version: 66.06
glider: 139
mission: 7
dive: 648
start: 7 1 110 11 5 57
data:
$ID,139
$MISSION,7
$DIVE,648
$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,-2145139
$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
$GPS1,105544,2107.119,-15800.489,160,2.4,179,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-67.2
$GPS2,110506,2107.115,-15800.483,16,1.3,26,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.157,0.095
$KALMAN_X,-340848.8,71.8,111.0,331077.2,817.4
$KALMAN_Y,38842.1,163.8,-4.8,-38619.9,-289.8
$MHEAD_RNG_PITCHd_Wd,291.5,3544,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,73,0.00,0.00,-55.10,0.000,2,0.000,0.000,423,1913,3183,0,0,0,0,0,0
$GC,77,-1.40,-77.9,3.5,-5.9,11,96,10.60,2.35,-3.72,0.000,4,0.133,0.038,2405,3298,3372,0,0,0,0,0,0
$GC,204,-1.40,-77.9,28.3,-14.0,38,210,0.00,2.40,0.00,0.000,6,0.000,0.028,2405,1862,3373,0,0,0,0,0,0
$GC,403,-1.25,-77.9,55.6,-13.6,58,408,0.17,2.38,0.00,0.000,4,0.100,0.042,2440,470,3374,0,0,0,0,0,0
$GC,484,-1.16,-77.9,66.0,-11.2,66,489,0.10,2.33,0.00,0.000,6,0.117,0.019,2460,1918,3374,0,0,0,0,0,0
$GC,746,-1.16,-77.9,91.8,-8.9,90,750,0.00,2.50,0.00,0.000,4,0.000,0.041,2460,462,3375,0,0,0,0,0,0
$GC,811,-1.16,-77.9,97.9,-9.1,96,817,0.00,2.28,0.00,0.000,6,0.000,0.018,2460,1883,3375,0,0,0,0,0,0
$GC,1075,-1.20,-77.9,117.9,-7.2,121,1079,0.00,2.42,0.00,0.000,4,0.000,0.041,2459,466,3376,0,0,0,0,0,0
$GC,1108,-1.20,-77.9,120.9,-8.7,124,1112,0.00,2.25,0.00,0.000,6,0.000,0.019,2460,1877,3376,0,0,0,0,0,0
$GC,1371,-1.28,-77.9,142.4,-8.8,148,1376,0.12,2.42,0.00,0.000,4,0.062,0.041,2415,470,3377,0,0,0,0,0,0
$GC,1419,-1.23,-77.9,147.9,-11.5,152,1425,0.15,2.25,0.00,0.000,6,0.091,0.018,2448,1880,3377,0,0,0,0,0,0
$GC,1680,-1.29,-77.9,172.3,-9.5,177,1684,0.00,2.42,0.00,0.000,4,0.000,0.041,2447,461,3377,0,0,0,0,0,0
$GC,1745,-1.34,-77.9,178.1,-8.1,183,1751,0.12,2.25,0.00,0.000,6,0.061,0.019,2402,1880,3377,0,0,0,0,0,0
$GC,2005,-1.34,-77.9,202.2,-9.5,207,2009,0.00,2.42,0.00,0.000,4,0.000,0.041,2402,461,3377,0,0,0,0,0,0
$GC,2076,-1.29,-77.9,209.2,-9.4,210,2081,0.15,2.25,0.00,0.000,6,0.091,0.019,2434,1873,3377,0,0,0,0,0,0
$GC,2403,-1.37,-77.9,229.7,-5.4,226,2407,0.00,2.38,0.00,0.000,4,0.000,0.041,2434,470,3378,0,0,0,0,0,0
$GC,2432,-1.37,-77.9,231.8,-7.1,227,2436,0.00,2.25,0.00,0.000,6,0.000,0.020,2434,1877,3377,0,0,0,0,0,0
$GC,2754,-1.44,-77.9,254.0,-7.7,243,2759,0.15,2.42,0.00,0.000,4,0.056,0.043,2385,470,3377,0,0,0,0,0,0
$GC,2811,-1.40,-77.9,259.8,-10.3,245,2817,0.12,2.25,0.00,0.000,6,0.098,0.021,2412,1878,3377,0,0,0,0,0,0
