version: 66.06
glider: 139
mission: 7
dive: 713
start: 7 10 110 8 41 40
data:
$ID,139
$MISSION,7
$DIVE,713
$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,-2147634.5
$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
$GPS1,083425,2105.175,-15758.865,158,1.3,158,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.6
$GPS2,084049,2105.133,-15758.853,16,1.4,33,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.038,0.180
$KALMAN_X,-375906.7,199.2,525.1,368410.6,-703.9
$KALMAN_Y,5647.3,-22.2,142.4,-9059.7,-817.5
$MHEAD_RNG_PITCHd_Wd,338.4,8119,-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,-77.9,0.0,0.0,0,69,0.00,0.00,-49.88,0.000,2,0.000,0.000,422,1882,3138,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.4,-5.2,10,96,10.57,2.40,-4.62,0.000,4,0.131,0.038,2406,3301,3370,0,0,0,0,0,0
$GC,205,-1.35,-77.9,28.2,-16.7,38,211,0.00,2.42,0.00,0.000,6,0.000,0.029,2406,1866,3371,0,0,0,0,0,0
$GC,409,-1.20,-77.9,59.2,-13.3,58,414,0.22,2.40,0.00,0.000,4,0.094,0.040,2451,465,3371,0,0,0,0,0,0
$GC,450,-1.16,-77.9,64.1,-11.6,61,455,0.00,2.33,0.00,0.000,6,0.000,0.019,2451,1911,3372,0,0,0,0,0,0
$GC,711,-1.16,-77.9,91.5,-9.8,86,715,0.00,2.45,0.00,0.000,4,0.000,0.040,2451,468,3373,0,0,0,0,0,0
$GC,757,-1.16,-77.9,96.4,-10.9,90,763,0.00,2.28,0.00,0.000,6,0.000,0.019,2451,1887,3373,0,0,0,0,0,0
$GC,1022,-1.21,-77.9,121.5,-8.9,115,1026,0.00,2.42,0.00,0.000,4,0.000,0.041,2451,470,3374,0,0,0,0,0,0
$GC,1083,-1.21,-77.9,126.6,-8.1,121,1087,0.00,2.22,0.00,0.000,6,0.000,0.019,2451,1878,3374,0,0,0,0,0,0
$GC,1346,-1.29,-77.9,144.3,-7.6,145,1351,0.00,2.40,0.00,0.000,4,0.000,0.041,2451,462,3374,0,0,0,0,0,0
$GC,1466,-1.35,-77.9,153.7,-8.0,157,1471,0.15,2.25,0.00,0.000,6,0.055,0.019,2401,1885,3375,0,0,0,0,0,0
$GC,1727,-1.35,-77.9,175.8,-7.4,181,1732,0.00,2.42,0.00,0.000,4,0.000,0.041,2400,468,3375,0,0,0,0,0,0
$GC,1747,-1.30,-77.9,177.3,-6.8,182,1754,0.15,2.22,0.00,0.000,6,0.093,0.020,2432,1876,3375,0,0,0,0,0,0
$GC,2009,-1.36,-77.9,195.3,-7.4,207,2013,0.00,2.40,0.00,0.000,4,0.000,0.041,2432,471,3376,0,0,0,0,0,0
$GC,2056,-1.36,-77.9,199.4,-8.6,211,2062,0.00,2.22,0.00,0.000,6,0.000,0.020,2432,1879,3375,0,0,0,0,0,0
$GC,2321,-1.43,-77.9,220.0,-7.7,225,2326,0.15,2.38,0.00,0.000,4,0.055,0.042,2382,472,3376,0,0,0,0,0,0
$GC,2379,-1.35,-77.9,225.5,-9.6,227,2383,0.17,2.22,0.00,0.000,6,0.088,0.020,2419,1875,3376,0,0,0,0,0,0
$GC,2706,-1.41,-77.9,246.0,-5.5,243,2710,0.00,2.40,0.00,0.000,4,0.000,0.043,2419,465,3376,0,0,0,0,0,0
$GC,2763,-1.44,-77.9,250.1,-7.6,245,2767,0.00,2.28,0.00,0.000,6,0.000,0.021,2419,1885,3375,0,0,0,0,0,0
