version: 66.06
glider: 139
mission: 7
dive: 699
start: 7 8 110 10 44 27
data:
$ID,139
$MISSION,7
$DIVE,699
$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,-2147091.5
$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
$GPS1,103656,2059.346,-15750.974,113,3.0,132,9.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-71.4
$GPS2,104335,2059.297,-15751.010,15,3.5,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.078,0.167
$KALMAN_X,-378660.2,-95.8,126.0,385404.7,-527.9
$KALMAN_Y,15526.1,-343.6,-115.2,-29160.1,-643.2
$MHEAD_RNG_PITCHd_Wd,325.2,25392,-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,-77.9,0.0,0.0,0,68,0.00,0.00,-50.22,0.000,2,0.000,0.000,419,1850,3133,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.3,-5.8,10,96,10.57,2.45,-4.93,0.000,4,0.131,0.039,2405,3294,3370,0,0,0,0,0,0
$GC,185,-1.40,-77.9,25.3,-15.1,34,191,0.00,2.40,0.00,0.000,6,0.000,0.029,2405,1873,3371,0,0,0,0,0,0
$GC,385,-1.24,-77.9,53.7,-14.1,56,390,0.17,2.42,0.00,0.000,4,0.100,0.043,2440,462,3372,0,0,0,0,0,0
$GC,442,-1.13,-77.9,61.5,-13.1,61,449,0.12,2.30,0.00,0.000,6,0.106,0.019,2465,1908,3373,0,0,0,0,0,0
$GC,705,-1.13,-77.9,87.8,-9.1,86,710,0.00,2.47,0.00,0.000,4,0.000,0.041,2464,465,3373,0,0,0,0,0,0
$GC,748,-1.13,-77.9,92.1,-9.7,90,752,0.00,2.25,0.00,0.000,6,0.000,0.019,2464,1885,3374,0,0,0,0,0,0
$GC,1012,-1.19,-77.9,113.1,-8.1,114,1016,0.00,2.42,0.00,0.000,4,0.000,0.041,2464,469,3374,0,0,0,0,0,0
$GC,1056,-1.25,-77.9,116.6,-8.2,118,1061,0.10,2.22,0.00,0.000,6,0.071,0.018,2426,1884,3374,0,0,0,0,0,0
$GC,1317,-1.25,-77.9,139.1,-8.0,142,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1888,3375,0,0,0,0,0,0
$GC,1574,-1.28,-77.9,158.2,-7.5,166,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1888,3376,0,0,0,0,0,0
$GC,1835,-1.28,-77.9,178.4,-8.6,191,1840,0.00,2.42,0.00,0.000,4,0.000,0.041,2426,468,3376,0,0,0,0,0,0
$GC,1897,-1.28,-77.9,184.1,-9.4,197,1902,0.00,2.22,0.00,0.000,6,0.000,0.019,2425,1873,3376,0,0,0,0,0,0
$GC,2169,-1.32,-77.9,206.8,-8.1,218,2173,0.00,2.40,0.00,0.000,4,0.000,0.041,2425,468,3376,0,0,0,0,0,0
$GC,2202,-1.32,-77.9,209.8,-8.5,219,2206,0.00,2.25,0.00,0.000,6,0.000,0.020,2425,1877,3376,0,0,0,0,0,0
$GC,2518,-1.37,-77.9,232.9,-7.0,234,2522,0.00,2.40,0.00,0.000,4,0.000,0.042,2426,470,3376,0,0,0,0,0,0
$GC,2556,-1.37,-77.9,235.9,-8.1,235,2561,0.00,2.25,0.00,0.000,6,0.000,0.020,2425,1877,3377,0,0,0,0,0,0
$GC,2872,-1.44,-77.9,259.1,-6.8,251,2877,0.12,2.42,0.00,0.000,4,0.062,0.044,2382,471,3376,0,0,0,0,0,0
$GC,2954,-1.37,-77.9,265.1,-7.6,254,2959,0.15,2.25,0.00,0.000,6,0.092,0.021,2414,1875,3377,0,0,0,0,0,0
