version: 66.06
glider: 139
mission: 7
dive: 704
start: 7 9 110 3 30 59
data:
$ID,139
$MISSION,7
$DIVE,704
$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,-2147298.2
$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
$GPS1,032324,2100.948,-15754.621,51,1.8,62,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-72.0
$GPS2,033006,2100.919,-15754.658,19,0.8,35,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.145,0.113
$KALMAN_X,-377307.8,498.6,-409.4,377693.2,464.7
$KALMAN_Y,12150.2,539.5,-567.8,-23208.8,-19.4
$MHEAD_RNG_PITCHd_Wd,298.1,18769,-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,-77.9,0.0,0.0,0,67,0.00,0.00,-49.92,0.000,2,0.000,0.000,422,1861,3127,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.6,-6.5,10,95,10.65,2.42,-4.88,0.000,4,0.135,0.037,2403,3301,3371,0,0,0,0,0,0
$GC,198,-1.35,-77.9,27.2,-14.0,37,204,0.00,2.40,0.00,0.000,6,0.000,0.029,2403,1867,3372,0,0,0,0,0,0
$GC,403,-1.19,-77.9,59.1,-15.2,58,408,0.25,2.38,0.00,0.000,4,0.103,0.040,2456,468,3373,0,0,0,0,0,0
$GC,457,-1.13,-77.9,66.7,-13.7,63,461,0.00,2.33,0.00,0.000,6,0.000,0.019,2456,1913,3373,0,0,0,0,0,0
$GC,718,-1.13,-77.9,94.7,-9.6,87,722,0.00,2.22,0.00,0.000,4,0.000,0.025,2456,3271,3374,0,0,0,0,0,0
$GC,743,-1.22,-77.9,96.9,-8.8,89,747,0.00,2.33,0.00,0.000,6,0.000,0.027,2456,1868,3374,0,0,0,0,0,0
$GC,1006,-1.30,-77.9,117.0,-7.1,113,1011,0.12,2.40,0.00,0.000,4,0.061,0.041,2411,468,3375,0,0,0,0,0,0
$GC,1083,-1.23,-77.9,124.1,-9.4,120,1089,0.15,2.25,0.00,0.000,6,0.093,0.018,2443,1882,3375,0,0,0,0,0,0
$GC,1345,-1.30,-77.9,145.7,-8.6,145,1349,0.00,2.42,0.00,0.000,4,0.000,0.041,2443,466,3375,0,0,0,0,0,0
$GC,1428,-1.36,-77.9,153.7,-9.1,153,1434,0.12,2.25,0.00,0.000,6,0.061,0.018,2399,1881,3376,0,0,0,0,0,0
$GC,1690,-1.32,-77.9,178.6,-10.0,178,1694,0.12,2.45,0.00,0.000,4,0.099,0.043,2424,465,3377,0,0,0,0,0,0
$GC,1737,-1.32,-77.9,183.3,-9.8,182,1743,0.00,2.25,0.00,0.000,6,0.000,0.019,2424,1877,3377,0,0,0,0,0,0
$GC,2010,-1.35,-77.9,205.9,-8.1,205,2014,0.00,2.40,0.00,0.000,4,0.000,0.041,2425,464,3376,0,0,0,0,0,0
$GC,2052,-1.35,-77.9,209.9,-8.7,206,2057,0.00,2.25,0.00,0.000,6,0.000,0.020,2425,1870,3376,0,0,0,0,0,0
$GC,2367,-1.40,-77.9,235.7,-8.3,222,2371,0.00,2.42,0.00,0.000,4,0.000,0.043,2425,464,3376,0,0,0,0,0,0
$GC,2400,-1.40,-77.9,238.6,-9.2,223,2405,0.00,2.28,0.00,0.000,6,0.000,0.020,2424,1883,3376,0,0,0,0,0,0
$GC,2723,-1.48,-77.9,261.7,-7.1,239,2728,0.15,2.42,0.00,0.000,4,0.056,0.044,2377,468,3376,0,0,0,0,0,0
$GC,2799,-1.40,-77.9,269.3,-10.0,242,2804,0.15,2.25,0.00,0.000,6,0.092,0.021,2408,1873,3376,0,0,0,0,0,0
