version: 66.06
glider: 139
mission: 7
dive: 735
start: 7 13 110 9 50 36
data:
$ID,139
$MISSION,7
$DIVE,735
$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,-2148428.8
$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
$GPS1,093906,2107.984,-15752.666,43,2.0,59,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-70.0
$GPS2,094945,2107.936,-15752.612,15,2.2,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,WAIT
$TGT_LATLONG,2113.500,-15753.630
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.051,0.177
$KALMAN_X,-382874.7,377.3,197.1,386299.0,-16.8
$KALMAN_Y,-3222.9,-1466.6,-383.8,6969.4,1478.2
$MHEAD_RNG_PITCHd_Wd,334.1,10453,-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,-77.9,0.0,0.0,0,72,0.00,0.00,-54.53,0.000,2,0.000,0.000,418,1882,3104,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.3,-4.9,11,99,10.55,2.40,-5.53,0.000,4,0.130,0.040,2404,3294,3370,0,0,0,0,0,0
$GC,189,-1.40,-77.9,21.4,-12.2,35,195,0.00,2.38,0.00,0.000,6,0.000,0.028,2403,1872,3370,0,0,0,0,0,0
$GC,392,-1.24,-77.9,50.4,-13.6,59,397,0.20,2.40,0.00,0.000,4,0.097,0.041,2444,469,3372,0,0,0,0,0,0
$GC,433,-1.14,-77.9,55.6,-12.9,62,439,0.10,2.30,0.00,0.000,6,0.112,0.019,2463,1916,3372,0,0,0,0,0,0
$GC,697,-1.14,-77.9,80.8,-8.3,87,701,0.00,2.50,0.00,0.000,4,0.000,0.041,2463,464,3373,0,0,0,0,0,0
$GC,726,-1.14,-77.9,83.7,-9.5,89,731,0.00,2.25,0.00,0.000,6,0.000,0.019,2463,1884,3373,0,0,0,0,0,0
$GC,989,-1.20,-77.9,104.3,-8.0,114,993,0.00,2.42,0.00,0.000,4,0.000,0.041,2462,470,3374,0,0,0,0,0,0
$GC,1027,-1.25,-77.9,107.9,-8.1,118,1031,0.00,2.25,0.00,0.000,6,0.000,0.018,2463,1886,3374,0,0,0,0,0,0
$GC,1296,-1.34,-77.9,128.1,-6.8,143,1301,0.17,2.45,0.00,0.000,4,0.049,0.042,2406,468,3374,0,0,0,0,0,0
$GC,1392,-1.29,-77.9,137.3,-9.1,152,1398,0.12,2.25,0.00,0.000,6,0.097,0.018,2433,1877,3374,0,0,0,0,0,0
$GC,1654,-1.33,-77.9,155.6,-7.0,177,1658,0.00,2.40,0.00,0.000,4,0.000,0.040,2433,469,3375,0,0,0,0,0,0
$GC,1690,-1.33,-77.9,158.6,-7.7,180,1696,0.00,2.22,0.00,0.000,6,0.000,0.019,2433,1880,3374,0,0,0,0,0,0
$GC,1954,-1.38,-77.9,177.1,-6.8,205,1958,0.00,2.42,0.00,0.000,4,0.000,0.041,2432,462,3375,0,0,0,0,0,0
$GC,1989,-1.38,-77.9,179.6,-7.3,208,1996,0.00,2.25,0.00,0.000,6,0.000,0.019,2433,1880,3375,0,0,0,0,0,0
$GC,2260,-1.45,-77.9,197.8,-6.6,233,2262,0.15,0.00,0.00,0.000,6,0.054,0.000,2383,1883,3375,0,0,0,0,0,0
$GC,2517,-1.41,-77.9,222.9,-10.1,247,2519,0.10,0.00,0.00,0.000,6,0.108,0.000,2404,1883,3375,0,0,0,0,0,0
$GC,2826,-1.41,-77.9,249.0,-7.8,262,2830,0.00,2.42,0.00,0.000,4,0.000,0.043,2403,465,3375,0,0,0,0,0,0
$GC,2919,-1.41,-77.9,256.3,-7.4,266,2923,0.00,2.22,0.00,0.000,6,0.000,0.021,2403,1868,3375,0,0,0,0,0,0
