34,278.5,67.7,8.2,554,9659,0.00,2.42,0.00,0.000,4,0.000,0.043,3019,601,1908,0,0,0,0,0,0
$GC,9757,1.34,278.5,58.4,8.8,564,9762,0.00,2.30,0.00,0.000,6,0.000,0.021,3020,2013,1907,0,0,0,0,0,0
$GC,10020,1.43,308.0,41.6,6.0,589,10055,0.00,2.50,25.88,0.533,4,0.000,0.041,3019,606,1793,0,0,0,0,0,0
$GC,10183,1.43,308.0,25.5,10.7,610,10188,0.00,2.28,0.00,0.000,6,0.000,0.021,3019,2015,1789,0,0,0,0,0,0
$GC,10392,1.50,321.1,8.8,7.1,647,10410,0.00,2.47,12.15,0.474,4,0.000,0.050,3019,605,1740,0,0,0,0,0,0
$STATE,10442,end climb,SURFACE_DEPTH_REACHED
$STATE,10442,begin surface coast
$FINISH,0.8,1.023271
$STATE,10468,end surface coast,CONTROL_FINISHED_OK
$STATE,10468,begin surface
$SM_CCo,10551,0.00,0.000,0,0,1731,323.55
$SM_GC,1.33,11.20,0.00,0.00,0.026,0.000,0.000,424,1911,1731,-10.46,1.02,323.55
$IRIDIUM_FIX,2101.76,-15801.19,250999,050518
$TT8_MAMPS,0.029146
$HUMID,53.50
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.3,57.880
$10V_AH,10.0,50.583
$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,27.275,123.075,342.275,0.000,0.000,28.515,32.012,164.835,4.750,0.000,31.518,1283.502,7143.473,387.339,1620.090,475.298,33.406,1276.163,0.000,1559.195,0.000,29.244,0.000
$DEVICE_MAMPS,133.458,55.224,863.642,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,444.794,432.907,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,34955,663
$CAP_FILE_SIZE,125658,0
$CFSIZE,260165632,220520448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010710,105544,2107.119,-15800.489,160,2.4,179,9.8