version: 66.06
glider: 139
mission: 7
dive: 700
start: 7 8 110 14 15 1
data:
$ID,139
$MISSION,7
$DIVE,700
$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,-2147134.5
$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
$GPS1,135907,2059.735,-15751.820,85,1.6,91,9.8
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-71.0
$GPS2,141410,2059.609,-15751.894,22,3.8,41,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.165,0.080
$KALMAN_X,-378589.0,-433.1,-259.4,384530.8,260.8
$KALMAN_Y,15121.4,-820.1,-512.6,-27303.6,564.6
$MHEAD_RNG_PITCHd_Wd,286.1,23870,-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,-53.83,0.000,2,0.000,0.000,422,1858,3219,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.6,-6.6,11,96,10.57,2.42,-3.00,0.000,4,0.130,0.038,2406,3302,3368,0,0,0,0,0,0
$GC,195,-1.40,-77.9,25.4,-12.7,36,201,0.00,2.42,0.00,0.000,6,0.000,0.029,2406,1866,3369,0,0,0,0,0,0
$GC,400,-1.24,-77.9,54.7,-13.9,58,405,0.17,2.40,0.00,0.000,4,0.100,0.041,2441,471,3370,0,0,0,0,0,0
$GC,441,-1.12,-77.9,60.2,-13.6,61,447,0.12,2.30,0.00,0.000,6,0.106,0.019,2466,1911,3369,0,0,0,0,0,0
$GC,705,-1.12,-77.9,87.1,-10.0,86,709,0.00,2.47,0.00,0.000,4,0.000,0.040,2466,468,3370,0,0,0,0,0,0
$GC,740,-1.12,-77.9,90.4,-9.4,89,744,0.00,2.22,0.00,0.000,6,0.000,0.019,2466,1878,3370,0,0,0,0,0,0
$GC,1004,-1.19,-77.9,111.7,-7.8,113,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1883,3371,0,0,0,0,0,0
$GC,1268,-1.29,-77.9,135.0,-8.6,138,1273,0.15,2.42,0.00,0.000,4,0.054,0.041,2414,471,3372,0,0,0,0,0,0
$GC,1288,-1.29,-77.9,137.2,-9.4,139,1293,0.00,2.25,0.00,0.000,6,0.000,0.019,2414,1885,3372,0,0,0,0,0,0
$GC,1551,-1.29,-77.9,162.9,-9.5,164,1555,0.00,2.40,0.00,0.000,4,0.000,0.042,2414,472,3372,0,0,0,0,0,0
$GC,1631,-1.26,-77.9,171.5,-10.0,172,1636,0.12,2.25,0.00,0.000,6,0.096,0.019,2441,1883,3372,0,0,0,0,0,0
$GC,1893,-1.32,-77.9,193.1,-7.3,196,1897,0.00,2.42,0.00,0.000,4,0.000,0.041,2441,464,3373,0,0,0,0,0,0
$GC,1927,-1.36,-77.9,195.6,-7.5,199,1932,0.12,2.25,0.00,0.000,6,0.061,0.020,2397,1876,3373,0,0,0,0,0,0
$GC,2193,-1.36,-77.9,218.8,-9.4,214,2195,0.10,0.00,0.00,0.000,6,0.106,0.000,2417,1880,3373,0,0,0,0,0,0
$GC,2502,-1.40,-77.9,242.2,-7.4,229,2507,0.00,2.40,0.00,0.000,4,0.000,0.042,2417,471,3373,0,0,0,0,0,0
$GC,2596,-1.40,-77.9,250.7,-8.7,233,2600,0.00,2.25,0.00,0.000,6,0.000,0.020,2417,1877,3373,0,0,0,0,0,0
$GC,2920,-1.46,-77.9,277.6,-8.1,249,2925,0.00,2.42,0.00,0.000,4,0.000,0.044,2417,462,3373,0,0,0,0,0,0
