version: 66.06
glider: 139
mission: 7
dive: 637
start: 6 29 110 23 42 27
data:
$ID,139
$MISSION,7
$DIVE,637
$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,-2144752
$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
$GPS1,233523,2101.354,-15753.957,109,4.1,128,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-68.6
$GPS2,234136,2101.332,-15753.999,12,1.1,28,9.8
$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,-347007.0,-137.3,272.5,348484.1,900.3
$KALMAN_Y,41014.8,38.4,399.3,-51779.2,-887.3
$MHEAD_RNG_PITCHd_Wd,304.1,19034,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.40,-77.9,0.0,0.0,0,74,0.00,0.00,-55.15,0.000,2,0.000,0.000,428,1857,3274,0,0,0,0,0,0
$GC,78,-1.40,-77.9,3.9,-6.8,11,97,10.52,2.40,-1.88,0.000,4,0.131,0.038,2407,3302,3371,0,0,0,0,0,0
$GC,232,-1.33,-77.9,32.5,-14.9,42,238,0.00,2.38,0.00,0.000,6,0.000,0.028,2407,1873,3372,0,0,0,0,0,0
$GC,495,-1.17,-77.9,73.1,-15.0,67,500,0.25,2.40,0.00,0.000,4,0.092,0.041,2462,470,3373,0,0,0,0,0,0
$GC,571,-1.12,-77.9,83.1,-10.7,74,576,0.00,2.30,0.00,0.000,6,0.000,0.018,2462,1910,3373,0,0,0,0,0,0
$GC,834,-1.12,-77.9,110.2,-10.5,99,838,0.00,2.47,0.00,0.000,4,0.000,0.041,2461,467,3374,0,0,0,0,0,0
$GC,880,-1.12,-77.9,115.6,-11.0,103,885,0.00,2.25,0.00,0.000,6,0.000,0.018,2462,1884,3374,0,0,0,0,0,0
$GC,1144,-1.19,-77.9,140.6,-9.5,128,1148,0.00,2.42,0.00,0.000,4,0.000,0.041,2461,468,3375,0,0,0,0,0,0
$GC,1200,-1.27,-77.9,146.7,-10.2,133,1206,0.12,2.25,0.00,0.000,6,0.061,0.018,2417,1882,3375,0,0,0,0,0,0
$GC,1462,-1.27,-77.9,173.6,-9.5,158,1467,0.00,2.42,0.00,0.000,4,0.000,0.041,2417,462,3376,0,0,0,0,0,0
$GC,1551,-1.27,-77.9,183.0,-10.7,167,1555,0.00,2.22,0.00,0.000,6,0.000,0.019,2417,1877,3376,0,0,0,0,0,0
$GC,1811,-1.27,-77.9,205.9,-8.1,188,1815,0.00,2.25,0.00,0.000,4,0.000,0.025,2417,3258,3376,0,0,0,0,0,0
$GC,1834,-1.35,-77.9,207.9,-8.1,189,1838,0.00,2.30,0.00,0.000,6,0.000,0.027,2417,1863,3376,0,0,0,0,0,0
$GC,2158,-1.35,-77.9,233.7,-8.2,205,2162,0.00,2.38,0.00,0.000,4,0.000,0.042,2416,464,3377,0,0,0,0,0,0
$GC,2216,-1.35,-77.9,238.8,-9.4,207,2220,0.00,2.25,0.00,0.000,6,0.000,0.020,2417,1878,3377,0,0,0,0,0,0
$GC,2532,-1.39,-77.9,263.9,-8.0,222,2536,0.00,2.40,0.00,0.000,4,0.000,0.042,2417,474,3377,0,0,0,0,0,0
$GC,2606,-1.39,-77.9,270.4,-8.4,225,2610,0.00,2.25,0.00,0.000,6,0.000,0.021,2416,1881,3377,0,0,0,0,0,0
$GC,2928,-1.46,-77.9,295.4,-7.3,241,2932,0.00,2.42,0.00,0.000,4,0.000,0.044,2417,469,3376,0,0,0,0,0,0
