version: 66.06
glider: 139
mission: 7
dive: 694
start: 7 7 110 18 2 19
data:
$ID,139
$MISSION,7
$DIVE,694
$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,-2146930.2
$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
$GPS1,175513,2100.445,-15748.276,59,1.5,65,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-72.0
$GPS2,180128,2100.402,-15748.299,15,2.8,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.073,-0.169
$KALMAN_X,-379575.7,-386.7,290.2,391130.0,99.5
$KALMAN_Y,14452.7,-491.4,342.0,-26365.4,675.7
$MHEAD_RNG_PITCHd_Wd,193.5,5334,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.40,-77.9,0.0,0.0,0,69,0.00,0.00,-50.10,0.000,2,0.000,0.000,428,1845,3114,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.1,-4.6,10,96,10.48,2.45,-5.35,0.000,4,0.130,0.038,2405,3295,3370,0,0,0,0,0,0
$GC,196,-1.37,-77.9,24.3,-12.7,36,201,0.00,2.38,0.00,0.000,6,0.000,0.028,2405,1867,3372,0,0,0,0,0,0
$GC,396,-1.19,-77.9,53.5,-13.6,58,401,0.22,2.38,0.00,0.000,4,0.094,0.040,2451,472,3372,0,0,0,0,0,0
$GC,443,-1.10,-77.9,59.5,-11.4,62,449,0.10,2.28,0.00,0.000,6,0.114,0.019,2470,1912,3372,0,0,0,0,0,0
$GC,707,-1.10,-77.9,86.1,-10.8,87,711,0.00,2.47,0.00,0.000,4,0.000,0.041,2470,470,3373,0,0,0,0,0,0
$GC,763,-1.10,-77.9,92.3,-9.1,92,769,0.00,2.22,0.00,0.000,6,0.000,0.019,2470,1879,3373,0,0,0,0,0,0
$GC,1027,-1.17,-77.9,114.7,-7.7,117,1031,0.00,2.42,0.00,0.000,4,0.000,0.041,2470,464,3374,0,0,0,0,0,0
$GC,1088,-1.26,-77.9,119.4,-7.6,123,1093,0.15,2.25,0.00,0.000,6,0.054,0.019,2419,1879,3375,0,0,0,0,0,0
$GC,1349,-1.26,-77.9,143.3,-9.2,147,1353,0.00,2.42,0.00,0.000,4,0.000,0.041,2419,464,3375,0,0,0,0,0,0
$GC,1369,-1.22,-77.9,145.5,-10.7,148,1375,0.12,2.22,0.00,0.000,6,0.097,0.019,2445,1881,3375,0,0,0,0,0,0
$GC,1630,-1.29,-77.9,168.2,-8.2,173,1634,0.00,2.42,0.00,0.000,4,0.000,0.041,2445,465,3376,0,0,0,0,0,0
$GC,1732,-1.35,-77.9,177.1,-8.3,183,1738,0.12,2.25,0.00,0.000,6,0.061,0.019,2400,1880,3376,0,0,0,0,0,0
$GC,1993,-1.35,-77.9,198.9,-7.8,208,1998,0.00,2.40,0.00,0.000,4,0.000,0.041,2400,471,3376,0,0,0,0,0,0
$GC,2042,-1.30,-77.9,202.7,-8.0,211,2047,0.15,2.25,0.00,0.000,6,0.091,0.019,2432,1881,3376,0,0,0,0,0,0
$GC,2370,-1.37,-77.9,227.7,-7.2,227,2374,0.00,2.40,0.00,0.000,4,0.000,0.042,2432,465,3376,0,0,0,0,0,0
$GC,2418,-1.43,-77.9,231.5,-7.1,229,2422,0.12,2.22,0.00,0.000,6,0.061,0.020,2389,1877,3376,0,0,0,0,0,0
$GC,2744,-1.43,-77.9,256.8,-8.2,245,2749,0.00,2.40,0.00,0.000,4,0.000,0.043,2389,469,3376,0,0,0,0,0,0
$GC,2797,-1.39,-77.9,262.0,-9.6,247,2801,0.10,2.25,0.00,0.000,6,0.107,0.021,2410,1874,3376,0,0,0,0,0,0