$GC,2949,-1.46,-77.9,280.1,-8.7,250,2953,0.00,2.28,0.00,0.000,6,0.000,0.021,2417,1878,3372,0,0,0,0,0,0
$GC,3270,-1.53,-77.9,303.5,-7.3,265,3275,0.15,2.42,0.00,0.000,4,0.055,0.044,2369,466,3371,0,0,0,0,0,0
$GC,3354,-1.45,-77.9,311.9,-9.2,266,3361,0.12,2.28,0.00,0.000,6,0.097,0.022,2395,1873,3372,0,0,0,0,0,0
$GC,3686,-1.45,-77.9,339.5,-8.6,275,3690,0.00,2.30,0.00,0.000,4,0.000,0.029,2395,3266,3370,0,0,0,0,0,0
$GC,3702,-1.50,-77.9,340.6,-7.8,275,3707,0.00,2.35,0.00,0.000,6,0.000,0.030,2395,1867,3370,0,0,0,0,0,0
$GC,4052,-1.53,-77.9,365.0,-6.7,284,4057,0.00,2.40,0.00,0.000,4,0.000,0.047,2394,471,3368,0,0,0,0,0,0
$GC,4192,-1.53,-77.9,375.7,-7.1,287,4197,0.00,2.30,0.00,0.000,6,0.000,0.024,2395,1883,3367,0,0,0,0,0,0
$GC,4516,-1.57,-77.9,399.5,-7.2,295,4524,0.10,2.45,0.00,0.000,4,0.076,0.048,2361,472,3365,0,0,0,0,0,0
$GC,4557,-1.49,-77.9,403.4,-9.7,295,4562,0.12,2.28,0.00,0.000,6,0.101,0.025,2387,1881,3364,0,0,0,0,0,0
$GC,4895,-1.49,-77.9,429.9,-7.7,304,4900,0.00,2.42,0.00,0.000,4,0.000,0.049,2387,475,3362,0,0,0,0,0,0
$GC,5003,-1.49,-77.9,439.9,-8.6,306,5007,0.00,2.30,0.00,0.000,6,0.000,0.026,2387,1880,3361,0,0,0,0,0,0
$STATE,5151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5152,begin apogee
$GC,5158,-0.31,0.0,451.5,7.6,310,5225,1.20,0.00,63.55,0.861,6,0.071,0.000,2646,2034,3050,0,0,0,0,0,0
$STATE,5226,end apogee,CONTROL_FINISHED_OK
$STATE,5226,begin climb
$GC,5229,1.40,77.9,452.6,0.0,311,5304,1.60,2.40,64.93,0.841,4,0.028,0.039,3022,3376,2732,0,0,0,0,0,0
$GC,5352,1.26,160.9,455.1,2.3,313,5432,0.17,2.35,71.07,0.838,6,0.116,0.034,2988,2006,2394,0,0,0,0,0,0
$GC,5773,1.14,168.4,422.3,7.5,324,5786,0.15,2.53,6.32,0.653,4,0.118,0.052,2966,609,2363,0,0,0,0,0,0
$GC,5879,1.01,168.4,412.8,9.2,326,5884,0.17,2.33,0.00,0.000,6,0.116,0.028,2937,1987,2360,0,0,0,0,0,0
$GC,6193,1.01,168.4,387.1,8.0,334,6198,0.00,2.45,0.00,0.000,4,0.000,0.051,2936,604,2358,0,0,0,0,0,0
$GC,6227,0.95,168.4,384.2,8.9,334,6231,0.00,2.35,0.00,0.000,6,0.000,0.028,2937,2013,2357,0,0,0,0,0,0
$GC,6558,0.95,172.2,358.4,7.8,342,6563,0.00,2.50,0.00,0.000,4,0.000,0.051,2936,599,2356,0,0,0,0,0,0
$GC,6672,0.91,172.2,348.2,9.6,344,6676,0.12,2.35,0.00,0.000,6,0.119,0.029,2915,2012,2354,0,0,0,0,0,0
$GC,7019,1.01,188.6,321.4,6.9,353,7043,0.00,2.58,17.40,0.769,4,0.000,0.050,2914,601,2280,0,0,0,0,0,0
$GC,7077,1.06,188.6,317.0,8.2,354,7082,0.12,2.38,0.00,0.000,6,0.072,0.028,2948,2011,2277,0,0,0,0,0,0
$GC,7393,1.13,220.4,296.6,5.8,363,7429,0.00,2.45,29.23,0.772,4,0.000,0.036,2948,3412,2150,0,0,0,0,0,0
