version: 66.06
glider: 139
mission: 7
dive: 696
start: 7 8 110 0 34 58
data:
$ID,139
$MISSION,7
$DIVE,696
$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,-2146984.5
$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
$GPS1,002758,2058.979,-15748.798,74,8.4,93,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.1
$GPS2,003407,2058.931,-15748.846,37,1.2,37,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.109,-0.148
$KALMAN_X,-379097.4,380.8,-217.9,389446.7,462.8
$KALMAN_Y,15344.7,402.5,-385.8,-30131.9,836.4
$MHEAD_RNG_PITCHd_Wd,206.7,2569,-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,-77.9,0.0,0.0,0,74,0.00,0.00,-54.67,0.000,2,0.000,0.000,427,1850,3231,0,0,0,0,0,0
$GC,78,-1.40,-77.9,3.7,-6.9,11,97,10.50,2.35,-2.72,0.000,4,0.130,0.049,2404,465,3369,0,0,0,0,0,0
$GC,242,-1.20,-77.9,35.0,-14.9,42,248,0.22,2.33,0.00,0.000,6,0.093,0.019,2450,1909,3371,0,0,0,0,0,0
$GC,505,-1.14,-77.9,67.7,-13.1,67,509,0.00,2.47,0.00,0.000,4,0.000,0.041,2449,461,3372,0,0,0,0,0,0
$GC,570,-1.14,-77.9,76.8,-12.5,73,576,0.00,2.28,0.00,0.000,6,0.000,0.019,2449,1882,3372,0,0,0,0,0,0
$GC,833,-1.14,-77.9,102.7,-8.6,98,838,0.00,2.40,0.00,0.000,4,0.000,0.041,2449,468,3373,0,0,0,0,0,0
$GC,858,-1.14,-77.9,105.0,-8.7,100,862,0.00,2.28,0.00,0.000,6,0.000,0.019,2449,1887,3373,0,0,0,0,0,0
$GC,1121,-1.20,-77.9,126.0,-7.9,124,1125,0.00,2.42,0.00,0.000,4,0.000,0.041,2449,468,3374,0,0,0,0,0,0
$GC,1159,-1.24,-77.9,129.3,-8.3,127,1165,0.00,2.25,0.00,0.000,6,0.000,0.019,2450,1878,3374,0,0,0,0,0,0
$GC,1422,-1.32,-77.9,151.1,-8.8,152,1427,0.10,2.42,0.00,0.000,4,0.073,0.041,2410,459,3374,0,0,0,0,0,0
$GC,1480,-1.28,-77.9,157.2,-9.9,157,1486,0.12,2.25,0.00,0.000,6,0.094,0.019,2436,1877,3375,0,0,0,0,0,0
$GC,1741,-1.35,-77.9,176.9,-7.5,182,1745,0.00,2.40,0.00,0.000,4,0.000,0.041,2436,461,3376,0,0,0,0,0,0
$GC,1788,-1.35,-77.9,181.0,-9.3,186,1793,0.00,2.25,0.00,0.000,6,0.000,0.019,2436,1877,3376,0,0,0,0,0,0
$GC,2060,-1.40,-77.9,203.6,-8.5,210,2065,0.12,2.42,0.00,0.000,4,0.062,0.042,2392,458,3376,0,0,0,0,0,0
$GC,2138,-1.32,-77.9,211.7,-11.1,213,2143,0.17,2.25,0.00,0.000,6,0.088,0.020,2429,1872,3376,0,0,0,0,0,0
$GC,2461,-1.39,-77.9,235.6,-7.1,229,2465,0.00,2.38,0.00,0.000,4,0.000,0.042,2429,469,3376,0,0,0,0,0,0
$GC,2514,-1.43,-77.9,240.1,-8.7,231,2518,0.12,2.25,0.00,0.000,6,0.061,0.021,2386,1877,3376,0,0,0,0,0,0
$GC,2834,-1.43,-77.9,269.2,-8.9,247,2838,0.00,2.40,0.00,0.000,4,0.000,0.043,2386,464,3377,0,0,0,0,0,0
$GC,2872,-1.38,-77.9,272.7,-9.1,248,2879,0.15,2.28,0.00,0.000,6,0.092,0.021,2417,1878,3375,0,0,0,0,0,0
$GC,3190,-1.44,-77.9,294.8,-6.8,264,3194,0.00,2.42,0.00,0.000,4,0.000,0.044,2416,466,3375,0,0,0,0,0,0
