version: 66.06
glider: 139
mission: 7
dive: 739
start: 7 13 110 23 22 57
data:
$ID,139
$MISSION,7
$DIVE,739
$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,-2148571.2
$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
$GPS1,230418,2110.708,-15753.468,63,4.7,82,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.0
$GPS2,232206,2110.687,-15753.573,31,1.4,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,WAIT
$TGT_LATLONG,2113.500,-15753.630
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.046,0.178
$KALMAN_X,-383251.8,-258.5,495.8,385364.1,510.2
$KALMAN_Y,-8118.8,705.5,323.7,14077.1,-1408.2
$MHEAD_RNG_PITCHd_Wd,335.6,5210,-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,-53.97,0.000,2,0.000,0.000,423,1815,3262,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.7,-6.4,11,95,10.55,2.47,-2.15,0.000,4,0.130,0.035,2405,3302,3370,0,0,0,0,0,0
$GC,178,-1.36,-77.9,23.2,-14.4,32,184,0.00,2.42,0.00,0.000,6,0.000,0.028,2404,1866,3371,0,0,0,0,0,0
$GC,384,-1.19,-77.9,52.7,-13.5,55,389,0.22,2.38,0.00,0.000,4,0.095,0.039,2451,464,3371,0,0,0,0,0,0
$GC,440,-1.14,-77.9,59.4,-11.0,60,444,0.00,2.33,0.00,0.000,6,0.000,0.019,2451,1908,3372,0,0,0,0,0,0
$GC,701,-1.14,-77.9,82.7,-9.9,84,705,0.00,2.47,0.00,0.000,4,0.000,0.041,2451,466,3372,0,0,0,0,0,0
$GC,738,-1.14,-77.9,86.9,-11.0,87,744,0.00,2.25,0.00,0.000,6,0.000,0.018,2450,1883,3372,0,0,0,0,0,0
$GC,1001,-1.14,-77.9,112.1,-8.9,112,1005,0.00,2.40,0.00,0.000,4,0.000,0.041,2450,471,3373,0,0,0,0,0,0
$GC,1043,-1.14,-77.9,116.0,-8.5,116,1049,0.00,2.22,0.00,0.000,6,0.000,0.018,2450,1877,3373,0,0,0,0,0,0
$GC,1309,-1.21,-77.9,136.1,-6.5,141,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1882,3374,0,0,0,0,0,0
$GC,1573,-1.30,-77.9,152.5,-5.8,166,1576,0.00,2.40,0.00,0.000,4,0.000,0.041,2451,469,3374,0,0,0,0,0,0
$GC,1715,-1.38,-77.9,163.1,-7.8,181,1721,0.17,2.22,0.00,0.000,6,0.049,0.019,2395,1887,3375,0,0,0,0,0,0
$GC,1976,-1.35,-77.9,187.1,-9.4,206,1981,0.12,2.45,0.00,0.000,4,0.097,0.041,2421,468,3375,0,0,0,0,0,0
$GC,1993,-1.35,-77.9,188.6,-9.8,207,1997,0.00,2.22,0.00,0.000,6,0.000,0.020,2421,1877,3374,0,0,0,0,0,0
$GC,2261,-1.39,-77.9,214.3,-8.8,225,2265,0.00,2.38,0.00,0.000,4,0.000,0.041,2421,469,3374,0,0,0,0,0,0
$GC,2322,-1.39,-77.9,219.5,-8.1,227,2328,0.00,2.25,0.00,0.000,6,0.000,0.020,2421,1881,3374,0,0,0,0,0,0
$GC,2642,-1.45,-77.9,241.3,-7.2,243,2646,0.00,2.42,0.00,0.000,4,0.000,0.043,2421,466,3374,0,0,0,0,0,0
$GC,2709,-1.48,-77.9,246.9,-7.1,246,2714,0.12,2.25,0.00,0.000,6,0.063,0.021,2379,1877,3374,0,0,0,0,0,0
