version: 66.06
glider: 139
mission: 7
dive: 689
start: 7 7 110 1 21 37
data:
$ID,139
$MISSION,7
$DIVE,689
$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,-2146707.5
$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
$GPS1,011445,2104.418,-15744.944,176,2.5,195,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.4
$GPS2,012046,2104.385,-15744.955,12,3.3,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.101,-0.153
$KALMAN_X,-379396.3,536.4,-164.7,396258.7,-109.1
$KALMAN_Y,12269.1,573.8,70.6,-17598.4,-37.9
$MHEAD_RNG_PITCHd_Wd,203.6,14677,-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,-77.9,0.0,0.0,0,73,0.00,0.00,-55.17,0.000,2,0.000,0.000,428,1872,3289,0,0,0,0,0,0
$GC,77,-1.40,-77.9,3.9,-7.3,11,96,10.52,2.42,-1.58,0.000,4,0.132,0.051,2404,459,3370,0,0,0,0,0,0
$GC,205,-1.20,-77.9,29.9,-14.9,38,211,0.22,2.33,0.00,0.000,6,0.094,0.020,2450,1906,3372,0,0,0,0,0,0
$GC,402,-1.15,-77.9,55.4,-13.3,57,406,0.00,2.45,0.00,0.000,4,0.000,0.041,2449,468,3371,0,0,0,0,0,0
$GC,457,-1.07,-77.9,62.7,-14.0,62,462,0.15,2.28,0.00,0.000,6,0.098,0.019,2480,1882,3372,0,0,0,0,0,0
$GC,720,-1.14,-77.9,90.4,-9.8,86,724,0.00,2.42,0.00,0.000,4,0.000,0.042,2479,465,3373,0,0,0,0,0,0
$GC,801,-1.21,-77.9,98.5,-9.3,94,805,0.12,2.25,0.00,0.000,6,0.061,0.019,2437,1879,3373,0,0,0,0,0,0
$GC,1067,-1.21,-77.9,124.7,-9.1,119,1071,0.00,2.25,0.00,0.000,4,0.000,0.025,2435,3256,3373,0,0,0,0,0,0
$GC,1083,-1.25,-77.9,126.1,-9.1,120,1087,0.00,2.30,0.00,0.000,6,0.000,0.026,2435,1860,3373,0,0,0,0,0,0
$GC,1346,-1.30,-77.9,146.0,-6.3,144,1350,0.00,2.35,0.00,0.000,4,0.000,0.041,2435,472,3374,0,0,0,0,0,0
$GC,1393,-1.30,-77.9,149.4,-6.8,148,1399,0.00,2.25,0.00,0.000,6,0.000,0.018,2435,1885,3374,0,0,0,0,0,0
$GC,1656,-1.36,-77.9,170.4,-8.3,173,1660,0.00,2.40,0.00,0.000,4,0.000,0.041,2435,472,3375,0,0,0,0,0,0
$GC,1699,-1.40,-77.9,174.0,-8.3,177,1705,0.12,2.25,0.00,0.000,6,0.061,0.019,2392,1882,3375,0,0,0,0,0,0
$GC,1960,-1.36,-77.9,197.4,-9.6,202,1962,0.12,0.00,0.00,0.000,6,0.097,0.000,2417,1886,3375,0,0,0,0,0,0
$GC,2220,-1.36,-77.9,220.8,-9.1,216,2224,0.00,2.40,0.00,0.000,4,0.000,0.042,2417,468,3375,0,0,0,0,0,0
$GC,2266,-1.36,-77.9,225.5,-9.6,218,2270,0.00,2.25,0.00,0.000,6,0.000,0.020,2417,1877,3375,0,0,0,0,0,0
$GC,2594,-1.40,-77.9,250.5,-7.1,234,2598,0.00,2.40,0.00,0.000,4,0.000,0.042,2418,472,3375,0,0,0,0,0,0
$GC,2649,-1.40,-77.9,254.3,-5.9,236,2654,0.00,2.25,0.00,0.000,6,0.000,0.021,2417,1876,3375,0,0,0,0,0,0
$GC,2972,-1.46,-77.9,273.4,-7.0,252,2976,0.00,2.40,0.00,0.000,4,0.000,0.043,2417,473,3375,0,0,0,0,0,0
$GC,3056,-1.46,-77.9,280.2,-8.0,255,3062,0.00,2.25,0.00,0.000,6,0.000,0.021,2417,1879,3375,0,0,0,0,0,0
