version: 66.06
glider: 139
mission: 7
dive: 736
start: 7 13 110 13 12 55
data:
$ID,139
$MISSION,7
$DIVE,736
$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,-2148477.2
$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
$GPS1,130027,2108.547,-15752.886,87,2.3,106,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-71.0
$GPS2,131204,2108.547,-15752.922,27,2.9,46,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,WAIT
$TGT_LATLONG,2113.500,-15753.630
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.079,0.166
$KALMAN_X,-382804.5,-170.0,716.2,385729.6,-1348.3
$KALMAN_Y,-4546.5,-733.2,-578.9,8911.7,1626.6
$MHEAD_RNG_PITCHd_Wd,15.5,9254,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.40,-77.9,0.0,0.0,0,74,0.00,0.00,-55.00,0.000,2,0.000,0.000,424,1853,3268,0,0,0,0,0,0
$GC,78,-1.40,-77.9,3.8,-6.8,11,93,10.57,0.00,-2.03,0.000,6,0.131,0.000,2407,1853,3370,0,0,0,0,0,0
$GC,298,-1.24,-77.9,41.6,-15.2,44,300,0.17,0.00,0.00,0.000,6,0.098,0.000,2442,1855,3372,0,0,0,0,0,0
$GC,553,-1.17,-77.9,71.5,-10.2,68,558,0.00,2.38,0.00,0.000,4,0.000,0.043,2442,468,3372,0,0,0,0,0,0
$GC,610,-1.10,-77.9,77.2,-9.3,73,616,0.15,2.30,0.00,0.000,6,0.098,0.019,2470,1917,3373,0,0,0,0,0,0
$GC,874,-1.17,-77.9,99.7,-8.2,98,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1922,3374,0,0,0,0,0,0
$GC,1128,-1.27,-77.9,116.7,-6.9,122,1133,0.15,2.53,0.00,0.000,4,0.054,0.042,2420,458,3375,0,0,0,0,0,0
$GC,1173,-1.23,-77.9,120.8,-9.2,126,1177,0.12,2.28,0.00,0.000,6,0.095,0.019,2446,1883,3375,0,0,0,0,0,0
$GC,1439,-1.28,-77.9,143.4,-7.9,151,1443,0.00,2.25,0.00,0.000,4,0.000,0.025,2446,3264,3375,0,0,0,0,0,0
$GC,1497,-1.41,-77.9,147.8,-7.4,157,1502,0.17,2.30,0.00,0.000,6,0.048,0.025,2390,1865,3375,0,0,0,0,0,0
$GC,1758,-1.36,-77.9,173.2,-9.0,181,1763,0.12,2.35,0.00,0.000,4,0.100,0.041,2416,473,3376,0,0,0,0,0,0
$GC,1794,-1.31,-77.9,176.7,-9.8,184,1798,0.00,2.22,0.00,0.000,6,0.000,0.019,2415,1883,3376,0,0,0,0,0,0
$GC,2057,-1.31,-77.9,197.8,-5.9,208,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1887,3376,0,0,0,0,0,0
$GC,2315,-1.31,-77.9,215.3,-7.9,223,2319,0.00,2.40,0.00,0.000,4,0.000,0.041,2416,475,3376,0,0,0,0,0,0
$GC,2352,-1.31,-77.9,218.6,-7.9,224,2357,0.00,2.22,0.00,0.000,6,0.000,0.019,2416,1881,3376,0,0,0,0,0,0
$GC,2669,-1.35,-77.9,246.1,-9.6,239,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1886,3376,0,0,0,0,0,0
$GC,2979,-1.40,-77.9,268.9,-6.1,254,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1886,3376,0,0,0,0,0,0
