version: 66.06
glider: 139
mission: 7
dive: 716
start: 7 10 110 18 25 38
data:
$ID,139
$MISSION,7
$DIVE,716
$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,-2147721.2
$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
$GPS1,181831,2106.411,-15800.327,70,1.4,70,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-69.5
$GPS2,182444,2106.354,-15800.312,13,1.7,13,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.173,0.061
$KALMAN_X,-374984.2,-564.7,-91.0,366346.3,1451.8
$KALMAN_Y,3155.6,-235.5,-250.0,-3695.5,-91.6
$MHEAD_RNG_PITCHd_Wd,279.7,4755,-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,-77.9,0.0,0.0,0,67,0.00,0.00,-49.58,0.000,2,0.000,0.000,424,1851,3077,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.2,-5.5,10,95,10.55,2.40,-6.03,0.000,4,0.131,0.038,2404,3297,3369,0,0,0,0,0,0
$GC,167,-1.40,-77.9,21.0,-13.2,30,173,0.00,2.40,0.00,0.000,6,0.000,0.028,2403,1871,3370,0,0,0,0,0,0
$GC,376,-1.23,-77.9,48.0,-12.1,55,381,0.20,2.40,0.00,0.000,4,0.096,0.040,2444,469,3371,0,0,0,0,0,0
$GC,431,-1.16,-77.9,54.7,-10.9,60,436,0.00,2.33,0.00,0.000,6,0.000,0.019,2444,1908,3372,0,0,0,0,0,0
$GC,695,-1.09,-77.9,86.1,-12.9,84,700,0.15,2.47,0.00,0.000,4,0.099,0.041,2474,471,3372,0,0,0,0,0,0
$GC,733,-1.09,-77.9,91.4,-12.3,87,738,0.00,2.25,0.00,0.000,6,0.000,0.018,2474,1883,3373,0,0,0,0,0,0
$GC,996,-1.17,-77.9,115.6,-8.3,112,1000,0.00,2.42,0.00,0.000,4,0.000,0.041,2474,461,3374,0,0,0,0,0,0
$GC,1029,-1.24,-77.9,118.7,-9.0,115,1035,0.12,2.28,0.00,0.000,6,0.062,0.018,2427,1887,3374,0,0,0,0,0,0
$GC,1290,-1.24,-77.9,141.8,-8.6,140,1294,0.00,2.25,0.00,0.000,4,0.000,0.025,2428,3264,3375,0,0,0,0,0,0
$GC,1318,-1.31,-77.9,144.3,-8.9,142,1324,0.00,2.33,0.00,0.000,6,0.000,0.025,2428,1863,3375,0,0,0,0,0,0
$GC,1583,-1.35,-77.9,165.1,-8.0,167,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,1862,3375,0,0,0,0,0,0
$GC,1847,-1.39,-77.9,186.0,-8.4,192,1851,0.00,2.35,0.00,0.000,4,0.000,0.041,2428,474,3375,0,0,0,0,0,0
$GC,1933,-1.39,-77.9,194.1,-9.7,201,1937,0.00,2.25,0.00,0.000,6,0.000,0.019,2428,1885,3376,0,0,0,0,0,0
$GC,2190,-1.44,-77.9,216.7,-7.9,216,2194,0.12,2.42,0.00,0.000,4,0.062,0.041,2384,472,3376,0,0,0,0,0,0
$GC,2205,-1.44,-77.9,218.0,-7.4,216,2210,0.00,2.25,0.00,0.000,6,0.000,0.019,2384,1883,3376,0,0,0,0,0,0
$GC,2520,-1.44,-77.9,246.7,-9.3,232,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1887,3376,0,0,0,0,0,0
$GC,2830,-1.44,-77.9,273.4,-8.5,247,2834,0.00,2.42,0.00,0.000,4,0.000,0.042,2384,466,3376,0,0,0,0,0,0
$GC,2868,-1.38,-77.9,276.8,-8.4,248,2874,0.12,2.25,0.00,0.000,6,0.099,0.021,2410,1882,3376,0,0,0,0,0,0
