version: 66.06
glider: 139
mission: 7
dive: 740
start: 7 14 110 2 35 19
data:
$ID,139
$MISSION,7
$DIVE,740
$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,-2148604.2
$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
$GPS1,022815,2111.365,-15753.774,61,5.2,80,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-72.4
$GPS2,023428,2111.368,-15753.805,12,3.1,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,WAIT
$TGT_LATLONG,2113.500,-15753.630
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.094,0.158
$KALMAN_X,-383609.0,238.2,487.1,384834.2,-1014.1
$KALMAN_Y,-8275.9,338.0,103.3,16086.8,-1253.9
$MHEAD_RNG_PITCHd_Wd,20.9,3959,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.40,-77.9,0.0,0.0,0,73,0.00,0.00,-53.83,0.000,2,0.000,0.000,422,1873,3223,0,0,0,0,0,0
$GC,77,-1.40,-77.9,3.9,-6.8,11,96,10.57,2.42,-2.85,0.000,4,0.131,0.050,2406,462,3369,0,0,0,0,0,0
$GC,160,-1.24,-77.9,21.7,-14.0,28,167,0.17,2.33,0.00,0.000,6,0.098,0.020,2441,1909,3370,0,0,0,0,0,0
$GC,364,-1.18,-77.9,47.7,-13.0,52,365,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1914,3372,0,0,0,0,0,0
$GC,617,-1.18,-77.9,77.0,-11.2,76,621,0.00,2.47,0.00,0.000,4,0.000,0.041,2441,457,3372,0,0,0,0,0,0
$GC,669,-1.18,-77.9,83.3,-12.3,81,673,0.00,2.28,0.00,0.000,6,0.000,0.019,2441,1891,3372,0,0,0,0,0,0
$GC,932,-1.18,-77.9,104.8,-7.6,105,936,0.00,2.45,0.00,0.000,4,0.000,0.040,2441,461,3373,0,0,0,0,0,0
$GC,951,-1.18,-77.9,106.8,-8.4,106,956,0.00,2.25,0.00,0.000,6,0.000,0.019,2441,1885,3373,0,0,0,0,0,0
$GC,1214,-1.25,-77.9,132.3,-9.5,131,1219,0.00,2.42,0.00,0.000,4,0.000,0.041,2441,459,3375,0,0,0,0,0,0
$GC,1298,-1.29,-77.9,141.6,-10.3,139,1303,0.00,2.22,0.00,0.000,6,0.000,0.019,2441,1880,3375,0,0,0,0,0,0
$GC,1564,-1.35,-77.9,160.0,-6.0,164,1568,0.00,2.40,0.00,0.000,4,0.000,0.041,2441,466,3375,0,0,0,0,0,0
$GC,1602,-1.38,-77.9,163.3,-8.0,167,1608,0.12,2.25,0.00,0.000,6,0.062,0.019,2397,1879,3376,0,0,0,0,0,0
$GC,1864,-1.38,-77.9,186.2,-8.4,192,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1883,3376,0,0,0,0,0,0
$GC,2116,-1.35,-77.9,207.3,-8.6,212,2121,0.10,2.42,0.00,0.000,4,0.107,0.041,2418,461,3376,0,0,0,0,0,0
$GC,2144,-1.35,-77.9,209.8,-8.1,213,2149,0.00,2.25,0.00,0.000,6,0.000,0.020,2418,1871,3376,0,0,0,0,0,0
$GC,2466,-1.38,-77.9,237.1,-8.4,229,2470,0.00,2.30,0.00,0.000,4,0.000,0.026,2417,3268,3376,0,0,0,0,0,0
$GC,2500,-1.51,-77.9,240.0,-7.6,230,2505,0.15,2.30,0.00,0.000,6,0.054,0.027,2371,1869,3376,0,0,0,0,0,0
$GC,2818,-1.45,-77.9,266.4,-7.4,245,2823,0.12,2.40,0.00,0.000,4,0.098,0.044,2397,474,3376,0,0,0,0,0,0
