version: 66.06
glider: 139
mission: 7
dive: 701
start: 7 8 110 17 26 24
data:
$ID,139
$MISSION,7
$DIVE,701
$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,-2147149.2
$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
$GPS1,171931,2100.146,-15752.438,111,1.6,111,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-69.4
$GPS2,172532,2100.109,-15752.483,13,1.6,13,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.180,0.036
$KALMAN_X,-378088.5,-381.1,5.8,382688.4,877.7
$KALMAN_Y,14635.7,-837.8,28.0,-26414.8,649.2
$MHEAD_RNG_PITCHd_Wd,271.5,22492,-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,18,-1.40,-77.9,0.0,0.0,0,75,0.00,0.00,-55.45,0.000,2,0.000,0.000,423,1871,3209,0,0,0,0,0,0
$GC,79,-1.40,-77.9,3.7,-6.3,11,98,10.57,2.38,-3.15,0.000,4,0.132,0.035,2407,3307,3368,0,0,0,0,0,0
$GC,225,-1.40,-77.9,27.2,-11.5,42,231,0.00,2.42,0.00,0.000,6,0.000,0.029,2407,1866,3370,0,0,0,0,0,0
$GC,425,-1.24,-77.9,55.5,-14.7,63,429,0.17,2.38,0.00,0.000,4,0.098,0.041,2442,471,3370,0,0,0,0,0,0
$GC,497,-1.15,-77.9,66.0,-13.4,70,502,0.10,2.30,0.00,0.000,6,0.114,0.019,2461,1911,3370,0,0,0,0,0,0
$GC,760,-1.15,-77.9,92.7,-8.3,94,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1915,3371,0,0,0,0,0,0
$GC,1012,-1.20,-77.9,113.2,-8.1,118,1017,0.00,2.47,0.00,0.000,4,0.000,0.041,2461,466,3372,0,0,0,0,0,0
$GC,1031,-1.20,-77.9,114.9,-7.8,119,1038,0.00,2.28,0.00,0.000,6,0.000,0.019,2461,1888,3372,0,0,0,0,0,0
$GC,1295,-1.26,-77.9,137.9,-9.5,144,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1893,3373,0,0,0,0,0,0
$GC,1550,-1.35,-77.9,160.1,-8.4,168,1554,0.17,2.42,0.00,0.000,4,0.050,0.041,2405,468,3374,0,0,0,0,0,0
$GC,1664,-1.30,-77.9,172.0,-9.2,179,1671,0.08,2.22,0.00,0.000,6,0.074,0.019,2427,1876,3374,0,0,0,0,0,0
$GC,1925,-1.30,-77.9,194.1,-8.8,204,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1880,3375,0,0,0,0,0,0
$GC,2186,-1.36,-77.9,215.9,-8.6,220,2190,0.00,2.40,0.00,0.000,4,0.000,0.041,2426,469,3375,0,0,0,0,0,0
$GC,2223,-1.39,-77.9,219.4,-9.6,221,2229,0.00,2.25,0.00,0.000,6,0.000,0.020,2426,1876,3375,0,0,0,0,0,0
$GC,2540,-1.45,-77.9,246.4,-8.5,237,2545,0.12,2.42,0.00,0.000,4,0.062,0.043,2383,471,3375,0,0,0,0,0,0
$GC,2585,-1.37,-77.9,250.5,-9.6,239,2590,0.15,2.25,0.00,0.000,6,0.092,0.021,2414,1874,3375,0,0,0,0,0,0
$GC,2918,-1.41,-77.9,277.7,-8.7,255,2922,0.00,2.40,0.00,0.000,4,0.000,0.043,2414,471,3375,0,0,0,0,0,0
$GC,2945,-1.41,-77.9,280.5,-8.9,256,2949,0.00,2.25,0.00,0.000,6,0.000,0.021,2414,1884,3375,0,0,0,0,0,0
