version: 66.06
glider: 139
mission: 7
dive: 733
start: 7 13 110 3 9 46
data:
$ID,139
$MISSION,7
$DIVE,733
$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,-2148354.5
$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
$GPS1,030222,2106.470,-15753.539,59,2.2,78,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.4
$GPS2,030855,2106.500,-15753.611,42,1.1,42,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.123,0.135
$KALMAN_X,-383442.0,669.9,122.5,384931.2,-1373.6
$KALMAN_Y,-4691.7,-135.5,711.8,3350.8,-2307.8
$MHEAD_RNG_PITCHd_Wd,32.5,18391,-21.0,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.41,-76.4,0.0,0.0,0,74,0.00,0.00,-54.62,0.000,2,0.000,0.000,423,1901,3265,0,0,0,0,0,0
$GC,78,-1.41,-77.9,4.0,-7.2,11,97,10.55,2.33,-2.03,0.000,4,0.132,0.039,2401,3301,3370,0,0,0,0,0,0
$GC,113,-0.64,-77.9,15.2,-28.8,18,120,0.82,2.40,0.00,0.000,6,0.080,0.025,2573,1869,3371,0,0,0,0,0,0
$GC,324,-0.92,-77.9,30.2,-6.7,55,329,0.28,2.38,0.00,0.000,4,0.042,0.039,2487,468,3372,0,0,0,0,0,0
$GC,372,-0.95,-77.9,35.1,-9.8,59,378,0.00,2.30,0.00,0.000,6,0.000,0.019,2486,1909,3373,0,0,0,0,0,0
$GC,636,-1.02,-77.9,61.8,-10.4,84,640,0.00,2.47,0.00,0.000,4,0.000,0.041,2486,472,3373,0,0,0,0,0,0
$GC,701,-1.09,-77.9,68.7,-9.8,90,707,0.00,2.22,0.00,0.000,6,0.000,0.019,2486,1882,3373,0,0,0,0,0,0
$GC,964,-1.20,-77.9,94.2,-9.0,115,969,0.15,2.45,0.00,0.000,4,0.055,0.041,2435,466,3374,0,0,0,0,0,0
$GC,1039,-1.20,-77.9,102.3,-10.0,122,1045,0.00,2.22,0.00,0.000,6,0.000,0.019,2435,1871,3375,0,0,0,0,0,0
$GC,1302,-1.20,-77.9,123.7,-7.7,147,1306,0.00,2.28,0.00,0.000,4,0.000,0.025,2435,3260,3375,0,0,0,0,0,0
$GC,1327,-1.28,-77.9,126.0,-8.6,149,1332,0.00,2.28,0.00,0.000,6,0.000,0.025,2435,1874,3375,0,0,0,0,0,0
$GC,1592,-1.32,-77.9,149.7,-9.0,173,1596,0.00,2.38,0.00,0.000,4,0.000,0.041,2435,472,3376,0,0,0,0,0,0
$GC,1667,-1.32,-77.9,156.9,-9.5,180,1672,0.00,2.25,0.00,0.000,6,0.000,0.018,2435,1883,3377,0,0,0,0,0,0
$GC,1930,-1.38,-77.9,178.6,-7.9,205,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,1887,3377,0,0,0,0,0,0
$GC,2185,-1.44,-77.9,197.4,-7.7,229,2190,0.15,2.42,0.00,0.000,4,0.054,0.041,2384,474,3377,0,0,0,0,0,0
$GC,2238,-1.36,-77.9,202.7,-9.9,233,2242,0.15,2.22,0.00,0.000,6,0.094,0.019,2416,1882,3377,0,0,0,0,0,0
$GC,2561,-1.40,-77.9,229.2,-8.5,249,2565,0.00,2.42,0.00,0.000,4,0.000,0.042,2416,465,3377,0,0,0,0,0,0
$GC,2623,-1.40,-77.9,235.5,-9.9,251,2629,0.00,2.22,0.00,0.000,6,0.000,0.020,2416,1873,3378,0,0,0,0,0,0
$GC,2940,-1.45,-77.9,264.2,-8.4,267,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1879,3378,0,0,0,0,0,0
