version: 66.06
glider: 139
mission: 7
dive: 710
start: 7 9 110 22 52 33
data:
$ID,139
$MISSION,7
$DIVE,710
$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,-2147537.5
$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
$GPS1,224501,2103.600,-15757.567,115,1.8,115,9.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-69.6
$GPS2,225140,2103.587,-15757.605,13,3.0,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.055,0.175
$KALMAN_X,-376836.3,312.2,461.9,371441.3,-325.8
$KALMAN_Y,7821.6,200.3,156.8,-14327.8,-889.7
$MHEAD_RNG_PITCHd_Wd,332.7,11688,-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,15,-1.40,-77.9,0.0,0.0,0,67,0.00,0.00,-49.65,0.000,2,0.000,0.000,425,1851,3126,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.3,-5.1,10,95,10.55,2.42,-4.95,0.000,4,0.131,0.054,2406,464,3369,0,0,0,0,0,0
$GC,115,-0.91,-77.9,14.8,-20.8,19,121,0.52,2.33,0.00,0.000,6,0.084,0.020,2514,1904,3370,0,0,0,0,0,0
$GC,323,-1.00,-77.9,35.6,-9.6,51,328,0.00,2.50,0.00,0.000,4,0.000,0.043,2514,463,3371,0,0,0,0,0,0
$GC,361,-1.07,-77.9,39.8,-10.3,54,368,0.15,2.30,0.00,0.000,6,0.055,0.019,2463,1894,3372,0,0,0,0,0,0
$GC,626,-1.07,-77.9,70.8,-11.3,79,630,0.00,2.42,0.00,0.000,4,0.000,0.041,2463,468,3373,0,0,0,0,0,0
$GC,654,-1.07,-77.9,74.3,-10.5,81,659,0.00,2.25,0.00,0.000,6,0.000,0.019,2463,1875,3372,0,0,0,0,0,0
$GC,917,-1.11,-77.9,99.3,-8.3,106,921,0.00,2.42,0.00,0.000,4,0.000,0.041,2463,462,3374,0,0,0,0,0,0
$GC,1001,-1.15,-77.9,105.3,-5.1,114,1007,0.00,2.25,0.00,0.000,6,0.000,0.018,2463,1882,3374,0,0,0,0,0,0
$GC,1265,-1.22,-77.9,121.7,-6.5,139,1269,0.00,2.22,0.00,0.000,4,0.000,0.025,2463,3253,3375,0,0,0,0,0,0
$GC,1295,-1.36,-77.9,123.6,-6.9,142,1300,0.20,2.30,0.00,0.000,6,0.045,0.026,2400,1868,3375,0,0,0,0,0,0
$GC,1556,-1.31,-77.9,149.8,-11.2,166,1561,0.15,2.40,0.00,0.000,4,0.092,0.041,2432,465,3375,0,0,0,0,0,0
$GC,1652,-1.31,-77.9,160.8,-10.9,175,1658,0.00,2.22,0.00,0.000,6,0.000,0.019,2432,1879,3376,0,0,0,0,0,0
$GC,1917,-1.36,-77.9,181.6,-6.1,200,1921,0.00,2.40,0.00,0.000,4,0.000,0.041,2432,473,3376,0,0,0,0,0,0
$GC,1991,-1.36,-77.9,187.4,-7.3,207,1997,0.00,2.22,0.00,0.000,6,0.000,0.019,2432,1883,3377,0,0,0,0,0,0
$GC,2262,-1.42,-77.9,209.3,-8.7,228,2267,0.12,2.42,0.00,0.000,4,0.062,0.042,2388,474,3376,0,0,0,0,0,0
$GC,2310,-1.36,-77.9,214.5,-10.9,230,2315,0.15,2.25,0.00,0.000,6,0.092,0.020,2419,1880,3376,0,0,0,0,0,0
$GC,2638,-1.41,-77.9,242.5,-7.1,246,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1884,3377,0,0,0,0,0,0
