version: 66.06
glider: 139
mission: 7
dive: 741
start: 7 14 110 5 46 57
data:
$ID,139
$MISSION,7
$DIVE,741
$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,-2148635.5
$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
$GPS1,054006,2111.872,-15753.832,84,1.5,95,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.3
$GPS2,054606,2111.858,-15753.903,30,1.1,30,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,WAIT
$TGT_LATLONG,2113.500,-15753.630
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.033,0.181
$KALMAN_X,-383945.3,513.6,-673.5,385883.5,-145.8
$KALMAN_Y,-8438.0,-115.5,-152.3,17867.4,-554.8
$MHEAD_RNG_PITCHd_Wd,0.6,3077,-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,-54.42,0.000,2,0.000,0.000,426,1865,3187,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.7,-6.5,11,96,10.50,2.38,-3.65,0.000,4,0.130,0.035,2408,3304,3369,0,0,0,0,0,0
$GC,178,-1.34,-77.9,22.7,-13.5,32,184,0.00,2.38,0.00,0.000,6,0.000,0.028,2407,1871,3370,0,0,0,0,0,0
$GC,386,-1.20,-77.9,50.0,-12.7,56,391,0.22,2.40,0.00,0.000,4,0.094,0.040,2453,468,3371,0,0,0,0,0,0
$GC,431,-1.13,-77.9,55.4,-11.2,60,436,0.00,2.30,0.00,0.000,6,0.000,0.019,2452,1913,3371,0,0,0,0,0,0
$GC,694,-1.10,-77.9,81.3,-9.5,84,699,0.12,2.47,0.00,0.000,4,0.107,0.041,2477,471,3372,0,0,0,0,0,0
$GC,757,-1.14,-77.9,87.8,-10.5,90,762,0.00,2.25,0.00,0.000,6,0.000,0.018,2475,1880,3372,0,0,0,0,0,0
$GC,1021,-1.23,-77.9,109.7,-7.0,114,1026,0.12,2.45,0.00,0.000,4,0.062,0.041,2432,462,3373,0,0,0,0,0,0
$GC,1084,-1.23,-77.9,115.3,-8.6,120,1088,0.00,2.25,0.00,0.000,6,0.000,0.018,2431,1885,3373,0,0,0,0,0,0
$GC,1347,-1.23,-77.9,136.2,-8.1,144,1351,0.00,2.42,0.00,0.000,4,0.000,0.041,2432,468,3374,0,0,0,0,0,0
$GC,1390,-1.19,-77.9,140.7,-11.2,148,1395,0.10,2.22,0.00,0.000,6,0.104,0.019,2454,1878,3374,0,0,0,0,0,0
$GC,1652,-1.27,-77.9,161.8,-7.0,172,1656,0.00,2.22,0.00,0.000,4,0.000,0.025,2453,3257,3375,0,0,0,0,0,0
$GC,1687,-1.42,-77.9,164.4,-7.9,175,1692,0.22,2.28,0.00,0.000,6,0.042,0.025,2385,1869,3374,0,0,0,0,0,0
$GC,1948,-1.37,-77.9,187.7,-9.7,199,1953,0.15,2.38,0.00,0.000,4,0.091,0.041,2417,476,3375,0,0,0,0,0,0
$GC,2063,-1.37,-77.9,198.6,-10.3,210,2069,0.00,2.22,0.00,0.000,6,0.000,0.019,2416,1880,3376,0,0,0,0,0,0
$GC,2327,-1.37,-77.9,223.0,-8.9,224,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1884,3376,0,0,0,0,0,0
$GC,2639,-1.41,-77.9,245.3,-5.1,239,2643,0.00,2.38,0.00,0.000,4,0.000,0.041,2417,475,3376,0,0,0,0,0,0
$GC,2717,-1.41,-77.9,250.1,-5.7,242,2721,0.00,2.20,0.00,0.000,6,0.000,0.020,2416,1875,3376,0,0,0,0,0,0
