version: 66.06
glider: 139
mission: 7
dive: 708
start: 7 9 110 16 31 28
data:
$ID,139
$MISSION,7
$DIVE,708
$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,-2147470.5
$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
$GPS1,162437,2102.985,-15756.822,73,1.9,73,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-70.1
$GPS2,163037,2102.961,-15756.828,30,1.1,30,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.171,0.067
$KALMAN_X,-377397.2,-603.9,-342.4,375063.4,1021.6
$KALMAN_Y,9639.4,-415.5,-302.4,-16233.3,229.4
$MHEAD_RNG_PITCHd_Wd,281.7,13448,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.40,-77.9,0.0,0.0,0,74,0.00,0.00,-55.03,0.000,2,0.000,0.000,424,1857,3213,0,0,0,0,0,0
$GC,78,-1.40,-77.9,3.5,-5.9,11,97,10.55,2.40,-3.17,0.000,4,0.132,0.035,2405,3308,3367,0,0,0,0,0,0
$GC,205,-1.40,-77.9,26.1,-13.4,38,211,0.00,2.42,0.00,0.000,6,0.000,0.028,2405,1871,3369,0,0,0,0,0,0
$GC,410,-1.23,-77.9,54.4,-15.1,60,415,0.20,2.40,0.00,0.000,4,0.097,0.041,2445,471,3369,0,0,0,0,0,0
$GC,459,-1.14,-77.9,61.7,-14.2,64,464,0.00,2.30,0.00,0.000,6,0.000,0.019,2444,1908,3370,0,0,0,0,0,0
$GC,720,-1.14,-77.9,92.0,-9.8,89,724,0.10,2.47,0.00,0.000,4,0.110,0.041,2465,465,3371,0,0,0,0,0,0
$GC,805,-1.14,-77.9,100.5,-10.0,97,810,0.00,2.25,0.00,0.000,6,0.000,0.019,2465,1879,3371,0,0,0,0,0,0
$GC,1068,-1.22,-77.9,122.4,-6.5,122,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1883,3372,0,0,0,0,0,0
$GC,1324,-1.31,-77.9,140.0,-7.5,146,1329,0.17,2.42,0.00,0.000,4,0.049,0.041,2409,470,3373,0,0,0,0,0,0
$GC,1344,-1.31,-77.9,142.2,-9.0,147,1349,0.00,2.22,0.00,0.000,6,0.000,0.019,2408,1877,3373,0,0,0,0,0,0
$GC,1608,-1.31,-77.9,169.2,-10.3,172,1612,0.00,2.40,0.00,0.000,4,0.000,0.041,2408,471,3374,0,0,0,0,0,0
$GC,1633,-1.24,-77.9,172.1,-10.6,174,1638,0.15,2.25,0.00,0.000,6,0.093,0.019,2441,1881,3374,0,0,0,0,0,0
$GC,1899,-1.32,-77.9,195.9,-8.9,199,1903,0.00,2.40,0.00,0.000,4,0.000,0.041,2440,470,3374,0,0,0,0,0,0
$GC,2021,-1.37,-77.9,206.6,-8.5,207,2026,0.12,2.22,0.00,0.000,6,0.061,0.019,2397,1879,3374,0,0,0,0,0,0
$GC,2353,-1.37,-77.9,232.1,-6.9,223,2358,0.00,2.40,0.00,0.000,4,0.000,0.041,2396,471,3374,0,0,0,0,0,0
$GC,2391,-1.31,-77.9,235.2,-7.9,224,2397,0.15,2.25,0.00,0.000,6,0.092,0.020,2428,1880,3374,0,0,0,0,0,0
$GC,2710,-1.38,-77.9,253.3,-5.9,240,2714,0.00,2.28,0.00,0.000,4,0.000,0.027,2428,3266,3375,0,0,0,0,0,0
$GC,2732,-1.49,-77.9,254.8,-6.4,241,2737,0.17,2.30,0.00,0.000,6,0.050,0.026,2374,1866,3374,0,0,0,0,0,0
