version: 66.06
glider: 139
mission: 7
dive: 737
start: 7 13 110 16 31 6
data:
$ID,139
$MISSION,7
$DIVE,737
$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,-2148492.5
$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
$GPS1,162406,2109.031,-15753.385,81,2.0,81,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-70.3
$GPS2,163014,2109.056,-15753.447,14,2.0,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,WAIT
$TGT_LATLONG,2113.500,-15753.630
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.032,0.181
$KALMAN_X,-383069.2,-570.3,-397.2,386604.6,-446.0
$KALMAN_Y,-6629.8,169.8,-276.1,10733.9,92.2
$MHEAD_RNG_PITCHd_Wd,0.4,8236,-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,-77.9,0.0,0.0,0,69,0.00,0.00,-49.53,0.000,2,0.000,0.000,427,1857,3119,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.5,-6.2,10,96,10.52,2.42,-5.12,0.000,4,0.130,0.053,2404,467,3370,0,0,0,0,0,0
$GC,108,-0.58,-77.9,12.6,-22.9,17,114,0.88,2.33,0.00,0.000,6,0.090,0.020,2582,1910,3371,0,0,0,0,0,0
$GC,319,-0.98,-77.9,29.2,-6.1,54,325,0.35,2.50,0.00,0.000,4,0.049,0.039,2489,464,3372,0,0,0,0,0,0
$GC,400,-1.02,-77.9,36.3,-9.2,63,406,0.00,2.28,0.00,0.000,6,0.000,0.019,2488,1881,3372,0,0,0,0,0,0
$GC,664,-1.08,-77.9,59.6,-9.4,88,668,0.00,2.42,0.00,0.000,4,0.000,0.041,2489,468,3373,0,0,0,0,0,0
$GC,711,-1.13,-77.9,64.7,-10.3,92,716,0.00,2.22,0.00,0.000,6,0.000,0.019,2488,1878,3374,0,0,0,0,0,0
$GC,974,-1.23,-77.9,88.2,-8.7,117,979,0.17,2.42,0.00,0.000,4,0.050,0.041,2431,461,3374,0,0,0,0,0,0
$GC,1037,-1.14,-77.9,95.7,-12.5,123,1042,0.15,2.25,0.00,0.000,6,0.091,0.019,2462,1880,3375,0,0,0,0,0,0
$GC,1299,-1.21,-77.9,118.9,-7.7,147,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,1885,3375,0,0,0,0,0,0
$GC,1555,-1.31,-77.9,137.6,-7.1,171,1560,0.15,2.42,0.00,0.000,4,0.055,0.041,2411,466,3376,0,0,0,0,0,0
$GC,1672,-1.25,-77.9,149.0,-10.7,183,1677,0.15,2.22,0.00,0.000,6,0.091,0.019,2442,1878,3376,0,0,0,0,0,0
$GC,1940,-1.31,-77.9,172.2,-8.6,208,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1883,3377,0,0,0,0,0,0
$GC,2196,-1.38,-77.9,192.2,-8.0,232,2201,0.12,0.00,0.00,0.000,6,0.061,0.000,2398,1883,3377,0,0,0,0,0,0
$GC,2462,-1.38,-77.9,217.2,-8.4,249,2466,0.00,2.42,0.00,0.000,4,0.000,0.042,2398,461,3377,0,0,0,0,0,0
$GC,2537,-1.33,-77.9,224.3,-9.1,252,2542,0.12,2.25,0.00,0.000,6,0.098,0.020,2424,1880,3377,0,0,0,0,0,0
$GC,2864,-1.38,-77.9,250.0,-8.1,268,2868,0.00,2.42,0.00,0.000,4,0.000,0.042,2424,461,3378,0,0,0,0,0,0
$GC,2892,-1.38,-77.9,252.6,-9.0,269,2896,0.00,2.25,0.00,0.000,6,0.000,0.021,2424,1881,3378,0,0,0,0,0,0
$GC,3220,-1.46,-77.9,273.8,-5.7,285,3225,0.12,2.45,0.00,0.000,4,0.062,0.044,2382,461,3378,0,0,0,0,0,0
