version: 66.06
glider: 139
mission: 7
dive: 526
start: 6 15 110 7 8 32
data:
$ID,139
$MISSION,7
$DIVE,526
$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,-2140767.2
$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
$GPS1,070200,2107.126,-15756.519,67,1.9,71,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-70.8
$GPS2,070738,2107.139,-15756.562,15,2.0,15,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,0.012
$KALMAN_X,-272669.9,438.6,-537.3,269950.1,-1684.1
$KALMAN_Y,14539.5,239.9,12.7,-14365.5,-175.2
$MHEAD_RNG_PITCHd_Wd,76.4,23703,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-55.15,0.000,2,0.000,0.000,430,1861,3239,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.7,-6.8,11,92,10.62,0.00,-2.50,0.000,6,0.135,0.000,2402,1862,3370,0,0,0,0,0,0
$GC,295,-1.21,-77.9,46.1,-17.5,42,300,0.22,2.40,0.00,0.000,4,0.097,0.042,2447,469,3373,0,0,0,0,0,0
$GC,311,-1.04,-77.9,48.6,-16.7,43,316,0.20,2.30,0.00,0.000,6,0.100,0.020,2487,1922,3372,0,0,0,0,0,0
$GC,575,-1.08,-77.9,80.2,-10.4,67,579,0.00,2.47,0.00,0.000,4,0.000,0.042,2486,469,3373,0,0,0,0,0,0
$GC,683,-1.14,-77.9,91.3,-9.8,78,687,0.00,2.22,0.00,0.000,6,0.000,0.019,2487,1875,3374,0,0,0,0,0,0
$GC,946,-1.25,-77.9,114.7,-7.8,102,951,0.20,2.40,0.00,0.000,4,0.048,0.041,2425,469,3375,0,0,0,0,0,0
$GC,1039,-1.17,-77.9,125.4,-11.9,111,1044,0.15,2.22,0.00,0.000,6,0.094,0.019,2457,1877,3375,0,0,0,0,0,0
$GC,1301,-1.25,-77.9,152.2,-10.5,135,1305,0.00,2.40,0.00,0.000,4,0.000,0.041,2456,463,3376,0,0,0,0,0,0
$GC,1402,-1.31,-77.9,163.3,-9.8,145,1407,0.12,2.25,0.00,0.000,6,0.063,0.019,2414,1892,3377,0,0,0,0,0,0
$GC,1662,-1.31,-77.9,186.1,-8.3,169,1666,0.00,2.42,0.00,0.000,4,0.000,0.042,2414,464,3377,0,0,0,0,0,0
$GC,1687,-1.27,-77.9,188.5,-10.4,171,1692,0.12,2.25,0.00,0.000,6,0.098,0.020,2440,1878,3377,0,0,0,0,0,0
$GC,1957,-1.34,-77.9,209.6,-8.7,191,1961,0.00,2.40,0.00,0.000,4,0.000,0.043,2439,463,3378,0,0,0,0,0,0
$GC,2100,-1.39,-77.9,223.6,-9.0,197,2105,0.12,2.22,0.00,0.000,6,0.062,0.021,2396,1870,3377,0,0,0,0,0,0
$GC,2426,-1.39,-77.9,258.8,-11.5,213,2430,0.00,2.38,0.00,0.000,4,0.000,0.043,2395,469,3378,0,0,0,0,0,0
$GC,2446,-1.36,-77.9,260.8,-10.1,214,2451,0.10,2.22,0.00,0.000,6,0.108,0.021,2416,1874,3377,0,0,0,0,0,0
$GC,2777,-1.41,-77.9,284.5,-5.6,230,2781,0.00,2.42,0.00,0.000,4,0.000,0.044,2416,463,3376,0,0,0,0,0,0
$GC,2833,-1.41,-77.9,288.0,-6.1,232,2837,0.00,2.28,0.00,0.000,6,0.000,0.022,2416,1874,3377,0,0,0,0,0,0