$GC,3043,-1.48,-77.9,276.1,-8.2,262,3047,0.00,2.25,0.00,0.000,4,0.000,0.028,2379,3258,3374,0,0,0,0,0,0
$GC,3090,-1.53,-77.9,280.3,-8.7,264,3095,0.00,2.33,0.00,0.000,6,0.000,0.030,2379,1870,3374,0,0,0,0,0,0
$GC,3435,-1.53,-77.9,311.2,-9.1,278,3439,0.00,2.40,0.00,0.000,4,0.000,0.044,2379,469,3372,0,0,0,0,0,0
$GC,3472,-1.48,-77.9,314.8,-9.4,278,3478,0.00,2.25,0.00,0.000,6,0.000,0.022,2379,1876,3373,0,0,0,0,0,0
$GC,3805,-1.48,-77.9,340.5,-7.6,287,3809,0.00,2.40,0.00,0.000,4,0.000,0.046,2379,474,3371,0,0,0,0,0,0
$GC,3870,-1.42,-77.9,346.0,-8.7,288,3875,0.12,2.28,0.00,0.000,6,0.098,0.023,2405,1876,3371,0,0,0,0,0,0
$GC,4221,-1.48,-77.9,369.7,-6.9,297,4225,0.00,2.42,0.00,0.000,4,0.000,0.047,2404,475,3368,0,0,0,0,0,0
$GC,4256,-1.48,-77.9,372.1,-7.0,297,4260,0.00,2.25,0.00,0.000,6,0.000,0.024,2405,1874,3368,0,0,0,0,0,0
$GC,4588,-1.53,-77.9,394.9,-7.0,305,4593,0.12,2.45,0.00,0.000,4,0.065,0.049,2366,475,3366,0,0,0,0,0,0
$GC,4628,-1.47,-77.9,398.4,-9.3,305,4634,0.12,2.25,0.00,0.000,6,0.100,0.025,2392,1871,3365,0,0,0,0,0,0
$GC,4960,-1.50,-77.9,421.5,-6.3,314,4965,0.00,2.45,0.00,0.000,4,0.000,0.049,2391,467,3363,0,0,0,0,0,0
$GC,5045,-1.50,-77.9,427.5,-7.3,315,5050,0.00,2.30,0.00,0.000,6,0.000,0.026,2391,1872,3363,0,0,0,0,0,0
$STATE,5375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5375,begin apogee
$GC,5382,-0.31,0.0,452.2,8.2,324,5449,1.17,0.00,63.62,0.867,6,0.071,0.000,2645,2038,3050,0,0,0,0,0,0
$STATE,5450,end apogee,CONTROL_FINISHED_OK
$STATE,5450,begin climb
$GC,5453,1.40,77.9,454.2,0.0,325,5529,1.62,2.40,65.12,0.845,4,0.029,0.039,3017,3379,2731,0,0,0,0,0,0
$GC,5581,1.29,189.5,460.6,0.3,327,5687,0.17,2.35,95.90,0.847,6,0.114,0.034,2997,2005,2277,0,0,0,0,0,0
$GC,5996,1.18,189.5,424.7,10.5,338,6001,0.15,2.47,0.00,0.000,4,0.123,0.051,2970,606,2267,0,0,0,0,0,0
$GC,6113,1.05,189.5,411.6,11.9,340,6118,0.15,2.35,0.00,0.000,6,0.125,0.028,2944,1997,2262,0,0,0,0,0,0
$GC,6459,1.05,189.5,373.2,10.9,349,6463,0.00,2.45,0.00,0.000,4,0.000,0.052,2945,604,2261,0,0,0,0,0,0
$GC,6603,1.01,189.5,357.1,11.1,352,6607,0.00,2.35,0.00,0.000,6,0.000,0.028,2945,2012,2259,0,0,0,0,0,0
$GC,6921,1.03,208.1,332.6,6.7,360,6941,0.00,2.58,14.68,0.757,4,0.000,0.051,2945,606,2200,0,0,0,0,0,0
$GC,6975,1.00,208.1,328.3,8.4,361,6979,0.00,2.40,0.00,0.000,6,0.000,0.029,2945,2020,2197,0,0,0,0,0,0
$GC,7294,1.04,216.4,304.5,7.5,369,7310,0.00,2.53,8.45,0.683,4,0.000,0.049,2945,600,2166,0,0,0,0,0,0
$GC,7459,1.04,216.4,289.4,8.6,374,7463,0.00,2.38,0.00,0.000,6,0.000,0.029,2945,2018,2163,0,0,0,0,0,0