$GC,3046,-1.50,-77.9,304.0,-7.0,245,3051,0.15,2.28,0.00,0.000,6,0.056,0.021,2369,1883,3376,0,0,0,0,0,0
$GC,3392,-1.46,-77.9,334.0,-8.9,254,3397,0.12,2.45,0.00,0.000,4,0.100,0.046,2395,467,3374,0,0,0,0,0,0
$GC,3449,-1.46,-77.9,339.6,-9.6,255,3454,0.00,2.25,0.00,0.000,6,0.000,0.023,2395,1872,3374,0,0,0,0,0,0
$GC,3768,-1.46,-77.9,364.1,-7.9,263,3772,0.00,2.42,0.00,0.000,4,0.000,0.047,2394,470,3372,0,0,0,0,0,0
$GC,3811,-1.46,-77.9,367.6,-8.3,264,3815,0.00,2.30,0.00,0.000,6,0.000,0.024,2395,1883,3372,0,0,0,0,0,0
$GC,4138,-1.46,-77.9,397.1,-9.8,272,4143,0.00,2.45,0.00,0.000,4,0.000,0.048,2395,473,3370,0,0,0,0,0,0
$GC,4184,-1.46,-77.9,402.5,-11.5,273,4189,0.00,2.28,0.00,0.000,6,0.000,0.025,2394,1882,3370,0,0,0,0,0,0
$GC,4508,-1.46,-77.9,431.0,-7.8,281,4512,0.00,2.45,0.00,0.000,4,0.000,0.050,2395,475,3368,0,0,0,0,0,0
$GC,4582,-1.46,-77.9,437.2,-8.4,282,4586,0.00,2.30,0.00,0.000,6,0.000,0.026,2395,1876,3367,0,0,0,0,0,0
$STATE,4752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4752,begin apogee
$GC,4759,-0.31,0.0,452.8,9.1,287,4827,1.15,0.00,64.30,0.863,6,0.069,0.000,2643,2031,3050,0,0,0,0,0,0
$STATE,4827,end apogee,CONTROL_FINISHED_OK
$STATE,4828,begin climb
$GC,4831,1.40,77.9,454.1,0.0,288,4906,1.62,2.40,64.55,0.844,4,0.028,0.037,2998,3380,2732,0,0,0,0,0,0
$GC,4966,1.25,155.0,456.9,2.7,291,5042,0.20,2.35,65.30,0.843,6,0.113,0.032,2991,2010,2418,0,0,0,0,0,0
$GC,5374,1.13,155.0,419.8,9.6,301,5379,0.17,2.45,0.00,0.000,4,0.114,0.050,2960,599,2408,0,0,0,0,0,0
$GC,5437,1.01,155.0,414.2,9.3,302,5443,0.15,2.33,0.00,0.000,6,0.119,0.028,2935,1988,2406,0,0,0,0,0,0
$GC,5788,1.01,155.0,385.3,9.2,311,5792,0.00,2.45,0.00,0.000,4,0.000,0.050,2934,601,2404,0,0,0,0,0,0
$GC,5813,0.97,155.0,382.8,11.0,311,5817,0.00,2.35,0.00,0.000,6,0.000,0.028,2934,2011,2403,0,0,0,0,0,0
$GC,6153,0.97,155.0,350.0,9.4,320,6158,0.00,2.47,0.00,0.000,4,0.000,0.050,2934,605,2402,0,0,0,0,0,0
$GC,6237,0.93,155.0,342.5,8.5,321,6242,0.00,2.35,0.00,0.000,6,0.000,0.028,2933,2015,2400,0,0,0,0,0,0
$GC,6569,0.98,169.3,319.1,7.0,330,6585,0.00,2.55,10.52,0.723,4,0.000,0.051,2934,611,2358,0,0,0,0,0,0
$GC,6683,1.00,184.7,311.0,7.0,332,6704,0.00,2.38,14.90,0.746,6,0.000,0.029,2934,2018,2296,0,0,0,0,0,0
$GC,7012,1.06,184.7,286.0,8.5,344,7017,0.00,2.47,0.00,0.000,4,0.000,0.050,2934,607,2292,0,0,0,0,0,0
$GC,7070,1.06,184.7,280.5,9.4,346,7074,0.00,2.38,0.00,0.000,6,0.000,0.029,2934,2018,2290,0,0,0,0,0,0
$GC,7386,1.15,199.0,256.3,7.0,361,7408,0.15,2.58,13.32,0.707,4,0.068,0.050,2971,605,2237,0,0,0,0,0,0