$GC,3186,-1.44,-77.9,296.4,-6.8,264,3190,0.00,2.40,0.00,0.000,4,0.000,0.044,2411,472,3375,0,0,0,0,0,0
$GC,3286,-1.47,-77.9,304.2,-8.0,268,3290,0.00,2.28,0.00,0.000,6,0.000,0.021,2411,1881,3375,0,0,0,0,0,0
$GC,3607,-1.53,-77.9,326.5,-7.3,276,3612,0.15,2.45,0.00,0.000,4,0.056,0.046,2365,470,3373,0,0,0,0,0,0
$GC,3627,-1.49,-77.9,328.5,-8.2,276,3632,0.12,2.25,0.00,0.000,6,0.100,0.023,2390,1872,3374,0,0,0,0,0,0
$GC,3974,-1.49,-77.9,356.2,-8.0,285,3978,0.00,2.42,0.00,0.000,4,0.000,0.046,2390,469,3372,0,0,0,0,0,0
$GC,4019,-1.49,-77.9,360.0,-8.5,286,4023,0.00,2.30,0.00,0.000,6,0.000,0.025,2390,1880,3372,0,0,0,0,0,0
$GC,4346,-1.49,-77.9,385.5,-7.9,294,4351,0.00,2.45,0.00,0.000,4,0.000,0.048,2390,469,3369,0,0,0,0,0,0
$GC,4409,-1.49,-77.9,390.7,-8.5,295,4413,0.00,2.28,0.00,0.000,6,0.000,0.025,2390,1875,3369,0,0,0,0,0,0
$GC,4758,-1.49,-77.9,419.0,-8.2,304,4762,0.00,2.45,0.00,0.000,4,0.000,0.049,2390,469,3366,0,0,0,0,0,0
$GC,4813,-1.49,-77.9,424.0,-9.1,305,4817,0.00,2.30,0.00,0.000,6,0.000,0.026,2390,1876,3366,0,0,0,0,0,0
$GC,5132,-1.49,-77.9,447.0,-7.2,313,5137,0.00,2.42,0.00,0.000,4,0.000,0.051,2389,476,3364,0,0,0,0,0,0
$STATE,5168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5168,begin apogee
$GC,5176,-0.31,0.0,450.1,7.6,313,5244,1.15,0.00,64.35,0.858,6,0.071,0.000,2641,2008,3050,0,0,0,0,0,0
$STATE,5245,end apogee,CONTROL_FINISHED_OK
$STATE,5245,begin climb
$GC,5249,1.40,77.9,451.3,0.0,315,5324,1.62,2.50,64.82,0.839,4,0.028,0.038,3023,3410,2732,0,0,0,0,0,0
$GC,5414,1.22,126.0,450.5,4.7,318,5463,0.22,2.40,41.33,0.828,6,0.112,0.033,2982,2014,2536,0,0,0,0,0,0
$GC,5795,1.11,126.0,418.1,9.2,328,5797,0.15,0.00,0.00,0.000,6,0.116,0.000,2956,2014,2529,0,0,0,0,0,0
$GC,6121,1.10,155.3,396.7,6.0,336,6153,0.00,2.47,25.17,0.808,4,0.000,0.036,2956,3414,2415,0,0,0,0,0,0
$GC,6165,1.09,179.6,393.8,6.4,337,6193,0.00,2.45,22.80,0.793,6,0.000,0.035,2956,2005,2316,0,0,0,0,0,0
$GC,6536,1.09,179.6,362.5,8.8,346,6540,0.00,2.45,0.00,0.000,4,0.000,0.051,2956,603,2309,0,0,0,0,0,0
$GC,6579,1.00,179.6,358.4,9.4,347,6584,0.12,2.38,0.00,0.000,6,0.124,0.029,2934,2011,2307,0,0,0,0,0,0
$GC,6908,1.09,203.8,335.7,6.4,355,6936,0.00,2.53,21.00,0.776,4,0.000,0.051,2934,605,2217,0,0,0,0,0,0
$GC,7033,1.09,203.8,325.2,8.9,357,7037,0.00,2.38,0.00,0.000,6,0.000,0.028,2934,2023,2212,0,0,0,0,0,0
$GC,7369,1.15,203.8,296.8,9.1,366,7374,0.12,2.53,0.00,0.000,4,0.076,0.051,2966,603,2211,0,0,0,0,0,0
$GC,7479,1.08,203.8,285.8,10.5,370,7485,0.00,2.38,0.00,0.000,6,0.000,0.028,2965,2017,2209,0,0,0,0,0,0
