version: 66.06
glider: 139
mission: 7
dive: 619
start: 6 27 110 14 45 55
data:
$ID,139
$MISSION,7
$DIVE,619
$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,-2144223.2
$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
$GPS1,143857,2103.815,-15743.946,120,2.8,139,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-72.2
$GPS2,144503,2103.811,-15743.939,17,1.6,17,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.086,-0.162
$KALMAN_X,-357643.7,-142.9,-127.0,376901.5,-578.3
$KALMAN_Y,43794.5,-267.3,-362.7,-48896.2,168.1
$MHEAD_RNG_PITCHd_Wd,198.2,14964,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.40,-77.9,0.0,0.0,0,69,0.00,0.00,-49.88,0.000,2,0.000,0.000,426,1863,3126,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.2,-5.0,10,96,10.52,2.42,-5.03,0.000,4,0.130,0.053,2404,470,3369,0,0,0,0,0,0
$GC,151,-1.19,-77.9,21.1,-17.9,26,157,0.25,2.33,0.00,0.000,6,0.089,0.020,2455,1901,3371,0,0,0,0,0,0
$GC,360,-1.13,-77.9,49.0,-12.6,51,364,0.00,2.47,0.00,0.000,4,0.000,0.041,2454,466,3372,0,0,0,0,0,0
$GC,416,-1.03,-77.9,56.9,-13.4,56,422,0.15,2.28,0.00,0.000,6,0.102,0.019,2485,1884,3372,0,0,0,0,0,0
$GC,678,-1.03,-77.9,86.1,-10.4,81,682,0.00,2.45,0.00,0.000,4,0.000,0.042,2485,461,3372,0,0,0,0,0,0
$GC,744,-1.10,-77.9,93.3,-10.4,87,750,0.00,2.28,0.00,0.000,6,0.000,0.019,2485,1891,3372,0,0,0,0,0,0
$GC,1008,-1.19,-77.9,118.3,-10.0,112,1013,0.12,2.45,0.00,0.000,4,0.064,0.042,2441,460,3373,0,0,0,0,0,0
$GC,1025,-1.19,-77.9,120.1,-9.4,113,1029,0.00,2.28,0.00,0.000,6,0.000,0.019,2441,1885,3373,0,0,0,0,0,0
$GC,1287,-1.19,-77.9,148.0,-10.3,137,1292,0.00,2.42,0.00,0.000,4,0.000,0.041,2441,469,3374,0,0,0,0,0,0
$GC,1371,-1.19,-77.9,156.3,-8.4,145,1376,0.00,2.25,0.00,0.000,6,0.000,0.019,2442,1879,3374,0,0,0,0,0,0
$GC,1634,-1.24,-77.9,176.7,-7.9,170,1638,0.00,2.42,0.00,0.000,4,0.000,0.041,2441,460,3375,0,0,0,0,0,0
$GC,1705,-1.24,-77.9,183.5,-9.7,177,1709,0.00,2.25,0.00,0.000,6,0.000,0.019,2442,1876,3375,0,0,0,0,0,0
$GC,1977,-1.30,-77.9,205.3,-7.3,199,1981,0.00,2.40,0.00,0.000,4,0.000,0.041,2441,468,3375,0,0,0,0,0,0
$GC,2038,-1.35,-77.9,210.4,-9.1,201,2044,0.00,2.25,0.00,0.000,6,0.000,0.019,2441,1880,3375,0,0,0,0,0,0
$GC,2354,-1.43,-77.9,237.3,-8.8,217,2358,0.17,2.45,0.00,0.000,4,0.051,0.043,2386,458,3375,0,0,0,0,0,0
$GC,2403,-1.35,-77.9,242.3,-10.1,219,2408,0.17,2.28,0.00,0.000,6,0.086,0.020,2422,1876,3376,0,0,0,0,0,0
$GC,2731,-1.41,-77.9,262.5,-5.6,235,2735,0.00,2.42,0.00,0.000,4,0.000,0.044,2423,460,3375,0,0,0,0,0,0
$GC,2824,-1.44,-77.9,270.3,-8.3,239,2828,0.00,2.28,0.00,0.000,6,0.000,0.021,2423,1879,3375,0,0,0,0,0,0
