version: 66.06
glider: 139
mission: 7
dive: 731
start: 7 12 110 20 34 24
data:
$ID,139
$MISSION,7
$DIVE,731
$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,-2148274.5
$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
$GPS1,202524,2105.190,-15754.115,60,1.9,77,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-70.8
$GPS2,203332,2105.106,-15754.055,11,1.9,11,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.035,0.181
$KALMAN_X,-382781.2,-234.7,-115.5,384642.6,401.7
$KALMAN_Y,-4490.9,2177.2,-396.4,-658.4,-1655.7
$MHEAD_RNG_PITCHd_Wd,339.3,20985,-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,-49.88,0.000,2,0.000,0.000,426,1849,3105,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.1,-5.2,10,95,10.50,2.45,-5.55,0.000,4,0.130,0.039,2404,3294,3370,0,0,0,0,0,0
$GC,164,-1.37,-77.9,19.1,-12.8,29,169,0.00,2.40,0.00,0.000,6,0.000,0.028,2404,1871,3371,0,0,0,0,0,0
$GC,373,-1.21,-77.9,48.1,-14.0,55,378,0.22,2.38,0.00,0.000,4,0.094,0.040,2449,471,3371,0,0,0,0,0,0
$GC,418,-1.12,-77.9,54.4,-12.8,59,422,0.00,2.30,0.00,0.000,6,0.000,0.019,2450,1910,3372,0,0,0,0,0,0
$GC,679,-1.12,-77.9,83.9,-10.4,83,684,0.00,2.47,0.00,0.000,4,0.000,0.041,2449,471,3373,0,0,0,0,0,0
$GC,745,-1.12,-77.9,91.3,-11.5,89,750,0.00,2.22,0.00,0.000,6,0.000,0.019,2450,1877,3373,0,0,0,0,0,0
$GC,1009,-1.12,-77.9,119.1,-10.4,114,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1882,3374,0,0,0,0,0,0
$GC,1273,-1.17,-77.9,143.8,-7.9,139,1278,0.00,2.40,0.00,0.000,4,0.000,0.041,2449,471,3375,0,0,0,0,0,0
$GC,1317,-1.17,-77.9,147.6,-8.8,143,1321,0.00,2.22,0.00,0.000,6,0.000,0.019,2449,1880,3375,0,0,0,0,0,0
$GC,1580,-1.25,-77.9,169.2,-8.5,167,1584,0.00,2.42,0.00,0.000,4,0.000,0.041,2449,462,3375,0,0,0,0,0,0
$GC,1645,-1.32,-77.9,175.2,-9.0,173,1651,0.00,2.25,0.00,0.000,6,0.000,0.019,2449,1877,3376,0,0,0,0,0,0
$GC,1909,-1.43,-77.9,192.1,-5.1,198,1914,0.20,2.40,0.00,0.000,4,0.046,0.039,2388,471,3375,0,0,0,0,0,0
$GC,1939,-1.36,-77.9,194.3,-8.4,200,1945,0.12,2.25,0.00,0.000,6,0.098,0.019,2415,1877,3375,0,0,0,0,0,0
$GC,2197,-1.36,-77.9,213.2,-7.7,217,2201,0.00,2.25,0.00,0.000,4,0.000,0.026,2415,3266,3376,0,0,0,0,0,0
$GC,2218,-1.42,-77.9,215.0,-7.9,218,2222,0.00,2.33,0.00,0.000,6,0.000,0.027,2415,1869,3376,0,0,0,0,0,0
$GC,2550,-1.46,-77.9,239.4,-8.7,234,2555,0.00,2.38,0.00,0.000,4,0.000,0.042,2415,472,3376,0,0,0,0,0,0
$GC,2659,-1.49,-77.9,250.5,-9.6,238,2664,0.12,2.25,0.00,0.000,6,0.062,0.020,2373,1880,3376,0,0,0,0,0,0