$GC,3039,-1.48,-77.9,272.1,-6.9,258,3044,0.12,2.42,0.00,0.000,4,0.061,0.043,2374,469,3376,0,0,0,0,0,0
$GC,3197,-1.41,-77.9,287.0,-10.6,265,3202,0.15,2.25,0.00,0.000,6,0.094,0.021,2406,1877,3375,0,0,0,0,0,0
$GC,3549,-1.44,-77.9,313.1,-7.6,278,3553,0.00,2.38,0.00,0.000,4,0.000,0.044,2406,477,3374,0,0,0,0,0,0
$GC,3605,-1.44,-77.9,317.2,-7.0,279,3609,0.00,2.22,0.00,0.000,6,0.000,0.022,2405,1874,3374,0,0,0,0,0,0
$GC,3920,-1.49,-77.9,339.2,-7.1,287,3924,0.00,2.42,0.00,0.000,4,0.000,0.045,2405,468,3373,0,0,0,0,0,0
$GC,3953,-1.49,-77.9,341.8,-7.6,287,3957,0.00,2.25,0.00,0.000,6,0.000,0.022,2405,1874,3373,0,0,0,0,0,0
$GC,4285,-1.52,-77.9,371.9,-9.1,295,4290,0.10,2.42,0.00,0.000,4,0.074,0.046,2371,478,3372,0,0,0,0,0,0
$GC,4332,-1.45,-77.9,376.2,-8.5,296,4337,0.12,2.25,0.00,0.000,6,0.098,0.024,2396,1879,3372,0,0,0,0,0,0
$GC,4656,-1.45,-77.9,400.6,-8.1,304,4661,0.00,2.42,0.00,0.000,4,0.000,0.047,2396,479,3369,0,0,0,0,0,0
$GC,4704,-1.45,-77.9,405.5,-10.2,305,4708,0.00,2.25,0.00,0.000,6,0.000,0.025,2396,1876,3369,0,0,0,0,0,0
$GC,5027,-1.49,-77.9,433.9,-8.5,313,5031,0.00,2.42,0.00,0.000,4,0.000,0.049,2396,475,3367,0,0,0,0,0,0
$GC,5055,-1.49,-77.9,436.4,-9.3,313,5059,0.00,2.28,0.00,0.000,6,0.000,0.025,2396,1882,3367,0,0,0,0,0,0
$STATE,5227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5227,begin apogee
$GC,5234,-0.31,0.0,450.0,7.9,318,5303,1.15,0.00,64.62,0.844,6,0.071,0.000,2644,2038,3050,0,0,0,0,0,0
$STATE,5303,end apogee,CONTROL_FINISHED_OK
$STATE,5303,begin climb
$GC,5306,1.40,77.9,451.2,0.0,319,5382,1.62,2.38,65.00,0.828,4,0.028,0.037,3016,3371,2732,0,0,0,0,0,0
$GC,5416,1.27,170.5,454.0,1.7,321,5503,0.20,2.33,78.95,0.826,6,0.113,0.031,2995,2004,2356,0,0,0,0,0,0
$GC,5850,1.15,170.5,412.5,10.7,332,5855,0.15,2.45,0.00,0.000,4,0.118,0.050,2967,606,2346,0,0,0,0,0,0
$GC,5960,1.04,170.5,401.4,9.6,334,5965,0.15,2.30,0.00,0.000,6,0.121,0.026,2942,1987,2342,0,0,0,0,0,0
$GC,6311,1.06,194.2,377.3,6.4,343,6336,0.00,2.50,19.85,0.775,4,0.000,0.050,2941,606,2258,0,0,0,0,0,0
$GC,6415,1.03,194.2,369.1,8.3,345,6419,0.00,2.35,0.00,0.000,6,0.000,0.028,2941,2017,2253,0,0,0,0,0,0
$GC,6766,1.04,199.5,343.2,7.7,354,6778,0.00,2.53,5.50,0.603,4,0.000,0.048,2941,601,2235,0,0,0,0,0,0
$GC,6890,1.04,199.5,332.1,8.6,356,6894,0.00,2.35,0.00,0.000,6,0.000,0.028,2940,2018,2231,0,0,0,0,0,0
$GC,7227,1.11,222.5,308.7,6.4,365,7255,0.00,2.58,21.92,0.756,4,0.000,0.049,2941,609,2140,0,0,0,0,0,0
$GC,7414,1.11,222.5,293.0,9.4,370,7418,0.00,2.35,0.00,0.000,6,0.000,0.028,2941,2014,2135,0,0,0,0,0,0