$GC,7459,1.09,199.0,249.9,9.7,364,7463,0.00,2.35,0.00,0.000,6,0.000,0.028,2971,2011,2234,0,0,0,0,0,0
$GC,7792,1.11,215.2,223.8,6.9,380,7815,0.00,2.50,15.12,0.690,4,0.000,0.049,2971,608,2172,0,0,0,0,0,0
$GC,7973,1.08,215.2,208.8,8.6,387,7979,0.12,2.35,0.00,0.000,6,0.118,0.028,2950,2013,2167,0,0,0,0,0,0
$GC,8298,1.21,244.3,187.2,6.0,412,8334,0.12,2.55,26.27,0.679,4,0.074,0.048,2983,614,2054,0,0,0,0,0,0
$GC,8597,1.21,244.3,154.7,11.3,444,8603,0.00,2.33,0.00,0.000,6,0.000,0.025,2983,2015,2048,0,0,0,0,0,0
$GC,8860,1.28,259.7,134.4,7.0,469,8881,0.00,2.53,14.23,0.603,4,0.000,0.046,2983,609,1990,0,0,0,0,0,0
$GC,8919,1.28,259.7,129.5,8.9,475,8924,0.00,2.33,0.00,0.000,6,0.000,0.025,2983,2011,1987,0,0,0,0,0,0
$GC,9182,1.37,262.7,109.8,7.8,500,9187,0.12,2.47,0.00,0.000,4,0.067,0.045,3020,602,1987,0,0,0,0,0,0
$GC,9452,1.34,262.7,84.5,10.0,528,9458,0.00,2.33,0.00,0.000,6,0.000,0.022,3020,2021,1986,0,0,0,0,0,0
$GC,9716,1.38,272.3,66.0,7.4,553,9734,0.00,2.47,11.90,0.525,4,0.000,0.043,3020,599,1940,0,0,0,0,0,0
$GC,9857,1.35,272.3,53.5,8.7,568,9861,0.00,2.33,0.00,0.000,6,0.000,0.021,3020,2025,1937,0,0,0,0,0,0
$GC,10120,1.35,275.4,32.1,7.8,592,10130,0.00,2.45,4.10,0.360,4,0.000,0.040,3020,604,1926,0,0,0,0,0,0
$GC,10192,1.35,275.4,25.9,8.4,604,10198,0.00,2.28,0.00,0.000,6,0.000,0.020,3020,2011,1926,0,0,0,0,0,0
$GC,10401,1.39,275.4,9.4,8.9,641,10406,0.00,2.40,0.00,0.000,4,0.000,0.041,3020,601,1926,0,0,0,0,0,0
$STATE,10461,end climb,SURFACE_DEPTH_REACHED
$STATE,10461,begin surface coast
$FINISH,2.1,1.023101
$STATE,10471,end surface coast,CONTROL_FINISHED_OK
$STATE,10471,begin surface
$SM_CCo,10495,20.40,0.495,0,0,1827,300.00
$SM_GC,1.28,0.00,0.00,20.40,0.000,0.000,0.495,430,1891,1827,-10.51,0.45,300.00
$IRIDIUM_FIX,2052.52,-15752.63,230999,202017
$TT8_MAMPS,0.029146
$HUMID,52.79
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,23.3,56.939
$10V_AH,10.0,50.005
$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,26.250,128.350,304.525,20.400,0.000,30.281,30.371,172.503,4.500,0.000,28.260,1268.746,7143.440,401.713,1584.875,485.997,33.384,1264.058,0.000,1533.302,0.000,30.838,0.000
$DEVICE_MAMPS,131.157,52.156,862.875,494.715,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,440.390,431.951,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,34866,656
$CAP_FILE_SIZE,121631,0
$CFSIZE,260165632,221134848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300610,024121,2101.830,-15754.416,160,2.9,179,9.8