version: 66.06
glider: 139
mission: 7
dive: 688
start: 7 6 110 22 7 13
data:
$ID,139
$MISSION,7
$DIVE,688
$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,-2146674
$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
$GPS1,215822,2104.898,-15744.107,102,3.1,121,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-68.8
$GPS2,220620,2104.892,-15744.184,19,1.9,19,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.110,-0.147
$KALMAN_X,-378953.2,149.9,-125.4,397493.3,-307.0
$KALMAN_Y,12003.0,83.4,135.2,-15966.7,-384.8
$MHEAD_RNG_PITCHd_Wd,207.1,16224,-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,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-54.85,0.000,2,0.000,0.000,426,1884,3157,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.4,-5.2,11,100,10.55,2.40,-4.25,0.000,4,0.130,0.039,2405,3295,3370,0,0,0,0,0,0
$GC,217,-1.36,-77.9,28.6,-13.6,41,223,0.00,2.40,0.00,0.000,6,0.000,0.030,2405,1864,3372,0,0,0,0,0,0
$GC,421,-1.21,-77.9,59.8,-14.5,61,426,0.20,2.40,0.00,0.000,4,0.098,0.041,2445,465,3372,0,0,0,0,0,0
$GC,488,-1.12,-77.9,68.2,-11.8,67,494,0.12,2.33,0.00,0.000,6,0.102,0.019,2470,1912,3373,0,0,0,0,0,0
$GC,751,-1.18,-77.9,94.2,-9.4,92,756,0.00,2.47,0.00,0.000,4,0.000,0.041,2470,472,3374,0,0,0,0,0,0
$GC,841,-1.25,-77.9,102.8,-8.6,101,846,0.12,2.25,0.00,0.000,6,0.062,0.019,2426,1878,3374,0,0,0,0,0,0
$GC,1102,-1.25,-77.9,125.6,-9.3,125,1106,0.00,2.40,0.00,0.000,4,0.000,0.041,2426,465,3375,0,0,0,0,0,0
$GC,1135,-1.21,-77.9,129.0,-9.6,128,1140,0.12,2.28,0.00,0.000,6,0.097,0.019,2452,1887,3375,0,0,0,0,0,0
$GC,1397,-1.30,-77.9,147.7,-7.2,152,1401,0.00,2.40,0.00,0.000,4,0.000,0.041,2452,471,3376,0,0,0,0,0,0
$GC,1440,-1.36,-77.9,151.4,-8.7,156,1445,0.15,2.25,0.00,0.000,6,0.054,0.019,2402,1879,3376,0,0,0,0,0,0
$GC,1701,-1.36,-77.9,178.8,-9.8,180,1705,0.00,2.42,0.00,0.000,4,0.000,0.041,2402,464,3376,0,0,0,0,0,0
$GC,1757,-1.29,-77.9,184.6,-10.0,185,1763,0.15,2.25,0.00,0.000,6,0.093,0.020,2433,1877,3375,0,0,0,0,0,0
$GC,2031,-1.36,-77.9,206.3,-8.8,208,2035,0.00,2.40,0.00,0.000,4,0.000,0.042,2433,471,3376,0,0,0,0,0,0
$GC,2087,-1.40,-77.9,212.5,-10.1,210,2092,0.12,2.25,0.00,0.000,6,0.061,0.020,2390,1879,3376,0,0,0,0,0,0
$GC,2405,-1.40,-77.9,244.9,-9.6,225,2409,0.00,2.42,0.00,0.000,4,0.000,0.043,2390,465,3376,0,0,0,0,0,0
$GC,2462,-1.34,-77.9,250.8,-10.2,227,2467,0.15,2.28,0.00,0.000,6,0.092,0.021,2421,1880,3376,0,0,0,0,0,0
$GC,2780,-1.40,-77.9,275.4,-7.1,242,2784,0.00,2.40,0.00,0.000,4,0.000,0.042,2421,471,3376,0,0,0,0,0,0