$GC,3079,-1.52,-77.9,273.8,-8.4,260,3084,0.17,2.45,0.00,0.000,4,0.051,0.044,2366,470,3375,0,0,0,0,0,0
$GC,3152,-1.44,-77.9,281.0,-10.9,263,3157,0.15,2.22,0.00,0.000,6,0.092,0.021,2398,1871,3375,0,0,0,0,0,0
$GC,3480,-1.44,-77.9,307.2,-7.4,277,3484,0.00,2.42,0.00,0.000,4,0.000,0.044,2398,462,3374,0,0,0,0,0,0
$GC,3523,-1.44,-77.9,311.1,-8.9,278,3527,0.00,2.28,0.00,0.000,6,0.000,0.023,2398,1883,3374,0,0,0,0,0,0
$GC,3852,-1.47,-77.9,336.2,-7.7,286,3856,0.00,2.28,0.00,0.000,4,0.000,0.031,2398,3267,3373,0,0,0,0,0,0
$GC,3889,-1.57,-77.9,339.2,-7.5,286,3895,0.12,2.35,0.00,0.000,6,0.065,0.031,2360,1865,3372,0,0,0,0,0,0
$GC,4221,-1.53,-77.9,366.7,-8.1,295,4226,0.10,2.42,0.00,0.000,4,0.111,0.048,2379,468,3370,0,0,0,0,0,0
$GC,4330,-1.53,-77.9,376.0,-8.9,297,4334,0.00,2.28,0.00,0.000,6,0.000,0.025,2379,1870,3370,0,0,0,0,0,0
$GC,4645,-1.53,-77.9,402.4,-8.5,305,4649,0.00,2.42,0.00,0.000,4,0.000,0.049,2379,474,3368,0,0,0,0,0,0
$GC,4697,-1.48,-77.9,407.4,-9.2,306,4701,0.00,2.30,0.00,0.000,6,0.000,0.025,2379,1875,3367,0,0,0,0,0,0
$GC,5014,-1.48,-77.9,434.9,-8.5,314,5019,0.00,2.42,0.00,0.000,4,0.000,0.050,2379,473,3365,0,0,0,0,0,0
$GC,5144,-1.48,-77.9,448.1,-10.2,316,5149,0.00,2.28,0.00,0.000,6,0.000,0.026,2379,1872,3364,0,0,0,0,0,0
$STATE,5188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5188,begin apogee
$GC,5194,-0.31,0.0,452.5,9.5,318,5262,1.25,0.00,64.38,0.863,6,0.074,0.000,2647,2035,3050,0,0,0,0,0,0
$STATE,5263,end apogee,CONTROL_FINISHED_OK
$STATE,5263,begin climb
$GC,5267,1.40,77.9,454.1,0.0,319,5342,1.60,2.40,65.00,0.843,4,0.028,0.038,3027,3380,2732,0,0,0,0,0,0
$GC,5597,1.22,132.2,448.7,4.3,327,5650,0.25,2.35,46.20,0.841,6,0.108,0.035,2982,2011,2510,0,0,0,0,0,0
$GC,5960,1.13,151.4,425.2,6.7,336,5985,0.00,2.50,17.15,0.795,4,0.000,0.059,2982,605,2430,0,0,0,0,0,0
$GC,6018,0.96,154.8,421.0,7.8,337,6028,0.30,2.33,4.03,0.520,6,0.104,0.028,2926,1994,2418,0,0,0,0,0,0
$GC,6376,1.01,195.7,400.6,5.2,346,6419,0.00,2.53,37.15,0.825,4,0.000,0.056,2926,606,2251,0,0,0,0,0,0
$GC,6530,1.01,195.7,388.5,8.4,349,6534,0.00,2.35,0.00,0.000,6,0.000,0.028,2926,2010,2245,0,0,0,0,0,0
$GC,6881,1.07,197.7,361.6,7.9,358,6885,0.00,2.47,0.00,0.000,4,0.000,0.051,2926,602,2243,0,0,0,0,0,0
$GC,7003,1.07,198.6,350.8,8.0,360,7007,0.00,2.35,0.00,0.000,6,0.000,0.028,2926,2009,2240,0,0,0,0,0,0
$GC,7340,1.15,205.5,324.7,7.5,369,7354,0.17,2.50,8.07,0.690,4,0.066,0.050,2968,601,2212,0,0,0,0,0,0
$GC,7401,1.07,205.5,318.1,11.1,370,7406,0.00,2.38,0.00,0.000,6,0.000,0.029,2968,2013,2209,0,0,0,0,0,0