$GC,3172,-1.47,-77.9,308.0,-6.0,246,3176,0.00,2.40,0.00,0.000,4,0.000,0.046,2416,469,3375,0,0,0,0,0,0
$GC,3191,-1.47,-77.9,309.5,-7.7,246,3195,0.00,2.28,0.00,0.000,6,0.000,0.023,2416,1867,3375,0,0,0,0,0,0
$GC,3537,-1.53,-77.9,335.0,-7.7,255,3542,0.15,2.42,0.00,0.000,4,0.058,0.048,2371,470,3374,0,0,0,0,0,0
$GC,3570,-1.43,-77.9,338.6,-10.8,255,3575,0.15,2.28,0.00,0.000,6,0.094,0.024,2401,1882,3374,0,0,0,0,0,0
$GC,3901,-1.46,-77.9,371.4,-10.2,263,3906,0.00,2.42,0.00,0.000,4,0.000,0.048,2401,471,3372,0,0,0,0,0,0
$GC,3957,-1.46,-77.9,377.6,-10.8,264,3961,0.00,2.28,0.00,0.000,6,0.000,0.025,2401,1879,3372,0,0,0,0,0,0
$GC,4272,-1.50,-77.9,403.6,-7.7,272,4277,0.00,2.45,0.00,0.000,4,0.000,0.049,2401,470,3369,0,0,0,0,0,0
$GC,4328,-1.50,-77.9,408.3,-7.9,273,4332,0.00,2.28,0.00,0.000,6,0.000,0.026,2401,1874,3369,0,0,0,0,0,0
$GC,4642,-1.54,-77.9,430.1,-7.0,281,4646,0.00,2.42,0.00,0.000,4,0.000,0.051,2401,470,3367,0,0,0,0,0,0
$GC,4698,-1.54,-77.9,434.6,-8.8,282,4702,0.00,2.30,0.00,0.000,6,0.000,0.027,2401,1870,3367,0,0,0,0,0,0
$STATE,4932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4932,begin apogee
$GC,4938,-0.31,0.0,452.2,7.7,288,5006,1.12,0.00,64.40,0.874,6,0.074,0.000,2642,2034,3050,0,0,0,0,0,0
$STATE,5006,end apogee,CONTROL_FINISHED_OK
$STATE,5006,begin climb
$GC,5009,1.40,77.9,453.3,0.0,289,5084,1.65,2.42,64.35,0.852,4,0.032,0.041,3026,3382,2732,0,0,0,0,0,0
$GC,5329,1.28,172.6,451.6,1.5,296,5420,0.17,2.38,80.57,0.857,6,0.115,0.035,2996,2004,2346,0,0,0,0,0,0
$GC,5739,1.18,172.6,416.2,11.0,306,5741,0.12,0.00,0.00,0.000,6,0.124,0.000,2974,2004,2336,0,0,0,0,0,0
$GC,6063,1.13,172.6,376.2,13.1,314,6068,0.00,2.47,0.00,0.000,4,0.000,0.053,2973,605,2333,0,0,0,0,0,0
$GC,6226,1.01,172.6,354.8,12.7,317,6231,0.20,2.33,0.00,0.000,6,0.115,0.029,2939,1989,2330,0,0,0,0,0,0
$GC,6567,1.06,175.9,325.7,7.8,326,6571,0.00,2.42,0.00,0.000,4,0.000,0.051,2938,603,2329,0,0,0,0,0,0
$GC,6623,1.06,179.4,321.3,7.8,327,6631,0.00,2.35,3.90,0.505,6,0.000,0.030,2939,2013,2318,0,0,0,0,0,0
$GC,6957,1.07,186.3,297.5,7.6,336,6967,0.00,0.00,7.97,0.681,6,0.000,0.000,2938,2016,2290,0,0,0,0,0,0
$GC,7266,1.14,200.2,275.1,7.1,351,7290,0.10,2.58,13.73,0.727,4,0.089,0.051,2964,601,2232,0,0,0,0,0,0
$GC,7424,1.08,200.2,259.8,9.2,357,7430,0.00,2.38,0.00,0.000,6,0.000,0.029,2964,2012,2229,0,0,0,0,0,0
$GC,7739,1.08,200.2,231.5,9.0,373,7744,0.00,2.47,0.00,0.000,4,0.000,0.049,2964,604,2228,0,0,0,0,0,0