$GC,3277,-1.40,-77.9,278.2,-7.5,287,3282,0.12,2.25,0.00,0.000,6,0.099,0.021,2407,1874,3378,0,0,0,0,0,0
$GC,3597,-1.46,-77.9,301.0,-7.6,302,3601,0.00,2.40,0.00,0.000,4,0.000,0.044,2407,466,3377,0,0,0,0,0,0
$GC,3666,-1.46,-77.9,307.6,-9.5,303,3671,0.00,2.28,0.00,0.000,6,0.000,0.021,2407,1879,3377,0,0,0,0,0,0
$GC,4008,-1.50,-77.9,333.1,-7.2,312,4012,0.00,2.42,0.00,0.000,4,0.000,0.045,2407,460,3376,0,0,0,0,0,0
$GC,4027,-1.50,-77.9,334.6,-6.8,312,4031,0.00,2.28,0.00,0.000,6,0.000,0.023,2407,1874,3376,0,0,0,0,0,0
$GC,4374,-1.55,-77.9,355.0,-5.9,321,4379,0.15,2.45,0.00,0.000,4,0.058,0.048,2363,469,3374,0,0,0,0,0,0
$GC,4427,-1.46,-77.9,359.3,-7.9,322,4432,0.15,2.28,0.00,0.000,6,0.097,0.024,2393,1881,3374,0,0,0,0,0,0
$GC,4749,-1.46,-77.9,382.8,-7.7,330,4750,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1885,3372,0,0,0,0,0,0
$GC,5070,-1.46,-77.9,409.6,-8.1,338,5075,0.00,2.42,0.00,0.000,4,0.000,0.048,2393,471,3370,0,0,0,0,0,0
$GC,5121,-1.46,-77.9,414.1,-8.7,339,5125,0.00,2.30,0.00,0.000,6,0.000,0.025,2393,1879,3369,0,0,0,0,0,0
$GC,5445,-1.46,-77.9,436.9,-6.6,347,5449,0.00,2.45,0.00,0.000,4,0.000,0.049,2392,471,3367,0,0,0,0,0,0
$GC,5488,-1.46,-77.9,439.9,-6.9,348,5493,0.00,2.28,0.00,0.000,6,0.000,0.026,2393,1872,3367,0,0,0,0,0,0
$STATE,5655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5656,begin apogee
$GC,5662,-0.31,0.0,450.6,6.3,352,5731,1.17,0.00,64.93,0.858,6,0.079,0.000,2642,2039,3050,0,0,0,0,0,0
$STATE,5731,end apogee,CONTROL_FINISHED_OK
$STATE,5732,begin climb
$GC,5735,1.40,77.9,450.9,0.0,353,5810,1.65,2.40,64.85,0.839,4,0.037,0.038,3018,3384,2732,0,0,0,0,0,0
$GC,5916,1.25,138.2,449.5,3.9,357,5974,0.17,2.38,51.55,0.833,6,0.115,0.033,2987,2001,2486,0,0,0,0,0,0
$GC,6286,1.15,151.2,424.2,7.1,366,6300,0.12,0.00,11.65,0.752,6,0.127,0.000,2966,2001,2432,0,0,0,0,0,0
$GC,6611,1.11,177.0,403.9,6.3,374,6640,0.00,2.50,23.30,0.805,4,0.000,0.060,2967,607,2327,0,0,0,0,0,0
$GC,6799,1.00,177.0,387.0,9.5,378,6804,0.17,2.33,0.00,0.000,6,0.118,0.028,2935,1996,2321,0,0,0,0,0,0
$GC,7123,1.00,177.0,360.6,8.2,386,7127,0.00,2.47,0.00,0.000,4,0.000,0.051,2935,599,2320,0,0,0,0,0,0
$GC,7160,0.96,177.0,357.3,9.0,386,7166,0.00,2.38,0.00,0.000,6,0.000,0.029,2935,2017,2319,0,0,0,0,0,0
$GC,7493,1.03,203.7,334.6,6.2,395,7522,0.00,2.55,23.70,0.781,4,0.000,0.051,2935,609,2218,0,0,0,0,0,0
$GC,7638,1.03,203.7,323.1,8.7,398,7642,0.00,2.35,0.00,0.000,6,0.000,0.028,2934,2012,2213,0,0,0,0,0,0
$GC,7952,1.09,203.7,297.5,8.0,406,7957,0.00,2.45,0.00,0.000,4,0.000,0.050,2935,609,2212,0,0,0,0,0,0