$GC,7733,1.07,205.5,286.7,8.8,381,7737,0.00,2.50,0.00,0.000,4,0.000,0.051,2968,600,2209,0,0,0,0,0,0
$GC,7827,1.02,205.5,276.9,10.4,385,7832,0.17,2.35,0.00,0.000,6,0.113,0.029,2936,2014,2207,0,0,0,0,0,0
$GC,8155,1.11,213.9,250.7,7.4,401,8171,0.00,2.50,8.48,0.660,4,0.000,0.050,2935,605,2176,0,0,0,0,0,0
$GC,8376,1.19,250.6,236.8,5.5,410,8417,0.17,2.35,33.95,0.735,6,0.064,0.028,2978,2016,2027,0,0,0,0,0,0
$GC,8738,1.19,256.3,210.1,7.6,428,8750,0.00,2.47,5.68,0.553,4,0.000,0.048,2978,608,2004,0,0,0,0,0,0
$GC,8821,1.16,256.3,202.6,9.3,431,8826,0.00,2.35,0.00,0.000,6,0.000,0.027,2978,2013,2002,0,0,0,0,0,0
$GC,9146,1.21,256.3,170.9,9.8,459,9150,0.00,2.47,0.00,0.000,4,0.000,0.048,2978,603,2001,0,0,0,0,0,0
$GC,9415,1.21,256.3,144.0,9.3,487,9421,0.00,2.33,0.00,0.000,6,0.000,0.025,2978,2016,1999,0,0,0,0,0,0
$GC,9680,1.30,277.7,124.5,6.5,512,9706,0.00,2.53,19.90,0.614,4,0.000,0.047,2978,603,1917,0,0,0,0,0,0
$GC,9868,1.30,281.3,111.1,7.8,532,9877,0.00,2.33,3.90,0.394,6,0.000,0.024,2978,2017,1903,0,0,0,0,0,0
$GC,10139,1.44,308.1,93.4,6.2,558,10174,0.22,2.50,25.52,0.584,4,0.049,0.044,3038,603,1791,0,0,0,0,0,0
$GC,10360,1.41,308.1,70.6,10.6,582,10365,0.00,2.30,0.00,0.000,6,0.000,0.022,3038,2012,1787,0,0,0,0,0,0
$GC,10624,1.41,308.1,46.5,9.1,606,10628,0.00,2.45,0.00,0.000,4,0.000,0.043,3038,598,1787,0,0,0,0,0,0
$GC,10787,1.35,308.1,28.6,12.6,624,10793,0.15,2.30,0.00,0.000,6,0.097,0.021,3008,2011,1786,0,0,0,0,0,0
$GC,10996,1.44,319.5,13.5,7.2,661,11015,0.00,2.50,10.35,0.473,4,0.000,0.043,3008,601,1747,0,0,0,0,0,0
$STATE,11105,end climb,SURFACE_DEPTH_REACHED
$STATE,11105,begin surface coast
$FINISH,1.2,1.023165
$STATE,11119,end surface coast,CONTROL_FINISHED_OK
$STATE,11119,begin surface
$SM_CCo,11203,0.00,0.000,0,0,1738,321.83
$SM_GC,1.44,11.05,0.00,0.00,0.022,0.000,0.000,424,1864,1738,-10.45,-0.28,321.83
$IRIDIUM_FIX,2057.14,-15756.91,041099,050504
$TT8_MAMPS,0.029146
$HUMID,55.35
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.50
$XPDR_PINGS,2
$24V_AH,23.3,63.984
$10V_AH,10.0,54.456
$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,27.325,132.925,349.750,0.000,0.000,29.014,30.898,173.004,5.000,0.000,33.504,1355.925,7504.253,405.223,1793.077,521.749,33.382,1368.479,0.000,1726.183,0.000,29.261,0.000
$DEVICE_MAMPS,131.157,59.059,862.875,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,461.688,447.597,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34903,687
$CAP_FILE_SIZE,133606,0
$CFSIZE,260165632,216440832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100710,115127,2105.706,-15759.450,128,4.5,147,9.8