version: 66.06
glider: 139
mission: 7
dive: 705
start: 7 9 110 6 49 49
data:
$ID,139
$MISSION,7
$DIVE,705
$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,-2147333
$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
$GPS1,063951,2101.287,-15755.259,93,2.3,112,9.8
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-68.6
$GPS2,064858,2101.275,-15755.265,13,2.7,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.081,0.165
$KALMAN_X,-377034.8,304.9,85.5,376067.7,139.6
$KALMAN_Y,11039.8,342.3,142.4,-21953.5,-991.8
$MHEAD_RNG_PITCHd_Wd,324.0,17574,-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,-77.9,0.0,0.0,0,67,0.00,0.00,-49.55,0.000,2,0.000,0.000,420,1888,3086,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.1,-4.7,10,95,10.55,2.35,-5.95,0.000,4,0.130,0.040,2404,3301,3371,0,0,0,0,0,0
$GC,138,-1.36,-77.9,16.6,-13.9,24,144,0.00,2.42,0.00,0.000,6,0.000,0.028,2404,1862,3371,0,0,0,0,0,0
$GC,348,-1.19,-77.9,47.5,-14.0,51,353,0.25,2.38,0.00,0.000,4,0.095,0.038,2458,466,3372,0,0,0,0,0,0
$GC,377,-1.08,-77.9,52.0,-12.6,53,383,0.00,2.30,0.00,0.000,6,0.000,0.019,2458,1910,3373,0,0,0,0,0,0
$GC,639,-1.08,-77.9,82.0,-10.8,78,643,0.00,2.47,0.00,0.000,4,0.000,0.041,2458,471,3373,0,0,0,0,0,0
$GC,686,-1.05,-77.9,87.4,-11.2,82,692,0.12,2.25,0.00,0.000,6,0.104,0.019,2482,1881,3373,0,0,0,0,0,0
$GC,947,-1.13,-77.9,112.0,-9.2,107,951,0.00,2.42,0.00,0.000,4,0.000,0.041,2482,465,3374,0,0,0,0,0,0
$GC,972,-1.19,-77.9,114.5,-9.5,109,977,0.12,2.25,0.00,0.000,6,0.061,0.019,2437,1881,3374,0,0,0,0,0,0
$GC,1233,-1.19,-77.9,137.1,-7.1,133,1237,0.00,2.42,0.00,0.000,4,0.000,0.040,2437,462,3375,0,0,0,0,0,0
$GC,1272,-1.19,-77.9,140.3,-8.8,136,1277,0.00,2.25,0.00,0.000,6,0.000,0.018,2437,1881,3375,0,0,0,0,0,0
$GC,1535,-1.25,-77.9,160.8,-7.5,161,1539,0.00,2.42,0.00,0.000,4,0.000,0.041,2437,461,3376,0,0,0,0,0,0
$GC,1636,-1.25,-77.9,168.4,-7.1,171,1640,0.00,2.25,0.00,0.000,6,0.000,0.019,2437,1876,3376,0,0,0,0,0,0
$GC,1901,-1.31,-77.9,185.0,-6.8,195,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,1880,3376,0,0,0,0,0,0
$GC,2174,-1.38,-77.9,204.6,-7.3,218,2176,0.10,0.00,0.00,0.000,6,0.072,0.000,2398,1881,3377,0,0,0,0,0,0
$GC,2480,-1.38,-77.9,229.3,-6.9,233,2485,0.00,2.40,0.00,0.000,4,0.000,0.042,2398,461,3377,0,0,0,0,0,0
$GC,2548,-1.34,-77.9,234.8,-9.1,236,2553,0.10,2.28,0.00,0.000,6,0.106,0.021,2419,1880,3376,0,0,0,0,0,0
$GC,2880,-1.40,-77.9,258.9,-7.1,252,2884,0.00,2.42,0.00,0.000,4,0.000,0.043,2419,465,3377,0,0,0,0,0,0
$GC,2938,-1.44,-77.9,263.2,-7.4,254,2942,0.00,2.25,0.00,0.000,6,0.000,0.021,2419,1879,3376,0,0,0,0,0,0