$GC,3270,-1.44,-77.9,301.0,-8.7,267,3274,0.00,2.28,0.00,0.000,6,0.000,0.022,2417,1877,3375,0,0,0,0,0,0
$GC,3601,-1.51,-77.9,324.4,-7.2,275,3606,0.15,2.42,0.00,0.000,4,0.056,0.045,2370,468,3373,0,0,0,0,0,0
$GC,3630,-1.43,-77.9,327.2,-10.3,275,3635,0.15,2.28,0.00,0.000,6,0.091,0.023,2402,1870,3373,0,0,0,0,0,0
$GC,3968,-1.47,-77.9,354.6,-8.0,284,3972,0.00,2.45,0.00,0.000,4,0.000,0.047,2401,468,3372,0,0,0,0,0,0
$GC,4065,-1.47,-77.9,363.6,-9.1,286,4069,0.00,2.30,0.00,0.000,6,0.000,0.024,2401,1882,3372,0,0,0,0,0,0
$GC,4386,-1.51,-77.9,389.3,-7.7,294,4390,0.00,2.42,0.00,0.000,4,0.000,0.048,2400,468,3370,0,0,0,0,0,0
$GC,4424,-1.51,-77.9,392.1,-6.6,294,4429,0.00,2.30,0.00,0.000,6,0.000,0.025,2401,1879,3370,0,0,0,0,0,0
$GC,4758,-1.56,-77.9,411.5,-5.9,303,4763,0.12,2.47,0.00,0.000,4,0.065,0.049,2363,465,3367,0,0,0,0,0,0
$GC,4861,-1.49,-77.9,420.4,-8.9,305,4866,0.12,2.33,0.00,0.000,6,0.101,0.026,2388,1880,3366,0,0,0,0,0,0
$GC,5180,-1.49,-77.9,443.8,-6.5,313,5184,0.00,2.47,0.00,0.000,4,0.000,0.051,2388,462,3364,0,0,0,0,0,0
$STATE,5247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5247,begin apogee
$GC,5256,-0.31,0.0,450.2,9.7,314,5324,1.17,0.00,63.92,0.864,6,0.075,0.000,2643,2010,3050,0,0,0,0,0,0
$STATE,5325,end apogee,CONTROL_FINISHED_OK
$STATE,5325,begin climb
$GC,5328,1.40,77.9,452.6,0.0,316,5403,1.62,2.50,64.90,0.845,4,0.030,0.038,3026,3413,2731,0,0,0,0,0,0
$GC,5668,1.20,102.1,445.1,6.4,323,5696,0.22,2.40,21.05,0.814,6,0.115,0.034,2981,2006,2633,0,0,0,0,0,0
$GC,6021,1.13,152.2,426.7,4.6,332,6070,0.00,2.53,43.30,0.841,4,0.000,0.051,2983,607,2428,0,0,0,0,0,0
$GC,6100,0.94,152.2,421.5,9.0,333,6105,0.35,2.38,0.00,0.000,6,0.107,0.028,2919,2017,2424,0,0,0,0,0,0
$GC,6432,1.01,180.1,400.5,6.1,341,6464,0.00,2.55,24.95,0.814,4,0.000,0.051,2920,600,2314,0,0,0,0,0,0
$GC,6557,1.01,180.1,390.8,8.9,343,6561,0.00,2.38,0.00,0.000,6,0.000,0.029,2920,2018,2308,0,0,0,0,0,0
$GC,6888,1.08,180.1,363.6,8.7,351,6893,0.12,2.50,0.00,0.000,4,0.074,0.051,2951,607,2307,0,0,0,0,0,0
$GC,6941,1.01,180.1,358.2,10.3,352,6945,0.00,2.35,0.00,0.000,6,0.000,0.029,2952,2016,2305,0,0,0,0,0,0
$GC,7259,1.02,187.7,332.7,7.5,360,7271,0.00,2.55,6.40,0.650,4,0.000,0.051,2951,609,2283,0,0,0,0,0,0
$GC,7402,0.98,187.7,320.4,8.6,363,7406,0.12,2.35,0.00,0.000,6,0.120,0.029,2930,2010,2281,0,0,0,0,0,0
$GC,7726,1.07,202.0,297.7,7.0,371,7748,0.00,2.55,14.10,0.742,4,0.000,0.050,2930,612,2224,0,0,0,0,0,0
$GC,7801,1.07,202.0,291.6,8.6,374,7805,0.00,2.35,0.00,0.000,6,0.000,0.029,2930,2010,2222,0,0,0,0,0,0
$GC,8127,1.19,223.1,268.4,6.6,390,8153,0.20,2.55,19.80,0.739,4,0.061,0.050,2979,599,2139,0,0,0,0,0,0