$GC,3287,-1.45,-77.9,288.7,-7.2,269,3291,0.00,2.42,0.00,0.000,4,0.000,0.044,2416,468,3376,0,0,0,0,0,0
$GC,3358,-1.45,-77.9,294.2,-8.4,272,3362,0.00,2.25,0.00,0.000,6,0.000,0.021,2416,1872,3376,0,0,0,0,0,0
$GC,3700,-1.53,-77.9,320.7,-8.4,283,3705,0.15,2.42,0.00,0.000,4,0.057,0.045,2369,475,3374,0,0,0,0,0,0
$GC,3781,-1.44,-77.9,329.4,-11.0,284,3786,0.15,2.25,0.00,0.000,6,0.093,0.023,2400,1879,3373,0,0,0,0,0,0
$GC,4113,-1.49,-77.9,357.6,-8.1,292,4117,0.00,2.42,0.00,0.000,4,0.000,0.046,2400,476,3372,0,0,0,0,0,0
$GC,4168,-1.49,-77.9,362.9,-9.8,293,4172,0.00,2.25,0.00,0.000,6,0.000,0.024,2399,1874,3372,0,0,0,0,0,0
$GC,4483,-1.53,-77.9,387.8,-8.0,301,4487,0.00,2.40,0.00,0.000,4,0.000,0.047,2400,478,3370,0,0,0,0,0,0
$GC,4557,-1.53,-77.9,394.3,-8.8,302,4561,0.00,2.25,0.00,0.000,6,0.000,0.025,2400,1870,3369,0,0,0,0,0,0
$GC,4899,-1.57,-77.9,420.0,-7.5,311,4904,0.12,2.40,0.00,0.000,4,0.066,0.049,2361,478,3368,0,0,0,0,0,0
$GC,4948,-1.48,-77.9,424.5,-9.8,312,4953,0.15,2.28,0.00,0.000,6,0.098,0.025,2391,1880,3367,0,0,0,0,0,0
$GC,5277,-1.48,-77.9,449.8,-7.5,320,5281,0.00,2.08,0.00,0.000,3,0.000,0.048,2391,673,3364,0,0,0,0,0,0
$STATE,5282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5282,begin apogee
$GC,5290,-0.31,0.0,450.3,7.5,320,5358,1.17,0.00,64.20,0.853,6,0.079,0.000,2644,2021,3050,0,0,0,0,0,0
$STATE,5359,end apogee,CONTROL_FINISHED_OK
$STATE,5359,begin climb
$GC,5362,1.40,77.9,451.6,0.0,321,5438,1.62,2.47,64.90,0.834,4,0.028,0.038,3025,3411,2731,0,0,0,0,0,0
$GC,5624,1.23,135.2,447.8,4.1,326,5681,0.22,2.38,48.72,0.830,6,0.111,0.032,2984,2012,2498,0,0,0,0,0,0
$GC,6007,1.17,169.0,424.8,5.7,336,6044,0.00,2.55,29.73,0.813,4,0.000,0.050,2984,607,2359,0,0,0,0,0,0
$GC,6165,1.01,169.0,411.6,9.4,339,6171,0.28,2.35,0.00,0.000,6,0.111,0.027,2934,2017,2353,0,0,0,0,0,0
$GC,6511,1.02,181.4,386.2,7.2,348,6528,0.00,2.55,10.85,0.737,4,0.000,0.050,2934,615,2310,0,0,0,0,0,0
$GC,6640,0.99,181.4,375.9,8.4,350,6644,0.00,2.38,0.00,0.000,6,0.000,0.028,2934,2020,2306,0,0,0,0,0,0
$GC,6972,1.03,186.2,350.5,7.7,358,6984,0.00,2.50,5.07,0.590,4,0.000,0.048,2934,605,2291,0,0,0,0,0,0
$GC,7104,1.03,187.0,339.4,8.0,360,7110,0.00,2.38,0.00,0.000,6,0.000,0.028,2934,2016,2288,0,0,0,0,0,0
$GC,7436,1.11,210.7,316.2,6.4,369,7466,0.10,2.55,23.42,0.767,4,0.085,0.050,2959,608,2190,0,0,0,0,0,0
$GC,7570,1.08,217.2,306.5,7.6,372,7582,0.00,2.38,6.65,0.628,6,0.000,0.028,2960,2018,2164,0,0,0,0,0,0
$GC,7907,1.10,229.5,284.1,7.2,385,7928,0.00,2.50,12.40,0.704,4,0.000,0.049,2959,610,2113,0,0,0,0,0,0
$GC,7953,1.10,229.5,280.0,8.6,387,7957,0.00,2.38,0.00,0.000,6,0.000,0.028,2959,2013,2111,0,0,0,0,0,0