$GC,7795,1.11,226.1,260.9,6.5,386,7820,0.00,2.55,19.65,0.735,4,0.000,0.051,2965,605,2128,0,0,0,0,0,0
$GC,7903,1.07,226.1,251.4,10.7,390,7907,0.00,2.38,0.00,0.000,6,0.000,0.028,2965,2013,2123,0,0,0,0,0,0
$GC,8219,1.14,245.2,225.1,6.7,405,8243,0.00,2.58,17.88,0.703,4,0.000,0.050,2965,603,2049,0,0,0,0,0,0
$GC,8326,1.14,245.2,216.4,9.0,409,8332,0.00,2.38,0.00,0.000,6,0.000,0.028,2965,2014,2045,0,0,0,0,0,0
$GC,8647,1.21,248.9,190.4,7.8,430,8657,0.00,2.50,3.97,0.454,4,0.000,0.048,2965,603,2034,0,0,0,0,0,0
$GC,8788,1.21,248.9,178.4,8.0,445,8792,0.00,2.35,0.00,0.000,6,0.000,0.027,2965,2014,2033,0,0,0,0,0,0
$GC,9057,1.30,265.8,159.0,6.9,470,9083,0.15,2.50,16.75,0.640,4,0.064,0.047,3006,605,1965,0,0,0,0,0,0
$GC,9174,1.24,265.8,145.9,12.4,482,9180,0.10,2.35,0.00,0.000,6,0.120,0.025,2987,2012,1961,0,0,0,0,0,0
$GC,9437,1.30,265.8,119.6,9.3,507,9439,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2017,1962,0,0,0,0,0,0
$GC,9690,1.41,294.0,102.9,6.1,531,9725,0.15,2.50,25.38,0.601,4,0.061,0.044,3030,599,1850,0,0,0,0,0,0
$GC,9981,1.41,294.0,76.1,8.9,562,9986,0.00,2.33,0.00,0.000,6,0.000,0.023,3030,2015,1846,0,0,0,0,0,0
$GC,10245,1.45,299.1,55.4,7.7,587,10255,0.00,2.47,5.45,0.433,4,0.000,0.042,3030,598,1829,0,0,0,0,0,0
$GC,10387,1.45,299.1,42.1,9.7,602,10391,0.00,2.30,0.00,0.000,6,0.000,0.021,3030,2014,1828,0,0,0,0,0,0
$GC,10661,1.48,299.1,20.1,8.5,638,10667,0.00,2.40,0.00,0.000,4,0.000,0.042,3030,602,1828,0,0,0,0,0,0
$GC,10800,1.44,299.1,5.5,9.0,667,10805,0.00,2.28,0.00,0.000,6,0.000,0.020,3030,2021,1827,0,0,0,0,0,0
$STATE,10831,end climb,SURFACE_DEPTH_REACHED
$STATE,10831,begin surface coast
$FINISH,0.6,1.022652
$STATE,10874,end surface coast,CONTROL_FINISHED_OK
$STATE,10874,begin surface
$SM_CCo,10956,0.00,0.000,0,0,1822,301.23
$SM_GC,1.38,11.18,0.00,0.00,0.025,0.000,0.000,424,1845,1822,-10.46,-0.85,301.23
$IRIDIUM_FIX,2057.14,-15801.19,041099,151509
$TT8_MAMPS,0.029146
$HUMID,55.47
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.3,64.249
$10V_AH,10.0,54.627
$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,26.525,124.600,328.550,0.000,0.000,26.475,32.700,189.199,4.500,0.000,13.366,1305.855,7563.099,391.400,1542.784,521.492,33.379,1252.130,0.000,1501.714,0.000,29.250,0.000
$DEVICE_MAMPS,131.157,51.389,858.273,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,456.940,439.514,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34939,680
$CAP_FILE_SIZE,123817,0
$CFSIZE,260165632,216264704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100710,213021,2106.822,-15800.791,71,2.6,90,9.8