version: 66.06
glider: 139
mission: 7
dive: 620
start: 6 27 110 18 0 54
data:
$ID,139
$MISSION,7
$DIVE,620
$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,-2144237
$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
$GPS1,175054,2102.698,-15744.398,70,1.8,87,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.1
$GPS2,180002,2102.704,-15744.332,12,1.8,12,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.158,-0.094
$KALMAN_X,-356759.3,-262.1,-605.5,375932.6,1502.5
$KALMAN_Y,43601.3,-286.0,-383.3,-50716.8,795.7
$MHEAD_RNG_PITCHd_Wd,229.6,13038,-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,-77.9,0.0,0.0,0,68,0.00,0.00,-50.33,0.000,2,0.000,0.000,428,1852,3163,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.5,-5.8,10,95,10.68,2.45,-4.12,0.000,4,0.137,0.053,2404,456,3369,0,0,0,0,0,0
$GC,231,-1.19,-77.9,34.8,-15.0,41,237,0.25,2.33,0.00,0.000,6,0.092,0.020,2455,1905,3371,0,0,0,0,0,0
$GC,494,-1.12,-77.9,68.1,-13.3,65,499,0.00,2.45,0.00,0.000,4,0.000,0.041,2454,469,3372,0,0,0,0,0,0
$GC,551,-1.06,-77.9,76.4,-13.7,70,557,0.12,2.25,0.00,0.000,6,0.103,0.019,2479,1881,3372,0,0,0,0,0,0
$GC,813,-1.11,-77.9,101.6,-8.3,95,818,0.00,2.42,0.00,0.000,4,0.000,0.041,2480,468,3373,0,0,0,0,0,0
$GC,851,-1.17,-77.9,105.3,-9.2,98,857,0.00,2.25,0.00,0.000,6,0.000,0.019,2480,1882,3373,0,0,0,0,0,0
$GC,1114,-1.27,-77.9,126.0,-7.6,123,1119,0.17,2.45,0.00,0.000,4,0.050,0.042,2423,460,3373,0,0,0,0,0,0
$GC,1149,-1.15,-77.9,130.2,-12.6,126,1154,0.17,2.25,0.00,0.000,6,0.089,0.019,2460,1885,3373,0,0,0,0,0,0
$GC,1416,-1.24,-77.9,153.6,-7.2,151,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1890,3374,0,0,0,0,0,0
$GC,1673,-1.36,-77.9,172.9,-7.8,175,1678,0.17,2.45,0.00,0.000,4,0.051,0.042,2404,466,3375,0,0,0,0,0,0
$GC,1812,-1.28,-77.9,186.8,-10.2,189,1818,0.15,2.25,0.00,0.000,6,0.092,0.019,2435,1882,3375,0,0,0,0,0,0
$GC,2071,-1.34,-77.9,208.8,-8.1,209,2076,0.00,2.40,0.00,0.000,4,0.000,0.041,2435,465,3376,0,0,0,0,0,0
$GC,2134,-1.34,-77.9,214.0,-7.9,211,2140,0.00,2.25,0.00,0.000,6,0.000,0.020,2436,1877,3376,0,0,0,0,0,0
$GC,2450,-1.42,-77.9,233.2,-5.7,227,2455,0.15,2.40,0.00,0.000,4,0.055,0.043,2386,469,3376,0,0,0,0,0,0
$GC,2498,-1.38,-77.9,236.9,-8.0,229,2503,0.12,2.25,0.00,0.000,6,0.098,0.021,2412,1872,3376,0,0,0,0,0,0
$GC,2827,-1.42,-77.9,260.8,-7.2,245,2831,0.00,2.40,0.00,0.000,4,0.000,0.044,2412,461,3375,0,0,0,0,0,0
$GC,2905,-1.42,-77.9,267.2,-7.9,248,2910,0.00,2.28,0.00,0.000,6,0.000,0.021,2412,1876,3375,0,0,0,0,0,0
$GC,3226,-1.48,-77.9,294.3,-9.2,264,3230,0.00,2.40,0.00,0.000,4,0.000,0.045,2412,469,3374,0,0,0,0,0,0
