version: 66.06
glider: 139
mission: 7
dive: 706
start: 7 9 110 10 9 24
data:
$ID,139
$MISSION,7
$DIVE,706
$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,-2147405.8
$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
$GPS1,100127,2101.754,-15755.888,71,2.6,90,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.6
$GPS2,100831,2101.755,-15755.946,71,1.2,71,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.061,0.173
$KALMAN_X,-377105.8,-137.9,345.5,375149.1,-788.0
$KALMAN_Y,10251.0,-144.5,450.6,-20102.9,-1830.5
$MHEAD_RNG_PITCHd_Wd,9.7,16129,-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,-77.9,0.0,0.0,0,72,0.00,0.00,-54.80,0.000,2,0.000,0.000,423,1875,3235,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.8,-7.0,11,95,10.57,2.35,-2.60,0.000,4,0.131,0.037,2407,3296,3368,0,0,0,0,0,0
$GC,107,-0.40,-77.9,13.4,-28.8,17,113,1.02,2.40,0.00,0.000,6,0.075,0.030,2623,1867,3369,0,0,0,0,0,0
$GC,317,-1.01,-77.9,28.0,-4.7,54,323,0.55,2.38,0.00,0.000,4,0.042,0.041,2482,471,3370,0,0,0,0,0,0
$GC,344,-1.30,-77.9,29.9,-6.4,59,351,0.17,2.30,0.00,0.000,6,0.027,0.019,2415,1924,3370,0,0,0,0,0,0
$GC,542,-1.18,-77.9,54.0,-12.2,78,544,0.20,0.00,0.00,0.000,6,0.093,0.000,2456,1929,3370,0,0,0,0,0,0
$GC,797,-1.14,-77.9,85.1,-12.6,102,801,0.00,2.50,0.00,0.000,4,0.000,0.040,2456,466,3371,0,0,0,0,0,0
$GC,844,-1.09,-77.9,91.8,-13.7,106,850,0.10,2.22,0.00,0.000,6,0.106,0.019,2477,1870,3371,0,0,0,0,0,0
$GC,1105,-1.17,-77.9,118.8,-8.9,131,1109,0.00,2.42,0.00,0.000,4,0.000,0.042,2477,462,3372,0,0,0,0,0,0
$GC,1134,-1.21,-77.9,121.4,-9.3,134,1139,0.12,2.25,0.00,0.000,6,0.061,0.019,2434,1885,3372,0,0,0,0,0,0
$GC,1400,-1.21,-77.9,140.5,-5.6,159,1404,0.00,2.42,0.00,0.000,4,0.000,0.041,2431,462,3373,0,0,0,0,0,0
$GC,1448,-1.21,-77.9,143.8,-6.8,164,1452,0.00,2.22,0.00,0.000,6,0.000,0.018,2431,1881,3374,0,0,0,0,0,0
$GC,1714,-1.26,-77.9,160.7,-6.3,188,1718,0.00,2.40,0.00,0.000,4,0.000,0.041,2431,461,3374,0,0,0,0,0,0
$GC,1825,-1.26,-77.9,169.9,-8.3,199,1831,0.00,2.22,0.00,0.000,6,0.000,0.019,2431,1874,3374,0,0,0,0,0,0
$GC,2089,-1.30,-77.9,189.1,-7.8,224,2093,0.00,2.38,0.00,0.000,4,0.000,0.041,2431,468,3374,0,0,0,0,0,0
$GC,2112,-1.30,-77.9,191.4,-9.0,226,2118,0.00,2.22,0.00,0.000,6,0.000,0.019,2432,1878,3374,0,0,0,0,0,0
$GC,2370,-1.35,-77.9,211.6,-7.7,244,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,1883,3374,0,0,0,0,0,0
$GC,2679,-1.43,-77.9,236.1,-7.4,259,2684,0.12,2.42,0.00,0.000,4,0.062,0.043,2387,471,3375,0,0,0,0,0,0
$GC,2815,-1.37,-77.9,248.6,-9.6,265,2819,0.15,2.25,0.00,0.000,6,0.092,0.021,2419,1876,3375,0,0,0,0,0,0
$GC,3151,-1.42,-77.9,271.8,-6.1,281,3156,0.00,2.42,0.00,0.000,4,0.000,0.044,2418,461,3375,0,0,0,0,0,0