$GC,8284,1.16,234.9,254.2,7.6,403,8296,0.00,2.53,5.68,0.574,4,0.000,0.048,2960,611,2092,0,0,0,0,0,0
$GC,8482,1.16,235.1,237.8,8.0,411,8486,0.00,2.33,0.00,0.000,6,0.000,0.027,2959,2014,2089,0,0,0,0,0,0
$GC,8798,1.23,235.1,213.9,8.6,426,8802,0.00,2.47,0.00,0.000,4,0.000,0.047,2959,602,2089,0,0,0,0,0,0
$GC,8895,1.23,235.1,204.3,9.6,430,8900,0.00,2.35,0.00,0.000,6,0.000,0.026,2960,2016,2087,0,0,0,0,0,0
$GC,9228,1.31,246.4,180.9,7.2,458,9246,0.17,2.38,11.43,0.621,4,0.059,0.031,3006,3404,2045,0,0,0,0,0,0
$GC,9387,1.31,246.4,166.8,8.9,475,9391,0.00,2.38,0.00,0.000,6,0.000,0.031,3005,2010,2044,0,0,0,0,0,0
$GC,9652,1.33,263.0,145.9,6.9,499,9673,0.00,2.45,16.38,0.611,4,0.000,0.044,3006,604,1976,0,0,0,0,0,0
$GC,9755,1.26,263.0,136.7,10.6,509,9761,0.00,2.35,0.00,0.000,6,0.000,0.024,3007,2024,1972,0,0,0,0,0,0
$GC,10018,1.26,263.0,110.6,9.4,534,10023,0.00,2.45,0.00,0.000,4,0.000,0.044,3006,601,1972,0,0,0,0,0,0
$GC,10257,1.28,276.0,91.7,7.1,559,10275,0.00,2.33,12.07,0.547,6,0.000,0.023,3007,2024,1923,0,0,0,0,0,0
$GC,10531,1.34,277.8,67.7,7.9,585,10535,0.00,2.45,0.00,0.000,4,0.000,0.044,3007,605,1923,0,0,0,0,0,0
$GC,10671,1.36,289.0,56.2,7.3,599,10689,0.00,2.28,12.80,0.519,6,0.000,0.021,3006,2020,1871,0,0,0,0,0,0
$GC,10945,1.45,295.0,35.4,7.6,625,10958,0.10,2.50,6.45,0.439,4,0.075,0.042,3039,601,1847,0,0,0,0,0,0
$GC,11128,1.40,295.0,16.2,11.2,658,11134,0.12,2.25,0.00,0.000,6,0.104,0.021,3016,2001,1845,0,0,0,0,0,0
$STATE,11283,end climb,SURFACE_DEPTH_REACHED
$STATE,11283,begin surface coast
$FINISH,0.6,1.023244
$STATE,11324,end surface coast,CONTROL_FINISHED_OK
$STATE,11324,begin surface
$SM_CCo,11347,4.32,0.357,0,0,1826,300.00
$SM_GC,2.46,0.00,0.00,4.32,0.000,0.000,0.357,427,1857,1826,-10.52,-0.51,300.00
$IRIDIUM_FIX,2059.45,-15750.89,071099,131329
$TT8_MAMPS,0.029146
$HUMID,55.63
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.3,66.101
$10V_AH,10.0,55.814
$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,26.950,113.950,330.750,4.325,0.000,66.662,72.089,327.537,4.750,0.000,47.725,1345.162,7836.727,370.025,1727.905,764.343,33.375,1296.285,0.000,1657.177,0.000,29.261,0.000
$DEVICE_MAMPS,131.157,52.923,852.904,356.655,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,466.670,462.653,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355960
$DATA_FILE_SIZE,34868,693
$CAP_FILE_SIZE,133046,0
$CFSIZE,260165632,215015424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,9
$GPS,130710,162406,2109.031,-15753.385,81,2.0,81,9.8