$GC,3277,-1.51,-77.9,299.4,-9.5,266,3282,0.12,2.25,0.00,0.000,6,0.064,0.022,2372,1877,3374,0,0,0,0,0,0
$GC,3615,-1.48,-77.9,328.9,-8.3,275,3619,0.00,2.42,0.00,0.000,4,0.000,0.046,2372,470,3373,0,0,0,0,0,0
$GC,3629,-1.42,-77.9,330.3,-8.4,275,3634,0.15,2.28,0.00,0.000,6,0.094,0.024,2403,1873,3373,0,0,0,0,0,0
$GC,3983,-1.46,-77.9,357.4,-7.9,284,3988,0.00,2.45,0.00,0.000,4,0.000,0.048,2402,462,3370,0,0,0,0,0,0
$GC,4006,-1.46,-77.9,359.9,-9.0,284,4011,0.00,2.30,0.00,0.000,6,0.000,0.025,2403,1872,3370,0,0,0,0,0,0
$GC,4353,-1.51,-77.9,385.4,-6.6,293,4357,0.00,2.45,0.00,0.000,4,0.000,0.048,2402,464,3368,0,0,0,0,0,0
$GC,4469,-1.51,-77.9,394.6,-8.5,295,4473,0.00,2.33,0.00,0.000,6,0.000,0.025,2402,1880,3367,0,0,0,0,0,0
$GC,4810,-1.56,-77.9,421.5,-7.9,304,4815,0.12,2.45,0.00,0.000,4,0.067,0.051,2366,471,3364,0,0,0,0,0,0
$GC,4855,-1.49,-77.9,425.6,-9.6,305,4860,0.10,2.33,0.00,0.000,6,0.109,0.026,2386,1881,3364,0,0,0,0,0,0
$STATE,5182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5182,begin apogee
$GC,5188,-0.31,0.0,453.2,8.0,313,5256,1.20,0.00,64.20,0.874,6,0.072,0.000,2644,2031,3050,0,0,0,0,0,0
$STATE,5257,end apogee,CONTROL_FINISHED_OK
$STATE,5257,begin climb
$GC,5260,1.40,77.9,454.4,0.0,314,5335,1.62,2.42,65.10,0.853,4,0.031,0.039,3024,3384,2732,0,0,0,0,0,0
$GC,5599,1.22,124.8,447.1,4.8,321,5646,0.22,2.38,39.90,0.844,6,0.111,0.035,2983,2000,2541,0,0,0,0,0,0
$GC,5986,1.11,124.8,415.2,8.5,331,5991,0.15,2.40,0.00,0.000,4,0.115,0.039,2955,3381,2535,0,0,0,0,0,0
$GC,6096,1.06,124.9,406.8,8.0,333,6100,0.00,2.38,0.00,0.000,6,0.000,0.036,2957,2005,2534,0,0,0,0,0,0
$GC,6447,1.05,154.4,384.6,6.0,342,6474,0.00,0.00,25.67,0.825,6,0.000,0.000,2957,2005,2420,0,0,0,0,0,0
$GC,6771,1.03,170.0,362.8,6.9,350,6791,0.00,2.55,14.40,0.779,4,0.000,0.053,2957,606,2356,0,0,0,0,0,0
$GC,6930,0.96,170.0,349.4,8.5,353,6935,0.17,2.30,0.00,0.000,6,0.114,0.029,2926,1987,2351,0,0,0,0,0,0
$GC,7276,1.04,193.7,328.0,6.4,362,7305,0.00,2.53,21.58,0.788,4,0.000,0.051,2925,611,2259,0,0,0,0,0,0
$GC,7377,1.04,193.7,320.4,8.1,364,7381,0.00,2.38,0.00,0.000,6,0.000,0.030,2926,2012,2255,0,0,0,0,0,0
$GC,7696,1.14,205.3,295.5,7.2,373,7713,0.17,2.55,11.10,0.721,4,0.065,0.051,2967,597,2213,0,0,0,0,0,0
$GC,7743,1.06,205.3,291.7,8.4,375,7748,0.12,2.40,0.00,0.000,6,0.123,0.030,2946,2010,2210,0,0,0,0,0,0
$GC,8075,1.12,214.9,266.9,7.4,391,8091,0.00,2.55,9.55,0.684,4,0.000,0.051,2946,608,2173,0,0,0,0,0,0
$GC,8197,1.12,214.9,256.1,8.8,396,8202,0.00,2.38,0.00,0.000,6,0.000,0.029,2946,2020,2170,0,0,0,0,0,0
