version: 66.06
glider: 139
mission: 7
dive: 709
start: 7 9 110 19 38 6
data:
$ID,139
$MISSION,7
$DIVE,709
$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,-2147503.2
$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
$GPS1,192953,2103.300,-15757.078,57,1.5,60,9.8
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,1
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-70.3
$GPS2,193715,2103.255,-15757.080,12,2.9,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.152,0.103
$KALMAN_X,-377048.6,-257.5,440.6,373149.1,715.5
$KALMAN_Y,8808.4,-123.5,31.8,-15479.8,-70.8
$MHEAD_RNG_PITCHd_Wd,294.3,12751,-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,12,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,77,0.00,0.00,-59.75,0.000,2,0.000,0.000,424,1868,3270,0,0,0,0,0,0
$GC,81,-1.40,-77.9,3.8,-6.8,12,101,10.55,2.38,-1.92,0.000,4,0.131,0.038,2401,3303,3370,0,0,0,0,0,0
$GC,195,-1.36,-77.9,24.6,-11.8,36,201,0.00,2.42,0.00,0.000,6,0.000,0.028,2401,1866,3372,0,0,0,0,0,0
$GC,401,-1.18,-77.9,52.2,-15.0,59,406,0.25,2.40,0.00,0.000,4,0.094,0.040,2455,462,3372,0,0,0,0,0,0
$GC,459,-1.12,-77.9,60.5,-13.3,64,464,0.00,2.33,0.00,0.000,6,0.000,0.019,2455,1905,3372,0,0,0,0,0,0
$GC,722,-1.09,-77.9,90.9,-10.1,89,727,0.10,2.50,0.00,0.000,4,0.113,0.041,2475,462,3373,0,0,0,0,0,0
$GC,756,-1.09,-77.9,94.4,-9.5,92,761,0.00,2.28,0.00,0.000,6,0.000,0.019,2474,1884,3373,0,0,0,0,0,0
$GC,1020,-1.18,-77.9,118.2,-8.3,116,1024,0.00,2.42,0.00,0.000,4,0.000,0.041,2475,471,3374,0,0,0,0,0,0
$GC,1081,-1.28,-77.9,122.7,-6.3,122,1086,0.17,2.25,0.00,0.000,6,0.050,0.018,2417,1880,3374,0,0,0,0,0,0
$GC,1342,-1.28,-77.9,143.5,-8.9,146,1346,0.00,2.25,0.00,0.000,4,0.000,0.026,2417,3258,3375,0,0,0,0,0,0
$GC,1376,-1.34,-77.9,146.6,-9.6,149,1380,0.00,2.28,0.00,0.000,6,0.000,0.027,2418,1873,3375,0,0,0,0,0,0
$GC,1639,-1.34,-77.9,173.6,-9.9,173,1643,0.00,2.35,0.00,0.000,4,0.000,0.041,2417,473,3376,0,0,0,0,0,0
$GC,1767,-1.34,-77.9,185.4,-8.0,186,1773,0.00,2.25,0.00,0.000,6,0.000,0.018,2417,1887,3376,0,0,0,0,0,0
$GC,2037,-1.34,-77.9,207.6,-8.4,208,2041,0.00,2.42,0.00,0.000,4,0.000,0.041,2417,468,3376,0,0,0,0,0,0
$GC,2097,-1.34,-77.9,212.1,-6.9,210,2103,0.00,2.25,0.00,0.000,6,0.000,0.019,2417,1884,3376,0,0,0,0,0,0
$GC,2414,-1.38,-77.9,231.5,-7.7,226,2419,0.00,2.42,0.00,0.000,4,0.000,0.042,2417,471,3376,0,0,0,0,0,0
$GC,2475,-1.41,-77.9,236.8,-8.8,228,2481,0.00,2.25,0.00,0.000,6,0.000,0.020,2417,1878,3376,0,0,0,0,0,0
$GC,2792,-1.46,-77.9,259.2,-7.2,244,2796,0.00,2.28,0.00,0.000,4,0.000,0.027,2417,3261,3376,0,0,0,0,0,0
$GC,2808,-1.52,-77.9,260.2,-7.2,244,2814,0.15,2.30,0.00,0.000,6,0.055,0.028,2370,1876,3376,0,0,0,0,0,0