$GC,3124,-1.42,-77.9,286.6,-7.8,263,3128,0.00,2.40,0.00,0.000,4,0.000,0.044,2410,472,3376,0,0,0,0,0,0
$GC,3168,-1.42,-77.9,290.4,-8.7,265,3172,0.00,2.25,0.00,0.000,6,0.000,0.021,2410,1872,3376,0,0,0,0,0,0
$GC,3515,-1.46,-77.9,315.9,-7.3,277,3519,0.00,2.40,0.00,0.000,4,0.000,0.044,2410,465,3375,0,0,0,0,0,0
$GC,3562,-1.46,-77.9,319.7,-8.0,278,3567,0.00,2.25,0.00,0.000,6,0.000,0.022,2410,1873,3375,0,0,0,0,0,0
$GC,3895,-1.52,-77.9,342.6,-6.9,286,3900,0.12,2.42,0.00,0.000,4,0.064,0.045,2369,472,3374,0,0,0,0,0,0
$GC,3987,-1.45,-77.9,351.9,-9.9,288,3992,0.15,2.28,0.00,0.000,6,0.092,0.023,2400,1873,3373,0,0,0,0,0,0
$GC,4319,-1.48,-77.9,376.9,-7.3,296,4323,0.00,2.42,0.00,0.000,4,0.000,0.047,2400,471,3371,0,0,0,0,0,0
$GC,4372,-1.48,-77.9,381.3,-8.4,297,4376,0.00,2.28,0.00,0.000,6,0.000,0.024,2400,1882,3371,0,0,0,0,0,0
$GC,4691,-1.53,-77.9,406.6,-8.4,305,4695,0.00,2.45,0.00,0.000,4,0.000,0.048,2399,469,3369,0,0,0,0,0,0
$GC,4737,-1.53,-77.9,411.1,-9.2,306,4741,0.00,2.28,0.00,0.000,6,0.000,0.025,2400,1878,3369,0,0,0,0,0,0
$GC,5064,-1.58,-77.9,437.2,-8.0,314,5069,0.15,2.47,0.00,0.000,4,0.059,0.050,2356,466,3367,0,0,0,0,0,0
$GC,5135,-1.49,-77.9,444.7,-10.5,315,5140,0.15,2.28,0.00,0.000,6,0.097,0.025,2386,1869,3366,0,0,0,0,0,0
$STATE,5230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5230,begin apogee
$GC,5237,-0.31,0.0,452.4,8.0,318,5305,1.20,0.00,64.68,0.854,6,0.069,0.000,2646,2037,3050,0,0,0,0,0,0
$STATE,5306,end apogee,CONTROL_FINISHED_OK
$STATE,5306,begin climb
$GC,5309,1.40,77.9,453.3,0.0,319,5384,1.60,2.38,65.00,0.838,4,0.027,0.037,3026,3376,2732,0,0,0,0,0,0
$GC,5451,1.24,149.2,454.8,3.1,322,5521,0.20,2.33,60.95,0.834,6,0.110,0.033,2988,2008,2441,0,0,0,0,0,0
$GC,5853,1.12,149.2,420.6,9.4,332,5855,0.15,0.00,0.00,0.000,6,0.116,0.000,2961,2008,2432,0,0,0,0,0,0
$GC,6179,1.06,149.2,391.6,8.7,340,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2008,2430,0,0,0,0,0,0
$GC,6503,1.01,149.2,365.6,8.1,348,6508,0.15,2.45,0.00,0.000,4,0.114,0.051,2937,602,2428,0,0,0,0,0,0
$GC,6532,0.95,149.2,363.2,8.0,348,6537,0.00,2.33,0.00,0.000,6,0.000,0.028,2939,1989,2426,0,0,0,0,0,0
$GC,6869,0.99,185.0,341.8,5.6,357,6901,0.00,0.00,29.58,0.794,6,0.000,0.000,2939,1993,2295,0,0,0,0,0,0
$GC,7239,1.04,191.4,316.3,7.6,366,7251,0.00,2.50,6.22,0.627,4,0.000,0.051,2937,610,2269,0,0,0,0,0,0
$GC,7372,1.04,191.4,304.8,8.7,368,7377,0.00,2.35,0.00,0.000,6,0.000,0.028,2939,2010,2265,0,0,0,0,0,0
$GC,7687,1.15,229.4,284.4,5.4,382,7730,0.12,2.55,34.88,0.762,4,0.075,0.050,2971,602,2113,0,0,0,0,0,0