$GC,3150,-1.51,-77.9,292.6,-6.8,255,3155,0.17,2.42,0.00,0.000,4,0.051,0.044,2370,466,3375,0,0,0,0,0,0
$GC,3174,-1.45,-77.9,294.9,-9.7,256,3179,0.12,2.25,0.00,0.000,6,0.098,0.021,2395,1876,3375,0,0,0,0,0,0
$GC,3497,-1.45,-77.9,323.0,-8.8,266,3501,0.00,2.40,0.00,0.000,4,0.000,0.045,2395,470,3374,0,0,0,0,0,0
$GC,3529,-1.45,-77.9,326.3,-9.4,266,3533,0.00,2.28,0.00,0.000,6,0.000,0.023,2395,1880,3374,0,0,0,0,0,0
$GC,3865,-1.45,-77.9,353.6,-7.8,275,3869,0.00,2.45,0.00,0.000,4,0.000,0.047,2395,462,3373,0,0,0,0,0,0
$GC,3914,-1.45,-77.9,357.6,-8.2,276,3918,0.00,2.30,0.00,0.000,6,0.000,0.025,2395,1875,3373,0,0,0,0,0,0
$GC,4243,-1.49,-77.9,383.4,-7.6,284,4247,0.00,2.45,0.00,0.000,4,0.000,0.048,2395,464,3370,0,0,0,0,0,0
$GC,4355,-1.49,-77.9,393.0,-8.9,286,4359,0.00,2.28,0.00,0.000,6,0.000,0.025,2396,1875,3369,0,0,0,0,0,0
$GC,4704,-1.52,-77.9,418.2,-7.2,295,4709,0.00,2.45,0.00,0.000,4,0.000,0.050,2394,469,3366,0,0,0,0,0,0
$GC,4749,-1.52,-77.9,421.8,-8.1,296,4753,0.00,2.30,0.00,0.000,6,0.000,0.026,2396,1870,3366,0,0,0,0,0,0
$GC,5079,-1.56,-77.9,444.8,-7.1,304,5083,0.00,2.47,0.00,0.000,4,0.000,0.052,2395,467,3364,0,0,0,0,0,0
$STATE,5141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5141,begin apogee
$GC,5150,-0.31,0.0,450.4,7.9,305,5218,1.12,0.00,64.07,0.867,6,0.074,0.000,2640,2013,3050,0,0,0,0,0,0
$STATE,5219,end apogee,CONTROL_FINISHED_OK
$STATE,5219,begin climb
$GC,5221,1.40,77.9,451.7,0.0,307,5297,1.65,2.50,64.95,0.848,4,0.031,0.039,3026,3413,2732,0,0,0,0,0,0
$GC,5363,1.25,146.4,451.9,3.3,310,5430,0.20,2.40,58.72,0.842,6,0.114,0.033,2990,2005,2452,0,0,0,0,0,0
$GC,5767,1.13,146.4,415.3,9.6,320,5772,0.15,2.42,0.00,0.000,4,0.118,0.051,2963,608,2444,0,0,0,0,0,0
$GC,5871,1.00,146.4,405.7,9.5,322,5876,0.17,2.38,0.00,0.000,6,0.117,0.028,2933,2014,2441,0,0,0,0,0,0
$GC,6186,1.02,160.7,382.7,7.0,330,6203,0.00,2.55,11.57,0.762,4,0.000,0.051,2933,604,2394,0,0,0,0,0,0
$GC,6255,0.97,160.7,377.2,8.6,331,6259,0.00,2.38,0.00,0.000,6,0.000,0.028,2933,2018,2392,0,0,0,0,0,0
$GC,6600,0.97,160.7,348.4,8.8,340,6604,0.00,2.50,0.00,0.000,4,0.000,0.051,2933,604,2391,0,0,0,0,0,0
$GC,6776,0.94,165.2,333.1,7.7,343,6785,0.00,2.35,4.32,0.548,6,0.000,0.029,2933,2014,2376,0,0,0,0,0,0
$GC,7111,1.01,183.9,311.1,6.7,352,7131,0.00,0.00,18.27,0.772,6,0.000,0.000,2933,2014,2300,0,0,0,0,0,0
$GC,7415,1.10,206.9,291.3,6.4,362,7443,0.00,2.55,21.67,0.762,4,0.000,0.051,2933,615,2205,0,0,0,0,0,0
$GC,7477,1.10,208.9,286.5,7.9,364,7483,0.00,2.38,0.00,0.000,6,0.000,0.030,2933,2013,2201,0,0,0,0,0,0
$GC,7793,1.18,208.9,261.6,8.3,380,7794,0.17,0.00,0.00,0.000,6,0.064,0.000,2976,2018,2199,0,0,0,0,0,0
