version: 66.06
glider: 139
mission: 7
dive: 718
start: 7 11 110 0 56 18
data:
$ID,139
$MISSION,7
$DIVE,718
$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,-2147784.5
$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
$GPS1,004856,2107.558,-15801.071,226,2.0,226,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-70.7
$GPS2,005526,2107.565,-15801.101,12,1.8,12,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.084,0.164
$KALMAN_X,-374495.9,532.1,84.4,363217.9,-32.1
$KALMAN_Y,1973.3,277.5,276.1,-1314.9,-1003.1
$MHEAD_RNG_PITCHd_Wd,323.1,2192,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.40,-77.9,0.0,0.0,0,75,0.00,0.00,-55.42,0.000,2,0.000,0.000,426,1887,3237,0,0,0,0,0,0
$GC,79,-1.40,-77.9,3.8,-7.1,11,98,10.52,2.35,-2.53,0.000,4,0.131,0.037,2403,3306,3370,0,0,0,0,0,0
$GC,211,-1.35,-77.9,28.6,-13.1,39,217,0.00,2.42,0.00,0.000,6,0.000,0.028,2404,1870,3372,0,0,0,0,0,0
$GC,416,-1.18,-77.9,59.1,-14.2,59,421,0.25,2.40,0.00,0.000,4,0.094,0.040,2457,468,3372,0,0,0,0,0,0
$GC,464,-1.12,-77.9,65.6,-12.6,63,469,0.00,2.33,0.00,0.000,6,0.000,0.019,2457,1914,3372,0,0,0,0,0,0
$GC,727,-1.16,-77.9,90.7,-9.4,88,732,0.00,2.47,0.00,0.000,4,0.000,0.041,2457,470,3373,0,0,0,0,0,0
$GC,811,-1.16,-77.9,99.1,-8.8,96,816,0.00,2.25,0.00,0.000,6,0.000,0.019,2457,1882,3374,0,0,0,0,0,0
$GC,1074,-1.24,-77.9,122.3,-9.3,121,1078,0.00,2.40,0.00,0.000,4,0.000,0.039,2457,464,3375,0,0,0,0,0,0
$GC,1167,-1.31,-77.9,131.2,-9.7,130,1173,0.15,2.22,0.00,0.000,6,0.054,0.019,2408,1873,3375,0,0,0,0,0,0
$GC,1429,-1.28,-77.9,158.4,-9.6,155,1433,0.12,2.28,0.00,0.000,4,0.097,0.026,2435,3260,3375,0,0,0,0,0,0
$GC,1452,-1.38,-77.9,160.6,-8.5,157,1458,0.00,2.33,0.00,0.000,6,0.000,0.027,2434,1865,3376,0,0,0,0,0,0
$GC,1717,-1.42,-77.9,180.1,-7.7,182,1722,0.15,2.35,0.00,0.000,4,0.056,0.041,2385,473,3376,0,0,0,0,0,0
$GC,1853,-1.33,-77.9,194.4,-11.2,196,1858,0.17,2.25,0.00,0.000,6,0.088,0.019,2422,1883,3377,0,0,0,0,0,0
$GC,2121,-1.37,-77.9,216.4,-7.3,211,2125,0.00,2.42,0.00,0.000,4,0.000,0.041,2422,465,3376,0,0,0,0,0,0
$GC,2204,-1.37,-77.9,222.9,-6.8,214,2210,0.00,2.28,0.00,0.000,6,0.000,0.020,2422,1887,3376,0,0,0,0,0,0
$GC,2521,-1.43,-77.9,248.9,-9.2,230,2525,0.00,2.42,0.00,0.000,4,0.000,0.042,2422,471,3376,0,0,0,0,0,0
$GC,2582,-1.47,-77.9,254.6,-9.0,232,2588,0.12,2.22,0.00,0.000,6,0.061,0.021,2381,1877,3376,0,0,0,0,0,0
$GC,2898,-1.43,-77.9,278.9,-8.5,248,2903,0.10,2.30,0.00,0.000,4,0.108,0.028,2401,3263,3376,0,0,0,0,0,0