$GC,7743,1.20,235.8,265.5,7.1,386,7765,0.15,2.50,12.30,0.690,4,0.067,0.048,2979,605,2087,0,0,0,0,0,0
$GC,7966,1.16,235.8,244.1,11.2,395,7970,0.00,2.35,0.00,0.000,6,0.000,0.027,2979,2015,2082,0,0,0,0,0,0
$GC,8286,1.16,235.8,214.3,8.5,411,8291,0.00,2.45,0.00,0.000,4,0.000,0.048,2980,605,2082,0,0,0,0,0,0
$GC,8390,1.12,235.8,203.7,11.0,415,8394,0.00,2.35,0.00,0.000,6,0.000,0.026,2980,2022,2080,0,0,0,0,0,0
$GC,8718,1.17,245.0,177.6,7.4,444,8735,0.00,2.47,8.55,0.593,4,0.000,0.044,2979,606,2049,0,0,0,0,0,0
$GC,8969,1.20,265.2,158.7,6.6,471,8995,0.00,2.30,19.42,0.634,6,0.000,0.025,2979,2021,1967,0,0,0,0,0,0
$GC,9250,1.27,265.2,138.3,9.4,498,9255,0.00,2.45,0.00,0.000,4,0.000,0.046,2980,603,1965,0,0,0,0,0,0
$GC,9446,1.27,265.2,120.0,8.9,518,9451,0.00,2.28,0.00,0.000,6,0.000,0.023,2980,2007,1962,0,0,0,0,0,0
$GC,9709,1.38,285.2,100.1,6.6,543,9736,0.15,2.50,18.33,0.576,4,0.060,0.044,3023,612,1886,0,0,0,0,0,0
$GC,9796,1.33,285.2,92.8,8.6,552,9801,0.00,2.30,0.00,0.000,6,0.000,0.023,3023,2017,1883,0,0,0,0,0,0
$GC,10061,1.38,307.6,74.1,6.5,576,10089,0.00,2.45,20.90,0.555,4,0.000,0.042,3023,608,1794,0,0,0,0,0,0
$GC,10240,1.38,307.6,57.9,9.2,595,10244,0.00,2.30,0.00,0.000,6,0.000,0.021,3023,2012,1789,0,0,0,0,0,0
$GC,10504,1.43,309.5,36.4,7.9,619,10508,0.00,2.42,0.00,0.000,4,0.000,0.042,3023,605,1789,0,0,0,0,0,0
$GC,10650,1.43,309.5,23.4,8.7,641,10655,0.00,2.30,0.00,0.000,6,0.000,0.021,3023,2021,1788,0,0,0,0,0,0
$GC,10859,1.48,309.5,6.5,9.0,678,10864,0.00,2.42,0.00,0.000,4,0.000,0.040,3023,603,1789,0,0,0,0,0,0
$STATE,10896,end climb,SURFACE_DEPTH_REACHED
$STATE,10896,begin surface coast
$FINISH,0.6,1.007284
$STATE,10934,end surface coast,CONTROL_FINISHED_OK
$STATE,10934,begin surface
$SM_CCo,11019,0.00,0.000,0,0,1784,310.30
$SM_GC,1.56,11.07,0.00,0.00,0.022,0.000,0.000,426,1895,1784,-10.44,0.57,310.30
$IRIDIUM_FIX,2101.76,-15756.04,081099,020201
$TT8_MAMPS,0.029146
$HUMID,55.27
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.3,66.554
$10V_AH,10.0,56.105
$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,26.600,127.400,335.350,0.000,0.000,29.523,26.934,159.028,4.500,0.000,30.392,1346.250,7423.656,388.183,1717.344,495.991,33.371,1315.088,0.000,1656.080,0.000,29.253,0.000
$DEVICE_MAMPS,129.623,52.923,844.467,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,466.523,458.163,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355844
$DATA_FILE_SIZE,34898,694
$CAP_FILE_SIZE,128207,0
$CFSIZE,260165632,214712320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140710,085138,2112.564,-15753.737,26,1.7,26,9.8