$GC,7864,1.12,229.4,269.8,8.2,389,7870,0.00,2.38,0.00,0.000,6,0.000,0.028,2972,2012,2107,0,0,0,0,0,0
$GC,8181,1.15,229.4,243.5,9.0,405,8185,0.00,2.45,0.00,0.000,4,0.000,0.049,2972,607,2106,0,0,0,0,0,0
$GC,8287,1.15,229.4,231.9,10.7,409,8292,0.00,2.35,0.00,0.000,6,0.000,0.028,2972,2018,2104,0,0,0,0,0,0
$GC,8604,1.23,264.0,208.2,5.6,425,8640,0.00,2.58,30.52,0.696,4,0.000,0.048,2972,608,1973,0,0,0,0,0,0
$GC,8733,1.23,264.0,197.9,8.9,432,8738,0.00,2.33,0.00,0.000,6,0.000,0.026,2971,2014,1967,0,0,0,0,0,0
$GC,8997,1.30,264.0,174.7,9.3,457,9002,0.10,2.50,0.00,0.000,4,0.079,0.048,3000,602,1966,0,0,0,0,0,0
$GC,9164,1.23,264.0,157.3,9.4,474,9169,0.00,2.35,0.00,0.000,6,0.000,0.025,3001,2016,1964,0,0,0,0,0,0
$GC,9425,1.23,264.0,134.5,10.0,499,9430,0.00,2.45,0.00,0.000,4,0.000,0.046,3001,602,1964,0,0,0,0,0,0
$GC,9528,1.20,264.0,123.0,10.1,509,9534,0.12,2.33,0.00,0.000,6,0.109,0.024,2978,2014,1963,0,0,0,0,0,0
$GC,9792,1.29,267.5,102.2,7.8,534,9796,0.00,2.42,0.00,0.000,4,0.000,0.044,2977,606,1963,0,0,0,0,0,0
$GC,9965,1.33,267.5,85.7,10.3,552,9970,0.12,2.30,0.00,0.000,6,0.069,0.023,3014,2020,1963,0,0,0,0,0,0
$GC,10227,1.40,295.7,65.1,6.1,576,10262,0.00,2.53,27.27,0.563,4,0.000,0.044,3013,607,1843,0,0,0,0,0,0
$GC,10354,1.41,305.2,56.4,7.4,589,10368,0.00,2.30,9.27,0.498,6,0.000,0.022,3014,2022,1805,0,0,0,0,0,0
$GC,10624,1.49,311.5,36.5,7.6,615,10637,0.10,2.50,6.95,0.453,4,0.075,0.043,3047,605,1780,0,0,0,0,0,0
$GC,10815,1.42,311.5,16.6,10.9,648,10821,0.12,2.28,0.00,0.000,6,0.105,0.021,3024,2015,1777,0,0,0,0,0,0
$STATE,10970,end climb,SURFACE_DEPTH_REACHED
$STATE,10971,begin surface coast
$FINISH,0.5,1.023168
$STATE,11011,end surface coast,CONTROL_FINISHED_OK
$STATE,11011,begin surface
$SM_CCo,11093,0.00,0.000,0,0,1772,313.49
$SM_GC,1.42,11.20,0.00,0.00,0.027,0.000,0.000,425,1851,1772,-10.44,-0.74,313.49
$IRIDIUM_FIX,2052.52,-15749.62,011099,141435
$TT8_MAMPS,0.029146
$HUMID,55.35
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,421.1,67.9
$24V_AH,23.3,62.225
$10V_AH,10.0,53.337
$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,27.350,123.625,335.325,0.000,0.000,30.641,28.998,167.571,4.750,0.000,35.704,1319.347,7632.543,392.563,1613.703,502.528,33.377,1272.716,0.000,1551.051,0.000,30.727,0.000
$DEVICE_MAMPS,129.623,50.622,854.438,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.053,447.274,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,34871,683
$CAP_FILE_SIZE,127385,0
$CFSIZE,260165632,217620480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070710,210854,2059.878,-15748.438,48,2.0,66,9.8