$GC,3176,-1.46,-77.9,273.5,-6.7,282,3181,0.10,2.28,0.00,0.000,6,0.071,0.021,2381,1878,3375,0,0,0,0,0,0
$GC,3508,-1.46,-77.9,298.2,-7.5,298,3512,0.00,2.40,0.00,0.000,4,0.000,0.044,2381,466,3373,0,0,0,0,0,0
$GC,3565,-1.41,-77.9,303.1,-8.7,300,3570,0.12,2.28,0.00,0.000,6,0.099,0.022,2407,1874,3374,0,0,0,0,0,0
$GC,3879,-1.47,-77.9,327.4,-8.0,308,3883,0.00,2.40,0.00,0.000,4,0.000,0.045,2406,471,3373,0,0,0,0,0,0
$GC,3968,-1.47,-77.9,335.5,-9.3,309,3973,0.00,2.28,0.00,0.000,6,0.000,0.023,2407,1874,3372,0,0,0,0,0,0
$GC,4300,-1.52,-77.9,362.2,-7.8,318,4305,0.12,2.45,0.00,0.000,4,0.064,0.048,2367,470,3370,0,0,0,0,0,0
$GC,4385,-1.45,-77.9,369.9,-9.3,319,4391,0.15,2.28,0.00,0.000,6,0.093,0.025,2398,1879,3370,0,0,0,0,0,0
$GC,4717,-1.49,-77.9,394.2,-7.5,328,4722,0.00,2.45,0.00,0.000,4,0.000,0.048,2398,466,3368,0,0,0,0,0,0
$GC,4745,-1.49,-77.9,396.6,-8.2,328,4749,0.00,2.28,0.00,0.000,6,0.000,0.025,2398,1876,3367,0,0,0,0,0,0
$GC,5082,-1.53,-77.9,423.3,-8.0,337,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1881,3365,0,0,0,0,0,0
$GC,5407,-1.57,-77.9,447.5,-7.4,345,5411,0.12,2.45,0.00,0.000,4,0.066,0.051,2360,471,3363,0,0,0,0,0,0
$STATE,5433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5433,begin apogee
$GC,5442,-0.31,0.0,450.2,9.7,345,5509,1.30,0.00,63.97,0.859,6,0.077,0.000,2640,2010,3050,0,0,0,0,0,0
$STATE,5510,end apogee,CONTROL_FINISHED_OK
$STATE,5510,begin climb
$GC,5514,1.40,77.9,451.5,0.0,347,5589,1.65,2.47,64.97,0.839,4,0.030,0.038,3027,3403,2732,0,0,0,0,0,0
$GC,5854,1.21,120.1,440.6,5.1,354,5896,0.28,2.38,35.95,0.829,6,0.106,0.035,2978,2011,2559,0,0,0,0,0,0
$GC,6206,1.10,121.1,412.9,8.0,363,6210,0.12,2.42,0.00,0.000,4,0.123,0.038,2944,3403,2555,0,0,0,0,0,0
$GC,6226,1.04,131.2,411.3,7.3,363,6242,0.00,2.38,10.07,0.737,6,0.000,0.035,2957,2011,2514,0,0,0,0,0,0
$GC,6580,1.00,140.1,384.6,7.4,372,6596,0.12,2.42,8.85,0.720,4,0.120,0.037,2935,3407,2477,0,0,0,0,0,0
$GC,6620,1.02,156.9,381.5,6.9,372,6641,0.00,2.40,16.00,0.777,6,0.000,0.035,2935,2007,2410,0,0,0,0,0,0
$GC,6953,1.04,173.4,357.6,6.9,381,6970,0.00,0.00,15.25,0.769,6,0.000,0.000,2935,2007,2343,0,0,0,0,0,0
$GC,7276,1.08,178.5,332.7,7.7,389,7288,0.00,2.53,5.57,0.614,4,0.000,0.052,2934,609,2321,0,0,0,0,0,0
$GC,7396,1.08,178.5,322.5,9.0,391,7400,0.00,2.35,0.00,0.000,6,0.000,0.028,2934,2014,2319,0,0,0,0,0,0
$GC,7719,1.14,185.9,298.3,7.5,400,7733,0.12,2.53,7.57,0.667,4,0.077,0.051,2965,604,2292,0,0,0,0,0,0
$GC,7859,1.07,185.9,285.7,9.4,406,7863,0.00,2.35,0.00,0.000,6,0.000,0.028,2966,2016,2289,0,0,0,0,0,0
$GC,8184,1.11,219.1,263.9,5.7,422,8217,0.00,0.00,30.80,0.755,6,0.000,0.000,2966,2021,2156,0,0,0,0,0,0
