version: 66.06
glider: 139
mission: 7
dive: 734
start: 7 13 110 6 27 19
data:
$ID,139
$MISSION,7
$DIVE,734
$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,-2148393
$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
$GPS1,062027,2107.020,-15753.093,91,3.0,110,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-70.1
$GPS2,062628,2107.020,-15753.082,17,2.6,36,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.004,0.184
$KALMAN_X,-383281.0,716.6,-572.3,386323.8,-19.0
$KALMAN_Y,-3794.5,-1298.3,385.8,4896.6,-951.1
$MHEAD_RNG_PITCHd_Wd,349.1,17453,-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,15,begin dive
$GC,18,-1.40,-77.9,0.0,0.0,0,74,0.00,0.00,-53.83,0.000,2,0.000,0.000,423,1893,3152,0,0,0,0,0,0
$GC,77,-1.40,-77.9,3.3,-5.0,11,101,10.57,2.38,-4.47,0.000,4,0.132,0.038,2406,3301,3371,0,0,0,0,0,0
$GC,149,-1.40,-77.9,17.3,-13.3,26,154,0.00,2.40,0.00,0.000,6,0.000,0.026,2406,1870,3372,0,0,0,0,0,0
$GC,354,-1.25,-77.9,44.3,-14.5,54,359,0.17,2.40,0.00,0.000,4,0.100,0.041,2441,466,3373,0,0,0,0,0,0
$GC,390,-1.13,-77.9,49.5,-13.2,57,395,0.12,2.33,0.00,0.000,6,0.107,0.019,2466,1909,3372,0,0,0,0,0,0
$GC,654,-1.13,-77.9,76.7,-9.0,81,658,0.00,2.47,0.00,0.000,4,0.000,0.040,2466,469,3373,0,0,0,0,0,0
$GC,688,-1.13,-77.9,80.2,-9.9,84,692,0.00,2.25,0.00,0.000,6,0.000,0.019,2466,1886,3373,0,0,0,0,0,0
$GC,951,-1.20,-77.9,101.9,-8.7,108,955,0.00,2.40,0.00,0.000,4,0.000,0.041,2466,472,3375,0,0,0,0,0,0
$GC,1013,-1.25,-77.9,107.8,-9.4,114,1019,0.12,2.22,0.00,0.000,6,0.062,0.018,2421,1883,3374,0,0,0,0,0,0
$GC,1273,-1.25,-77.9,133.1,-9.4,139,1278,0.10,2.42,0.00,0.000,4,0.104,0.041,2442,472,3375,0,0,0,0,0,0
$GC,1293,-1.25,-77.9,135.0,-9.0,140,1298,0.00,2.22,0.00,0.000,6,0.000,0.019,2442,1880,3375,0,0,0,0,0,0
$GC,1556,-1.30,-77.9,157.2,-8.8,165,1561,0.00,2.40,0.00,0.000,4,0.000,0.039,2442,469,3376,0,0,0,0,0,0
$GC,1612,-1.34,-77.9,162.6,-9.2,170,1618,0.00,2.22,0.00,0.000,6,0.000,0.019,2442,1883,3376,0,0,0,0,0,0
$GC,1877,-1.41,-77.9,182.4,-6.6,195,1882,0.15,2.42,0.00,0.000,4,0.054,0.041,2391,465,3376,0,0,0,0,0,0
$GC,1952,-1.33,-77.9,188.8,-9.0,202,1958,0.15,2.22,0.00,0.000,6,0.092,0.019,2423,1876,3376,0,0,0,0,0,0
$GC,2224,-1.36,-77.9,209.4,-8.5,223,2228,0.00,2.40,0.00,0.000,4,0.000,0.041,2423,471,3376,0,0,0,0,0,0
$GC,2256,-1.36,-77.9,212.8,-9.4,224,2260,0.00,2.22,0.00,0.000,6,0.000,0.020,2423,1875,3376,0,0,0,0,0,0
$GC,2573,-1.41,-77.9,235.2,-6.0,239,2577,0.00,2.38,0.00,0.000,4,0.000,0.041,2423,472,3377,0,0,0,0,0,0
$GC,2605,-1.41,-77.9,237.3,-6.5,240,2609,0.00,2.22,0.00,0.000,6,0.000,0.020,2423,1876,3376,0,0,0,0,0,0