$GC,3249,-1.51,-77.9,288.3,-7.7,282,3254,0.15,2.42,0.00,0.000,4,0.056,0.045,2368,473,3378,0,0,0,0,0,0
$GC,3345,-1.42,-77.9,298.0,-10.1,286,3350,0.17,2.25,0.00,0.000,6,0.089,0.021,2404,1873,3378,0,0,0,0,0,0
$GC,3669,-1.46,-77.9,324.9,-8.0,295,3673,0.00,2.40,0.00,0.000,4,0.000,0.044,2404,473,3377,0,0,0,0,0,0
$GC,3696,-1.46,-77.9,327.8,-9.5,295,3701,0.00,2.25,0.00,0.000,6,0.000,0.022,2404,1882,3376,0,0,0,0,0,0
$GC,4038,-1.51,-77.9,356.9,-8.3,304,4042,0.00,2.28,0.00,0.000,4,0.000,0.031,2404,3263,3375,0,0,0,0,0,0
$GC,4061,-1.61,-77.9,359.0,-8.4,304,4066,0.17,2.30,0.00,0.000,6,0.054,0.031,2353,1875,3374,0,0,0,0,0,0
$GC,4410,-1.55,-77.9,389.6,-8.8,313,4415,0.12,2.45,0.00,0.000,4,0.103,0.048,2377,465,3373,0,0,0,0,0,0
$GC,4457,-1.52,-77.9,394.3,-9.2,314,4462,0.00,2.28,0.00,0.000,6,0.000,0.024,2378,1877,3373,0,0,0,0,0,0
$GC,4781,-1.52,-77.9,422.1,-8.9,322,4785,0.00,2.33,0.00,0.000,4,0.000,0.032,2377,3270,3371,0,0,0,0,0,0
$GC,4829,-1.59,-77.9,426.8,-10.0,323,4833,0.00,2.35,0.00,0.000,6,0.000,0.033,2377,1870,3371,0,0,0,0,0,0
$STATE,5118,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5118,begin apogee
$GC,5125,-0.31,0.0,453.6,8.9,330,5193,1.25,0.00,65.25,0.848,6,0.071,0.000,2647,2027,3050,0,0,0,0,0,0
$STATE,5194,end apogee,CONTROL_FINISHED_OK
$STATE,5194,begin climb
$GC,5198,1.41,77.9,454.8,0.0,331,5273,1.62,2.40,64.85,0.831,4,0.026,0.037,3035,3380,2732,0,0,0,0,0,0
$GC,5482,1.21,117.2,449.7,5.3,337,5523,0.30,2.35,33.83,0.818,6,0.109,0.033,2980,2008,2571,0,0,0,0,0,0
$GC,5844,1.15,153.5,429.1,5.5,346,5881,0.00,2.53,31.60,0.815,4,0.000,0.050,2980,603,2424,0,0,0,0,0,0
$GC,5896,1.02,153.5,424.9,8.7,346,5901,0.22,2.33,0.00,0.000,6,0.113,0.027,2939,1993,2420,0,0,0,0,0,0
$GC,6211,1.02,153.5,400.0,8.3,354,6212,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,1997,2418,0,0,0,0,0,0
$GC,6537,1.03,167.1,374.8,7.1,362,6554,0.00,2.47,11.90,0.746,4,0.000,0.051,2938,608,2368,0,0,0,0,0,0
$GC,6645,1.02,187.2,367.7,6.6,364,6671,0.00,2.33,19.10,0.779,6,0.000,0.028,2938,2014,2286,0,0,0,0,0,0
$GC,6999,1.08,203.4,344.1,6.9,373,7020,0.00,2.53,15.45,0.755,4,0.000,0.050,2938,603,2220,0,0,0,0,0,0
$GC,7071,1.08,203.4,336.7,10.5,374,7075,0.00,2.35,0.00,0.000,6,0.000,0.028,2938,2004,2216,0,0,0,0,0,0
$GC,7413,1.15,205.4,307.5,7.9,383,7418,0.12,2.47,0.00,0.000,4,0.076,0.049,2971,602,2214,0,0,0,0,0,0
$GC,7549,1.09,205.4,294.2,10.5,387,7553,0.00,2.38,0.00,0.000,6,0.000,0.028,2971,2014,2212,0,0,0,0,0,0
