version: 66.06
glider: 139
mission: 7
dive: 717
start: 7 10 110 21 37 29
data:
$ID,139
$MISSION,7
$DIVE,717
$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,-2147770.8
$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
$GPS1,213021,2106.822,-15800.791,71,2.6,90,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-70.0
$GPS2,213638,2106.781,-15800.813,36,1.7,48,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.106,0.150
$KALMAN_X,-374984.2,-40.6,468.9,364396.7,229.5
$KALMAN_Y,2532.1,17.1,216.3,-3005.4,-417.6
$MHEAD_RNG_PITCHd_Wd,315.1,3597,-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,16,-1.40,-77.9,0.0,0.0,0,68,0.00,0.00,-50.03,0.000,2,0.000,0.000,424,1849,3136,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.4,-5.7,10,95,10.52,2.45,-4.75,0.000,4,0.130,0.038,2404,3296,3370,0,0,0,0,0,0
$GC,175,-1.37,-77.9,21.8,-12.8,31,180,0.00,2.40,0.00,0.000,6,0.000,0.028,2404,1870,3371,0,0,0,0,0,0
$GC,382,-1.20,-77.9,52.2,-13.8,55,387,0.22,2.40,0.00,0.000,4,0.096,0.040,2449,471,3372,0,0,0,0,0,0
$GC,427,-1.09,-77.9,58.0,-12.5,59,432,0.12,2.33,0.00,0.000,6,0.104,0.019,2474,1918,3372,0,0,0,0,0,0
$GC,690,-1.13,-77.9,85.0,-8.3,83,695,0.00,2.50,0.00,0.000,4,0.000,0.041,2474,465,3374,0,0,0,0,0,0
$GC,728,-1.17,-77.9,89.0,-10.3,86,734,0.00,2.25,0.00,0.000,6,0.000,0.019,2474,1879,3373,0,0,0,0,0,0
$GC,991,-1.26,-77.9,112.1,-8.1,111,996,0.15,2.42,0.00,0.000,4,0.054,0.041,2423,463,3375,0,0,0,0,0,0
$GC,1064,-1.23,-77.9,118.9,-9.2,118,1069,0.10,2.28,0.00,0.000,6,0.107,0.019,2444,1884,3375,0,0,0,0,0,0
$GC,1325,-1.29,-77.9,137.5,-7.2,142,1329,0.00,2.22,0.00,0.000,4,0.000,0.025,2445,3260,3375,0,0,0,0,0,0
$GC,1351,-1.40,-77.9,139.3,-7.0,144,1356,0.15,2.30,0.00,0.000,6,0.054,0.025,2394,1872,3376,0,0,0,0,0,0
$GC,1612,-1.34,-77.9,165.8,-10.7,168,1617,0.12,2.40,0.00,0.000,4,0.097,0.041,2420,469,3376,0,0,0,0,0,0
$GC,1703,-1.34,-77.9,175.5,-10.4,177,1707,0.00,2.25,0.00,0.000,6,0.000,0.019,2420,1877,3376,0,0,0,0,0,0
$GC,1966,-1.37,-77.9,199.8,-8.0,201,1973,0.00,2.40,0.00,0.000,4,0.000,0.041,2420,469,3376,0,0,0,0,0,0
$GC,2053,-1.37,-77.9,207.0,-7.2,205,2057,0.00,2.25,0.00,0.000,6,0.000,0.019,2420,1882,3377,0,0,0,0,0,0
$GC,2374,-1.42,-77.9,227.2,-6.8,221,2378,0.00,2.40,0.00,0.000,4,0.000,0.041,2420,471,3376,0,0,0,0,0,0
$GC,2412,-1.42,-77.9,230.0,-8.1,222,2417,0.00,2.25,0.00,0.000,6,0.000,0.020,2420,1880,3377,0,0,0,0,0,0
$GC,2728,-1.48,-77.9,254.2,-7.5,238,2733,0.12,2.40,0.00,0.000,4,0.062,0.043,2377,475,3376,0,0,0,0,0,0
$GC,2753,-1.43,-77.9,256.2,-8.0,239,2758,0.12,2.25,0.00,0.000,6,0.098,0.021,2403,1877,3377,0,0,0,0,0,0