$GC,8218,1.11,223.1,260.2,9.3,394,8223,0.12,2.40,0.00,0.000,6,0.122,0.028,2958,2018,2135,0,0,0,0,0,0
$GC,8546,1.17,223.1,231.7,8.7,410,8550,0.00,2.50,0.00,0.000,4,0.000,0.049,2958,600,2134,0,0,0,0,0,0
$GC,8689,1.18,233.7,219.3,7.3,416,8706,0.00,2.38,9.90,0.649,6,0.000,0.028,2958,2024,2097,0,0,0,0,0,0
$GC,9027,1.26,240.5,197.6,7.6,434,9040,0.15,2.53,7.65,0.604,4,0.065,0.048,2997,606,2069,0,0,0,0,0,0
$GC,9209,1.19,240.5,177.7,11.0,453,9214,0.12,2.35,0.00,0.000,6,0.114,0.026,2975,2014,2065,0,0,0,0,0,0
$GC,9471,1.25,240.5,156.4,8.4,477,9475,0.00,2.47,0.00,0.000,4,0.000,0.047,2975,602,2065,0,0,0,0,0,0
$GC,9582,1.25,240.5,146.1,9.6,488,9588,0.00,2.35,0.00,0.000,6,0.000,0.025,2975,2020,2064,0,0,0,0,0,0
$GC,9846,1.33,250.3,125.7,7.3,513,9865,0.12,2.53,9.62,0.572,4,0.069,0.045,3011,607,2029,0,0,0,0,0,0
$GC,9982,1.27,250.3,114.1,9.1,527,9988,0.00,2.33,0.00,0.000,6,0.000,0.024,3011,2014,2026,0,0,0,0,0,0
$GC,10245,1.28,254.1,93.1,7.8,552,10255,0.00,2.47,4.65,0.433,4,0.000,0.042,3011,599,2013,0,0,0,0,0,0
$GC,10378,1.28,254.1,82.7,8.2,566,10382,0.00,2.33,0.00,0.000,6,0.000,0.023,3012,2013,2012,0,0,0,0,0,0
$GC,10642,1.34,264.3,65.0,7.3,590,10660,0.00,2.50,10.90,0.524,4,0.000,0.043,3012,606,1971,0,0,0,0,0,0
$GC,10776,1.34,264.3,54.3,8.1,604,10782,0.00,2.30,0.00,0.000,6,0.000,0.021,3012,2015,1969,0,0,0,0,0,0
$GC,11040,1.42,279.4,36.4,7.0,629,11061,0.00,2.50,14.60,0.514,4,0.000,0.041,3012,606,1909,0,0,0,0,0,0
$GC,11201,1.42,279.4,23.3,8.4,655,11207,0.00,2.25,0.00,0.000,6,0.000,0.020,3012,2013,1907,0,0,0,0,0,0
$GC,11411,1.46,286.2,7.5,7.6,692,11425,0.00,2.47,7.18,0.434,4,0.000,0.041,3011,605,1882,0,0,0,0,0,0
$STATE,11456,end climb,SURFACE_DEPTH_REACHED
$STATE,11456,begin surface coast
$FINISH,0.4,0.999529
$STATE,11495,end surface coast,CONTROL_FINISHED_OK
$STATE,11495,begin surface
$SM_CCo,11518,10.15,0.463,0,0,1827,300.00
$SM_GC,2.11,0.00,0.00,10.15,0.000,0.000,0.463,426,1887,1827,-10.52,0.34,300.00
$IRIDIUM_FIX,2054.83,-15744.48,011099,212145
$TT8_MAMPS,0.029146
$HUMID,54.29
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,420.4,66.2
$24V_AH,23.3,62.397
$10V_AH,10.0,53.454
$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,27.575,143.500,322.925,10.150,0.000,28.889,28.102,164.006,4.750,0.000,37.940,1394.487,7791.017,405.528,1790.126,512.212,33.379,1367.897,0.000,1717.580,0.000,32.390,0.000
$DEVICE_MAMPS,130.390,51.389,864.409,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,477.062,463.780,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,38014,710
$CAP_FILE_SIZE,138316,0
$CFSIZE,260165632,217485312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080710,034926,2058.538,-15749.391,81,2.7,100,9.8