$GC,2846,-1.44,-77.9,280.8,-7.3,244,2851,0.00,2.25,0.00,0.000,6,0.000,0.021,2421,1874,3376,0,0,0,0,0,0
$GC,3162,-1.50,-77.9,304.3,-8.2,259,3166,0.15,2.42,0.00,0.000,4,0.056,0.044,2374,472,3375,0,0,0,0,0,0
$GC,3186,-1.43,-77.9,307.0,-10.4,259,3191,0.12,2.28,0.00,0.000,6,0.100,0.021,2400,1882,3375,0,0,0,0,0,0
$GC,3527,-1.43,-77.9,338.0,-8.5,268,3531,0.00,2.40,0.00,0.000,4,0.000,0.044,2400,473,3374,0,0,0,0,0,0
$GC,3558,-1.43,-77.9,340.3,-8.2,268,3562,0.00,2.28,0.00,0.000,6,0.000,0.022,2400,1877,3374,0,0,0,0,0,0
$GC,3894,-1.46,-77.9,364.7,-7.7,277,3898,0.00,2.40,0.00,0.000,4,0.000,0.045,2399,472,3373,0,0,0,0,0,0
$GC,3941,-1.46,-77.9,369.1,-9.3,278,3946,0.00,2.28,0.00,0.000,6,0.000,0.023,2400,1871,3373,0,0,0,0,0,0
$GC,4265,-1.51,-77.9,392.8,-6.9,286,4269,0.00,2.40,0.00,0.000,4,0.000,0.047,2399,473,3371,0,0,0,0,0,0
$GC,4316,-1.51,-77.9,396.4,-6.2,287,4321,0.00,2.30,0.00,0.000,6,0.000,0.024,2400,1882,3371,0,0,0,0,0,0
$GC,4640,-1.57,-77.9,416.2,-6.6,295,4645,0.12,2.47,0.00,0.000,4,0.066,0.048,2361,469,3369,0,0,0,0,0,0
$GC,4715,-1.49,-77.9,423.5,-9.9,296,4720,0.12,2.30,0.00,0.000,6,0.100,0.025,2386,1874,3369,0,0,0,0,0,0
$STATE,5049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5049,begin apogee
$GC,5057,-0.31,0.0,451.3,7.9,305,5125,1.20,0.00,64.75,0.857,6,0.071,0.000,2646,2034,3050,0,0,0,0,0,0
$STATE,5126,end apogee,CONTROL_FINISHED_OK
$STATE,5126,begin climb
$GC,5128,1.40,77.9,452.3,0.0,306,5204,1.62,2.40,64.45,0.839,4,0.029,0.038,3030,3381,2732,0,0,0,0,0,0
$GC,5469,1.23,136.3,443.4,4.0,313,5527,0.25,2.35,49.28,0.835,6,0.110,0.034,2982,2010,2494,0,0,0,0,0,0
$GC,5858,1.11,136.3,411.9,9.0,323,5863,0.12,2.50,0.00,0.000,4,0.123,0.051,2962,601,2488,0,0,0,0,0,0
$GC,5907,0.98,136.3,407.8,8.4,324,5912,0.17,2.30,0.00,0.000,6,0.117,0.028,2931,1985,2486,0,0,0,0,0,0
$GC,6230,1.02,174.7,389.9,5.4,332,6272,0.00,2.47,33.03,0.819,4,0.000,0.058,2930,607,2335,0,0,0,0,0,0
$GC,6422,1.02,174.7,372.9,9.1,336,6426,0.00,2.38,0.00,0.000,6,0.000,0.028,2931,2018,2330,0,0,0,0,0,0
$GC,6745,1.11,202.9,351.5,6.1,344,6778,0.12,2.58,25.30,0.794,4,0.075,0.051,2962,613,2221,0,0,0,0,0,0
$GC,6913,1.06,202.9,334.4,11.5,347,6917,0.00,2.38,0.00,0.000,6,0.000,0.028,2962,2017,2215,0,0,0,0,0,0
$GC,7249,1.06,203.7,305.7,8.0,356,7253,0.00,2.50,0.00,0.000,4,0.000,0.051,2962,605,2215,0,0,0,0,0,0
$GC,7319,1.06,203.7,299.3,9.0,357,7324,0.00,2.35,0.00,0.000,6,0.000,0.028,2962,2014,2212,0,0,0,0,0,0
$GC,7644,1.06,203.7,272.4,8.6,373,7648,0.00,2.47,0.00,0.000,4,0.000,0.049,2962,606,2211,0,0,0,0,0,0
