version: 66.06
glider: 139
mission: 7
dive: 528
start: 6 15 110 13 22 31
data:
$ID,139
$MISSION,7
$DIVE,528
$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,-2140853
$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
$GPS1,131157,2107.313,-15756.296,75,3.4,94,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-71.5
$GPS2,132140,2107.348,-15756.346,34,2.5,53,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,0.011
$KALMAN_X,-276947.6,-159.1,593.6,274067.9,-3206.9
$KALMAN_Y,15026.5,12.5,16.8,-14243.4,15.5
$MHEAD_RNG_PITCHd_Wd,76.7,23375,-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,-50.55,0.000,2,0.000,0.000,424,1852,3147,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.3,-5.5,10,95,10.62,2.40,-4.45,0.000,4,0.134,0.053,2407,473,3369,0,0,0,0,0,0
$GC,116,-0.90,-77.9,16.0,-24.5,19,122,0.52,2.33,0.00,0.000,6,0.087,0.020,2514,1912,3370,0,0,0,0,0,0
$GC,326,-0.99,-77.9,38.7,-10.5,49,330,0.00,2.50,0.00,0.000,4,0.000,0.043,2513,468,3372,0,0,0,0,0,0
$GC,388,-1.07,-77.9,44.6,-10.2,55,393,0.15,2.25,0.00,0.000,6,0.057,0.019,2465,1881,3371,0,0,0,0,0,0
$GC,650,-1.07,-77.9,79.6,-14.6,79,654,0.00,2.45,0.00,0.000,4,0.000,0.043,2462,462,3372,0,0,0,0,0,0
$GC,688,-1.02,-77.9,84.8,-13.2,82,694,0.12,2.25,0.00,0.000,6,0.097,0.019,2491,1886,3372,0,0,0,0,0,0
$GC,950,-1.15,-77.9,110.3,-9.0,107,955,0.12,2.45,0.00,0.000,4,0.063,0.042,2444,459,3373,0,0,0,0,0,0
$GC,1063,-1.15,-77.9,121.9,-9.8,118,1068,0.00,2.28,0.00,0.000,6,0.000,0.019,2447,1883,3374,0,0,0,0,0,0
$GC,1325,-1.21,-77.9,144.4,-9.4,143,1329,0.00,2.40,0.00,0.000,4,0.000,0.041,2445,469,3375,0,0,0,0,0,0
$GC,1363,-1.24,-77.9,148.7,-10.8,146,1368,0.00,2.22,0.00,0.000,6,0.000,0.019,2447,1881,3375,0,0,0,0,0,0
$GC,1625,-1.31,-77.9,176.9,-10.3,171,1629,0.00,2.42,0.00,0.000,4,0.000,0.041,2445,467,3375,0,0,0,0,0,0
$GC,1660,-1.35,-77.9,180.2,-9.5,174,1665,0.12,2.25,0.00,0.000,6,0.062,0.020,2402,1885,3375,0,0,0,0,0,0
$GC,1921,-1.35,-77.9,204.3,-8.8,196,1925,0.00,2.42,0.00,0.000,4,0.000,0.041,2401,467,3375,0,0,0,0,0,0
$GC,1963,-1.31,-77.9,208.5,-10.6,198,1968,0.12,2.22,0.00,0.000,6,0.097,0.021,2428,1870,3376,0,0,0,0,0,0
$GC,2296,-1.37,-77.9,236.3,-8.0,214,2300,0.00,2.40,0.00,0.000,4,0.000,0.044,2428,470,3376,0,0,0,0,0,0
$GC,2338,-1.37,-77.9,240.0,-8.1,216,2345,0.00,2.25,0.00,0.000,6,0.000,0.021,2427,1886,3376,0,0,0,0,0,0
$GC,2677,-1.45,-77.9,258.9,-5.9,232,2682,0.12,2.28,0.00,0.000,4,0.064,0.028,2384,3260,3375,0,0,0,0,0,0
$GC,2693,-1.52,-77.9,260.3,-6.7,232,2698,0.00,2.33,0.00,0.000,6,0.000,0.029,2384,1868,3375,0,0,0,0,0,0
$GC,3008,-1.52,-77.9,293.0,-10.5,248,3012,0.00,2.40,0.00,0.000,4,0.000,0.046,2385,464,3374,0,0,0,0,0,0