$GC,7795,1.08,200.2,225.8,10.7,375,7799,0.00,2.35,0.00,0.000,6,0.000,0.028,2964,2013,2227,0,0,0,0,0,0
$GC,8110,1.12,206.6,199.8,7.6,390,8123,0.00,2.53,6.15,0.573,4,0.000,0.048,2964,604,2207,0,0,0,0,0,0
$GC,8227,1.12,206.6,189.3,10.0,402,8232,0.00,2.35,0.00,0.000,6,0.000,0.027,2964,2018,2205,0,0,0,0,0,0
$GC,8489,1.16,207.8,167.4,7.9,427,8490,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2022,2205,0,0,0,0,0,0
$GC,8744,1.24,229.4,151.0,6.5,451,8771,0.00,2.55,21.40,0.647,4,0.000,0.047,2964,609,2114,0,0,0,0,0,0
$GC,8781,1.25,236.1,148.2,7.6,455,8796,0.00,2.33,7.38,0.548,6,0.000,0.025,2964,2022,2086,0,0,0,0,0,0
$GC,9050,1.32,236.1,124.0,10.5,481,9055,0.17,2.47,0.00,0.000,4,0.059,0.046,3011,598,2085,0,0,0,0,0,0
$GC,9307,1.25,236.1,94.8,8.5,508,9312,0.12,2.30,0.00,0.000,6,0.108,0.023,2987,2017,2082,0,0,0,0,0,0
$GC,9570,1.31,236.1,76.6,8.9,532,9574,0.00,2.45,0.00,0.000,4,0.000,0.042,2987,598,2082,0,0,0,0,0,0
$GC,9634,1.31,236.1,69.8,10.1,538,9640,0.00,2.28,0.00,0.000,6,0.000,0.022,2987,2015,2082,0,0,0,0,0,0
$GC,9897,1.46,278.9,52.9,5.1,563,9941,0.20,2.55,37.80,0.563,4,0.051,0.042,3043,600,1912,0,0,0,0,0,0
$GC,10030,1.40,278.9,40.5,11.0,577,10036,0.12,2.28,0.00,0.000,6,0.109,0.021,3020,2007,1907,0,0,0,0,0,0
$GC,10299,1.40,278.9,15.1,10.2,616,10304,0.00,2.42,0.00,0.000,4,0.000,0.044,3019,602,1907,0,0,0,0,0,0
$GC,10384,1.40,278.9,5.7,10.7,634,10389,0.00,2.28,0.00,0.000,6,0.000,0.021,3019,2019,1905,0,0,0,0,0,0
$STATE,10412,end climb,SURFACE_DEPTH_REACHED
$STATE,10412,begin surface coast
$FINISH,0.4,1.009318
$STATE,10439,end surface coast,CONTROL_FINISHED_OK
$STATE,10439,begin surface
$SM_CCo,10460,14.85,0.491,0,0,1826,300.00
$SM_GC,1.48,0.00,0.00,14.85,0.000,0.000,0.491,430,1861,1826,-10.51,-0.42,300.00
$IRIDIUM_FIX,2059.45,-15753.90,090999,040435
$TT8_MAMPS,0.029146
$HUMID,52.08
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,23.4,46.658
$10V_AH,10.0,43.699
$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,27.325,114.175,307.650,14.850,0.000,30.905,26.423,168.933,4.500,0.000,15.657,1262.878,7192.525,384.755,1531.906,444.059,33.406,1223.603,0.000,1494.867,0.000,29.246,0.000
$DEVICE_MAMPS,134.992,52.923,873.613,490.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.246,423.694,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34990,644
$CAP_FILE_SIZE,121644,0
$CFSIZE,260165632,227905536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150610,100521,2107.363,-15756.311,77,2.7,96,9.8