$GC,3254,-1.50,-77.9,285.8,-7.8,269,3255,0.15,0.00,0.00,0.000,6,0.055,0.000,2372,1883,3376,0,0,0,0,0,0
$GC,3581,-1.47,-77.9,314.0,-8.2,281,3586,0.10,2.45,0.00,0.000,4,0.109,0.046,2392,466,3375,0,0,0,0,0,0
$GC,3697,-1.47,-77.9,323.5,-8.4,283,3701,0.00,2.28,0.00,0.000,6,0.000,0.023,2392,1872,3374,0,0,0,0,0,0
$GC,4044,-1.47,-77.9,350.8,-8.1,292,4048,0.00,2.40,0.00,0.000,4,0.000,0.046,2392,470,3373,0,0,0,0,0,0
$GC,4100,-1.47,-77.9,356.1,-9.4,293,4104,0.00,2.30,0.00,0.000,6,0.000,0.024,2392,1883,3373,0,0,0,0,0,0
$GC,4414,-1.47,-77.9,382.7,-8.5,301,4418,0.00,2.42,0.00,0.000,4,0.000,0.048,2392,472,3370,0,0,0,0,0,0
$GC,4479,-1.47,-77.9,389.0,-9.3,302,4483,0.00,2.30,0.00,0.000,6,0.000,0.025,2392,1881,3370,0,0,0,0,0,0
$GC,4829,-1.47,-77.9,421.7,-9.4,311,4834,0.00,2.45,0.00,0.000,4,0.000,0.049,2392,473,3367,0,0,0,0,0,0
$GC,4895,-1.47,-77.9,428.1,-9.5,312,4900,0.00,2.30,0.00,0.000,6,0.000,0.026,2392,1881,3367,0,0,0,0,0,0
$STATE,5197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5197,begin apogee
$GC,5204,-0.31,0.0,452.0,7.4,320,5271,1.17,0.00,64.20,0.862,6,0.071,0.000,2646,2035,3050,0,0,0,0,0,0
$STATE,5272,end apogee,CONTROL_FINISHED_OK
$STATE,5272,begin climb
$GC,5275,1.40,77.9,452.9,0.0,321,5351,1.62,2.40,64.95,0.839,4,0.028,0.038,3029,3380,2732,0,0,0,0,0,0
$GC,5572,1.20,112.1,445.0,5.7,327,5609,0.30,2.35,29.55,0.821,6,0.107,0.035,2976,2011,2591,0,0,0,0,0,0
$GC,5923,1.12,133.4,421.8,6.6,336,5944,0.00,0.00,18.77,0.798,6,0.000,0.000,2976,2011,2506,0,0,0,0,0,0
$GC,6249,1.04,146.8,398.1,7.1,344,6269,0.17,2.53,12.68,0.765,4,0.112,0.050,2943,601,2449,0,0,0,0,0,0
$GC,6280,1.01,162.7,395.8,6.9,344,6300,0.00,2.33,15.30,0.774,6,0.000,0.028,2944,1994,2386,0,0,0,0,0,0
$GC,6626,1.03,176.9,370.6,7.0,353,6646,0.00,2.50,13.38,0.761,4,0.000,0.051,2943,604,2327,0,0,0,0,0,0
$GC,6661,1.00,190.6,367.7,7.1,353,6680,0.00,2.38,13.62,0.754,6,0.000,0.028,2944,2010,2271,0,0,0,0,0,0
$GC,7001,1.01,196.2,341.2,7.6,362,7013,0.00,2.53,5.55,0.607,4,0.000,0.051,2943,610,2249,0,0,0,0,0,0
$GC,7097,1.01,196.2,333.1,8.6,364,7101,0.00,2.35,0.00,0.000,6,0.000,0.028,2944,2008,2247,0,0,0,0,0,0
$GC,7421,1.04,196.2,307.6,8.4,372,7425,0.00,2.47,0.00,0.000,4,0.000,0.050,2944,607,2246,0,0,0,0,0,0
$GC,7519,1.01,196.2,297.9,10.3,374,7523,0.00,2.35,0.00,0.000,6,0.000,0.028,2944,2014,2244,0,0,0,0,0,0
$GC,7840,1.07,208.7,273.4,7.2,390,7857,0.00,2.53,11.80,0.709,4,0.000,0.051,2943,607,2199,0,0,0,0,0,0
$GC,8121,1.07,208.7,250.7,8.7,401,8125,0.00,2.35,0.00,0.000,6,0.000,0.028,2944,2016,2193,0,0,0,0,0,0