$GC,2979,-1.46,-77.9,280.2,-9.5,253,2983,0.10,2.40,0.00,0.000,4,0.109,0.043,2394,474,3376,0,0,0,0,0,0
$GC,3054,-1.43,-77.9,288.1,-10.1,256,3058,0.00,2.22,0.00,0.000,6,0.000,0.021,2394,1874,3376,0,0,0,0,0,0
$GC,3371,-1.43,-77.9,318.9,-9.1,267,3376,0.00,2.42,0.00,0.000,4,0.000,0.044,2394,467,3375,0,0,0,0,0,0
$GC,3400,-1.40,-77.9,321.3,-8.5,267,3404,0.00,2.25,0.00,0.000,6,0.000,0.022,2395,1873,3375,0,0,0,0,0,0
$GC,3737,-1.40,-77.9,342.3,-6.1,276,3738,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1878,3374,0,0,0,0,0,0
$GC,4061,-1.43,-77.9,371.4,-9.1,284,4065,0.00,2.42,0.00,0.000,4,0.000,0.048,2394,475,3372,0,0,0,0,0,0
$GC,4157,-1.43,-77.9,380.8,-9.5,286,4161,0.00,2.25,0.00,0.000,6,0.000,0.024,2394,1869,3371,0,0,0,0,0,0
$GC,4476,-1.43,-77.9,405.8,-7.8,294,4480,0.00,2.42,0.00,0.000,4,0.000,0.048,2394,474,3369,0,0,0,0,0,0
$GC,4495,-1.43,-77.9,407.4,-8.1,294,4499,0.00,2.28,0.00,0.000,6,0.000,0.025,2393,1882,3369,0,0,0,0,0,0
$GC,4844,-1.46,-77.9,439.6,-9.3,303,4849,0.00,2.42,0.00,0.000,4,0.000,0.049,2394,476,3366,0,0,0,0,0,0
$GC,4934,-1.46,-77.9,447.7,-9.5,304,4939,0.00,2.30,0.00,0.000,6,0.000,0.026,2394,1879,3366,0,0,0,0,0,0
$STATE,4978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4978,begin apogee
$GC,4985,-0.31,0.0,451.4,8.2,306,5053,1.15,0.00,65.15,0.854,6,0.069,0.000,2643,2035,3050,0,0,0,0,0,0
$STATE,5054,end apogee,CONTROL_FINISHED_OK
$STATE,5054,begin climb
$GC,5058,1.40,77.9,452.4,0.0,307,5133,1.62,2.40,65.22,0.836,4,0.028,0.038,3027,3379,2731,0,0,0,0,0,0
$GC,5180,1.25,151.4,454.7,3.0,309,5253,0.22,2.33,63.20,0.831,6,0.112,0.032,2986,2008,2432,0,0,0,0,0,0
$GC,5562,1.13,151.4,423.0,8.5,319,5567,0.12,2.47,0.00,0.000,4,0.123,0.048,2964,602,2424,0,0,0,0,0,0
$GC,5717,1.03,164.1,410.8,7.1,322,5734,0.15,2.33,10.70,0.739,6,0.119,0.027,2938,1994,2380,0,0,0,0,0,0
$GC,6072,1.09,210.1,391.4,4.9,331,6121,0.00,2.55,41.67,0.818,4,0.000,0.053,2938,606,2192,0,0,0,0,0,0
$GC,6192,1.05,213.9,384.1,7.8,333,6196,0.00,2.38,0.00,0.000,6,0.000,0.028,2938,2014,2187,0,0,0,0,0,0
$GC,6528,1.09,213.9,358.2,8.1,342,6532,0.00,2.50,0.00,0.000,4,0.000,0.050,2938,603,2184,0,0,0,0,0,0
$GC,6670,1.09,213.9,346.2,8.9,345,6674,0.00,2.38,0.00,0.000,6,0.000,0.028,2938,2018,2180,0,0,0,0,0,0
$GC,6993,1.14,213.9,318.4,8.6,353,6998,0.10,2.50,0.00,0.000,4,0.085,0.051,2964,609,2180,0,0,0,0,0,0
$GC,7109,1.06,213.9,306.8,10.1,355,7114,0.00,2.35,0.00,0.000,6,0.000,0.029,2964,2014,2179,0,0,0,0,0,0
$GC,7437,1.06,213.9,277.6,8.9,369,7442,0.00,2.47,0.00,0.000,4,0.000,0.050,2964,605,2179,0,0,0,0,0,0