$GC,3272,-1.47,-77.9,303.2,-6.5,271,3276,0.00,2.40,0.00,0.000,4,0.000,0.044,2414,472,3374,0,0,0,0,0,0
$GC,3390,-1.47,-77.9,312.2,-8.3,273,3394,0.00,2.25,0.00,0.000,6,0.000,0.021,2414,1881,3374,0,0,0,0,0,0
$GC,3731,-1.53,-77.9,335.4,-6.6,282,3736,0.15,2.45,0.00,0.000,4,0.057,0.045,2367,468,3372,0,0,0,0,0,0
$GC,3784,-1.45,-77.9,340.2,-9.1,283,3789,0.15,2.25,0.00,0.000,6,0.093,0.023,2398,1871,3372,0,0,0,0,0,0
$GC,4104,-1.49,-77.9,368.8,-9.9,291,4108,0.00,2.42,0.00,0.000,4,0.000,0.047,2398,465,3371,0,0,0,0,0,0
$GC,4183,-1.49,-77.9,377.3,-10.4,292,4187,0.00,2.30,0.00,0.000,6,0.000,0.024,2398,1875,3371,0,0,0,0,0,0
$GC,4519,-1.53,-77.9,407.8,-9.0,301,4523,0.00,2.45,0.00,0.000,4,0.000,0.048,2398,465,3369,0,0,0,0,0,0
$GC,4557,-1.53,-77.9,411.4,-9.5,301,4562,0.00,2.30,0.00,0.000,6,0.000,0.025,2398,1876,3369,0,0,0,0,0,0
$GC,4888,-1.58,-77.9,438.4,-8.4,310,4893,0.12,2.47,0.00,0.000,4,0.066,0.051,2361,469,3366,0,0,0,0,0,0
$GC,4950,-1.49,-77.9,444.8,-10.3,311,4955,0.12,2.30,0.00,0.000,6,0.100,0.025,2386,1878,3366,0,0,0,0,0,0
$STATE,5013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5013,begin apogee
$GC,5021,-0.31,0.0,450.4,8.1,313,5089,1.20,0.00,64.50,0.855,6,0.074,0.000,2643,2031,3050,0,0,0,0,0,0
$STATE,5090,end apogee,CONTROL_FINISHED_OK
$STATE,5090,begin climb
$GC,5092,1.40,77.9,451.5,0.0,314,5168,1.62,2.40,64.90,0.837,4,0.029,0.038,3026,3376,2732,0,0,0,0,0,0
$GC,5411,1.21,114.4,441.8,5.5,321,5448,0.22,2.33,31.33,0.822,6,0.111,0.034,2983,2010,2583,0,0,0,0,0,0
$GC,5775,1.09,117.6,414.1,7.8,329,5777,0.17,0.00,0.00,0.000,6,0.111,0.000,2952,2010,2578,0,0,0,0,0,0
$GC,6101,1.09,162.2,397.2,5.0,337,6149,0.00,2.40,41.08,0.825,4,0.000,0.037,2952,3379,2387,0,0,0,0,0,0
$GC,6210,1.09,162.2,389.2,8.6,339,6214,0.00,2.38,0.00,0.000,6,0.000,0.036,2954,2006,2386,0,0,0,0,0,0
$GC,6556,1.09,165.4,361.7,7.8,348,6560,0.00,2.45,0.00,0.000,4,0.000,0.051,2953,603,2381,0,0,0,0,0,0
$GC,6658,1.02,165.4,353.3,8.9,350,6662,0.00,2.33,0.00,0.000,6,0.000,0.028,2954,1986,2377,0,0,0,0,0,0
$GC,6972,1.05,196.8,333.8,5.9,358,7009,0.00,2.53,30.05,0.788,4,0.000,0.051,2954,609,2247,0,0,0,0,0,0
$GC,7089,1.01,196.8,325.3,8.3,360,7093,0.00,2.35,0.00,0.000,6,0.000,0.028,2954,2012,2242,0,0,0,0,0,0
$GC,7429,1.01,196.8,299.1,8.2,369,7433,0.00,2.47,0.00,0.000,4,0.000,0.050,2954,598,2240,0,0,0,0,0,0
$GC,7500,0.97,196.8,292.4,9.8,372,7505,0.15,2.38,0.00,0.000,6,0.117,0.029,2927,2011,2238,0,0,0,0,0,0
$GC,7827,1.09,223.3,268.4,6.2,388,7857,0.10,2.55,23.62,0.742,4,0.085,0.051,2952,603,2139,0,0,0,0,0,0
