version: 66.06
glider: 139
mission: 7
dive: 695
start: 7 7 110 21 15 56
data:
$ID,139
$MISSION,7
$DIVE,695
$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,-2146945.8
$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
$GPS1,210854,2059.878,-15748.438,48,2.0,66,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.9
$GPS2,211502,2059.853,-15748.503,14,1.9,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.078,-0.166
$KALMAN_X,-379314.3,-24.1,121.8,390320.2,120.2
$KALMAN_Y,15146.6,-81.3,121.4,-28256.5,711.2
$MHEAD_RNG_PITCHd_Wd,195.3,4285,-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,-55.03,0.000,2,0.000,0.000,425,1851,3216,0,0,0,0,0,0
$GC,77,-1.40,-77.9,3.7,-6.4,11,96,10.52,2.38,-3.03,0.000,4,0.130,0.051,2403,459,3369,0,0,0,0,0,0
$GC,213,-1.19,-77.9,31.0,-15.5,39,219,0.25,2.33,0.00,0.000,6,0.089,0.020,2455,1911,3371,0,0,0,0,0,0
$GC,478,-1.15,-77.9,62.3,-11.5,64,482,0.00,2.47,0.00,0.000,4,0.000,0.042,2454,464,3372,0,0,0,0,0,0
$GC,606,-1.11,-77.9,77.7,-11.9,77,611,0.00,2.28,0.00,0.000,6,0.000,0.019,2454,1881,3372,0,0,0,0,0,0
$GC,870,-1.15,-77.9,102.9,-8.8,101,874,0.00,2.40,0.00,0.000,4,0.000,0.041,2454,468,3373,0,0,0,0,0,0
$GC,903,-1.15,-77.9,106.5,-10.0,104,908,0.00,2.28,0.00,0.000,6,0.000,0.019,2454,1888,3373,0,0,0,0,0,0
$GC,1167,-1.21,-77.9,129.7,-8.5,128,1171,0.00,2.45,0.00,0.000,4,0.000,0.041,2454,457,3374,0,0,0,0,0,0
$GC,1223,-1.26,-77.9,135.0,-9.0,133,1228,0.00,2.25,0.00,0.000,6,0.000,0.019,2454,1882,3374,0,0,0,0,0,0
$GC,1486,-1.34,-77.9,156.0,-8.3,158,1491,0.15,2.45,0.00,0.000,4,0.055,0.042,2404,461,3374,0,0,0,0,0,0
$GC,1562,-1.30,-77.9,164.8,-11.3,165,1568,0.12,2.28,0.00,0.000,6,0.097,0.019,2431,1882,3375,0,0,0,0,0,0
$GC,1823,-1.35,-77.9,187.1,-6.8,190,1827,0.00,2.42,0.00,0.000,4,0.000,0.041,2430,466,3375,0,0,0,0,0,0
$GC,1877,-1.35,-77.9,191.0,-7.1,195,1881,0.00,2.28,0.00,0.000,6,0.000,0.020,2431,1888,3375,0,0,0,0,0,0
$GC,2139,-1.40,-77.9,205.0,-5.9,215,2143,0.00,2.42,0.00,0.000,4,0.000,0.041,2431,468,3375,0,0,0,0,0,0
$GC,2205,-1.40,-77.9,209.9,-7.6,218,2209,0.00,2.25,0.00,0.000,6,0.000,0.020,2431,1876,3376,0,0,0,0,0,0
$GC,2536,-1.46,-77.9,236.0,-9.2,234,2540,0.15,2.45,0.00,0.000,4,0.055,0.044,2382,459,3376,0,0,0,0,0,0
$GC,2580,-1.37,-77.9,240.9,-10.9,236,2584,0.15,2.25,0.00,0.000,6,0.094,0.021,2414,1877,3376,0,0,0,0,0,0
$GC,2913,-1.42,-77.9,267.0,-7.9,252,2916,0.00,2.40,0.00,0.000,4,0.000,0.044,2413,468,3376,0,0,0,0,0,0
$GC,3039,-1.42,-77.9,277.5,-8.0,257,3043,0.00,2.25,0.00,0.000,6,0.000,0.021,2414,1876,3376,0,0,0,0,0,0