$GC,2960,-1.52,-77.9,284.0,-8.0,250,2965,0.00,2.33,0.00,0.000,6,0.000,0.028,2401,1869,3376,0,0,0,0,0,0
$GC,3294,-1.52,-77.9,309.9,-7.9,264,3298,0.00,2.40,0.00,0.000,4,0.000,0.044,2400,466,3375,0,0,0,0,0,0
$GC,3375,-1.52,-77.9,317.1,-9.0,265,3379,0.00,2.28,0.00,0.000,6,0.000,0.021,2401,1876,3375,0,0,0,0,0,0
$GC,3707,-1.52,-77.9,342.5,-7.5,273,3711,0.00,2.42,0.00,0.000,4,0.000,0.045,2401,469,3373,0,0,0,0,0,0
$GC,3773,-1.52,-77.9,348.2,-8.4,274,3777,0.00,2.28,0.00,0.000,6,0.000,0.023,2401,1877,3373,0,0,0,0,0,0
$GC,4118,-1.55,-77.9,375.8,-8.1,283,4120,0.12,0.00,0.00,0.000,6,0.066,0.000,2362,1882,3372,0,0,0,0,0,0
$GC,4444,-1.51,-77.9,401.4,-7.5,291,4449,0.12,2.45,0.00,0.000,4,0.102,0.048,2387,475,3369,0,0,0,0,0,0
$GC,4515,-1.51,-77.9,406.9,-7.1,292,4520,0.00,2.30,0.00,0.000,6,0.000,0.025,2387,1880,3369,0,0,0,0,0,0
$GC,4856,-1.51,-77.9,432.7,-7.8,301,4860,0.00,2.45,0.00,0.000,4,0.000,0.048,2387,473,3367,0,0,0,0,0,0
$GC,4922,-1.51,-77.9,438.5,-9.7,302,4926,0.00,2.28,0.00,0.000,6,0.000,0.026,2387,1876,3367,0,0,0,0,0,0
$STATE,5106,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5106,begin apogee
$GC,5113,-0.31,0.0,452.8,7.5,307,5181,1.20,0.00,64.62,0.854,6,0.071,0.000,2645,2034,3050,0,0,0,0,0,0
$STATE,5182,end apogee,CONTROL_FINISHED_OK
$STATE,5182,begin climb
$GC,5184,1.40,77.9,453.6,0.0,308,5260,1.62,2.40,64.97,0.834,4,0.028,0.039,3028,3376,2732,0,0,0,0,0,0
$GC,5340,1.23,135.4,453.0,4.1,311,5397,0.25,2.35,49.12,0.827,6,0.110,0.033,2984,2010,2497,0,0,0,0,0,0
$GC,5729,1.12,135.4,420.9,8.3,321,5734,0.12,2.45,0.00,0.000,4,0.121,0.048,2961,608,2490,0,0,0,0,0,0
$GC,5754,1.00,141.8,419.0,7.6,321,5767,0.15,2.30,5.90,0.633,6,0.122,0.026,2935,1991,2470,0,0,0,0,0,0
$GC,6099,1.03,169.0,396.9,6.1,330,6131,0.00,2.47,24.60,0.803,4,0.000,0.049,2934,606,2359,0,0,0,0,0,0
$GC,6192,1.00,175.2,390.5,7.6,332,6205,0.00,2.35,6.35,0.644,6,0.000,0.028,2935,2017,2335,0,0,0,0,0,0
$GC,6526,1.07,205.8,369.1,5.9,340,6562,0.00,2.55,28.25,0.796,4,0.000,0.053,2935,606,2210,0,0,0,0,0,0
$GC,6572,1.09,222.9,366.0,6.8,341,6596,0.00,2.38,16.62,0.756,6,0.000,0.028,2934,2021,2141,0,0,0,0,0,0
$GC,6939,1.17,222.9,333.0,10.0,350,6944,0.15,2.50,0.00,0.000,4,0.068,0.051,2972,607,2134,0,0,0,0,0,0
$GC,6991,1.09,222.9,326.5,12.2,351,6995,0.00,2.38,0.00,0.000,6,0.000,0.028,2972,2016,2131,0,0,0,0,0,0
$GC,7314,1.09,222.9,297.4,8.1,359,7318,0.00,2.50,0.00,0.000,4,0.000,0.050,2972,605,2131,0,0,0,0,0,0
$GC,7452,1.04,222.9,285.5,9.6,365,7457,0.17,2.35,0.00,0.000,6,0.116,0.028,2941,2022,2129,0,0,0,0,0,0
