version: 66.06
glider: 139
mission: 7
dive: 532
start: 6 16 110 1 46 52
data:
$ID,139
$MISSION,7
$DIVE,532
$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,-2141035
$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
$GPS1,013930,2107.419,-15756.215,76,3.7,95,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.2
$GPS2,014601,2107.377,-15756.258,85,1.0,85,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.016
$KALMAN_X,-285379.9,216.1,645.3,282222.4,-2697.4
$KALMAN_Y,15733.9,34.1,20.1,-14920.1,262.0
$MHEAD_RNG_PITCHd_Wd,85.2,23231,-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,-50.38,0.000,2,0.000,0.000,425,1893,3139,0,0,0,0,0,0
$GC,71,-1.40,-77.9,3.4,-5.8,10,95,10.62,2.47,-4.62,0.000,4,0.136,0.051,2405,470,3370,0,0,0,0,0,0
$GC,168,-1.19,-77.9,25.4,-18.1,30,174,0.25,2.33,0.00,0.000,6,0.094,0.020,2454,1907,3371,0,0,0,0,0,0
$GC,368,-1.15,-77.9,54.2,-14.3,51,373,0.00,2.47,0.00,0.000,4,0.000,0.043,2455,463,3372,0,0,0,0,0,0
$GC,500,-1.10,-77.9,73.4,-14.4,64,505,0.00,2.28,0.00,0.000,6,0.000,0.019,2454,1885,3372,0,0,0,0,0,0
$GC,763,-1.14,-77.9,103.0,-10.0,89,767,0.00,2.42,0.00,0.000,4,0.000,0.042,2454,463,3373,0,0,0,0,0,0
$GC,827,-1.14,-77.9,110.4,-10.3,95,833,0.00,2.28,0.00,0.000,6,0.000,0.019,2454,1885,3373,0,0,0,0,0,0
$GC,1090,-1.22,-77.9,132.1,-8.0,120,1094,0.00,2.42,0.00,0.000,4,0.000,0.042,2454,460,3374,0,0,0,0,0,0
$GC,1181,-1.26,-77.9,140.2,-9.1,129,1185,0.00,2.25,0.00,0.000,6,0.000,0.019,2454,1881,3375,0,0,0,0,0,0
$GC,1443,-1.35,-77.9,164.3,-8.9,153,1448,0.15,2.45,0.00,0.000,4,0.055,0.043,2405,463,3375,0,0,0,0,0,0
$GC,1478,-1.27,-77.9,168.3,-12.3,156,1483,0.15,2.25,0.00,0.000,6,0.093,0.020,2436,1886,3375,0,0,0,0,0,0
$GC,1739,-1.32,-77.9,191.6,-8.0,180,1743,0.00,2.42,0.00,0.000,4,0.000,0.042,2437,468,3376,0,0,0,0,0,0
$GC,1785,-1.32,-77.9,196.0,-9.9,184,1791,0.00,2.25,0.00,0.000,6,0.000,0.020,2435,1880,3376,0,0,0,0,0,0
$GC,2051,-1.38,-77.9,221.1,-9.8,200,2053,0.10,0.00,0.00,0.000,6,0.074,0.000,2399,1884,3376,0,0,0,0,0,0
$GC,2360,-1.38,-77.9,251.4,-9.4,215,2364,0.00,2.40,0.00,0.000,4,0.000,0.044,2399,469,3376,0,0,0,0,0,0
$GC,2429,-1.38,-77.9,258.8,-11.2,218,2433,0.00,2.22,0.00,0.000,6,0.000,0.021,2399,1871,3376,0,0,0,0,0,0
$GC,2754,-1.38,-77.9,292.0,-9.1,234,2758,0.00,2.40,0.00,0.000,4,0.000,0.045,2399,464,3376,0,0,0,0,0,0
$GC,2814,-1.38,-77.9,298.1,-9.8,236,2820,0.00,2.22,0.00,0.000,6,0.000,0.022,2399,1876,3376,0,0,0,0,0,0