$GC,3272,-1.43,-77.9,285.1,-6.5,269,3276,0.00,2.42,0.00,0.000,4,0.000,0.044,2414,463,3376,0,0,0,0,0,0
$GC,3356,-1.43,-77.9,291.5,-7.7,272,3362,0.00,2.28,0.00,0.000,6,0.000,0.021,2414,1874,3376,0,0,0,0,0,0
$GC,3690,-1.48,-77.9,314.6,-7.2,284,3694,0.10,2.42,0.00,0.000,4,0.074,0.044,2378,470,3375,0,0,0,0,0,0
$GC,3742,-1.43,-77.9,319.3,-9.0,285,3747,0.12,2.28,0.00,0.000,6,0.097,0.022,2404,1883,3375,0,0,0,0,0,0
$GC,4065,-1.48,-77.9,341.9,-7.0,293,4069,0.00,2.42,0.00,0.000,4,0.000,0.045,2403,465,3374,0,0,0,0,0,0
$GC,4148,-1.48,-77.9,348.9,-8.3,294,4154,0.00,2.30,0.00,0.000,6,0.000,0.023,2404,1887,3374,0,0,0,0,0,0
$GC,4480,-1.53,-77.9,377.7,-9.2,303,4485,0.12,2.47,0.00,0.000,4,0.064,0.047,2364,468,3372,0,0,0,0,0,0
$GC,4524,-1.47,-77.9,382.2,-10.4,304,4529,0.12,2.28,0.00,0.000,6,0.099,0.025,2391,1878,3371,0,0,0,0,0,0
$GC,4855,-1.47,-77.9,408.3,-7.3,312,4859,0.00,2.45,0.00,0.000,4,0.000,0.048,2390,468,3369,0,0,0,0,0,0
$GC,4929,-1.47,-77.9,414.0,-7.6,313,4934,0.00,2.30,0.00,0.000,6,0.000,0.025,2391,1873,3368,0,0,0,0,0,0
$GC,5266,-1.51,-77.9,438.6,-7.3,322,5270,0.00,2.45,0.00,0.000,4,0.000,0.050,2391,469,3366,0,0,0,0,0,0
$GC,5327,-1.51,-77.9,443.9,-8.7,323,5331,0.00,2.33,0.00,0.000,6,0.000,0.026,2390,1882,3365,0,0,0,0,0,0
$STATE,5430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5430,begin apogee
$GC,5436,-0.31,0.0,452.1,7.9,326,5504,1.17,0.00,64.70,0.860,6,0.069,0.000,2645,2034,3050,0,0,0,0,0,0
$STATE,5505,end apogee,CONTROL_FINISHED_OK
$STATE,5505,begin climb
$GC,5509,1.40,77.9,453.2,0.0,327,5584,1.60,2.40,64.93,0.841,4,0.028,0.038,3022,3375,2732,0,0,0,0,0,0
$GC,5807,1.22,122.7,446.8,4.9,333,5852,0.22,2.35,38.53,0.834,6,0.112,0.035,2982,2009,2548,0,0,0,0,0,0
$GC,6194,1.09,122.9,417.9,8.0,343,6199,0.15,2.47,0.00,0.000,4,0.114,0.050,2956,605,2542,0,0,0,0,0,0
$GC,6233,0.97,137.1,414.9,7.0,343,6253,0.17,2.33,12.75,0.770,6,0.118,0.028,2926,1999,2490,0,0,0,0,0,0
$GC,6572,1.01,167.1,394.7,6.0,352,6604,0.00,2.55,26.73,0.817,4,0.000,0.051,2926,609,2367,0,0,0,0,0,0
$GC,6635,0.97,168.9,390.2,7.9,353,6640,0.00,2.38,0.00,0.000,6,0.000,0.028,2926,2008,2364,0,0,0,0,0,0
$GC,6986,1.03,184.9,365.6,6.9,362,7007,0.00,2.53,16.02,0.781,4,0.000,0.050,2926,607,2296,0,0,0,0,0,0
$GC,7045,1.03,188.8,360.9,7.7,363,7057,0.00,2.35,4.78,0.572,6,0.000,0.029,2927,2014,2280,0,0,0,0,0,0
$GC,7398,1.09,188.8,333.1,8.3,372,7403,0.12,2.50,0.00,0.000,4,0.075,0.051,2957,606,2277,0,0,0,0,0,0
$GC,7494,1.03,188.8,323.3,11.1,374,7499,0.00,2.35,0.00,0.000,6,0.000,0.029,2958,2007,2275,0,0,0,0,0,0
$GC,7817,1.05,200.0,297.4,7.2,382,7834,0.00,2.55,10.68,0.716,4,0.000,0.051,2958,604,2234,0,0,0,0,0,0