$GC,8101,1.18,208.9,234.6,8.4,395,8106,0.00,2.47,0.00,0.000,4,0.000,0.049,2976,608,2198,0,0,0,0,0,0
$GC,8216,1.15,208.9,224.5,9.2,400,8220,0.00,2.38,0.00,0.000,6,0.000,0.028,2976,2025,2195,0,0,0,0,0,0
$GC,8539,1.18,208.9,194.5,9.3,418,8543,0.00,2.30,0.00,0.000,4,0.000,0.034,2972,3405,2194,0,0,0,0,0,0
$GC,8553,1.21,208.9,193.0,9.0,419,8559,0.00,2.38,0.00,0.000,6,0.000,0.032,2976,2011,2195,0,0,0,0,0,0
$GC,8816,1.26,245.1,175.6,5.5,444,8858,0.00,2.50,33.40,0.673,4,0.000,0.046,2975,604,2048,0,0,0,0,0,0
$GC,9039,1.26,245.1,156.1,9.4,468,9044,0.00,2.35,0.00,0.000,6,0.000,0.025,2976,2020,2043,0,0,0,0,0,0
$GC,9302,1.32,245.1,135.4,8.6,493,9304,0.10,0.00,0.00,0.000,6,0.079,0.000,3006,2025,2042,0,0,0,0,0,0
$GC,9557,1.38,268.6,115.5,6.4,517,9583,0.00,0.00,21.15,0.598,6,0.000,0.000,3006,2025,1953,0,0,0,0,0,0
$GC,9841,1.44,268.6,92.1,8.8,544,9845,0.00,2.47,0.00,0.000,4,0.000,0.044,3006,599,1951,0,0,0,0,0,0
$GC,9958,1.44,268.6,81.5,8.3,556,9962,0.00,2.30,0.00,0.000,6,0.000,0.022,3006,2020,1949,0,0,0,0,0,0
$GC,10222,1.52,278.5,62.5,7.3,580,10240,0.17,2.47,9.55,0.501,4,0.054,0.041,3058,601,1913,0,0,0,0,0,0
$GC,10279,1.42,278.5,56.7,10.9,586,10285,0.17,2.30,0.00,0.000,6,0.098,0.021,3023,2013,1912,0,0,0,0,0,0
$GC,10541,1.45,278.5,34.7,8.4,610,10545,0.00,2.42,0.00,0.000,4,0.000,0.041,3023,601,1911,0,0,0,0,0,0
$GC,10695,1.41,278.5,19.7,9.0,637,10701,0.00,2.28,0.00,0.000,6,0.000,0.021,3023,2023,1910,0,0,0,0,0,0
$STATE,10902,end climb,SURFACE_DEPTH_REACHED
$STATE,10902,begin surface coast
$FINISH,0.6,1.022921
$STATE,10936,end surface coast,CONTROL_FINISHED_OK
$STATE,10937,begin surface
$SM_CCo,10958,14.70,0.482,0,0,1827,300.00
$SM_GC,2.23,0.00,0.00,14.70,0.000,0.000,0.482,428,1852,1827,-10.52,-0.65,300.00
$IRIDIUM_FIX,2057.14,-15741.46,210999,111117
$TT8_MAMPS,0.029146
$HUMID,52.87
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,23.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,441.8,46.1
$24V_AH,23.3,55.391
$10V_AH,10.0,49.013
$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,26.775,124.300,307.700,14.700,0.000,31.092,36.841,170.770,5.000,0.000,17.155,1311.953,7572.181,393.458,1570.859,488.126,33.390,1252.781,0.000,1524.594,0.000,35.132,0.000
$DEVICE_MAMPS,130.390,52.923,867.477,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,456.964,447.372,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34972,680
$CAP_FILE_SIZE,125026,0
$CFSIZE,260165632,222224384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270610,175054,2102.698,-15744.398,70,1.8,87,9.8