$GC,3065,-1.45,-77.9,283.2,-9.1,257,3069,0.10,2.40,0.00,0.000,4,0.110,0.044,2395,469,3374,0,0,0,0,0,0
$GC,3144,-1.45,-77.9,290.2,-8.2,260,3148,0.00,2.25,0.00,0.000,6,0.000,0.021,2395,1872,3374,0,0,0,0,0,0
$GC,3457,-1.45,-77.9,312.9,-7.1,271,3461,0.00,2.30,0.00,0.000,4,0.000,0.028,2394,3266,3373,0,0,0,0,0,0
$GC,3472,-1.45,-77.9,314.1,-7.3,271,3476,0.00,2.30,0.00,0.000,6,0.000,0.029,2394,1878,3373,0,0,0,0,0,0
$GC,3822,-1.45,-77.9,338.5,-7.4,280,3826,0.00,2.42,0.00,0.000,4,0.000,0.045,2395,464,3372,0,0,0,0,0,0
$GC,3892,-1.45,-77.9,343.8,-7.5,281,3897,0.00,2.28,0.00,0.000,6,0.000,0.023,2395,1867,3371,0,0,0,0,0,0
$GC,4234,-1.45,-77.9,362.0,-5.6,290,4238,0.00,2.42,0.00,0.000,4,0.000,0.046,2395,465,3370,0,0,0,0,0,0
$GC,4253,-1.45,-77.9,363.3,-6.5,290,4257,0.00,2.30,0.00,0.000,6,0.000,0.024,2394,1878,3369,0,0,0,0,0,0
$GC,4599,-1.45,-77.9,386.6,-6.3,299,4603,0.00,2.45,0.00,0.000,4,0.000,0.048,2394,465,3368,0,0,0,0,0,0
$GC,4655,-1.45,-77.9,390.9,-7.7,300,4659,0.00,2.28,0.00,0.000,6,0.000,0.025,2394,1875,3367,0,0,0,0,0,0
$STATE,4966,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4966,begin apogee
$GC,4973,-0.31,0.0,416.1,8.5,308,5041,1.15,0.00,64.30,0.825,6,0.071,0.000,2643,2032,3050,0,0,0,0,0,0
$STATE,5042,end apogee,CONTROL_FINISHED_OK
$STATE,5042,begin climb
$GC,5045,1.40,77.9,417.4,0.0,309,5120,1.62,2.40,64.55,0.808,4,0.027,0.036,3030,3381,2732,0,0,0,0,0,0
$GC,5380,1.23,135.3,412.8,4.1,316,5436,0.25,2.35,48.30,0.805,6,0.107,0.033,2985,2003,2498,0,0,0,0,0,0
$GC,5775,1.13,136.5,385.1,7.9,326,5780,0.15,2.47,0.00,0.000,4,0.115,0.050,2957,603,2491,0,0,0,0,0,0
$GC,5796,1.02,146.3,383.5,7.4,326,5813,0.12,2.33,10.15,0.710,6,0.124,0.027,2937,1995,2452,0,0,0,0,0,0
$GC,6145,1.04,163.2,358.1,6.9,335,6165,0.00,2.47,15.40,0.752,4,0.000,0.050,2936,608,2383,0,0,0,0,0,0
$GC,6287,1.00,163.2,346.6,9.1,338,6291,0.00,2.35,0.00,0.000,6,0.000,0.027,2936,2010,2379,0,0,0,0,0,0
$GC,6610,1.00,163.2,320.3,8.4,346,6614,0.00,2.45,0.00,0.000,4,0.000,0.048,2935,604,2378,0,0,0,0,0,0
$GC,6643,0.97,163.2,317.6,8.1,346,6647,0.00,2.33,0.00,0.000,6,0.000,0.028,2937,2008,2377,0,0,0,0,0,0
$GC,6955,1.02,178.7,295.9,7.0,354,6977,0.00,2.55,13.62,0.723,4,0.000,0.049,2936,607,2320,0,0,0,0,0,0
$GC,7107,1.03,180.7,283.0,7.9,360,7111,0.00,2.35,0.00,0.000,6,0.000,0.028,2937,2020,2318,0,0,0,0,0,0
$GC,7423,1.14,222.0,264.1,5.2,375,7469,0.12,2.58,39.03,0.748,4,0.075,0.049,2969,612,2144,0,0,0,0,0,0