$GC,7656,1.06,213.9,257.0,9.5,378,7660,0.00,2.35,0.00,0.000,6,0.000,0.028,2965,2017,2176,0,0,0,0,0,0
$GC,7973,1.12,241.0,235.2,6.2,393,8005,0.00,2.58,25.92,0.721,4,0.000,0.049,2964,608,2067,0,0,0,0,0,0
$GC,8068,1.12,241.0,227.2,9.3,397,8073,0.00,2.35,0.00,0.000,6,0.000,0.028,2965,2013,2063,0,0,0,0,0,0
$GC,8394,1.18,241.0,198.8,8.7,413,8398,0.00,2.45,0.00,0.000,4,0.000,0.048,2964,607,2061,0,0,0,0,0,0
$GC,8561,1.18,241.0,183.6,8.7,430,8566,0.00,2.33,0.00,0.000,6,0.000,0.026,2964,2017,2059,0,0,0,0,0,0
$GC,8825,1.28,274.3,165.9,5.7,455,8860,0.12,2.45,29.88,0.660,4,0.071,0.031,2998,3408,1931,0,0,0,0,0,0
$GC,8987,1.32,274.3,152.5,9.2,472,8992,0.00,2.40,0.00,0.000,6,0.000,0.031,2997,2006,1930,0,0,0,0,0,0
$GC,9249,1.32,274.3,127.2,9.1,497,9254,0.00,2.42,0.00,0.000,4,0.000,0.046,2997,599,1927,0,0,0,0,0,0
$GC,9491,1.33,285.5,103.7,7.2,522,9508,0.00,2.35,10.75,0.555,6,0.000,0.024,2998,2025,1884,0,0,0,0,0,0
$GC,9771,1.44,312.5,85.2,6.2,549,9805,0.12,2.50,24.62,0.578,4,0.067,0.043,3036,601,1775,0,0,0,0,0,0
$GC,10021,1.41,312.5,62.1,10.4,576,10025,0.00,2.33,0.00,0.000,6,0.000,0.022,3036,2014,1771,0,0,0,0,0,0
$GC,10284,1.44,312.5,38.4,8.8,600,10288,0.00,2.45,0.00,0.000,4,0.000,0.042,3036,601,1770,0,0,0,0,0,0
$GC,10425,1.40,312.5,24.0,10.3,620,10431,0.00,2.28,0.00,0.000,6,0.000,0.021,3036,2013,1769,0,0,0,0,0,0
$GC,10634,1.44,312.5,4.6,9.5,657,10639,0.00,2.42,0.00,0.000,4,0.000,0.041,3036,603,1769,0,0,0,0,0,0
$STATE,10648,end climb,SURFACE_DEPTH_REACHED
$STATE,10648,begin surface coast
$FINISH,0.5,1.004570
$STATE,10685,end surface coast,CONTROL_FINISHED_OK
$STATE,10685,begin surface
$SM_CCo,10770,0.00,0.000,0,0,1765,315.21
$SM_GC,1.43,11.25,0.00,0.00,0.028,0.000,0.000,427,1880,1765,-10.43,0.14,315.21
$IRIDIUM_FIX,2057.14,-15753.90,061099,171742
$TT8_MAMPS,0.029146
$HUMID,56.22
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,23.3,65.613
$10V_AH,10.0,55.514
$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,26.150,123.350,337.125,0.000,0.000,24.985,38.217,298.263,4.750,0.000,11.968,1289.690,7281.403,390.607,1647.439,641.960,33.376,1293.404,0.000,1609.808,0.000,29.274,0.000
$DEVICE_MAMPS,129.623,52.923,853.671,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,448.755,438.763,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,356124
$DATA_FILE_SIZE,34861,668
$CAP_FILE_SIZE,125712,0
$CFSIZE,260165632,215330816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120710,233554,2105.886,-15753.481,68,1.7,84,9.8