$GC,2946,-1.46,-77.9,265.1,-7.8,261,2950,0.00,2.28,0.00,0.000,4,0.000,0.028,2419,3262,3377,0,0,0,0,0,0
$GC,2975,-1.56,-77.9,267.6,-8.4,262,2980,0.20,2.30,0.00,0.000,6,0.047,0.028,2361,1876,3377,0,0,0,0,0,0
$GC,3298,-1.50,-77.9,299.0,-9.2,278,3303,0.12,2.42,0.00,0.000,4,0.102,0.044,2386,468,3376,0,0,0,0,0,0
$GC,3385,-1.47,-77.9,305.2,-6.8,280,3390,0.00,2.25,0.00,0.000,6,0.000,0.021,2386,1878,3376,0,0,0,0,0,0
$GC,3717,-1.47,-77.9,331.7,-8.7,289,3721,0.00,2.42,0.00,0.000,4,0.000,0.044,2386,469,3375,0,0,0,0,0,0
$GC,3741,-1.47,-77.9,334.1,-9.7,289,3745,0.00,2.28,0.00,0.000,6,0.000,0.022,2386,1876,3375,0,0,0,0,0,0
$GC,4081,-1.47,-77.9,363.7,-8.3,298,4086,0.00,2.42,0.00,0.000,4,0.000,0.045,2386,472,3373,0,0,0,0,0,0
$GC,4110,-1.42,-77.9,366.3,-9.5,298,4115,0.00,2.28,0.00,0.000,6,0.000,0.024,2386,1871,3373,0,0,0,0,0,0
$GC,4446,-1.42,-77.9,394.4,-8.7,307,4447,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1876,3371,0,0,0,0,0,0
$GC,4772,-1.42,-77.9,422.4,-8.7,315,4776,0.00,2.42,0.00,0.000,4,0.000,0.048,2386,476,3369,0,0,0,0,0,0
$GC,4865,-1.42,-77.9,431.2,-9.7,317,4869,0.00,2.28,0.00,0.000,6,0.000,0.025,2386,1875,3369,0,0,0,0,0,0
$STATE,5104,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5104,begin apogee
$GC,5110,-0.31,0.0,452.1,8.8,323,5179,1.20,0.00,65.15,0.854,6,0.071,0.000,2645,2034,3050,0,0,0,0,0,0
$STATE,5180,end apogee,CONTROL_FINISHED_OK
$STATE,5180,begin climb
$GC,5183,1.40,77.9,453.5,0.0,324,5258,1.62,2.40,65.03,0.836,4,0.028,0.038,3025,3379,2732,0,0,0,0,0,0
$GC,5357,1.24,150.4,454.9,3.0,327,5430,0.22,2.35,61.92,0.836,6,0.110,0.034,2988,2010,2436,0,0,0,0,0,0
$GC,5776,1.15,173.0,426.0,6.5,338,5798,0.12,0.00,19.75,0.798,6,0.122,0.000,2966,2010,2344,0,0,0,0,0,0
$GC,6101,1.11,173.0,396.3,10.0,346,6105,0.00,2.47,0.00,0.000,4,0.000,0.051,2965,605,2338,0,0,0,0,0,0
$GC,6162,0.99,173.0,389.4,11.6,347,6167,0.20,2.30,0.00,0.000,6,0.113,0.028,2930,1986,2336,0,0,0,0,0,0
$GC,6513,1.05,187.8,361.2,7.0,356,6533,0.00,2.47,12.95,0.758,4,0.000,0.050,2930,600,2283,0,0,0,0,0,0
$GC,6585,1.05,187.8,355.6,8.6,357,6589,0.00,2.35,0.00,0.000,6,0.000,0.028,2930,2008,2281,0,0,0,0,0,0
$GC,6926,1.12,199.1,330.9,7.2,366,6942,0.12,2.50,11.07,0.729,4,0.075,0.051,2961,607,2238,0,0,0,0,0,0
$GC,6986,1.06,199.1,325.6,9.2,367,6990,0.00,2.35,0.00,0.000,6,0.000,0.028,2961,2013,2234,0,0,0,0,0,0
$GC,7299,1.06,199.1,298.5,8.6,375,7304,0.00,2.45,0.00,0.000,4,0.000,0.048,2961,603,2233,0,0,0,0,0,0
$GC,7535,1.02,199.1,277.4,9.2,385,7540,0.12,2.38,0.00,0.000,6,0.122,0.028,2939,2018,2231,0,0,0,0,0,0