$GC,3036,-1.45,-77.9,296.3,-11.8,249,3040,0.00,2.28,0.00,0.000,6,0.000,0.022,2385,1871,3374,0,0,0,0,0,0
$GC,3358,-1.45,-77.9,327.8,-8.9,258,3362,0.00,2.42,0.00,0.000,4,0.000,0.046,2385,471,3373,0,0,0,0,0,0
$GC,3405,-1.42,-77.9,332.0,-9.0,259,3409,0.00,2.25,0.00,0.000,6,0.000,0.024,2385,1871,3373,0,0,0,0,0,0
$GC,3728,-1.42,-77.9,360.2,-8.7,267,3732,0.00,2.40,0.00,0.000,4,0.000,0.048,2385,473,3371,0,0,0,0,0,0
$GC,3766,-1.38,-77.9,363.7,-9.4,267,3772,0.12,2.28,0.00,0.000,6,0.100,0.025,2411,1879,3370,0,0,0,0,0,0
$GC,4097,-1.44,-77.9,390.0,-8.0,276,4101,0.00,2.42,0.00,0.000,4,0.000,0.050,2411,474,3368,0,0,0,0,0,0
$GC,4159,-1.48,-77.9,395.4,-9.0,277,4163,0.00,2.30,0.00,0.000,6,0.000,0.026,2411,1876,3368,0,0,0,0,0,0
$GC,4509,-1.55,-77.9,416.7,-5.5,286,4514,0.15,2.45,0.00,0.000,4,0.060,0.052,2367,474,3365,0,0,0,0,0,0
$GC,4604,-1.48,-77.9,423.7,-7.9,288,4609,0.12,2.28,0.00,0.000,6,0.103,0.027,2393,1871,3364,0,0,0,0,0,0
$GC,4931,-1.48,-77.9,441.5,-5.5,296,4935,0.00,2.42,0.00,0.000,4,0.000,0.053,2392,476,3362,0,0,0,0,0,0
$GC,4995,-1.48,-77.9,447.0,-8.5,297,4999,0.00,2.30,0.00,0.000,6,0.000,0.029,2393,1880,3362,0,0,0,0,0,0
$STATE,5053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5053,begin apogee
$GC,5060,-0.31,0.0,451.2,7.2,299,5127,1.17,0.00,63.90,0.884,6,0.075,0.000,2643,2037,3050,0,0,0,0,0,0
$STATE,5128,end apogee,CONTROL_FINISHED_OK
$STATE,5128,begin climb
$GC,5130,1.40,77.9,451.9,0.0,300,5206,1.62,2.42,65.10,0.860,4,0.033,0.043,3017,3381,2732,0,0,0,0,0,0
$GC,5470,1.22,119.3,440.5,5.2,308,5512,0.22,2.35,35.42,0.848,6,0.115,0.035,2981,2012,2563,0,0,0,0,0,0
$GC,5821,1.13,140.3,416.9,6.6,317,5845,0.00,2.47,18.50,0.818,4,0.000,0.039,2978,3388,2477,0,0,0,0,0,0
$GC,5866,1.06,160.0,413.9,6.7,318,5891,0.20,2.38,18.85,0.811,6,0.114,0.036,2946,2012,2397,0,0,0,0,0,0
$GC,6238,1.06,160.0,383.2,8.7,327,6242,0.00,2.50,0.00,0.000,4,0.000,0.053,2945,599,2390,0,0,0,0,0,0
$GC,6479,1.00,160.0,360.6,9.4,332,6483,0.00,2.33,0.00,0.000,6,0.000,0.030,2946,1993,2386,0,0,0,0,0,0
$GC,6792,1.00,160.0,334.1,8.4,340,6796,0.00,2.45,0.00,0.000,4,0.000,0.052,2946,598,2386,0,0,0,0,0,0
$GC,6816,0.93,160.0,331.8,9.4,340,6821,0.15,2.38,0.00,0.000,6,0.120,0.031,2919,2017,2385,0,0,0,0,0,0
$GC,7157,1.00,160.0,302.9,8.5,349,7161,0.00,2.50,0.00,0.000,4,0.000,0.053,2919,604,2384,0,0,0,0,0,0
$GC,7258,1.00,160.0,293.2,10.2,352,7262,0.00,2.38,0.00,0.000,6,0.000,0.030,2919,2014,2383,0,0,0,0,0,0
$GC,7574,1.08,160.0,265.4,8.0,367,7578,0.12,2.45,0.00,0.000,4,0.077,0.051,2950,604,2383,0,0,0,0,0,0
$GC,7598,1.05,160.0,263.1,8.9,368,7602,0.00,2.35,0.00,0.000,6,0.000,0.030,2950,2018,2381,0,0,0,0,0,0