$GC,3245,-1.41,-77.9,276.9,-6.1,282,3249,0.00,2.40,0.00,0.000,4,0.000,0.044,2404,471,3374,0,0,0,0,0,0
$GC,3314,-1.41,-77.9,281.5,-6.3,285,3318,0.00,2.25,0.00,0.000,6,0.000,0.021,2404,1873,3374,0,0,0,0,0,0
$GC,3662,-1.45,-77.9,306.3,-7.3,300,3666,0.00,2.42,0.00,0.000,4,0.000,0.044,2403,466,3373,0,0,0,0,0,0
$GC,3723,-1.45,-77.9,311.5,-8.0,301,3727,0.00,2.25,0.00,0.000,6,0.000,0.022,2404,1874,3373,0,0,0,0,0,0
$GC,4074,-1.49,-77.9,338.3,-8.1,310,4078,0.00,2.42,0.00,0.000,4,0.000,0.046,2404,471,3371,0,0,0,0,0,0
$GC,4134,-1.49,-77.9,344.2,-10.1,311,4138,0.00,2.28,0.00,0.000,6,0.000,0.024,2404,1880,3371,0,0,0,0,0,0
$GC,4450,-1.54,-77.9,368.7,-7.6,319,4455,0.12,2.45,0.00,0.000,4,0.065,0.048,2364,473,3369,0,0,0,0,0,0
$GC,4489,-1.47,-77.9,372.5,-9.3,319,4495,0.15,2.28,0.00,0.000,6,0.094,0.025,2396,1879,3369,0,0,0,0,0,0
$GC,4821,-1.51,-77.9,398.3,-8.2,328,4825,0.00,2.45,0.00,0.000,4,0.000,0.048,2395,468,3367,0,0,0,0,0,0
$GC,4896,-1.51,-77.9,405.5,-10.0,329,4900,0.00,2.30,0.00,0.000,6,0.000,0.025,2396,1876,3366,0,0,0,0,0,0
$GC,5238,-1.55,-77.9,439.1,-10.5,338,5242,0.00,2.45,0.00,0.000,4,0.000,0.050,2395,471,3364,0,0,0,0,0,0
$GC,5276,-1.55,-77.9,443.6,-11.4,338,5281,0.00,2.30,0.00,0.000,6,0.000,0.026,2396,1880,3364,0,0,0,0,0,0
$STATE,5362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5362,begin apogee
$GC,5369,-0.31,0.0,452.0,10.0,341,5437,1.15,0.00,64.53,0.854,6,0.069,0.000,2645,2035,3050,0,0,0,0,0,0
$STATE,5438,end apogee,CONTROL_FINISHED_OK
$STATE,5438,begin climb
$GC,5440,1.40,77.9,454.1,0.0,342,5516,1.60,2.40,65.25,0.839,4,0.028,0.038,3025,3378,2731,0,0,0,0,0,0
$GC,5555,1.29,184.0,458.9,0.7,344,5656,0.17,2.35,90.82,0.841,6,0.114,0.033,2995,2001,2299,0,0,0,0,0,0
$GC,5980,1.17,184.0,419.6,9.9,355,5985,0.12,2.45,0.00,0.000,4,0.123,0.051,2972,605,2289,0,0,0,0,0,0
$GC,6072,1.04,184.0,410.6,10.6,357,6077,0.17,2.33,0.00,0.000,6,0.114,0.028,2942,1987,2285,0,0,0,0,0,0
$GC,6402,1.04,184.0,382.1,8.9,365,6406,0.00,2.42,0.00,0.000,4,0.000,0.051,2941,604,2284,0,0,0,0,0,0
$GC,6486,1.00,184.0,373.3,11.8,366,6492,0.00,2.38,0.00,0.000,6,0.000,0.028,2942,2013,2281,0,0,0,0,0,0
$GC,6818,1.00,184.0,344.3,8.6,375,6822,0.00,2.50,0.00,0.000,4,0.000,0.051,2942,600,2281,0,0,0,0,0,0
$GC,6927,0.96,184.0,334.9,8.4,377,6931,0.00,2.38,0.00,0.000,6,0.000,0.028,2942,2021,2279,0,0,0,0,0,0
$GC,7240,0.99,210.8,314.9,6.2,385,7268,0.00,2.58,21.50,0.769,4,0.000,0.051,2942,613,2189,0,0,0,0,0,0
$GC,7357,0.99,210.8,304.9,10.2,387,7361,0.00,2.38,0.00,0.000,6,0.000,0.028,2941,2016,2185,0,0,0,0,0,0
$GC,7681,1.05,216.1,278.5,7.7,401,7692,0.00,2.50,5.18,0.570,4,0.000,0.050,2942,605,2168,0,0,0,0,0,0