$GC,7562,1.14,222.0,252.3,10.0,381,7567,0.00,2.35,0.00,0.000,6,0.000,0.028,2969,2020,2138,0,0,0,0,0,0
$GC,7887,1.14,222.0,226.8,8.5,397,7891,0.00,2.50,0.00,0.000,4,0.000,0.049,2968,602,2137,0,0,0,0,0,0
$GC,7933,1.14,222.0,222.3,10.0,399,7938,0.00,2.35,0.00,0.000,6,0.000,0.027,2969,2013,2135,0,0,0,0,0,0
$GC,8260,1.22,255.9,200.7,5.7,415,8297,0.00,2.58,29.80,0.689,4,0.000,0.046,2969,603,2005,0,0,0,0,0,0
$GC,8480,1.25,255.9,183.6,9.6,438,8484,0.00,2.35,0.00,0.000,6,0.000,0.026,2969,2011,1999,0,0,0,0,0,0
$GC,8745,1.34,255.9,160.7,9.3,462,8750,0.17,2.47,0.00,0.000,4,0.058,0.048,3015,608,1999,0,0,0,0,0,0
$GC,8817,1.26,255.9,152.8,11.6,469,8822,0.15,2.33,0.00,0.000,6,0.107,0.025,2988,2014,1998,0,0,0,0,0,0
$GC,9078,1.37,300.5,134.4,5.0,493,9124,0.10,2.55,39.25,0.629,4,0.078,0.046,3018,609,1823,0,0,0,0,0,0
$GC,9162,1.32,300.5,127.8,9.4,502,9167,0.00,2.33,0.00,0.000,6,0.000,0.024,3018,2011,1820,0,0,0,0,0,0
$GC,9425,1.36,300.5,101.6,9.4,527,9429,0.00,2.45,0.00,0.000,4,0.000,0.046,3018,600,1819,0,0,0,0,0,0
$GC,9693,1.39,328.9,79.3,6.1,555,9724,0.00,2.30,24.55,0.567,6,0.000,0.022,3018,2019,1709,0,0,0,0,0,0
$GC,9979,1.47,328.9,56.7,9.1,583,9983,0.00,2.42,0.00,0.000,4,0.000,0.043,3018,605,1707,0,0,0,0,0,0
$GC,10180,1.47,328.9,34.6,12.0,604,10184,0.00,2.30,0.00,0.000,6,0.000,0.021,3018,2021,1703,0,0,0,0,0,0
$GC,10453,1.53,328.9,8.9,10.0,647,10459,0.12,2.47,0.00,0.000,4,0.064,0.043,3059,598,1703,0,0,0,0,0,0
$STATE,10500,end climb,SURFACE_DEPTH_REACHED
$STATE,10501,begin surface coast
$FINISH,0.7,1.023327
$STATE,10524,end surface coast,CONTROL_FINISHED_OK
$STATE,10526,begin surface
$SM_CCo,10609,0.00,0.000,0,0,1698,331.65
$SM_GC,1.37,11.23,0.00,0.00,0.022,0.000,0.000,425,1865,1698,-10.44,-0.28,331.65
$IRIDIUM_FIX,2052.52,-15804.20,031099,131352
$TT8_MAMPS,0.029146
$HUMID,54.76
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,381.6,62.7
$24V_AH,23.3,63.536
$10V_AH,10.0,54.164
$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,26.925,123.425,348.950,0.000,0.000,30.731,31.983,156.942,4.000,0.000,30.633,1272.400,7212.841,395.501,1603.414,479.410,33.371,1268.433,0.000,1542.508,0.000,27.567,0.000
$DEVICE_MAMPS,131.924,52.156,824.525,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,444.681,436.826,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,34920,662
$CAP_FILE_SIZE,122593,0
$CFSIZE,260165632,216760320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090710,192953,2103.300,-15757.078,57,1.5,60,9.8