$GC,2898,-1.45,-77.9,273.1,-7.8,248,2903,0.00,2.22,0.00,0.000,6,0.000,0.021,2397,1876,3376,0,0,0,0,0,0
$GC,3215,-1.45,-77.9,298.1,-8.4,263,3219,0.00,2.40,0.00,0.000,4,0.000,0.044,2398,468,3375,0,0,0,0,0,0
$GC,3234,-1.45,-77.9,300.0,-9.0,264,3239,0.00,2.25,0.00,0.000,6,0.000,0.021,2398,1878,3375,0,0,0,0,0,0
$GC,3584,-1.45,-77.9,331.8,-9.3,273,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1883,3374,0,0,0,0,0,0
$GC,3911,-1.45,-77.9,361.1,-8.9,281,3915,0.00,2.40,0.00,0.000,4,0.000,0.046,2398,475,3373,0,0,0,0,0,0
$GC,3990,-1.45,-77.9,370.1,-10.9,282,3994,0.00,2.28,0.00,0.000,6,0.000,0.023,2398,1876,3373,0,0,0,0,0,0
$GC,4321,-1.45,-77.9,397.9,-7.5,290,4325,0.00,2.42,0.00,0.000,4,0.000,0.047,2398,475,3371,0,0,0,0,0,0
$GC,4345,-1.45,-77.9,399.8,-7.9,290,4350,0.00,2.28,0.00,0.000,6,0.000,0.025,2398,1876,3371,0,0,0,0,0,0
$GC,4693,-1.49,-77.9,422.5,-6.7,299,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1880,3369,0,0,0,0,0,0
$GC,5019,-1.53,-77.9,446.2,-7.5,307,5023,0.00,2.45,0.00,0.000,4,0.000,0.049,2397,470,3367,0,0,0,0,0,0
$STATE,5063,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5063,begin apogee
$GC,5072,-0.31,0.0,450.3,8.4,308,5141,1.12,0.00,64.78,0.850,6,0.072,0.000,2642,2009,3050,0,0,0,0,0,0
$STATE,5142,end apogee,CONTROL_FINISHED_OK
$STATE,5142,begin climb
$GC,5144,1.40,77.9,451.6,0.0,309,5220,1.62,2.47,64.85,0.834,4,0.028,0.038,3027,3400,2732,0,0,0,0,0,0
$GC,5264,1.27,167.9,454.3,1.8,311,5352,0.20,2.38,77.00,0.831,6,0.112,0.032,2992,2007,2364,0,0,0,0,0,0
$GC,5688,1.16,167.9,418.4,9.5,322,5693,0.12,2.47,0.00,0.000,4,0.123,0.051,2969,600,2355,0,0,0,0,0,0
$GC,5875,1.03,167.9,398.3,10.9,326,5880,0.17,2.35,0.00,0.000,6,0.117,0.027,2940,2014,2351,0,0,0,0,0,0
$GC,6198,1.03,167.9,371.5,8.4,334,6203,0.00,2.47,0.00,0.000,4,0.000,0.050,2939,599,2350,0,0,0,0,0,0
$GC,6255,1.00,167.9,366.5,8.7,335,6260,0.00,2.35,0.00,0.000,6,0.000,0.028,2939,2009,2348,0,0,0,0,0,0
$GC,6574,1.03,198.5,345.9,5.9,343,6606,0.00,2.55,25.42,0.784,4,0.000,0.050,2939,613,2238,0,0,0,0,0,0
$GC,6670,1.03,198.5,338.4,9.3,345,6674,0.00,2.38,0.00,0.000,6,0.000,0.028,2939,2015,2234,0,0,0,0,0,0
$GC,6993,1.09,204.5,313.2,7.6,353,7005,0.00,2.55,5.65,0.601,4,0.000,0.050,2939,607,2216,0,0,0,0,0,0
$GC,7101,1.09,204.5,304.2,8.4,355,7105,0.00,2.35,0.00,0.000,6,0.000,0.028,2939,2013,2212,0,0,0,0,0,0
$GC,7423,1.18,204.5,278.5,8.2,369,7428,0.15,2.50,0.00,0.000,4,0.067,0.049,2977,602,2213,0,0,0,0,0,0
$GC,7475,1.11,204.5,273.8,8.3,371,7479,0.00,2.35,0.00,0.000,6,0.000,0.028,2977,2014,2211,0,0,0,0,0,0