$GC,3124,-1.48,-77.9,286.8,-8.7,260,3128,0.10,2.42,0.00,0.000,4,0.108,0.044,2390,468,3375,0,0,0,0,0,0
$GC,3286,-1.48,-77.9,301.5,-8.0,267,3290,0.00,2.28,0.00,0.000,6,0.000,0.021,2390,1880,3375,0,0,0,0,0,0
$GC,3626,-1.48,-77.9,325.1,-7.2,276,3630,0.00,2.40,0.00,0.000,4,0.000,0.045,2390,475,3373,0,0,0,0,0,0
$GC,3660,-1.44,-77.9,327.7,-8.4,276,3664,0.00,2.28,0.00,0.000,6,0.000,0.023,2390,1878,3373,0,0,0,0,0,0
$GC,3995,-1.44,-77.9,355.3,-8.7,285,3999,0.00,2.42,0.00,0.000,4,0.000,0.047,2390,467,3372,0,0,0,0,0,0
$GC,4047,-1.44,-77.9,360.0,-9.3,286,4051,0.00,2.30,0.00,0.000,6,0.000,0.024,2390,1879,3372,0,0,0,0,0,0
$GC,4366,-1.44,-77.9,385.2,-8.3,294,4370,0.00,2.40,0.00,0.000,4,0.000,0.047,2390,476,3370,0,0,0,0,0,0
$GC,4385,-1.44,-77.9,387.0,-8.4,294,4389,0.00,2.30,0.00,0.000,6,0.000,0.025,2390,1880,3370,0,0,0,0,0,0
$GC,4730,-1.44,-77.9,411.4,-7.3,303,4735,0.00,2.45,0.00,0.000,4,0.000,0.049,2390,473,3367,0,0,0,0,0,0
$GC,4745,-1.44,-77.9,412.7,-7.7,303,4749,0.00,2.30,0.00,0.000,6,0.000,0.026,2390,1876,3367,0,0,0,0,0,0
$GC,5058,-1.44,-77.9,438.1,-8.0,311,5063,0.00,2.45,0.00,0.000,4,0.000,0.050,2390,473,3365,0,0,0,0,0,0
$GC,5115,-1.44,-77.9,443.3,-9.1,312,5119,0.00,2.30,0.00,0.000,6,0.000,0.027,2390,1873,3364,0,0,0,0,0,0
$STATE,5223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5223,begin apogee
$GC,5229,-0.31,0.0,452.6,8.2,315,5297,1.17,0.00,64.40,0.865,6,0.070,0.000,2644,2018,3050,0,0,0,0,0,0
$STATE,5298,end apogee,CONTROL_FINISHED_OK
$STATE,5298,begin climb
$GC,5301,1.40,77.9,453.1,0.0,316,5377,1.62,2.45,65.28,0.842,4,0.031,0.039,3026,3390,2731,0,0,0,0,0,0
$GC,5642,1.28,176.8,448.3,1.2,323,5736,0.17,2.35,84.72,0.846,6,0.114,0.034,2995,2012,2329,0,0,0,0,0,0
$GC,6074,1.17,176.8,411.8,9.2,334,6079,0.15,2.38,0.00,0.000,4,0.114,0.037,2968,3393,2319,0,0,0,0,0,0
$GC,6158,1.13,176.8,404.1,9.0,335,6164,0.00,2.40,0.00,0.000,6,0.000,0.037,2967,2007,2319,0,0,0,0,0,0
$GC,6489,1.08,176.8,375.6,8.6,344,6494,0.00,2.40,0.00,0.000,4,0.000,0.039,2969,3393,2316,0,0,0,0,0,0
$GC,6505,1.04,176.8,374.2,8.5,344,6510,0.15,2.40,0.00,0.000,6,0.110,0.039,2940,2007,2315,0,0,0,0,0,0
$GC,6855,1.06,191.6,348.9,7.0,353,6872,0.00,2.55,11.60,0.748,4,0.000,0.053,2940,592,2269,0,0,0,0,0,0
$GC,6946,1.01,191.6,341.7,8.3,355,6950,0.00,2.35,0.00,0.000,6,0.000,0.029,2940,1997,2264,0,0,0,0,0,0
$GC,7274,1.06,199.4,315.6,7.5,363,7287,0.00,2.53,8.02,0.683,4,0.000,0.052,2941,595,2237,0,0,0,0,0,0
$GC,7339,1.06,199.4,309.9,9.1,364,7343,0.00,2.38,0.00,0.000,6,0.000,0.029,2940,2011,2233,0,0,0,0,0,0