$GC,3135,-1.44,-77.9,283.7,-6.5,261,3139,0.00,2.42,0.00,0.000,4,0.000,0.043,2411,464,3376,0,0,0,0,0,0
$GC,3159,-1.44,-77.9,285.7,-7.5,262,3163,0.00,2.28,0.00,0.000,6,0.000,0.021,2412,1879,3376,0,0,0,0,0,0
$GC,3507,-1.48,-77.9,313.3,-7.9,275,3511,0.00,2.42,0.00,0.000,4,0.000,0.044,2411,467,3375,0,0,0,0,0,0
$GC,3576,-1.48,-77.9,318.9,-7.8,276,3581,0.00,2.28,0.00,0.000,6,0.000,0.022,2411,1876,3375,0,0,0,0,0,0
$GC,3918,-1.53,-77.9,343.7,-7.5,285,3923,0.15,2.33,0.00,0.000,4,0.056,0.030,2366,3267,3374,0,0,0,0,0,0
$GC,3937,-1.53,-77.9,345.6,-8.6,285,3941,0.00,2.33,0.00,0.000,6,0.000,0.031,2366,1872,3374,0,0,0,0,0,0
$GC,4283,-1.49,-77.9,375.0,-7.8,294,4288,0.10,2.42,0.00,0.000,4,0.114,0.047,2385,471,3371,0,0,0,0,0,0
$GC,4345,-1.44,-77.9,379.7,-7.8,295,4352,0.00,2.28,0.00,0.000,6,0.000,0.024,2387,1874,3372,0,0,0,0,0,0
$GC,4664,-1.44,-77.9,400.8,-6.6,303,4668,0.00,2.40,0.00,0.000,4,0.000,0.048,2386,473,3369,0,0,0,0,0,0
$GC,4758,-1.44,-77.9,408.4,-8.0,305,4762,0.00,2.30,0.00,0.000,6,0.000,0.025,2386,1880,3368,0,0,0,0,0,0
$GC,5080,-1.44,-77.9,433.7,-8.2,313,5084,0.00,2.45,0.00,0.000,4,0.000,0.048,2386,470,3366,0,0,0,0,0,0
$GC,5136,-1.44,-77.9,438.7,-9.1,314,5140,0.00,2.30,0.00,0.000,6,0.000,0.026,2385,1872,3366,0,0,0,0,0,0
$STATE,5325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5325,begin apogee
$GC,5331,-0.31,0.0,452.4,7.1,319,5399,1.20,0.00,64.30,0.863,6,0.070,0.000,2645,2041,3050,0,0,0,0,0,0
$STATE,5400,end apogee,CONTROL_FINISHED_OK
$STATE,5400,begin climb
$GC,5403,1.40,77.9,453.2,0.0,320,5479,1.62,2.38,64.68,0.843,4,0.029,0.038,3028,3376,2731,0,0,0,0,0,0
$GC,5634,1.19,112.2,449.5,5.7,325,5673,0.03,2.33,29.45,0.825,6,0.189,0.031,3034,2006,2591,0,0,0,0,0,0
$GC,6000,0.95,112.2,420.4,8.4,334,6007,0.55,2.38,0.00,0.000,4,0.104,0.036,2933,3379,2587,0,0,0,0,0,0
$GC,6169,1.00,149.1,409.7,5.5,337,6205,0.00,2.35,31.40,0.826,6,0.000,0.035,2933,2003,2442,0,0,0,0,0,0
$GC,6552,1.03,175.2,385.9,6.2,347,6580,0.00,2.50,23.33,0.805,4,0.000,0.051,2930,604,2335,0,0,0,0,0,0
$GC,6615,1.00,188.4,381.6,7.1,348,6634,0.00,2.33,12.82,0.757,6,0.000,0.028,2932,1991,2281,0,0,0,0,0,0
$GC,6966,1.04,194.1,354.1,7.6,357,6979,0.00,2.50,5.85,0.636,4,0.000,0.051,2932,607,2257,0,0,0,0,0,0
$GC,7054,1.04,194.1,346.5,8.6,358,7059,0.00,2.35,0.00,0.000,6,0.000,0.029,2934,2014,2254,0,0,0,0,0,0
$GC,7385,1.11,210.4,323.9,6.9,367,7403,0.10,0.00,15.57,0.761,6,0.086,0.000,2959,2018,2192,0,0,0,0,0,0
$GC,7690,1.11,210.4,296.6,9.1,375,7694,0.00,2.47,0.00,0.000,4,0.000,0.051,2957,600,2188,0,0,0,0,0,0
$GC,7751,1.08,210.4,289.9,12.2,377,7756,0.00,2.38,0.00,0.000,6,0.000,0.029,2959,2016,2185,0,0,0,0,0,0