$GC,7796,1.14,225.3,252.2,6.6,387,7821,0.00,2.55,19.42,0.717,4,0.000,0.048,2977,608,2131,0,0,0,0,0,0
$GC,7865,1.10,225.3,246.7,8.6,390,7870,0.12,2.35,0.00,0.000,6,0.122,0.028,2956,2013,2127,0,0,0,0,0,0
$GC,8199,1.22,266.0,225.2,5.2,406,8242,0.10,2.58,37.38,0.709,4,0.082,0.048,2984,607,1963,0,0,0,0,0,0
$GC,8463,1.19,266.0,204.1,8.2,417,8467,0.00,2.35,0.00,0.000,6,0.000,0.025,2984,2024,1956,0,0,0,0,0,0
$GC,8794,1.23,266.0,176.2,8.5,446,8798,0.00,2.45,0.00,0.000,4,0.000,0.045,2985,606,1956,0,0,0,0,0,0
$GC,8954,1.20,268.8,162.1,7.8,462,8959,0.00,2.30,0.00,0.000,6,0.000,0.024,2985,2013,1954,0,0,0,0,0,0
$GC,9218,1.26,272.7,140.4,7.8,487,9229,0.00,2.53,5.55,0.483,4,0.000,0.044,2984,602,1937,0,0,0,0,0,0
$GC,9319,1.28,292.6,132.7,6.7,497,9344,0.00,2.30,19.02,0.601,6,0.000,0.023,2985,2018,1857,0,0,0,0,0,0
$GC,9606,1.40,313.8,115.0,6.6,525,9633,0.15,2.53,20.00,0.584,4,0.061,0.048,3028,597,1769,0,0,0,0,0,0
$GC,9843,1.36,313.8,91.2,10.4,550,9849,0.00,2.30,0.00,0.000,6,0.000,0.021,3028,2011,1765,0,0,0,0,0,0
$GC,10107,1.41,313.8,66.5,8.0,575,10111,0.00,2.42,0.00,0.000,4,0.000,0.043,3028,598,1764,0,0,0,0,0,0
$GC,10254,1.41,313.8,53.5,9.6,590,10260,0.00,2.28,0.00,0.000,6,0.000,0.021,3028,2013,1763,0,0,0,0,0,0
$GC,10520,1.44,313.8,31.8,8.3,615,10524,0.00,2.40,0.00,0.000,4,0.000,0.042,3027,604,1763,0,0,0,0,0,0
$GC,10693,1.44,313.8,15.3,9.3,649,10699,0.00,2.28,0.00,0.000,6,0.000,0.021,3028,2006,1763,0,0,0,0,0,0
$STATE,10841,end climb,SURFACE_DEPTH_REACHED
$STATE,10841,begin surface coast
$FINISH,0.5,1.010437
$STATE,10874,end surface coast,CONTROL_FINISHED_OK
$STATE,10874,begin surface
$SM_CCo,10956,0.00,0.000,0,0,1760,316.19
$SM_GC,1.39,11.15,0.00,0.00,0.025,0.000,0.000,426,1866,1760,-10.44,-0.28,316.19
$IRIDIUM_FIX,2101.76,-15753.03,071099,232306
$TT8_MAMPS,0.029146
$HUMID,54.88
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,22.70
$XPDR_PINGS,2
$24V_AH,23.3,66.468
$10V_AH,10.0,56.048
$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,26.175,119.450,339.075,0.000,0.000,25.114,30.088,170.466,5.000,0.000,32.301,1300.573,7519.274,374.267,1615.848,511.152,33.378,1261.484,0.000,1561.003,0.000,29.261,0.000
$DEVICE_MAMPS,131.157,55.224,849.836,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,457.985,454.016,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355840
$DATA_FILE_SIZE,35001,681
$CAP_FILE_SIZE,122073,0
$CFSIZE,260165632,214781952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140710,054006,2111.872,-15753.832,84,1.5,95,9.8