$GC,8442,1.16,228.8,229.4,6.6,417,8467,0.10,2.55,18.75,0.710,4,0.085,0.049,2970,613,2116,0,0,0,0,0,0
$GC,8711,1.17,230.1,207.3,7.9,428,8715,0.00,2.35,0.00,0.000,6,0.000,0.028,2970,2014,2111,0,0,0,0,0,0
$GC,9042,1.23,236.4,184.4,7.6,454,9054,0.00,2.42,7.28,0.584,4,0.000,0.034,2970,3405,2086,0,0,0,0,0,0
$GC,9083,1.31,236.4,180.6,8.7,458,9089,0.12,2.40,0.00,0.000,6,0.070,0.032,3004,2007,2086,0,0,0,0,0,0
$GC,9347,1.30,252.7,162.4,6.9,483,9368,0.00,2.47,16.27,0.640,4,0.000,0.047,3004,599,2019,0,0,0,0,0,0
$GC,9503,1.23,252.7,149.5,8.0,499,9509,0.00,2.35,0.00,0.000,6,0.000,0.025,3004,2017,2014,0,0,0,0,0,0
$GC,9767,1.28,252.7,125.9,8.4,524,9771,0.00,2.45,0.00,0.000,4,0.000,0.045,3004,605,2013,0,0,0,0,0,0
$GC,9916,1.30,269.2,114.4,6.9,539,9938,0.00,2.33,15.48,0.591,6,0.000,0.023,3004,2024,1951,0,0,0,0,0,0
$GC,10194,1.39,282.3,94.1,7.1,566,10212,0.00,2.47,12.68,0.553,4,0.000,0.043,3005,604,1898,0,0,0,0,0,0
$GC,10265,1.39,282.3,88.7,8.1,573,10270,0.00,2.30,0.00,0.000,6,0.000,0.022,3004,2016,1895,0,0,0,0,0,0
$GC,10528,1.49,291.8,70.0,7.4,598,10547,0.15,2.53,9.50,0.508,4,0.059,0.041,3049,602,1858,0,0,0,0,0,0
$GC,10632,1.41,291.8,59.6,10.2,609,10637,0.15,2.30,0.00,0.000,6,0.098,0.021,3020,2012,1856,0,0,0,0,0,0
$GC,10893,1.45,291.8,37.7,8.3,633,10897,0.00,2.42,0.00,0.000,4,0.000,0.041,3020,603,1856,0,0,0,0,0,0
$GC,10982,1.45,291.8,28.5,11.3,643,10988,0.00,2.30,0.00,0.000,6,0.000,0.020,3020,2028,1856,0,0,0,0,0,0
$GC,11192,1.52,308.7,9.2,6.9,680,11216,0.10,2.47,16.08,0.491,4,0.075,0.039,3055,596,1790,0,0,0,0,0,0
$STATE,11254,end climb,SURFACE_DEPTH_REACHED
$STATE,11254,begin surface coast
$FINISH,0.7,1.011149
$STATE,11287,end surface coast,CONTROL_FINISHED_OK
$STATE,11287,begin surface
$SM_CCo,11371,0.00,0.000,0,0,1781,311.29
$SM_GC,1.31,11.27,0.00,0.00,0.023,0.000,0.000,424,1875,1781,-10.45,0.00,311.29
$IRIDIUM_FIX,2052.52,-15754.77,031099,060640
$TT8_MAMPS,0.029146
$HUMID,54.21
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,23.3,63.263
$10V_AH,10.0,53.995
$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,26.675,123.900,345.825,0.000,0.000,56.209,108.533,175.001,4.750,0.000,33.956,1353.507,7821.481,406.084,1711.089,618.607,33.374,1327.451,0.000,1650.137,0.000,29.245,0.000
$DEVICE_MAMPS,130.390,53.690,862.108,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.181,462.424,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,38076,700
$CAP_FILE_SIZE,131200,0
$CFSIZE,260165632,216928256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090710,100127,2101.754,-15755.888,71,2.6,90,9.8