$GC,7968,1.09,223.3,257.3,8.2,394,7972,0.00,2.38,0.00,0.000,6,0.000,0.028,2953,2020,2133,0,0,0,0,0,0
$GC,8289,1.17,234.2,233.5,7.3,410,8305,0.00,2.58,10.25,0.657,4,0.000,0.049,2953,605,2094,0,0,0,0,0,0
$GC,8474,1.18,245.8,219.3,7.2,418,8490,0.00,2.38,11.43,0.657,6,0.000,0.027,2953,2026,2048,0,0,0,0,0,0
$GC,8812,1.28,245.8,194.7,8.2,437,8817,0.17,2.50,0.00,0.000,4,0.061,0.048,2998,600,2046,0,0,0,0,0,0
$GC,8962,1.21,245.8,179.9,9.5,452,8968,0.00,2.35,0.00,0.000,6,0.000,0.026,2998,2013,2043,0,0,0,0,0,0
$GC,9225,1.21,245.8,155.0,9.1,477,9229,0.00,2.45,0.00,0.000,4,0.000,0.046,2998,599,2043,0,0,0,0,0,0
$GC,9378,1.18,245.8,141.0,8.7,493,9383,0.15,2.35,0.00,0.000,6,0.107,0.025,2971,2018,2042,0,0,0,0,0,0
$GC,9640,1.29,265.2,123.6,6.7,517,9667,0.12,2.55,18.02,0.601,4,0.068,0.044,3007,599,1968,0,0,0,0,0,0
$GC,9719,1.24,265.2,117.5,9.3,525,9724,0.12,2.35,0.00,0.000,6,0.109,0.024,2985,2017,1966,0,0,0,0,0,0
$GC,9983,1.36,296.3,99.4,5.9,549,10019,0.12,2.53,28.25,0.587,4,0.067,0.045,3022,600,1842,0,0,0,0,0,0
$GC,10059,1.33,296.3,93.3,8.8,557,10064,0.00,2.33,0.00,0.000,6,0.000,0.023,3022,2016,1838,0,0,0,0,0,0
$GC,10327,1.37,296.3,69.4,9.8,582,10331,0.00,2.47,0.00,0.000,4,0.000,0.044,3022,594,1838,0,0,0,0,0,0
$GC,10465,1.37,296.3,55.5,9.6,596,10471,0.00,2.33,0.00,0.000,6,0.000,0.021,3022,2020,1836,0,0,0,0,0,0
$GC,10729,1.42,296.3,35.3,8.1,621,10733,0.00,2.42,0.00,0.000,4,0.000,0.041,3022,599,1835,0,0,0,0,0,0
$GC,10906,1.42,296.3,17.7,9.6,653,10911,0.00,2.28,0.00,0.000,6,0.000,0.020,3022,2011,1836,0,0,0,0,0,0
$STATE,11078,end climb,SURFACE_DEPTH_REACHED
$STATE,11078,begin surface coast
$FINISH,0.5,1.022971
$STATE,11113,end surface coast,CONTROL_FINISHED_OK
$STATE,11113,begin surface
$SM_CCo,11135,2.38,0.188,0,0,1826,300.00
$SM_GC,1.95,0.00,0.00,2.38,0.000,0.000,0.188,426,1840,1826,-10.52,-1.02,300.00
$IRIDIUM_FIX,2052.52,-15749.62,021099,141425
$TT8_MAMPS,0.029146
$HUMID,54.52
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.3,62.873
$10V_AH,10.0,53.754
$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,27.250,119.650,323.425,2.375,0.000,28.927,35.664,165.502,4.500,0.000,13.999,1339.684,7612.574,383.035,1639.081,521.093,33.376,1279.809,0.000,1603.672,0.000,29.251,0.000
$DEVICE_MAMPS,131.924,52.923,855.205,187.915,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,464.380,456.993,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34874,690
$CAP_FILE_SIZE,127489,0
$CFSIZE,260165632,217182208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080710,203407,2100.530,-15752.890,86,1.6,86,9.8