$GC,3126,-1.42,-77.9,322.5,-7.3,245,3131,0.00,2.42,0.00,0.000,4,0.000,0.046,2400,470,3375,0,0,0,0,0,0
$GC,3146,-1.42,-77.9,324.1,-7.2,245,3150,0.00,2.28,0.00,0.000,6,0.000,0.023,2399,1884,3375,0,0,0,0,0,0
$GC,3495,-1.46,-77.9,347.2,-6.4,254,3500,0.00,2.45,0.00,0.000,4,0.000,0.048,2400,462,3373,0,0,0,0,0,0
$GC,3556,-1.46,-77.9,351.6,-7.8,255,3560,0.00,2.28,0.00,0.000,6,0.000,0.025,2400,1870,3373,0,0,0,0,0,0
$GC,3906,-1.50,-77.9,376.2,-7.2,264,3910,0.00,2.45,0.00,0.000,4,0.000,0.051,2400,466,3371,0,0,0,0,0,0
$GC,4000,-1.50,-77.9,384.1,-8.6,266,4004,0.00,2.33,0.00,0.000,6,0.000,0.026,2400,1880,3370,0,0,0,0,0,0
$GC,4332,-1.54,-77.9,409.7,-8.1,274,4337,0.00,2.47,0.00,0.000,4,0.000,0.051,2399,463,3367,0,0,0,0,0,0
$GC,4360,-1.54,-77.9,412.4,-9.5,274,4365,0.10,2.30,0.00,0.000,6,0.077,0.028,2369,1876,3367,0,0,0,0,0,0
$GC,4697,-1.54,-77.9,441.9,-8.9,283,4701,0.00,2.47,0.00,0.000,4,0.000,0.054,2369,468,3365,0,0,0,0,0,0
$GC,4748,-1.48,-77.9,447.3,-9.8,284,4753,0.10,2.33,0.00,0.000,6,0.114,0.028,2389,1872,3364,0,0,0,0,0,0
$STATE,4780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4780,begin apogee
$GC,4786,-0.31,0.0,450.4,8.7,285,4854,1.20,0.00,64.43,0.880,6,0.075,0.000,2645,2032,3050,0,0,0,0,0,0
$STATE,4855,end apogee,CONTROL_FINISHED_OK
$STATE,4855,begin climb
$GC,4858,1.40,77.9,451.4,0.0,286,4933,1.62,2.42,64.78,0.860,4,0.033,0.042,3021,3380,2732,0,0,0,0,0,0
$GC,4985,1.27,160.8,451.6,2.3,288,5065,0.17,2.38,71.12,0.854,6,0.117,0.035,2994,2007,2394,0,0,0,0,0,0
$GC,5401,1.17,160.8,418.0,8.9,299,5402,0.12,0.00,0.00,0.000,6,0.122,0.000,2972,2007,2384,0,0,0,0,0,0
$GC,5726,1.11,160.8,389.9,8.5,307,5730,0.00,2.38,0.00,0.000,4,0.000,0.040,2971,3384,2381,0,0,0,0,0,0
$GC,5751,1.05,160.8,387.6,9.1,307,5756,0.15,2.38,0.00,0.000,6,0.115,0.037,2945,2006,2381,0,0,0,0,0,0
$GC,6092,1.06,166.1,361.1,7.7,316,6096,0.00,2.47,0.00,0.000,4,0.000,0.054,2945,604,2378,0,0,0,0,0,0
$GC,6195,1.00,166.1,351.6,8.7,318,6199,0.00,2.35,0.00,0.000,6,0.000,0.030,2945,1999,2375,0,0,0,0,0,0
$GC,6508,1.00,166.1,325.0,8.7,326,6512,0.00,2.47,0.00,0.000,4,0.000,0.051,2945,598,2375,0,0,0,0,0,0
$GC,6699,0.95,166.1,305.6,10.5,330,6704,0.12,2.38,0.00,0.000,6,0.119,0.030,2923,2010,2372,0,0,0,0,0,0
$GC,7024,1.10,220.1,286.0,4.3,344,7082,0.15,2.60,49.60,0.792,4,0.071,0.055,2959,600,2151,0,0,0,0,0,0
$GC,7227,1.10,220.1,269.1,10.1,353,7231,0.00,2.40,0.00,0.000,6,0.000,0.030,2959,2017,2143,0,0,0,0,0,0