$GC,2922,-1.48,-77.9,256.4,-6.3,255,2927,0.15,2.42,0.00,0.000,4,0.055,0.043,2375,471,3376,0,0,0,0,0,0
$GC,3039,-1.40,-77.9,267.8,-9.7,260,3044,0.17,2.22,0.00,0.000,6,0.087,0.021,2411,1876,3376,0,0,0,0,0,0
$GC,3368,-1.44,-77.9,291.7,-6.7,276,3372,0.00,2.42,0.00,0.000,4,0.000,0.044,2412,465,3376,0,0,0,0,0,0
$GC,3414,-1.44,-77.9,295.5,-7.8,278,3418,0.00,2.25,0.00,0.000,6,0.000,0.021,2412,1877,3376,0,0,0,0,0,0
$GC,3737,-1.51,-77.9,314.6,-5.4,288,3741,0.12,2.42,0.00,0.000,4,0.063,0.044,2371,473,3375,0,0,0,0,0,0
$GC,3794,-1.44,-77.9,318.9,-7.9,289,3799,0.12,2.25,0.00,0.000,6,0.097,0.022,2397,1876,3374,0,0,0,0,0,0
$GC,4110,-1.44,-77.9,340.7,-7.1,297,4114,0.00,2.42,0.00,0.000,4,0.000,0.046,2397,470,3373,0,0,0,0,0,0
$GC,4147,-1.44,-77.9,344.0,-8.3,297,4153,0.00,2.28,0.00,0.000,6,0.000,0.023,2397,1885,3373,0,0,0,0,0,0
$GC,4479,-1.47,-77.9,372.2,-9.1,306,4483,0.00,2.45,0.00,0.000,4,0.000,0.047,2397,471,3371,0,0,0,0,0,0
$GC,4545,-1.47,-77.9,378.6,-9.7,307,4549,0.00,2.25,0.00,0.000,6,0.000,0.024,2398,1873,3371,0,0,0,0,0,0
$GC,4890,-1.47,-77.9,405.9,-7.3,316,4894,0.00,2.33,0.00,0.000,4,0.000,0.032,2396,3268,3369,0,0,0,0,0,0
$GC,4906,-1.52,-77.9,406.8,-6.0,316,4911,0.00,2.33,0.00,0.000,6,0.000,0.032,2397,1879,3369,0,0,0,0,0,0
$GC,5257,-1.56,-77.9,428.6,-6.4,325,5262,0.00,2.45,0.00,0.000,4,0.000,0.050,2396,465,3366,0,0,0,0,0,0
$GC,5337,-1.56,-77.9,434.3,-7.3,326,5341,0.00,2.28,0.00,0.000,6,0.000,0.025,2397,1869,3365,0,0,0,0,0,0
$STATE,5584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5584,begin apogee
$GC,5592,-0.31,0.0,451.4,6.9,332,5660,1.15,0.00,64.72,0.858,6,0.071,0.000,2645,2035,3050,0,0,0,0,0,0
$STATE,5661,end apogee,CONTROL_FINISHED_OK
$STATE,5661,begin climb
$GC,5663,1.40,77.9,452.6,0.0,333,5739,1.62,2.40,65.30,0.840,4,0.028,0.038,3027,3383,2732,0,0,0,0,0,0
$GC,5787,1.27,171.7,456.6,1.6,335,5880,0.20,2.35,80.82,0.838,6,0.113,0.032,2992,2006,2348,0,0,0,0,0,0
$GC,6204,1.16,171.7,418.4,10.1,346,6206,0.15,0.00,0.00,0.000,6,0.119,0.000,2966,2006,2339,0,0,0,0,0,0
$GC,6529,1.11,171.7,387.1,9.9,354,6533,0.00,2.45,0.00,0.000,4,0.000,0.049,2966,607,2336,0,0,0,0,0,0
$GC,6581,0.99,171.7,381.3,11.3,355,6586,0.20,2.30,0.00,0.000,6,0.116,0.028,2930,1990,2333,0,0,0,0,0,0
$GC,6901,1.00,179.6,355.5,7.5,363,6913,0.00,2.45,5.32,0.600,4,0.000,0.048,2930,602,2316,0,0,0,0,0,0
$GC,7067,1.02,197.2,344.4,6.8,366,7091,0.00,2.35,17.08,0.763,6,0.000,0.028,2930,2017,2246,0,0,0,0,0,0
$GC,7418,1.12,230.3,323.6,5.7,375,7455,0.12,2.58,30.52,0.780,4,0.075,0.051,2961,612,2111,0,0,0,0,0,0
$GC,7623,1.08,230.3,306.0,8.5,379,7627,0.00,2.35,0.00,0.000,6,0.000,0.029,2961,2014,2104,0,0,0,0,0,0