$GC,8536,1.15,225.9,239.7,7.6,439,8548,0.00,2.58,6.53,0.599,4,0.000,0.051,2966,600,2129,0,0,0,0,0,0
$GC,8730,1.15,229.8,224.1,7.8,447,8739,0.00,2.38,4.45,0.499,6,0.000,0.028,2966,2017,2113,0,0,0,0,0,0
$GC,9052,1.23,239.0,200.2,7.4,462,9068,0.00,2.55,10.18,0.634,4,0.000,0.048,2966,606,2074,0,0,0,0,0,0
$GC,9075,1.28,241.5,198.3,7.8,463,9082,0.12,2.38,0.00,0.000,6,0.072,0.027,2999,2023,2073,0,0,0,0,0,0
$GC,9341,1.31,264.5,180.1,6.4,488,9370,0.00,2.35,23.92,0.664,4,0.000,0.032,2998,3401,1971,0,0,0,0,0,0
$GC,9384,1.33,278.3,176.5,7.1,492,9407,0.00,2.40,13.73,0.621,6,0.000,0.031,3000,2008,1915,0,0,0,0,0,0
$GC,9662,1.33,278.3,154.2,8.9,519,9666,0.00,2.45,0.00,0.000,4,0.000,0.045,2999,597,1910,0,0,0,0,0,0
$GC,9808,1.29,278.3,140.6,10.2,534,9812,0.00,2.33,0.00,0.000,6,0.000,0.025,2999,2013,1907,0,0,0,0,0,0
$GC,10071,1.34,294.0,119.9,6.9,558,10092,0.00,2.55,13.98,0.581,4,0.000,0.044,2999,602,1851,0,0,0,0,0,0
$GC,10241,1.34,294.0,103.3,9.5,576,10246,0.00,2.33,0.00,0.000,6,0.000,0.023,2999,2011,1847,0,0,0,0,0,0
$GC,10504,1.46,312.2,81.5,6.8,601,10531,0.15,2.47,17.27,0.556,4,0.059,0.044,3044,602,1776,0,0,0,0,0,0
$GC,10623,1.42,320.7,72.3,7.4,613,10637,0.00,2.33,8.43,0.495,6,0.000,0.021,3044,2023,1741,0,0,0,0,0,0
$GC,10892,1.42,320.7,48.9,8.7,639,10896,0.00,2.45,0.00,0.000,4,0.000,0.044,3044,596,1741,0,0,0,0,0,0
$GC,11027,1.35,320.7,35.1,13.6,653,11032,0.17,2.28,0.00,0.000,6,0.097,0.021,3009,2008,1739,0,0,0,0,0,0
$GC,11300,1.46,343.8,12.3,6.4,696,11329,0.10,2.50,20.95,0.503,4,0.074,0.041,3044,603,1647,0,0,0,0,0,0
$STATE,11385,end climb,SURFACE_DEPTH_REACHED
$STATE,11385,begin surface coast
$FINISH,0.7,1.023177
$STATE,11418,end surface coast,CONTROL_FINISHED_OK
$STATE,11418,begin surface
$SM_CCo,11502,0.00,0.000,0,0,1639,346.12
$SM_GC,1.43,11.20,0.00,0.00,0.021,0.000,0.000,425,1902,1639,-10.44,0.76,346.12
$IRIDIUM_FIX,2054.83,-15756.91,031099,060627
$TT8_MAMPS,0.029913
$HUMID,54.33
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,22.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,441.7,65.5
$24V_AH,23.3,63.356
$10V_AH,10.0,54.054
$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,29.000,128.525,378.450,0.000,0.000,22.734,26.876,190.021,4.750,0.000,72.045,1374.196,7871.979,425.745,1714.574,534.626,33.375,1350.968,0.000,1618.698,0.000,34.692,0.000
$DEVICE_MAMPS,131.157,52.156,859.040,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,483.798,481.605,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,38037,721
$CAP_FILE_SIZE,133953,0
$CFSIZE,260165632,216866816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090710,132310,2102.315,-15756.448,68,2.6,87,9.8