$GC,8066,1.12,210.4,261.2,8.5,393,8071,0.00,2.47,0.00,0.000,4,0.000,0.050,2955,606,2185,0,0,0,0,0,0
$GC,8090,1.12,210.4,258.9,8.8,394,8095,0.00,2.35,0.00,0.000,6,0.000,0.029,2959,2013,2183,0,0,0,0,0,0
$GC,8415,1.17,223.5,233.9,7.1,410,8429,0.00,0.00,12.05,0.684,6,0.000,0.000,2959,2017,2137,0,0,0,0,0,0
$GC,8726,1.22,226.1,212.7,7.8,425,8730,0.00,2.47,0.00,0.000,4,0.000,0.049,2958,606,2135,0,0,0,0,0,0
$GC,8916,1.22,226.1,192.1,9.6,437,8920,0.00,2.35,0.00,0.000,6,0.000,0.026,2959,2023,2132,0,0,0,0,0,0
$GC,9180,1.31,231.5,170.8,7.7,461,9193,0.17,2.50,7.75,0.580,4,0.058,0.046,3006,605,2106,0,0,0,0,0,0
$GC,9348,1.23,231.5,155.6,9.2,479,9353,0.12,2.30,0.00,0.000,6,0.112,0.025,2984,2013,2103,0,0,0,0,0,0
$GC,9609,1.29,246.4,137.7,7.0,503,9630,0.00,2.53,14.62,0.607,4,0.000,0.045,2983,607,2044,0,0,0,0,0,0
$GC,9741,1.29,246.4,126.1,9.4,517,9746,0.00,2.30,0.00,0.000,6,0.000,0.024,2984,2017,2041,0,0,0,0,0,0
$GC,10004,1.39,257.7,106.7,7.2,542,10023,0.15,2.47,11.07,0.554,4,0.060,0.044,3027,604,1998,0,0,0,0,0,0
$GC,10290,1.33,257.7,81.3,8.8,572,10296,0.12,2.30,0.00,0.000,6,0.106,0.022,3003,2013,1996,0,0,0,0,0,0
$GC,10551,1.41,268.4,62.5,7.3,597,10569,0.00,2.50,10.75,0.509,4,0.000,0.042,3003,601,1955,0,0,0,0,0,0
$GC,10672,1.42,275.8,53.4,7.5,610,10685,0.00,2.30,7.68,0.473,6,0.000,0.021,3003,2019,1925,0,0,0,0,0,0
$GC,10947,1.49,275.8,32.1,8.4,636,10952,0.15,2.42,0.00,0.000,4,0.058,0.043,3049,602,1924,0,0,0,0,0,0
$GC,11144,1.41,275.8,12.0,10.7,675,11151,0.15,2.28,0.00,0.000,6,0.098,0.020,3019,2011,1923,0,0,0,0,0,0
$STATE,11239,end climb,SURFACE_DEPTH_REACHED
$STATE,11239,begin surface coast
$FINISH,0.5,1.007639
$STATE,11274,end surface coast,CONTROL_FINISHED_OK
$STATE,11274,begin surface
$SM_CCo,11295,20.20,0.497,0,0,1826,300.00
$SM_GC,1.10,0.00,0.00,20.20,0.000,0.000,0.497,429,1839,1826,-10.51,-1.02,300.00
$IRIDIUM_FIX,2059.45,-15803.33,250999,111128
$TT8_MAMPS,0.029146
$HUMID,53.30
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.80
$XPDR_PINGS,1
$24V_AH,23.3,57.972
$10V_AH,10.0,50.644
$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,27.450,128.350,311.325,20.200,0.000,54.987,67.305,233.734,4.750,0.000,26.683,1356.576,7825.243,411.559,1654.708,626.275,33.390,1305.670,0.000,1600.589,0.000,29.273,0.000
$DEVICE_MAMPS,189.449,50.622,862.875,497.016,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,469.446,455.658,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,38073,698
$CAP_FILE_SIZE,133866,0
$CFSIZE,260165632,220446720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010710,141628,2107.666,-15801.373,57,3.8,76,9.8