$GC,7759,1.03,203.7,262.3,8.5,378,7764,0.12,2.35,0.00,0.000,6,0.129,0.028,2942,2011,2210,0,0,0,0,0,0
$GC,8091,1.15,242.6,243.5,5.3,394,8134,0.10,2.58,34.17,0.727,4,0.084,0.049,2967,603,2060,0,0,0,0,0,0
$GC,8359,1.15,242.6,217.5,10.8,405,8363,0.00,2.38,0.00,0.000,6,0.000,0.026,2967,2023,2054,0,0,0,0,0,0
$GC,8680,1.21,244.2,192.2,7.9,424,8684,0.00,2.47,0.00,0.000,4,0.000,0.047,2967,606,2054,0,0,0,0,0,0
$GC,8821,1.21,244.2,179.9,9.1,438,8826,0.00,2.33,0.00,0.000,6,0.000,0.025,2968,2021,2052,0,0,0,0,0,0
$GC,9084,1.29,261.7,159.2,6.8,463,9107,0.12,2.53,17.08,0.627,4,0.071,0.046,3003,606,1983,0,0,0,0,0,0
$GC,9266,1.23,261.7,141.9,10.1,482,9271,0.10,2.35,0.00,0.000,6,0.117,0.024,2985,2022,1978,0,0,0,0,0,0
$GC,9529,1.29,263.4,116.9,7.9,506,9533,0.00,2.47,0.00,0.000,4,0.000,0.044,2984,600,1978,0,0,0,0,0,0
$GC,9636,1.30,268.4,108.1,7.7,517,9649,0.00,2.30,6.97,0.508,6,0.000,0.024,2984,2018,1954,0,0,0,0,0,0
$GC,9911,1.38,270.3,86.5,7.9,543,9913,0.12,0.00,0.00,0.000,6,0.067,0.000,3021,2018,1954,0,0,0,0,0,0
$GC,10167,1.41,298.3,69.0,6.1,567,10202,0.00,2.50,27.70,0.562,4,0.000,0.044,3021,604,1832,0,0,0,0,0,0
$GC,10309,1.41,298.3,56.5,9.1,582,10314,0.00,2.30,0.00,0.000,6,0.000,0.021,3021,2019,1828,0,0,0,0,0,0
$GC,10572,1.46,298.3,34.5,9.0,607,10576,0.00,2.45,0.00,0.000,4,0.000,0.042,3021,603,1827,0,0,0,0,0,0
$GC,10727,1.46,298.3,19.5,9.8,634,10732,0.00,2.30,0.00,0.000,6,0.000,0.021,3021,2020,1826,0,0,0,0,0,0
$STATE,10910,end climb,SURFACE_DEPTH_REACHED
$STATE,10910,begin surface coast
$FINISH,0.9,1.023175
$STATE,10940,end surface coast,CONTROL_FINISHED_OK
$STATE,10940,begin surface
$SM_CCo,11021,0.00,0.000,0,0,1821,301.47
$SM_GC,1.40,11.12,0.00,0.00,0.025,0.000,0.000,428,1869,1821,-10.43,-0.17,301.47
$IRIDIUM_FIX,2059.45,-15743.60,300999,181835
$TT8_MAMPS,0.029146
$HUMID,54.76
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.3,61.677
$10V_AH,10.0,52.984
$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,27.425,124.175,322.725,0.000,0.000,30.087,30.994,285.423,4.750,0.000,19.608,1322.263,7485.663,382.598,1677.699,625.104,33.379,1292.913,0.000,1632.559,0.000,29.242,0.000
$DEVICE_MAMPS,130.390,58.292,856.739,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,452.186,441.008,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355804
$DATA_FILE_SIZE,34951,672
$CAP_FILE_SIZE,129513,0
$CFSIZE,260165632,217985024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070710,011445,2104.418,-15744.944,176,2.5,195,9.8