$GC,7672,1.12,213.0,285.8,7.1,377,7694,0.00,2.58,13.52,0.731,4,0.000,0.051,2940,603,2180,0,0,0,0,0,0
$GC,7768,1.12,213.0,277.5,9.1,381,7772,0.00,2.35,0.00,0.000,6,0.000,0.029,2940,2012,2177,0,0,0,0,0,0
$GC,8098,1.20,220.5,253.9,7.5,397,8111,0.15,2.55,7.53,0.641,4,0.068,0.051,2978,594,2150,0,0,0,0,0,0
$GC,8274,1.14,220.5,236.0,11.4,404,8278,0.00,2.38,0.00,0.000,6,0.000,0.028,2979,2013,2146,0,0,0,0,0,0
$GC,8589,1.21,273.6,213.9,4.4,419,8643,0.00,2.58,48.35,0.720,4,0.000,0.050,2979,592,1933,0,0,0,0,0,0
$GC,8656,1.22,283.1,210.0,7.4,422,8674,0.00,2.42,9.50,0.619,6,0.000,0.028,2978,2023,1896,0,0,0,0,0,0
$GC,8991,1.29,283.1,175.7,9.4,449,8995,0.00,2.50,0.00,0.000,4,0.000,0.050,2979,595,1890,0,0,0,0,0,0
$GC,9259,1.29,283.1,149.7,8.2,477,9264,0.00,2.35,0.00,0.000,6,0.000,0.025,2978,2013,1887,0,0,0,0,0,0
$GC,9523,1.37,283.1,131.1,8.1,502,9528,0.15,2.45,0.00,0.000,4,0.061,0.047,3020,598,1886,0,0,0,0,0,0
$GC,9585,1.31,283.1,124.2,11.3,508,9589,0.00,2.35,0.00,0.000,6,0.000,0.025,3020,2017,1885,0,0,0,0,0,0
$GC,9851,1.32,285.9,99.3,7.8,532,9855,0.00,2.45,0.00,0.000,4,0.000,0.045,3020,598,1885,0,0,0,0,0,0
$GC,10037,1.32,285.9,82.6,9.5,551,10042,0.00,2.30,0.00,0.000,6,0.000,0.023,3020,2013,1885,0,0,0,0,0,0
$GC,10301,1.37,285.9,59.2,8.6,576,10305,0.00,2.42,0.00,0.000,4,0.000,0.044,3020,598,1885,0,0,0,0,0,0
$GC,10429,1.37,285.9,47.3,9.8,589,10434,0.00,2.30,0.00,0.000,6,0.000,0.021,3020,2014,1884,0,0,0,0,0,0
$GC,10692,1.42,288.5,26.8,7.8,616,10703,0.00,2.45,4.88,0.397,4,0.000,0.041,3020,598,1872,0,0,0,0,0,0
$GC,10838,1.42,288.5,14.8,9.1,647,10844,0.00,2.30,0.00,0.000,6,0.000,0.020,3020,2015,1870,0,0,0,0,0,0
$STATE,10990,end climb,SURFACE_DEPTH_REACHED
$STATE,10990,begin surface coast
$FINISH,0.6,1.023150
$STATE,11029,end surface coast,CONTROL_FINISHED_OK
$STATE,11029,begin surface
$SM_CCo,11051,9.98,0.464,0,0,1826,300.00
$SM_GC,2.14,0.00,0.00,9.98,0.000,0.000,0.464,425,1851,1826,-10.53,-0.68,300.00
$IRIDIUM_FIX,2054.83,-15754.77,031099,161623
$TT8_MAMPS,0.029146
$HUMID,55.82
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.3,63.628
$10V_AH,9.9,54.221
$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,26.075,133.650,317.800,9.975,0.000,29.830,29.641,240.116,4.500,0.000,32.075,1322.860,7537.061,396.320,1668.763,575.024,33.380,1303.004,0.000,1611.630,0.000,31.518,0.000
$DEVICE_MAMPS,131.157,55.224,865.176,464.035,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,458.295,448.501,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,34889,681
$CAP_FILE_SIZE,129290,0
$CFSIZE,260165632,216690688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090710,224501,2103.600,-15757.567,115,1.8,115,9.8