$GC,8096,1.11,223.2,287.4,6.7,412,8118,0.00,2.38,17.42,0.739,6,0.000,0.028,2935,2021,2141,0,0,0,0,0,0
$GC,8439,1.23,241.2,265.6,6.8,429,8465,0.22,2.60,17.50,0.723,4,0.055,0.050,2991,603,2065,0,0,0,0,0,0
$GC,8572,1.17,241.2,253.4,9.3,434,8578,0.12,2.35,0.00,0.000,6,0.120,0.028,2970,2008,2060,0,0,0,0,0,0
$GC,8888,1.23,248.4,230.0,7.5,450,8900,0.00,2.53,6.95,0.602,4,0.000,0.049,2969,609,2037,0,0,0,0,0,0
$GC,8982,1.23,248.4,222.1,9.0,454,8986,0.00,2.35,0.00,0.000,6,0.000,0.027,2969,2021,2034,0,0,0,0,0,0
$GC,9302,1.29,248.4,194.9,8.6,472,9307,0.10,2.50,0.00,0.000,4,0.078,0.048,2998,606,2033,0,0,0,0,0,0
$GC,9508,1.22,248.4,173.3,9.4,493,9514,0.00,2.33,0.00,0.000,6,0.000,0.025,2998,2025,2031,0,0,0,0,0,0
$GC,9771,1.22,248.4,150.2,8.5,518,9775,0.00,2.47,0.00,0.000,4,0.000,0.044,2999,600,2031,0,0,0,0,0,0
$GC,9882,1.21,272.4,141.6,6.4,529,9910,0.00,2.33,22.23,0.628,6,0.000,0.025,2999,2025,1938,0,0,0,0,0,0
$GC,10172,1.27,276.5,120.4,7.7,557,10183,0.00,2.47,4.97,0.456,4,0.000,0.044,2999,599,1921,0,0,0,0,0,0
$GC,10240,1.27,276.5,114.4,9.5,564,10244,0.00,2.30,0.00,0.000,6,0.000,0.024,2999,2010,1919,0,0,0,0,0,0
$GC,10506,1.35,292.4,95.7,6.9,588,10527,0.00,2.50,14.98,0.563,4,0.000,0.044,2999,610,1857,0,0,0,0,0,0
$GC,10741,1.39,292.4,78.0,8.5,613,10747,0.00,2.28,0.00,0.000,6,0.000,0.021,2999,2013,1854,0,0,0,0,0,0
$GC,11005,1.49,293.6,57.7,7.9,638,11010,0.17,2.42,0.00,0.000,4,0.053,0.043,3051,605,1853,0,0,0,0,0,0
$GC,11181,1.41,293.6,40.5,10.1,656,11188,0.15,2.28,0.00,0.000,6,0.098,0.021,3021,2015,1854,0,0,0,0,0,0
$GC,11450,1.46,293.6,19.5,8.3,692,11455,0.00,2.40,0.00,0.000,4,0.000,0.041,3021,605,1853,0,0,0,0,0,0
$STATE,11630,end climb,SURFACE_DEPTH_REACHED
$STATE,11630,begin surface coast
$FINISH,2.3,1.023162
$STATE,11635,end surface coast,CONTROL_FINISHED_OK
$STATE,11635,begin surface
$SM_CCo,11659,6.15,0.409,0,0,1827,300.00
$SM_GC,2.33,0.00,0.00,6.15,0.000,0.000,0.409,425,1889,1827,-10.52,0.40,300.00
$IRIDIUM_FIX,2101.76,-15753.03,071099,131348
$TT8_MAMPS,0.029146
$HUMID,54.76
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,23.3,66.188
$10V_AH,10.0,55.873
$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,28.575,123.650,324.025,6.150,0.000,23.554,33.724,181.793,4.750,0.000,14.613,1410.051,7967.301,391.581,1729.497,530.930,33.374,1324.730,0.000,1684.586,0.000,29.256,0.000
$DEVICE_MAMPS,130.390,59.826,858.273,408.811,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,492.383,479.687,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,38077,732
$CAP_FILE_SIZE,132810,0
$CFSIZE,260165632,214949888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130710,194721,2110.012,-15753.385,50,5.0,69,9.8