$GC,3122,-1.43,-77.9,293.0,-6.8,258,3126,0.00,2.38,0.00,0.000,4,0.000,0.044,2408,473,3376,0,0,0,0,0,0
$GC,3155,-1.43,-77.9,295.8,-7.8,259,3159,0.00,2.25,0.00,0.000,6,0.000,0.021,2408,1877,3376,0,0,0,0,0,0
$GC,3474,-1.48,-77.9,322.3,-8.7,269,3478,0.00,2.40,0.00,0.000,4,0.000,0.044,2408,469,3375,0,0,0,0,0,0
$GC,3571,-1.48,-77.9,331.1,-8.2,271,3576,0.00,2.28,0.00,0.000,6,0.000,0.022,2408,1876,3375,0,0,0,0,0,0
$GC,3891,-1.54,-77.9,355.1,-7.8,279,3896,0.12,2.45,0.00,0.000,4,0.064,0.047,2368,468,3374,0,0,0,0,0,0
$GC,3929,-1.45,-77.9,359.2,-10.7,279,3936,0.15,2.30,0.00,0.000,6,0.093,0.023,2399,1883,3373,0,0,0,0,0,0
$GC,4261,-1.49,-77.9,387.2,-8.1,288,4266,0.00,2.45,0.00,0.000,4,0.000,0.047,2399,470,3372,0,0,0,0,0,0
$GC,4294,-1.49,-77.9,390.2,-8.9,288,4298,0.00,2.30,0.00,0.000,6,0.000,0.024,2399,1881,3371,0,0,0,0,0,0
$GC,4626,-1.53,-77.9,413.0,-7.1,296,4630,0.00,2.45,0.00,0.000,4,0.000,0.048,2398,471,3369,0,0,0,0,0,0
$GC,4687,-1.53,-77.9,418.4,-9.2,297,4691,0.00,2.30,0.00,0.000,6,0.000,0.025,2399,1876,3369,0,0,0,0,0,0
$GC,5037,-1.58,-77.9,449.2,-8.6,306,5042,0.15,2.47,0.00,0.000,4,0.060,0.051,2356,467,3367,0,0,0,0,0,0
$STATE,5045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5045,begin apogee
$GC,5054,-0.31,0.0,450.2,8.5,306,5124,1.33,0.00,64.80,0.855,6,0.080,0.000,2640,2016,3050,0,0,0,0,0,0
$STATE,5125,end apogee,CONTROL_FINISHED_OK
$STATE,5125,begin climb
$GC,5128,1.40,77.9,453.3,0.0,308,5204,1.65,2.47,65.03,0.837,4,0.030,0.038,3025,3404,2732,0,0,0,0,0,0
$GC,5467,1.21,113.2,446.0,5.6,315,5505,0.25,2.38,30.38,0.822,6,0.110,0.034,2981,2012,2587,0,0,0,0,0,0
$GC,5819,1.10,117.3,420.6,7.7,324,5829,0.15,2.42,4.22,0.541,4,0.117,0.036,2946,3405,2571,0,0,0,0,0,0
$GC,5960,1.04,121.4,409.8,7.7,327,5971,0.00,2.40,4.97,0.596,6,0.000,0.035,2954,2012,2555,0,0,0,0,0,0
$GC,6288,1.02,143.2,387.5,6.5,335,6312,0.00,2.47,19.80,0.795,4,0.000,0.038,2955,3412,2466,0,0,0,0,0,0
$GC,6329,1.04,156.0,384.2,7.1,336,6349,0.00,2.42,13.05,0.753,6,0.000,0.035,2955,2010,2412,0,0,0,0,0,0
$GC,6659,1.05,167.3,358.5,7.2,344,6675,0.00,2.55,10.65,0.732,4,0.000,0.051,2954,603,2366,0,0,0,0,0,0
$GC,6695,0.99,180.8,356.0,7.1,344,6717,0.12,2.38,13.43,0.749,6,0.127,0.028,2934,2018,2312,0,0,0,0,0,0
$GC,7040,1.06,204.4,334.5,6.4,353,7068,0.00,2.58,21.88,0.775,4,0.000,0.051,2933,610,2215,0,0,0,0,0,0
$GC,7111,1.06,204.4,328.2,9.0,354,7115,0.00,2.35,0.00,0.000,6,0.000,0.028,2934,2009,2211,0,0,0,0,0,0
$GC,7452,1.14,204.8,300.1,8.0,363,7457,0.12,2.50,0.00,0.000,4,0.076,0.051,2965,605,2210,0,0,0,0,0,0
$GC,7721,1.09,204.8,274.3,9.1,373,7727,0.00,2.38,0.00,0.000,6,0.000,0.028,2965,2020,2206,0,0,0,0,0,0