$GC,3380,-1.46,-77.9,303.9,-8.6,273,3384,0.00,2.42,0.00,0.000,4,0.000,0.044,2414,466,3374,0,0,0,0,0,0
$GC,3442,-1.46,-77.9,309.5,-9.0,274,3446,0.00,2.28,0.00,0.000,6,0.000,0.022,2414,1874,3374,0,0,0,0,0,0
$GC,3793,-1.52,-77.9,335.7,-7.4,283,3798,0.15,2.45,0.00,0.000,4,0.058,0.046,2368,466,3373,0,0,0,0,0,0
$GC,3840,-1.45,-77.9,340.5,-9.9,284,3845,0.15,2.28,0.00,0.000,6,0.092,0.024,2399,1872,3373,0,0,0,0,0,0
$GC,4167,-1.49,-77.9,364.9,-7.5,292,4172,0.00,2.42,0.00,0.000,4,0.000,0.046,2399,469,3371,0,0,0,0,0,0
$GC,4270,-1.49,-77.9,373.7,-7.8,294,4274,0.00,2.28,0.00,0.000,6,0.000,0.024,2399,1880,3371,0,0,0,0,0,0
$GC,4584,-1.53,-77.9,397.9,-7.8,302,4588,0.00,2.45,0.00,0.000,4,0.000,0.048,2398,468,3369,0,0,0,0,0,0
$GC,4641,-1.53,-77.9,402.9,-9.0,303,4645,0.00,2.28,0.00,0.000,6,0.000,0.025,2399,1872,3368,0,0,0,0,0,0
$GC,4959,-1.57,-77.9,428.9,-8.4,311,4964,0.12,2.45,0.00,0.000,4,0.067,0.050,2361,464,3367,0,0,0,0,0,0
$GC,5021,-1.47,-77.9,435.4,-10.6,312,5026,0.15,2.33,0.00,0.000,6,0.095,0.026,2391,1881,3366,0,0,0,0,0,0
$STATE,5206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5206,begin apogee
$GC,5213,-0.31,0.0,450.7,8.0,317,5281,1.17,0.00,64.45,0.859,6,0.070,0.000,2645,2033,3050,0,0,0,0,0,0
$STATE,5282,end apogee,CONTROL_FINISHED_OK
$STATE,5282,begin climb
$GC,5285,1.40,77.9,451.7,0.0,318,5360,1.62,2.40,64.95,0.841,4,0.028,0.038,3028,3379,2732,0,0,0,0,0,0
$GC,5625,1.23,140.2,443.4,3.7,325,5688,0.25,2.35,52.95,0.839,6,0.111,0.035,2982,2006,2477,0,0,0,0,0,0
$GC,6013,1.11,140.2,413.8,8.3,335,6015,0.12,0.00,0.00,0.000,6,0.120,0.000,2960,2006,2471,0,0,0,0,0,0
$GC,6338,1.10,171.5,393.1,5.9,343,6367,0.00,0.00,27.15,0.813,6,0.000,0.000,2961,2006,2350,0,0,0,0,0,0
$GC,6662,1.07,171.5,367.2,8.6,351,6667,0.00,2.47,0.00,0.000,4,0.000,0.052,2960,604,2344,0,0,0,0,0,0
$GC,6719,0.97,171.5,362.1,9.3,352,6724,0.17,2.30,0.00,0.000,6,0.116,0.029,2930,1985,2342,0,0,0,0,0,0
$GC,7038,1.04,186.1,338.8,7.0,360,7058,0.00,2.45,12.93,0.749,4,0.000,0.050,2929,608,2290,0,0,0,0,0,0
$GC,7175,1.04,186.1,326.8,8.8,363,7179,0.00,2.35,0.00,0.000,6,0.000,0.029,2930,2014,2287,0,0,0,0,0,0
$GC,7503,1.11,190.2,302.0,7.7,371,7515,0.12,2.47,4.62,0.550,4,0.076,0.048,2961,607,2273,0,0,0,0,0,0
$GC,7613,1.05,190.2,292.4,8.7,374,7618,0.00,2.38,0.00,0.000,6,0.000,0.028,2961,2017,2271,0,0,0,0,0,0
$GC,7928,1.08,210.1,269.3,6.6,390,7953,0.00,2.58,19.12,0.738,4,0.000,0.051,2960,608,2192,0,0,0,0,0,0
$GC,8007,1.08,210.1,263.2,8.1,393,8011,0.00,2.38,0.00,0.000,6,0.000,0.028,2961,2015,2189,0,0,0,0,0,0
$GC,8327,1.12,210.1,236.8,8.3,409,8331,0.00,2.47,0.00,0.000,4,0.000,0.049,2961,603,2187,0,0,0,0,0,0