$GC,7952,1.11,230.3,279.0,8.2,393,7956,0.00,2.50,0.00,0.000,4,0.000,0.051,2961,600,2103,0,0,0,0,0,0
$GC,8138,1.11,230.3,262.3,9.1,401,8142,0.00,2.35,0.00,0.000,6,0.000,0.028,2961,2017,2100,0,0,0,0,0,0
$GC,8464,1.17,242.7,236.3,7.2,417,8480,0.00,2.55,10.95,0.667,4,0.000,0.051,2961,586,2060,0,0,0,0,0,0
$GC,8698,1.18,246.6,218.3,7.8,427,8709,0.00,2.40,4.57,0.501,6,0.000,0.027,2962,2022,2044,0,0,0,0,0,0
$GC,9032,1.26,263.3,195.3,6.9,446,9058,0.12,2.50,16.77,0.664,4,0.073,0.047,2995,607,1975,0,0,0,0,0,0
$GC,9166,1.22,263.3,183.0,9.3,460,9171,0.00,2.35,0.00,0.000,6,0.000,0.026,2995,2015,1972,0,0,0,0,0,0
$GC,9428,1.22,263.3,161.2,8.0,485,9432,0.00,2.47,0.00,0.000,4,0.000,0.047,2995,605,1971,0,0,0,0,0,0
$GC,9661,1.22,263.3,138.3,10.8,509,9666,0.00,2.33,0.00,0.000,6,0.000,0.025,2995,2013,1969,0,0,0,0,0,0
$GC,9925,1.26,269.7,116.1,7.6,534,9937,0.00,2.50,6.25,0.502,4,0.000,0.045,2995,610,1950,0,0,0,0,0,0
$GC,9947,1.26,269.7,114.0,8.2,536,9953,0.00,2.33,0.00,0.000,6,0.000,0.025,2995,2016,1948,0,0,0,0,0,0
$GC,10213,1.34,289.0,96.3,6.7,561,10240,0.00,2.53,18.85,0.578,4,0.000,0.044,2995,611,1870,0,0,0,0,0,0
$GC,10380,1.37,289.5,82.1,8.0,579,10385,0.00,2.30,0.00,0.000,6,0.000,0.023,2995,2018,1866,0,0,0,0,0,0
$GC,10646,1.51,322.3,65.0,5.8,603,10684,0.20,2.55,29.73,0.560,4,0.051,0.043,3051,606,1735,0,0,0,0,0,0
$GC,10825,1.44,322.3,47.0,11.3,622,10831,0.12,2.30,0.00,0.000,6,0.106,0.021,3027,2027,1731,0,0,0,0,0,0
$GC,11091,1.50,331.0,23.9,7.4,654,11105,0.00,2.47,8.40,0.462,4,0.000,0.041,3027,605,1700,0,0,0,0,0,0
$STATE,11295,end climb,SURFACE_DEPTH_REACHED
$STATE,11295,begin surface coast
$FINISH,0.6,1.023206
$STATE,11327,end surface coast,CONTROL_FINISHED_OK
$STATE,11328,begin surface
$SM_CCo,11412,0.00,0.000,0,0,1692,332.87
$SM_GC,1.40,11.20,0.00,0.00,0.025,0.000,0.000,419,1881,1692,-10.46,0.20,332.87
$IRIDIUM_FIX,2057.14,-15748.75,071099,030308
$TT8_MAMPS,0.029146
$HUMID,55.71
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,22.50
$XPDR_PINGS,5
$24V_AH,23.3,65.906
$10V_AH,10.0,55.693
$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,27.075,132.725,359.300,0.000,0.000,23.528,26.413,157.939,5.750,0.000,37.789,1359.297,7757.858,419.262,1720.577,508.936,33.375,1357.614,0.000,1661.118,0.000,29.249,0.000
$DEVICE_MAMPS,131.924,51.389,858.273,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,473.319,468.325,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355980
$DATA_FILE_SIZE,38100,705
$CAP_FILE_SIZE,131963,0
$CFSIZE,260165632,215134208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130710,093906,2107.984,-15752.666,43,2.0,59,9.8