$GC,7460,1.22,220.4,291.9,8.3,366,7466,0.15,2.42,0.00,0.000,6,0.065,0.035,2987,2014,2150,0,0,0,0,0,0
$GC,7791,1.22,220.4,258.0,11.2,382,7796,0.00,2.47,0.00,0.000,4,0.000,0.050,2986,593,2145,0,0,0,0,0,0
$GC,7978,1.15,220.4,239.1,9.5,390,7983,0.00,2.40,0.00,0.000,6,0.000,0.028,2986,2018,2141,0,0,0,0,0,0
$GC,8303,1.15,220.4,212.7,8.4,406,8307,0.00,2.47,0.00,0.000,4,0.000,0.049,2986,599,2141,0,0,0,0,0,0
$GC,8513,1.11,220.4,193.0,9.6,419,8518,0.15,2.38,0.00,0.000,6,0.114,0.027,2959,2023,2138,0,0,0,0,0,0
$GC,8774,1.21,227.3,173.6,7.5,443,8786,0.00,2.55,5.62,0.532,4,0.000,0.047,2958,597,2123,0,0,0,0,0,0
$GC,8798,1.28,239.9,171.9,7.2,445,8820,0.15,2.35,12.85,0.630,6,0.067,0.026,2997,2018,2071,0,0,0,0,0,0
$GC,9074,1.29,251.9,150.3,7.2,472,9093,0.00,2.50,11.98,0.606,4,0.000,0.048,2997,603,2023,0,0,0,0,0,0
$GC,9181,1.23,251.9,141.2,8.2,483,9185,0.00,2.33,0.00,0.000,6,0.000,0.025,2997,2005,2018,0,0,0,0,0,0
$GC,9449,1.29,272.2,122.1,6.6,508,9470,0.00,0.00,18.98,0.604,6,0.000,0.000,2997,2010,1939,0,0,0,0,0,0
$GC,9723,1.36,283.4,100.3,7.3,534,9741,0.00,2.50,11.05,0.549,4,0.000,0.044,2997,606,1893,0,0,0,0,0,0
$GC,10005,1.37,291.1,74.7,7.5,564,10020,0.00,2.33,7.55,0.491,6,0.000,0.021,2998,2034,1863,0,0,0,0,0,0
$GC,10275,1.50,300.7,53.6,7.4,590,10294,0.20,2.53,10.18,0.504,4,0.050,0.041,3054,602,1823,0,0,0,0,0,0
$GC,10435,1.41,300.7,37.7,12.0,607,10440,0.17,2.28,0.00,0.000,6,0.094,0.021,3019,2016,1820,0,0,0,0,0,0
$GC,10707,1.48,314.5,12.2,7.1,648,10726,0.00,2.45,13.38,0.488,4,0.000,0.039,3019,597,1766,0,0,0,0,0,0
$STATE,10807,end climb,SURFACE_DEPTH_REACHED
$STATE,10807,begin surface coast
$FINISH,0.5,1.022591
$STATE,10839,end surface coast,CONTROL_FINISHED_OK
$STATE,10839,begin surface
$SM_CCo,10923,0.00,0.000,0,0,1756,317.42
$SM_GC,1.39,11.20,0.00,0.00,0.026,0.000,0.000,423,1870,1756,-10.46,-0.14,317.42
$IRIDIUM_FIX,2052.52,-15749.62,021099,141449
$TT8_MAMPS,0.029146
$HUMID,54.01
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.3,62.788
$10V_AH,10.0,53.697
$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,27.450,123.975,344.075,0.000,0.000,83.146,96.723,413.318,4.500,0.000,42.346,1304.787,7584.472,400.488,1627.809,899.869,33.377,1285.032,0.000,1562.489,0.000,29.276,0.000
$DEVICE_MAMPS,130.390,52.156,861.341,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.845,448.620,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,34987,676
$CAP_FILE_SIZE,135009,0
$CFSIZE,260165632,217239552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080710,171931,2100.146,-15752.438,111,1.6,111,9.8