$GC,8440,1.12,210.1,227.1,8.7,414,8445,0.00,2.35,0.00,0.000,6,0.000,0.028,2961,2020,2185,0,0,0,0,0,0
$GC,8770,1.19,220.7,203.4,7.3,430,8787,0.00,2.55,9.55,0.634,4,0.000,0.048,2960,605,2150,0,0,0,0,0,0
$GC,8860,1.20,224.5,196.8,7.8,436,8873,0.00,2.33,4.82,0.503,6,0.000,0.027,2961,2017,2134,0,0,0,0,0,0
$GC,9128,1.28,237.4,176.6,7.1,462,9148,0.15,2.50,13.27,0.641,4,0.065,0.045,3001,597,2082,0,0,0,0,0,0
$GC,9320,1.21,237.4,159.5,9.0,482,9326,0.12,2.35,0.00,0.000,6,0.110,0.025,2979,2009,2077,0,0,0,0,0,0
$GC,9584,1.29,262.0,141.6,6.3,507,9616,0.00,2.53,22.90,0.632,4,0.000,0.046,2979,610,1980,0,0,0,0,0,0
$GC,9658,1.29,264.0,136.0,7.9,515,9664,0.00,2.35,0.00,0.000,6,0.000,0.025,2979,2017,1977,0,0,0,0,0,0
$GC,9922,1.38,271.3,117.0,7.5,540,9941,0.15,2.50,9.38,0.552,4,0.061,0.044,3021,603,1941,0,0,0,0,0,0
$GC,10020,1.31,271.3,107.3,9.3,550,10026,0.00,2.33,0.00,0.000,6,0.000,0.024,3021,2020,1939,0,0,0,0,0,0
$GC,10284,1.33,285.0,86.4,7.1,575,10302,0.00,2.50,12.82,0.549,4,0.000,0.044,3020,606,1887,0,0,0,0,0,0
$GC,10349,1.28,285.0,80.6,9.4,582,10355,0.15,2.33,0.00,0.000,6,0.100,0.022,2992,2015,1885,0,0,0,0,0,0
$GC,10610,1.42,304.7,61.7,6.7,607,10637,0.12,2.53,18.50,0.546,4,0.066,0.044,3030,605,1805,0,0,0,0,0,0
$GC,10806,1.42,304.7,44.0,9.6,628,10810,0.00,2.28,0.00,0.000,6,0.000,0.021,3030,2011,1802,0,0,0,0,0,0
$GC,11073,1.45,304.7,21.7,8.9,660,11078,0.00,2.42,0.00,0.000,4,0.000,0.042,3031,603,1802,0,0,0,0,0,0
$GC,11214,1.42,304.7,8.4,9.6,690,11220,0.00,2.28,0.00,0.000,6,0.000,0.021,3030,2016,1801,0,0,0,0,0,0
$STATE,11274,end climb,SURFACE_DEPTH_REACHED
$STATE,11274,begin surface coast
$FINISH,0.5,1.023182
$STATE,11309,end surface coast,CONTROL_FINISHED_OK
$STATE,11309,begin surface
$SM_CCo,11392,0.00,0.000,0,0,1797,307.36
$SM_GC,1.66,11.20,0.00,0.00,0.026,0.000,0.000,427,1850,1797,-10.44,-0.71,307.36
$IRIDIUM_FIX,2054.83,-15746.61,011099,181801
$TT8_MAMPS,0.029146
$HUMID,54.72
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,422.3,62.6
$24V_AH,23.3,62.312
$10V_AH,10.0,53.394
$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,27.300,129.025,337.425,0.000,0.000,27.368,37.113,177.557,4.500,0.000,14.755,1374.444,7742.373,414.879,1702.656,521.863,33.379,1340.650,0.000,1662.786,0.000,30.699,0.000
$DEVICE_MAMPS,130.390,53.690,859.040,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,474.946,467.053,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,38062,707
$CAP_FILE_SIZE,132943,0
$CFSIZE,260165632,217550848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080710,002758,2058.979,-15748.798,74,8.4,93,9.8