$GC,8518,1.21,223.7,229.0,7.4,412,8534,0.15,2.53,9.18,0.656,4,0.068,0.048,2984,605,2136,0,0,0,0,0,0
$GC,8546,1.17,223.7,226.7,8.9,413,8550,0.00,2.38,0.00,0.000,6,0.000,0.028,2984,2013,2135,0,0,0,0,0,0
$GC,8870,1.17,223.7,201.8,8.5,429,8875,0.00,2.47,0.00,0.000,4,0.000,0.048,2983,604,2134,0,0,0,0,0,0
$GC,8890,1.13,223.7,199.9,10.3,430,8897,0.12,2.33,0.00,0.000,6,0.117,0.028,2962,2013,2132,0,0,0,0,0,0
$GC,9154,1.21,238.7,179.2,7.0,455,9175,0.00,2.55,14.43,0.652,4,0.000,0.048,2962,602,2075,0,0,0,0,0,0
$GC,9241,1.21,238.7,171.9,10.0,464,9246,0.00,2.35,0.00,0.000,6,0.000,0.026,2962,2015,2072,0,0,0,0,0,0
$GC,9504,1.31,262.7,151.3,6.4,489,9533,0.17,2.58,22.20,0.643,4,0.061,0.047,3007,603,1978,0,0,0,0,0,0
$GC,9799,1.31,262.7,121.2,10.5,521,9803,0.00,2.33,0.00,0.000,6,0.000,0.024,3007,2010,1973,0,0,0,0,0,0
$GC,10062,1.35,262.7,100.6,8.3,545,10063,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2015,1973,0,0,0,0,0,0
$GC,10316,1.41,268.9,80.6,7.6,569,10324,0.00,0.00,6.35,0.482,6,0.000,0.000,3007,2015,1953,0,0,0,0,0,0
$GC,10582,1.49,280.6,61.8,7.2,594,10601,0.15,2.47,11.77,0.525,4,0.059,0.044,3051,601,1906,0,0,0,0,0,0
$GC,10736,1.41,280.6,46.0,11.6,610,10742,0.15,2.33,0.00,0.000,6,0.101,0.021,3022,2025,1903,0,0,0,0,0,0
$GC,11002,1.44,280.6,22.5,8.6,642,11007,0.00,2.45,0.00,0.000,4,0.000,0.041,3022,601,1902,0,0,0,0,0,0
$GC,11147,1.44,280.6,8.1,10.0,673,11153,0.00,2.28,0.00,0.000,6,0.000,0.020,3021,2013,1902,0,0,0,0,0,0
$STATE,11207,end climb,SURFACE_DEPTH_REACHED
$STATE,11207,begin surface coast
$FINISH,0.5,1.021389
$STATE,11250,end surface coast,CONTROL_FINISHED_OK
$STATE,11250,begin surface
$SM_CCo,11271,12.23,0.475,0,0,1826,300.00
$SM_GC,2.41,0.00,0.00,12.23,0.000,0.000,0.475,425,1853,1826,-10.53,-0.62,300.00
$IRIDIUM_FIX,2054.83,-15751.76,210999,181840
$TT8_MAMPS,0.029146
$HUMID,53.62
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,23.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,440.0,40.1
$24V_AH,23.3,55.483
$10V_AH,10.0,49.071
$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,28.150,119.825,315.425,12.225,0.000,61.498,65.700,233.319,4.750,0.000,12.969,1340.768,7856.370,396.417,1615.784,620.720,33.387,1273.826,0.000,1574.157,0.000,32.224,0.000
$DEVICE_MAMPS,137.293,53.690,873.613,474.773,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,465.255,453.381,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,34959,691
$CAP_FILE_SIZE,132539,0
$CFSIZE,260165632,222154752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270610,211056,2102.874,-15744.374,60,4.3,79,9.8