$GC,7859,1.14,230.6,257.3,5.9,401,7896,0.10,2.53,28.35,0.742,4,0.084,0.048,2965,606,2109,0,0,0,0,0,0
$GC,7971,1.14,230.6,248.2,8.5,406,7975,0.00,2.38,0.00,0.000,6,0.000,0.028,2966,2015,2104,0,0,0,0,0,0
$GC,8302,1.18,238.5,223.8,7.5,422,8315,0.00,2.53,7.78,0.614,4,0.000,0.049,2965,603,2077,0,0,0,0,0,0
$GC,8445,1.18,238.5,210.5,9.5,428,8450,0.00,2.38,0.00,0.000,6,0.000,0.027,2966,2021,2074,0,0,0,0,0,0
$GC,8774,1.26,249.7,185.3,7.3,453,8793,0.10,2.50,11.12,0.628,4,0.081,0.048,2994,607,2031,0,0,0,0,0,0
$GC,9058,1.26,249.7,159.9,10.9,483,9064,0.00,2.33,0.00,0.000,6,0.000,0.025,2994,2021,2027,0,0,0,0,0,0
$GC,9322,1.30,286.2,142.5,5.5,508,9364,0.00,2.50,33.40,0.638,4,0.000,0.044,2994,605,1881,0,0,0,0,0,0
$GC,9453,1.30,286.2,132.1,9.0,522,9458,0.00,2.35,0.00,0.000,6,0.000,0.024,2994,2020,1877,0,0,0,0,0,0
$GC,9716,1.37,286.2,111.2,8.5,547,9721,0.00,2.47,0.00,0.000,4,0.000,0.045,2994,605,1877,0,0,0,0,0,0
$GC,9848,1.37,286.2,98.5,9.1,560,9853,0.00,2.33,0.00,0.000,6,0.000,0.023,2995,2021,1875,0,0,0,0,0,0
$GC,10112,1.48,303.6,80.7,6.8,585,10133,0.17,2.33,15.62,0.553,4,0.055,0.028,3044,3398,1812,0,0,0,0,0,0
$GC,10255,1.53,303.6,67.9,9.0,600,10261,0.00,2.35,0.00,0.000,6,0.000,0.029,3044,2008,1811,0,0,0,0,0,0
$GC,10518,1.53,303.6,44.7,8.6,625,10522,0.00,2.40,0.00,0.000,4,0.000,0.044,3044,601,1810,0,0,0,0,0,0
$GC,10699,1.46,303.6,27.6,9.4,646,10705,0.00,2.30,0.00,0.000,6,0.000,0.021,3045,2016,1808,0,0,0,0,0,0
$GC,10909,1.46,303.6,8.1,9.6,683,10914,0.00,2.45,0.00,0.000,4,0.000,0.045,3044,605,1808,0,0,0,0,0,0
$STATE,10964,end climb,SURFACE_DEPTH_REACHED
$STATE,10964,begin surface coast
$FINISH,0.6,1.023335
$STATE,10983,end surface coast,CONTROL_FINISHED_OK
$STATE,10983,begin surface
$SM_CCo,11067,0.00,0.000,0,0,1803,306.13
$SM_GC,1.60,11.23,0.00,0.00,0.025,0.000,0.000,422,1879,1803,-10.45,0.14,306.13
$IRIDIUM_FIX,2057.14,-15759.05,031099,191939
$TT8_MAMPS,0.029146
$HUMID,55.63
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.3,63.716
$10V_AH,10.0,54.278
$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,27.400,123.100,332.150,0.000,0.000,28.697,29.491,193.455,4.500,0.000,33.492,1332.735,7562.344,399.396,1637.625,528.036,33.383,1283.657,0.000,1577.981,0.000,29.249,0.000
$DEVICE_MAMPS,131.157,53.690,853.671,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,469.607,461.262,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,38080,699
$CAP_FILE_SIZE,125970,0
$CFSIZE,260165632,216629248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100710,020031,2104.192,-15758.056,176,1.6,176,9.8