$GC,3392,-1.51,-77.9,306.2,-7.0,270,3397,0.15,2.42,0.00,0.000,4,0.056,0.044,2370,465,3374,0,0,0,0,0,0
$GC,3419,-1.44,-77.9,308.3,-8.5,270,3424,0.15,2.28,0.00,0.000,6,0.092,0.022,2401,1873,3374,0,0,0,0,0,0
$GC,3760,-1.44,-77.9,330.5,-6.4,279,3764,0.00,2.40,0.00,0.000,4,0.000,0.045,2401,469,3373,0,0,0,0,0,0
$GC,3798,-1.44,-77.9,333.4,-7.9,279,3803,0.00,2.28,0.00,0.000,6,0.000,0.023,2401,1876,3373,0,0,0,0,0,0
$GC,4130,-1.48,-77.9,359.1,-8.1,288,4134,0.00,2.42,0.00,0.000,4,0.000,0.046,2401,472,3371,0,0,0,0,0,0
$GC,4195,-1.48,-77.9,364.9,-8.9,289,4199,0.00,2.28,0.00,0.000,6,0.000,0.024,2401,1876,3371,0,0,0,0,0,0
$GC,4541,-1.53,-77.9,392.5,-7.9,298,4545,0.00,2.42,0.00,0.000,4,0.000,0.048,2400,469,3369,0,0,0,0,0,0
$GC,4624,-1.53,-77.9,399.7,-8.1,299,4631,0.00,2.30,0.00,0.000,6,0.000,0.025,2401,1883,3369,0,0,0,0,0,0
$GC,4965,-1.58,-77.9,425.3,-7.6,308,4970,0.15,2.45,0.00,0.000,4,0.058,0.050,2357,473,3367,0,0,0,0,0,0
$GC,5036,-1.49,-77.9,432.5,-10.3,309,5041,0.15,2.30,0.00,0.000,6,0.098,0.026,2388,1877,3366,0,0,0,0,0,0
$STATE,5253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5253,begin apogee
$GC,5259,-0.31,0.0,450.8,8.2,315,5327,1.20,0.00,64.47,0.856,6,0.072,0.000,2646,2031,3050,0,0,0,0,0,0
$STATE,5328,end apogee,CONTROL_FINISHED_OK
$STATE,5328,begin climb
$GC,5331,1.40,77.9,451.9,0.0,316,5406,1.62,2.40,64.95,0.839,4,0.029,0.038,3013,3377,2732,0,0,0,0,0,0
$GC,5657,1.21,124.0,444.1,4.9,323,5702,0.25,2.35,39.05,0.833,6,0.110,0.034,2979,2011,2544,0,0,0,0,0,0
$GC,6021,1.09,126.8,417.1,7.8,332,6026,0.15,2.50,0.00,0.000,4,0.116,0.050,2957,600,2538,0,0,0,0,0,0
$GC,6101,0.96,126.8,410.3,8.1,333,6106,0.17,2.33,0.00,0.000,6,0.118,0.028,2927,1985,2537,0,0,0,0,0,0
$GC,6433,1.01,166.9,391.3,5.3,341,6476,0.00,2.50,36.97,0.825,4,0.000,0.050,2926,606,2367,0,0,0,0,0,0
$GC,6588,1.01,166.9,380.9,8.1,344,6592,0.00,2.38,0.00,0.000,6,0.000,0.028,2926,2010,2362,0,0,0,0,0,0
$GC,6938,1.10,197.0,359.4,6.0,353,6971,0.12,2.58,26.62,0.802,4,0.075,0.051,2957,608,2246,0,0,0,0,0,0
$GC,6992,1.03,199.9,355.6,7.8,354,6997,0.00,2.38,0.00,0.000,6,0.000,0.029,2957,2017,2243,0,0,0,0,0,0
$GC,7311,1.03,199.9,328.0,9.0,362,7315,0.00,2.50,0.00,0.000,4,0.000,0.051,2957,606,2240,0,0,0,0,0,0
$GC,7330,0.99,199.9,326.2,9.0,362,7335,0.15,2.35,0.00,0.000,6,0.120,0.029,2932,2011,2238,0,0,0,0,0,0
$GC,7676,1.08,213.1,301.9,7.1,371,7697,0.00,2.58,14.32,0.739,4,0.000,0.051,2932,604,2181,0,0,0,0,0,0
$GC,7799,1.11,213.1,291.3,8.5,375,7804,0.12,2.35,0.00,0.000,6,0.074,0.028,2962,2013,2176,0,0,0,0,0,0
$GC,8122,1.11,213.1,265.1,8.1,391,8126,0.00,2.47,0.00,0.000,4,0.000,0.050,2962,605,2176,0,0,0,0,0,0