$GC,8038,1.13,237.2,254.8,5.8,389,8074,0.00,2.55,28.98,0.740,4,0.000,0.048,2965,604,2081,0,0,0,0,0,0
$GC,8184,1.13,237.2,243.0,9.4,395,8189,0.00,2.38,0.00,0.000,6,0.000,0.028,2965,2015,2076,0,0,0,0,0,0
$GC,8501,1.21,249.8,219.2,7.2,410,8517,0.00,2.53,11.57,0.658,4,0.000,0.050,2965,599,2030,0,0,0,0,0,0
$GC,8603,1.21,249.8,210.5,9.6,413,8607,0.00,2.35,0.00,0.000,6,0.000,0.027,2965,2014,2027,0,0,0,0,0,0
$GC,8926,1.29,249.8,184.8,8.6,436,8931,0.12,2.47,0.00,0.000,4,0.071,0.048,3000,605,2027,0,0,0,0,0,0
$GC,9081,1.21,249.8,170.3,8.7,452,9086,0.12,2.35,0.00,0.000,6,0.111,0.025,2977,2019,2025,0,0,0,0,0,0
$GC,9343,1.28,257.9,151.1,7.5,476,9356,0.00,2.53,8.10,0.565,4,0.000,0.048,2977,597,1997,0,0,0,0,0,0
$GC,9528,1.28,257.9,134.5,9.9,495,9534,0.00,2.35,0.00,0.000,6,0.000,0.024,2977,2021,1995,0,0,0,0,0,0
$GC,9792,1.38,270.7,113.6,7.1,520,9811,0.17,2.50,12.73,0.577,4,0.056,0.043,3026,603,1945,0,0,0,0,0,0
$GC,9944,1.33,287.1,101.5,6.9,536,9965,0.10,2.33,15.43,0.574,6,0.118,0.023,3007,2025,1879,0,0,0,0,0,0
$GC,10227,1.44,305.7,82.9,6.7,563,10254,0.00,2.55,17.75,0.562,4,0.000,0.044,3007,602,1801,0,0,0,0,0,0
$GC,10344,1.48,305.7,73.7,8.3,575,10350,0.12,2.30,0.00,0.000,6,0.065,0.022,3047,2014,1798,0,0,0,0,0,0
$GC,10605,1.48,305.7,51.4,8.7,600,10609,0.00,2.45,0.00,0.000,4,0.000,0.044,3047,603,1798,0,0,0,0,0,0
$GC,10781,1.41,305.7,31.5,10.4,618,10787,0.12,2.28,0.00,0.000,6,0.104,0.021,3023,2015,1797,0,0,0,0,0,0
$GC,11057,1.46,305.7,3.2,11.2,666,11063,0.00,2.42,0.00,0.000,4,0.000,0.041,3022,601,1796,0,0,0,0,0,0
$STATE,11067,end climb,SURFACE_DEPTH_REACHED
$STATE,11067,begin surface coast
$FINISH,0.5,0.999030
$STATE,11100,end surface coast,CONTROL_FINISHED_OK
$STATE,11100,begin surface
$SM_CCo,11184,0.00,0.000,0,0,1793,308.34
$SM_GC,1.46,11.07,0.00,0.00,0.021,0.000,0.000,420,1889,1793,-10.45,0.40,308.34
$IRIDIUM_FIX,2054.83,-15754.77,031099,000039
$TT8_MAMPS,0.029146
$HUMID,55.11
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.70
$XPDR_PINGS,2
$24V_AH,23.3,63.171
$10V_AH,10.0,53.935
$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,27.625,138.475,342.750,0.000,0.000,25.910,39.893,187.073,5.000,0.000,35.375,1335.987,7578.242,395.381,1734.062,536.595,33.377,1342.273,0.000,1668.987,0.000,29.243,0.000
$DEVICE_MAMPS,134.992,51.389,855.205,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.772,442.596,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,34890,675
$CAP_FILE_SIZE,134480,0
$CFSIZE,260165632,216993792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090710,063951,2101.287,-15755.259,93,2.3,112,9.8