$GC,7557,1.16,220.1,238.5,9.0,369,7561,0.00,2.47,0.00,0.000,4,0.000,0.051,2959,605,2142,0,0,0,0,0,0
$GC,7640,1.16,220.1,230.5,9.4,372,7645,0.00,2.35,0.00,0.000,6,0.000,0.028,2959,2020,2140,0,0,0,0,0,0
$GC,7956,1.22,220.6,206.2,8.0,388,7960,0.00,2.50,0.00,0.000,4,0.000,0.048,2959,597,2139,0,0,0,0,0,0
$GC,8027,1.22,220.6,199.9,8.6,391,8032,0.00,2.35,0.00,0.000,6,0.000,0.027,2959,2018,2138,0,0,0,0,0,0
$GC,8361,1.29,220.6,171.8,9.1,422,8366,0.15,2.45,0.00,0.000,4,0.065,0.047,2999,598,2138,0,0,0,0,0,0
$GC,8566,1.21,220.6,150.7,10.1,443,8571,0.00,2.33,0.00,0.000,6,0.000,0.025,2999,2022,2136,0,0,0,0,0,0
$GC,8828,1.21,220.6,124.5,10.9,468,8832,0.00,2.47,0.00,0.000,4,0.000,0.044,2998,595,2136,0,0,0,0,0,0
$GC,8899,1.16,220.6,115.9,11.8,475,8904,0.17,2.33,0.00,0.000,6,0.103,0.024,2966,2015,2136,0,0,0,0,0,0
$GC,9162,1.28,243.3,97.0,6.5,499,9184,0.12,0.00,19.17,0.589,6,0.070,0.000,3001,2020,2058,0,0,0,0,0,0
$GC,9434,1.32,243.3,76.9,8.5,525,9439,0.00,2.45,0.00,0.000,4,0.000,0.043,3001,601,2056,0,0,0,0,0,0
$GC,9546,1.32,243.3,66.2,9.2,536,9551,0.00,2.28,0.00,0.000,6,0.000,0.021,3001,2016,2054,0,0,0,0,0,0
$GC,9809,1.39,250.5,46.1,7.5,561,9821,0.00,2.47,7.60,0.473,4,0.000,0.043,3001,597,2028,0,0,0,0,0,0
$GC,9883,1.39,250.5,39.3,9.7,569,9887,0.00,2.28,0.00,0.000,6,0.000,0.021,3001,2013,2026,0,0,0,0,0,0
$GC,10152,1.45,251.6,18.3,7.9,607,10158,0.12,2.45,0.00,0.000,4,0.065,0.041,3042,598,2026,0,0,0,0,0,0
$STATE,10311,end climb,SURFACE_DEPTH_REACHED
$STATE,10311,begin surface coast
$FINISH,0.5,1.000830
$STATE,10348,end surface coast,CONTROL_FINISHED_OK
$STATE,10348,begin surface
$SM_CCo,10370,25.92,0.499,0,0,1826,300.00
$SM_GC,1.05,0.00,0.00,25.92,0.000,0.000,0.499,426,1901,1826,-10.52,0.76,300.00
$IRIDIUM_FIX,2059.45,-15758.18,090999,222205
$TT8_MAMPS,0.029146
$HUMID,51.18
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,23.3,47.175
$10V_AH,10.0,44.026
$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,26.875,119.025,276.700,25.925,0.000,24.721,31.533,149.105,4.750,0.000,85.823,1258.182,7143.179,375.996,1588.044,419.873,33.387,1200.876,0.000,1481.711,0.000,29.236,0.000
$DEVICE_MAMPS,135.759,55.224,879.749,499.317,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.157,425.267,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34929,649
$CAP_FILE_SIZE,118168,0
$CFSIZE,260165632,227549184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160610,044207,2107.443,-15756.297,81,2.0,81,9.8