$GC,7879,1.12,227.2,267.5,6.5,403,7908,0.00,2.58,21.62,0.734,4,0.000,0.050,2971,608,2122,0,0,0,0,0,0
$GC,8093,1.09,237.9,251.6,7.3,412,8109,0.00,2.35,10.30,0.663,6,0.000,0.028,2971,2024,2079,0,0,0,0,0,0
$GC,8442,1.13,237.9,223.8,8.1,429,8446,0.00,2.47,0.00,0.000,4,0.000,0.048,2971,602,2076,0,0,0,0,0,0
$GC,8685,1.13,237.9,200.5,9.8,439,8689,0.00,2.35,0.00,0.000,6,0.000,0.025,2971,2016,2073,0,0,0,0,0,0
$GC,9010,1.20,259.1,177.5,6.5,469,9037,0.00,2.53,19.48,0.649,4,0.000,0.046,2971,603,1992,0,0,0,0,0,0
$GC,9209,1.20,259.1,160.5,9.8,490,9214,0.00,2.33,0.00,0.000,6,0.000,0.025,2971,2014,1988,0,0,0,0,0,0
$GC,9473,1.28,266.6,141.1,7.5,515,9485,0.00,2.50,7.53,0.540,4,0.000,0.046,2971,600,1962,0,0,0,0,0,0
$GC,9737,1.34,279.8,120.5,7.1,543,9759,0.15,2.33,13.10,0.576,6,0.063,0.023,3013,2018,1909,0,0,0,0,0,0
$GC,10015,1.38,290.5,101.3,7.3,570,10033,0.00,2.53,10.85,0.542,4,0.000,0.044,3012,602,1865,0,0,0,0,0,0
$GC,10058,1.36,291.8,97.7,7.9,574,10063,0.00,2.30,0.00,0.000,6,0.000,0.023,3013,2007,1863,0,0,0,0,0,0
$GC,10322,1.41,291.8,75.0,8.0,599,10326,0.00,2.45,0.00,0.000,4,0.000,0.044,3013,596,1863,0,0,0,0,0,0
$GC,10503,1.41,291.8,59.5,8.9,618,10507,0.00,2.30,0.00,0.000,6,0.000,0.022,3013,2016,1860,0,0,0,0,0,0
$GC,10766,1.51,314.6,40.7,6.4,642,10796,0.12,2.50,22.08,0.526,4,0.065,0.042,3052,612,1766,0,0,0,0,0,0
$GC,10957,1.45,314.6,23.0,9.9,670,10963,0.12,2.28,0.00,0.000,6,0.107,0.021,3028,2014,1763,0,0,0,0,0,0
$GC,11167,1.49,314.6,4.0,10.8,707,11173,0.00,2.42,0.00,0.000,4,0.000,0.042,3028,605,1763,0,0,0,0,0,0
$STATE,11177,end climb,SURFACE_DEPTH_REACHED
$STATE,11177,begin surface coast
$FINISH,0.6,1.023163
$STATE,11210,end surface coast,CONTROL_FINISHED_OK
$STATE,11210,begin surface
$SM_CCo,11294,0.00,0.000,0,0,1759,316.68
$SM_GC,1.40,11.18,0.00,0.00,0.025,0.000,0.000,423,1894,1759,-10.45,0.51,316.68
$IRIDIUM_FIX,2057.14,-15753.90,061099,232310
$TT8_MAMPS,0.029146
$HUMID,54.88
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.3,65.815
$10V_AH,10.0,55.634
$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,27.825,123.150,346.925,0.000,0.000,22.533,32.801,180.149,4.750,0.000,42.925,1378.533,7620.518,399.850,1758.961,522.299,33.373,1340.104,0.000,1684.778,0.000,32.088,0.000
$DEVICE_MAMPS,131.924,50.622,848.302,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,480.914,472.951,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,356004
$DATA_FILE_SIZE,38079,716
$CAP_FILE_SIZE,130101,0
$CFSIZE,260165632,215199744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130710,062027,2107.020,-15753.093,91,3.0,110,9.8