$GC,8141,1.11,213.1,263.3,8.6,392,8145,0.00,2.38,0.00,0.000,6,0.000,0.029,2963,2018,2175,0,0,0,0,0,0
$GC,8470,1.11,213.1,237.4,8.3,408,8475,0.00,2.50,0.00,0.000,4,0.000,0.049,2962,597,2175,0,0,0,0,0,0
$GC,8638,1.11,234.4,223.1,6.6,415,8662,0.00,2.38,19.25,0.704,6,0.000,0.028,2962,2027,2094,0,0,0,0,0,0
$GC,8985,1.17,238.8,197.9,7.7,433,8995,0.00,2.50,5.18,0.523,4,0.000,0.046,2962,598,2075,0,0,0,0,0,0
$GC,9120,1.17,238.8,185.5,9.3,447,9126,0.00,2.35,0.00,0.000,6,0.000,0.026,2962,2008,2073,0,0,0,0,0,0
$GC,9385,1.25,249.4,164.8,7.3,472,9403,0.10,2.53,10.60,0.609,4,0.082,0.048,2990,608,2033,0,0,0,0,0,0
$GC,9545,1.21,249.4,149.8,10.0,489,9549,0.00,2.35,0.00,0.000,6,0.000,0.025,2991,2020,2029,0,0,0,0,0,0
$GC,9810,1.24,250.4,129.1,8.0,513,9814,0.00,2.33,0.00,0.000,4,0.000,0.031,2966,3404,2029,0,0,0,0,0,0
$GC,9845,1.32,250.4,125.8,8.5,516,9850,0.00,2.38,0.00,0.000,6,0.000,0.031,2990,2007,2029,0,0,0,0,0,0
$GC,10110,1.38,261.8,105.3,7.2,540,10128,0.10,2.45,12.40,0.570,4,0.079,0.044,3020,596,1980,0,0,0,0,0,0
$GC,10223,1.31,261.8,95.3,9.1,552,10228,0.10,2.33,0.00,0.000,6,0.120,0.023,3003,2016,1978,0,0,0,0,0,0
$GC,10484,1.40,282.5,77.9,6.6,576,10512,0.00,2.55,19.08,0.565,4,0.000,0.044,3002,597,1897,0,0,0,0,0,0
$GC,10616,1.40,282.5,67.1,9.7,590,10621,0.00,2.33,0.00,0.000,6,0.000,0.022,3003,2023,1894,0,0,0,0,0,0
$GC,10880,1.50,296.6,46.5,7.1,614,10900,0.17,2.55,13.48,0.516,4,0.054,0.042,3056,599,1839,0,0,0,0,0,0
$GC,11016,1.41,296.6,32.8,9.5,628,11022,0.17,2.30,0.00,0.000,6,0.094,0.021,3021,2017,1836,0,0,0,0,0,0
$GC,11290,1.46,296.6,8.9,10.2,674,11295,0.00,2.42,0.00,0.000,4,0.000,0.041,3021,603,1836,0,0,0,0,0,0
$STATE,11359,end climb,SURFACE_DEPTH_REACHED
$STATE,11359,begin surface coast
$FINISH,0.5,0.999594
$STATE,11408,end surface coast,CONTROL_FINISHED_OK
$STATE,11408,begin surface
$SM_CCo,11431,2.22,0.161,0,0,1826,300.00
$SM_GC,2.38,0.00,0.00,2.22,0.000,0.000,0.161,424,1881,1826,-10.54,0.17,300.00
$IRIDIUM_FIX,2057.14,-15743.60,300999,222209
$TT8_MAMPS,0.029146
$HUMID,54.64
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.3,61.761
$10V_AH,10.0,53.044
$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,27.525,137.975,326.375,2.225,0.000,31.066,30.542,156.577,4.500,0.000,32.749,1364.308,7847.569,394.227,1681.695,503.027,33.383,1310.851,0.000,1621.667,0.000,30.886,0.000
$DEVICE_MAMPS,131.924,52.923,855.972,161.070,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.468,457.092,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,38006,699
$CAP_FILE_SIZE,133448,0
$CFSIZE,260165632,217919488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070710,043406,2103.821,-15745.426,71,1.9,77,9.8