$GC,7923,1.10,205.9,244.6,4.9,384,7968,0.00,2.60,38.67,0.761,4,0.000,0.051,2950,601,2209,0,0,0,0,0,0
$GC,7990,1.11,211.8,240.8,7.6,387,8002,0.00,2.40,6.45,0.601,6,0.000,0.029,2950,2018,2185,0,0,0,0,0,0
$GC,8325,1.21,233.9,217.7,6.5,403,8353,0.12,2.53,20.52,0.711,4,0.074,0.049,2983,603,2095,0,0,0,0,0,0
$GC,8376,1.14,233.9,212.8,10.1,405,8381,0.00,2.38,0.00,0.000,6,0.000,0.028,2983,2018,2092,0,0,0,0,0,0
$GC,8699,1.17,250.9,183.0,6.9,429,8720,0.00,2.55,15.50,0.665,4,0.000,0.048,2983,600,2027,0,0,0,0,0,0
$GC,8846,1.17,250.9,171.0,8.7,445,8850,0.00,2.38,0.00,0.000,6,0.000,0.026,2984,2021,2022,0,0,0,0,0,0
$GC,9113,1.17,250.9,148.2,9.6,470,9114,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2026,2022,0,0,0,0,0,0
$GC,9366,1.22,250.9,122.1,9.5,494,9370,0.00,2.45,0.00,0.000,4,0.000,0.045,2984,600,2021,0,0,0,0,0,0
$GC,9532,1.23,255.4,107.2,7.7,511,9541,0.00,2.30,4.32,0.428,6,0.000,0.023,2983,2025,2008,0,0,0,0,0,0
$GC,9797,1.35,289.5,89.1,5.7,536,9835,0.10,2.50,31.48,0.594,4,0.078,0.044,3015,598,1869,0,0,0,0,0,0
$GC,9862,1.33,307.4,85.3,6.8,543,9887,0.00,2.33,16.73,0.563,6,0.000,0.022,3015,2015,1796,0,0,0,0,0,0
$GC,10142,1.38,307.4,63.3,9.1,570,10146,0.00,2.45,0.00,0.000,4,0.000,0.044,3015,601,1792,0,0,0,0,0,0
$GC,10215,1.38,307.4,55.2,11.4,577,10221,0.00,2.28,0.00,0.000,6,0.000,0.021,3015,2019,1790,0,0,0,0,0,0
$GC,10478,1.43,307.4,30.2,11.3,602,10482,0.00,2.45,0.00,0.000,4,0.000,0.042,3015,601,1790,0,0,0,0,0,0
$GC,10558,1.43,307.4,20.4,12.5,618,10563,0.00,2.28,0.00,0.000,6,0.000,0.020,3015,2015,1790,0,0,0,0,0,0
$STATE,10709,end climb,SURFACE_DEPTH_REACHED
$STATE,10710,begin surface coast
$FINISH,0.5,1.023316
$STATE,10737,end surface coast,CONTROL_FINISHED_OK
$STATE,10737,begin surface
$SM_CCo,10818,0.00,0.000,0,0,1785,310.30
$SM_GC,1.34,11.15,0.00,0.00,0.027,0.000,0.000,427,1857,1785,-10.45,-0.51,310.30
$IRIDIUM_FIX,2059.45,-15756.04,090999,131333
$TT8_MAMPS,0.029146
$HUMID,50.31
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,46.836
$10V_AH,10.0,43.809
$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,27.200,133.550,335.450,0.000,0.000,54.643,60.846,241.896,4.500,0.000,54.253,1271.503,7533.125,398.438,1595.488,598.949,33.380,1267.799,0.000,1520.047,0.000,29.255,0.000
$DEVICE_MAMPS,134.225,52.923,883.584,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.256,423.169,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34947,650
$CAP_FILE_SIZE,130371,0
$CFSIZE,260165632,227778560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150610,162526,2107.417,-15756.922,103,3.1,122,9.8