$GC,7789,1.12,227.7,265.2,7.2,390,7805,0.00,2.55,11.00,0.692,4,0.000,0.051,2945,607,2121,0,0,0,0,0,0
$GC,7905,1.12,227.7,253.7,10.1,395,7909,0.00,2.38,0.00,0.000,6,0.000,0.029,2945,2014,2117,0,0,0,0,0,0
$GC,8236,1.23,261.2,231.0,5.7,411,8273,0.17,2.55,30.85,0.727,4,0.064,0.051,2989,606,1985,0,0,0,0,0,0
$GC,8537,1.17,261.2,204.1,9.2,424,8541,0.00,2.38,0.00,0.000,6,0.000,0.027,2989,2020,1978,0,0,0,0,0,0
$GC,8869,1.17,261.2,171.1,8.9,453,8873,0.00,2.33,0.00,0.000,4,0.000,0.032,2989,3410,1977,0,0,0,0,0,0
$GC,9013,1.25,261.2,159.3,8.6,468,9017,0.00,2.40,0.00,0.000,6,0.000,0.032,2989,2004,1977,0,0,0,0,0,0
$GC,9277,1.28,261.2,139.2,8.5,492,9281,0.00,2.42,0.00,0.000,4,0.000,0.046,2988,604,1977,0,0,0,0,0,0
$GC,9418,1.28,261.2,123.8,12.0,506,9424,0.00,2.35,0.00,0.000,6,0.000,0.025,2989,2024,1975,0,0,0,0,0,0
$GC,9682,1.37,281.2,101.1,6.6,531,9709,0.10,2.55,17.73,0.590,4,0.079,0.044,3020,606,1902,0,0,0,0,0,0
$GC,9807,1.33,281.2,89.0,9.8,544,9812,0.00,2.33,0.00,0.000,6,0.000,0.023,3019,2016,1899,0,0,0,0,0,0
$GC,10069,1.33,281.2,66.8,9.1,569,10074,0.00,2.45,0.00,0.000,4,0.000,0.044,3019,600,1898,0,0,0,0,0,0
$GC,10188,1.33,281.2,55.3,9.6,581,10192,0.00,2.30,0.00,0.000,6,0.000,0.023,3019,2008,1897,0,0,0,0,0,0
$GC,10456,1.40,303.7,37.9,6.5,606,10482,0.00,2.47,20.67,0.535,4,0.000,0.041,3019,603,1810,0,0,0,0,0,0
$GC,10660,1.40,303.7,20.6,9.1,639,10665,0.00,2.30,0.00,0.000,6,0.000,0.021,3019,2015,1806,0,0,0,0,0,0
$GC,10869,1.47,304.1,3.5,8.0,676,10875,0.00,2.42,0.00,0.000,4,0.000,0.041,3019,599,1805,0,0,0,0,0,0
$STATE,10879,end climb,SURFACE_DEPTH_REACHED
$STATE,10879,begin surface coast
$FINISH,0.6,1.010369
$STATE,10916,end surface coast,CONTROL_FINISHED_OK
$STATE,10916,begin surface
$SM_CCo,11000,0.00,0.000,0,0,1801,306.13
$SM_GC,1.51,11.23,0.00,0.00,0.028,0.000,0.000,423,1872,1801,-10.46,-0.08,306.13
$IRIDIUM_FIX,2101.76,-15756.04,071099,232337
$TT8_MAMPS,0.029146
$HUMID,56.49
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,23.3,66.380
$10V_AH,10.0,55.992
$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,26.350,128.300,328.025,0.000,0.000,146.298,154.235,349.074,4.750,0.000,31.487,1329.214,7707.798,388.734,1672.322,962.243,33.374,1296.628,0.000,1613.579,0.000,29.262,0.000
$DEVICE_MAMPS,130.390,52.156,866.710,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,461.417,451.248,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355816
$DATA_FILE_SIZE,34887,686
$CAP_FILE_SIZE,131600,0
$CFSIZE,260165632,214831104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140710,022815,2111.365,-15753.774,61,5.2,80,9.8