$GC,7785,1.13,234.2,261.2,7.2,381,7801,0.00,2.58,9.50,0.670,4,0.000,0.050,2941,602,2094,0,0,0,0,0,0
$GC,7856,1.17,234.2,254.8,9.1,384,7861,0.12,2.38,0.00,0.000,6,0.074,0.028,2972,2014,2091,0,0,0,0,0,0
$GC,8189,1.20,234.2,225.9,8.2,400,8193,0.00,2.45,0.00,0.000,4,0.000,0.049,2972,609,2091,0,0,0,0,0,0
$GC,8356,1.20,234.2,209.5,9.8,407,8360,0.00,2.35,0.00,0.000,6,0.000,0.027,2972,2021,2089,0,0,0,0,0,0
$GC,8684,1.27,249.9,189.2,6.9,431,8705,0.00,2.55,14.55,0.642,4,0.000,0.046,2971,610,2031,0,0,0,0,0,0
$GC,8899,1.27,249.9,170.1,8.3,454,8905,0.00,2.33,0.00,0.000,6,0.000,0.025,2972,2015,2027,0,0,0,0,0,0
$GC,9162,1.36,265.2,153.2,7.0,479,9184,0.17,2.53,14.85,0.614,4,0.058,0.045,3018,612,1968,0,0,0,0,0,0
$GC,9201,1.29,265.2,149.6,9.5,483,9205,0.12,2.33,0.00,0.000,6,0.107,0.025,2995,2011,1965,0,0,0,0,0,0
$GC,9465,1.36,286.8,130.1,6.5,507,9491,0.00,2.50,20.10,0.603,4,0.000,0.045,2995,606,1880,0,0,0,0,0,0
$GC,9723,1.36,286.8,107.2,8.3,535,9728,0.00,2.30,0.00,0.000,6,0.000,0.022,2995,2018,1875,0,0,0,0,0,0
$GC,9989,1.50,317.0,88.9,5.9,559,10024,0.20,2.53,27.02,0.571,4,0.051,0.043,3051,612,1757,0,0,0,0,0,0
$GC,10233,1.43,317.0,66.1,11.4,585,10239,0.12,2.30,0.00,0.000,6,0.104,0.021,3028,2018,1752,0,0,0,0,0,0
$GC,10494,1.48,317.0,44.4,9.2,610,10498,0.00,2.42,0.00,0.000,4,0.000,0.041,3027,599,1751,0,0,0,0,0,0
$GC,10647,1.48,317.0,30.3,10.0,626,10651,0.00,2.28,0.00,0.000,6,0.000,0.020,3028,2013,1750,0,0,0,0,0,0
$STATE,10920,end climb,SURFACE_DEPTH_REACHED
$STATE,10920,begin surface coast
$FINISH,0.5,1.023147
$STATE,10949,end surface coast,CONTROL_FINISHED_OK
$STATE,10949,begin surface
$SM_CCo,11031,0.00,0.000,0,0,1748,319.38
$SM_GC,1.39,11.12,0.00,0.00,0.024,0.000,0.000,426,1870,1748,-10.44,-0.11,319.38
$IRIDIUM_FIX,2057.14,-15759.05,041099,212106
$TT8_MAMPS,0.029146
$HUMID,54.13
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,22.80
$XPDR_PINGS,1
$24V_AH,23.3,64.427
$10V_AH,10.0,54.744
$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,27.400,124.050,346.475,0.000,0.000,28.736,34.229,192.234,4.750,0.000,13.105,1318.185,7524.951,400.814,1639.553,531.307,33.382,1302.727,0.000,1598.790,0.000,29.247,0.000
$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,456.334,443.260,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,34964,679
$CAP_FILE_SIZE,127250,0
$CFSIZE,260165632,216137728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110710,040156,2107.993,-15801.440,51,3.4,70,9.8