$GC,7833,1.05,216.1,265.1,8.6,407,7838,0.00,2.38,0.00,0.000,6,0.000,0.028,2942,2014,2166,0,0,0,0,0,0
$GC,8150,1.14,230.7,242.2,7.0,422,8172,0.00,2.58,14.35,0.701,4,0.000,0.050,2942,604,2108,0,0,0,0,0,0
$GC,8316,1.17,254.3,231.0,6.4,429,8345,0.12,2.35,22.38,0.711,6,0.074,0.028,2974,2018,2012,0,0,0,0,0,0
$GC,8666,1.22,262.3,206.5,7.5,446,8679,0.00,2.50,8.15,0.612,4,0.000,0.047,2974,603,1980,0,0,0,0,0,0
$GC,8749,1.22,262.3,200.6,8.2,449,8755,0.00,2.35,0.00,0.000,6,0.000,0.027,2974,2013,1977,0,0,0,0,0,0
$GC,9076,1.28,262.3,174.3,8.2,479,9081,0.00,2.47,0.00,0.000,4,0.000,0.048,2974,599,1977,0,0,0,0,0,0
$GC,9346,1.29,268.5,152.3,7.6,507,9360,0.00,2.35,6.15,0.527,6,0.000,0.025,2974,2016,1954,0,0,0,0,0,0
$GC,9616,1.37,268.5,132.1,8.3,533,9621,0.17,2.47,0.00,0.000,4,0.058,0.047,3021,604,1954,0,0,0,0,0,0
$GC,9744,1.28,268.5,118.9,9.8,546,9749,0.15,2.33,0.00,0.000,6,0.105,0.024,2994,2014,1953,0,0,0,0,0,0
$GC,10008,1.37,293.7,99.5,6.3,570,10037,0.00,2.50,23.65,0.591,4,0.000,0.044,2993,605,1851,0,0,0,0,0,0
$GC,10182,1.42,297.9,85.8,7.7,589,10193,0.12,2.30,4.55,0.416,6,0.067,0.023,3031,2018,1835,0,0,0,0,0,0
$GC,10448,1.46,301.4,64.5,7.8,614,10458,0.00,2.45,5.07,0.425,4,0.000,0.042,3031,602,1820,0,0,0,0,0,0
$GC,10617,1.43,301.4,47.8,10.1,632,10622,0.00,2.28,0.00,0.000,6,0.000,0.021,3031,2010,1817,0,0,0,0,0,0
$GC,10882,1.46,301.4,24.0,8.7,662,10888,0.00,2.40,0.00,0.000,4,0.000,0.042,3031,604,1817,0,0,0,0,0,0
$GC,11033,1.46,301.4,10.1,9.4,694,11039,0.00,2.28,0.00,0.000,6,0.000,0.021,3031,2013,1817,0,0,0,0,0,0
$STATE,11123,end climb,SURFACE_DEPTH_REACHED
$STATE,11123,begin surface coast
$FINISH,0.4,1.021030
$STATE,11166,end surface coast,CONTROL_FINISHED_OK
$STATE,11166,begin surface
$SM_CCo,11248,0.00,0.000,0,0,1815,303.19
$SM_GC,1.52,11.15,0.00,0.00,0.024,0.000,0.000,424,1853,1815,-10.44,-0.59,303.19
$IRIDIUM_FIX,2059.45,-15750.89,071099,090909
$TT8_MAMPS,0.029146
$HUMID,55.63
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.3,66.003
$10V_AH,10.0,55.753
$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,26.625,128.850,331.575,0.000,0.000,55.996,70.711,294.943,4.750,0.000,34.985,1380.231,7667.054,397.874,1709.760,724.103,33.377,1322.799,0.000,1647.964,0.000,29.259,0.000
$DEVICE_MAMPS,129.623,53.690,854.438,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,482.191,477.266,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355916
$DATA_FILE_SIZE,38074,717
$CAP_FILE_SIZE,133620,0
$CFSIZE,260165632,215072768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130710,130027,2108.547,-15752.886,87,2.3,106,9.8