$GC,3083,-1.46,-77.9,280.5,-7.9,255,3087,0.00,2.28,0.00,0.000,4,0.000,0.028,2403,3261,3376,0,0,0,0,0,0
$GC,3097,-1.51,-77.9,282.2,-8.2,255,3103,0.00,2.30,0.00,0.000,6,0.000,0.029,2403,1880,3376,0,0,0,0,0,0
$GC,3412,-1.51,-77.9,307.4,-8.0,269,3416,0.00,2.42,0.00,0.000,4,0.000,0.044,2403,462,3375,0,0,0,0,0,0
$GC,3539,-1.51,-77.9,318.4,-8.4,271,3543,0.00,2.28,0.00,0.000,6,0.000,0.022,2403,1877,3375,0,0,0,0,0,0
$GC,3878,-1.55,-77.9,341.7,-7.4,280,3880,0.12,0.00,0.00,0.000,6,0.064,0.000,2364,1882,3373,0,0,0,0,0,0
$GC,4201,-1.51,-77.9,371.2,-8.7,288,4206,0.10,2.45,0.00,0.000,4,0.114,0.048,2383,472,3371,0,0,0,0,0,0
$GC,4235,-1.46,-77.9,374.3,-9.0,288,4240,0.00,2.28,0.00,0.000,6,0.000,0.025,2384,1877,3371,0,0,0,0,0,0
$GC,4571,-1.46,-77.9,404.5,-9.3,297,4575,0.00,2.42,0.00,0.000,4,0.000,0.048,2383,469,3369,0,0,0,0,0,0
$GC,4618,-1.43,-77.9,409.3,-9.9,298,4622,0.00,2.30,0.00,0.000,6,0.000,0.025,2384,1875,3369,0,0,0,0,0,0
$GC,4942,-1.43,-77.9,434.4,-7.3,306,4946,0.00,2.45,0.00,0.000,4,0.000,0.050,2383,469,3367,0,0,0,0,0,0
$GC,5004,-1.43,-77.9,439.1,-7.8,307,5008,0.00,2.28,0.00,0.000,6,0.000,0.025,2383,1874,3366,0,0,0,0,0,0
$STATE,5147,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5147,begin apogee
$GC,5155,-0.31,0.0,450.3,7.6,311,5223,1.23,0.00,64.82,0.857,6,0.079,0.000,2648,2029,3050,0,0,0,0,0,0
$STATE,5224,end apogee,CONTROL_FINISHED_OK
$STATE,5224,begin climb
$GC,5227,1.40,77.9,451.5,0.0,312,5302,1.60,2.40,65.05,0.837,4,0.028,0.038,3028,3373,2731,0,0,0,0,0,0
$GC,5424,1.22,135.1,450.1,4.1,316,5481,0.25,2.35,48.85,0.833,6,0.110,0.033,2983,2010,2498,0,0,0,0,0,0
$GC,5818,1.12,143.3,423.0,7.5,326,5831,0.12,2.47,7.45,0.692,4,0.122,0.051,2961,607,2464,0,0,0,0,0,0
$GC,5939,0.99,143.3,412.8,8.4,328,5944,0.17,2.30,0.00,0.000,6,0.114,0.027,2930,1990,2462,0,0,0,0,0,0
$GC,6277,1.02,167.7,391.0,6.3,337,6305,0.00,2.53,21.98,0.805,4,0.000,0.051,2930,611,2365,0,0,0,0,0,0
$GC,6365,0.98,167.7,384.9,8.4,338,6371,0.00,2.38,0.00,0.000,6,0.000,0.028,2930,2014,2361,0,0,0,0,0,0
$GC,6697,1.03,179.6,360.9,7.2,347,6714,0.00,2.55,11.10,0.745,4,0.000,0.051,2930,606,2317,0,0,0,0,0,0
$GC,6784,1.03,179.6,354.3,8.2,348,6789,0.00,2.38,0.00,0.000,6,0.000,0.029,2930,2012,2313,0,0,0,0,0,0
$GC,7115,1.12,208.0,334.0,6.1,357,7148,0.12,2.47,26.17,0.790,4,0.077,0.038,2961,3403,2201,0,0,0,0,0,0
$GC,7208,1.12,208.0,326.4,9.2,359,7213,0.00,2.42,0.00,0.000,6,0.000,0.038,2961,2009,2201,0,0,0,0,0,0
$GC,7532,1.12,208.0,296.4,9.4,368,7536,0.00,2.47,0.00,0.000,4,0.000,0.051,2961,603,2197,0,0,0,0,0,0
$GC,7739,1.07,208.0,276.4,9.4,377,7743,0.00,2.35,0.00,0.000,6,0.000,0.028,2961,2016,2193,0,0,0,0,0,0