$GC,7957,1.00,200.0,286.1,8.1,388,7962,0.12,2.38,0.00,0.000,6,0.123,0.029,2936,2012,2230,0,0,0,0,0,0
$GC,8290,1.10,213.5,263.7,7.1,404,8312,0.00,2.50,13.35,0.716,4,0.000,0.048,2935,607,2177,0,0,0,0,0,0
$GC,8453,1.15,226.1,251.1,7.2,411,8471,0.12,2.38,12.12,0.693,6,0.074,0.028,2967,2021,2128,0,0,0,0,0,0
$GC,8781,1.20,235.6,227.0,7.4,426,8797,0.00,2.50,9.90,0.653,4,0.000,0.048,2967,607,2089,0,0,0,0,0,0
$GC,8919,1.20,235.6,214.6,8.7,432,8923,0.00,2.35,0.00,0.000,6,0.000,0.027,2967,2008,2084,0,0,0,0,0,0
$GC,9244,1.27,247.4,190.3,7.2,453,9263,0.10,2.50,11.48,0.638,4,0.082,0.048,2996,606,2040,0,0,0,0,0,0
$GC,9529,1.23,247.4,162.0,10.8,483,9534,0.00,2.35,0.00,0.000,6,0.000,0.025,2996,2018,2036,0,0,0,0,0,0
$GC,9791,1.23,247.4,139.4,8.4,508,9795,0.00,2.45,0.00,0.000,4,0.000,0.044,2996,597,2036,0,0,0,0,0,0
$GC,9825,1.18,247.4,136.6,8.5,511,9830,0.12,2.35,0.00,0.000,6,0.111,0.025,2973,2017,2036,0,0,0,0,0,0
$GC,10087,1.29,279.7,119.1,5.8,535,10122,0.10,2.53,29.52,0.615,4,0.081,0.044,3003,599,1908,0,0,0,0,0,0
$GC,10369,1.29,279.7,93.1,11.6,565,10375,0.00,2.33,0.00,0.000,6,0.000,0.023,3003,2007,1903,0,0,0,0,0,0
$GC,10632,1.38,282.9,70.4,7.8,590,10637,0.00,2.45,0.00,0.000,4,0.000,0.044,3003,596,1902,0,0,0,0,0,0
$GC,10808,1.38,288.4,56.9,7.6,608,10823,0.00,2.33,7.90,0.484,6,0.000,0.021,3004,2024,1874,0,0,0,0,0,0
$GC,11079,1.49,301.9,38.7,7.1,634,11099,0.15,2.47,13.45,0.509,4,0.058,0.041,3049,596,1818,0,0,0,0,0,0
$GC,11264,1.41,301.9,18.5,9.0,665,11270,0.15,2.28,0.00,0.000,6,0.100,0.021,3020,2010,1815,0,0,0,0,0,0
$STATE,11432,end climb,SURFACE_DEPTH_REACHED
$STATE,11432,begin surface coast
$FINISH,0.6,1.011912
$STATE,11471,end surface coast,CONTROL_FINISHED_OK
$STATE,11471,begin surface
$SM_CCo,11553,0.00,0.000,0,0,1810,304.17
$SM_GC,1.27,11.18,0.00,0.00,0.026,0.000,0.000,422,1859,1810,-10.45,-0.45,304.17
$IRIDIUM_FIX,2050.21,-15747.49,021099,070735
$TT8_MAMPS,0.029146
$HUMID,55.43
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.3,62.681
$10V_AH,10.0,53.636
$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,27.225,129.250,336.825,0.000,0.000,24.301,34.955,193.715,4.500,0.000,37.109,1377.903,7874.253,395.716,1755.863,541.776,33.378,1341.568,0.000,1691.675,0.000,29.246,0.000
$DEVICE_MAMPS,131.157,53.690,859.807,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,472.249,462.299,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,38039,702
$CAP_FILE_SIZE,135162,0
$CFSIZE,260165632,217296896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080710,135907,2059.735,-15751.820,85,1.6,91,9.8