$GC,8070,1.07,212.3,248.6,7.7,393,8079,0.00,2.50,3.88,0.476,4,0.000,0.051,2961,602,2184,0,0,0,0,0,0
$GC,8108,1.04,213.0,245.6,8.0,394,8113,0.00,2.38,0.00,0.000,6,0.000,0.028,2961,2017,2182,0,0,0,0,0,0
$GC,8424,1.12,237.6,224.0,6.3,410,8453,0.00,2.58,23.92,0.716,4,0.000,0.050,2960,596,2081,0,0,0,0,0,0
$GC,8482,1.12,237.6,219.5,9.2,412,8488,0.00,2.40,0.00,0.000,6,0.000,0.028,2961,2021,2078,0,0,0,0,0,0
$GC,8800,1.22,257.6,196.1,6.6,430,8826,0.00,2.58,18.65,0.675,4,0.000,0.048,2961,606,1999,0,0,0,0,0,0
$GC,9040,1.22,263.5,178.2,7.6,456,9053,0.00,2.35,6.20,0.545,6,0.000,0.025,2961,2022,1974,0,0,0,0,0,0
$GC,9315,1.31,272.3,157.3,7.4,482,9333,0.17,2.55,9.45,0.587,4,0.060,0.046,3006,602,1938,0,0,0,0,0,0
$GC,9460,1.27,272.3,142.6,10.3,497,9466,0.00,2.35,0.00,0.000,6,0.000,0.025,3006,2015,1934,0,0,0,0,0,0
$GC,9723,1.27,272.3,119.5,9.0,522,9727,0.00,2.45,0.00,0.000,4,0.000,0.045,3006,599,1934,0,0,0,0,0,0
$GC,9742,1.24,272.3,117.4,9.9,523,9748,0.12,2.35,0.00,0.000,6,0.110,0.025,2984,2021,1934,0,0,0,0,0,0
$GC,10006,1.31,272.3,94.8,8.2,548,10010,0.00,2.47,0.00,0.000,4,0.000,0.044,2983,596,1934,0,0,0,0,0,0
$GC,10172,1.35,301.6,81.9,6.0,565,10206,0.10,2.35,26.55,0.578,6,0.081,0.023,3014,2030,1819,0,0,0,0,0,0
$GC,10469,1.44,311.9,62.0,7.3,594,10487,0.00,2.55,10.10,0.509,4,0.000,0.043,3013,595,1778,0,0,0,0,0,0
$GC,10676,1.44,311.9,43.8,9.2,616,10682,0.00,2.33,0.00,0.000,6,0.000,0.021,3013,2014,1774,0,0,0,0,0,0
$GC,10943,1.52,311.9,22.0,9.1,649,10949,0.12,2.47,0.00,0.000,4,0.066,0.042,3052,592,1774,0,0,0,0,0,0
$STATE,11106,end climb,SURFACE_DEPTH_REACHED
$STATE,11106,begin surface coast
$FINISH,0.5,1.010215
$STATE,11141,end surface coast,CONTROL_FINISHED_OK
$STATE,11141,begin surface
$SM_CCo,11225,0.00,0.000,0,0,1767,314.72
$SM_GC,1.41,11.30,0.00,0.00,0.026,0.000,0.000,426,1884,1767,-10.45,0.25,314.72
$IRIDIUM_FIX,2059.45,-15801.19,041099,181818
$TT8_MAMPS,0.029146
$HUMID,55.74
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,23.3,64.337
$10V_AH,10.0,54.684
$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,27.200,133.625,344.175,0.000,0.000,24.841,27.869,162.271,4.750,0.000,48.777,1338.762,7691.099,409.689,1667.846,487.810,33.382,1314.066,0.000,1592.704,0.000,29.254,0.000
$DEVICE_MAMPS,130.390,52.923,856.739,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,464.538,451.616,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,34947,691
$CAP_FILE_SIZE,129642,0
$CFSIZE,260165632,216199168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110710,004856,2107.558,-15801.071,226,2.0,226,9.8