version: 66.06
glider: 139
mission: 7
dive: 732
start: 7 12 110 23 53 55
data:
$ID,139
$MISSION,7
$DIVE,732
$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,-2148310.8
$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
$GPS1,233554,2105.886,-15753.481,68,1.7,84,9.8
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-70.7
$GPS2,235304,2105.796,-15753.551,15,2.1,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.059,0.174
$KALMAN_X,-382913.0,321.3,699.7,384269.9,-667.2
$KALMAN_Y,-4652.7,1309.0,-110.7,1384.6,-1334.3
$MHEAD_RNG_PITCHd_Wd,9.0,19694,-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,-77.8,0.0,0.0,0,73,0.00,0.00,-54.72,0.000,2,0.000,0.000,426,1881,3212,0,0,0,0,0,0
$GC,77,-1.40,-77.9,3.7,-6.7,11,96,10.50,2.35,-3.15,0.000,4,0.129,0.035,2406,3305,3369,0,0,0,0,0,0
$GC,159,-1.40,-77.9,19.3,-12.3,28,164,0.00,2.40,0.00,0.000,6,0.000,0.028,2405,1869,3370,0,0,0,0,0,0
$GC,363,-1.24,-77.9,45.6,-12.6,54,367,0.17,2.42,0.00,0.000,4,0.099,0.042,2441,466,3370,0,0,0,0,0,0
$GC,411,-1.21,-77.9,52.0,-10.7,58,416,0.00,2.30,0.00,0.000,6,0.000,0.019,2440,1912,3370,0,0,0,0,0,0
$GC,672,-1.21,-77.9,76.9,-9.3,83,676,0.00,2.45,0.00,0.000,4,0.000,0.041,2441,471,3371,0,0,0,0,0,0
$GC,735,-1.21,-77.9,82.6,-8.7,89,739,0.00,2.22,0.00,0.000,6,0.000,0.019,2441,1881,3372,0,0,0,0,0,0
$GC,1000,-1.21,-77.9,106.1,-9.7,113,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1885,3372,0,0,0,0,0,0
$GC,1263,-1.25,-77.9,130.1,-8.1,138,1267,0.00,2.42,0.00,0.000,4,0.000,0.041,2441,462,3372,0,0,0,0,0,0
$GC,1325,-1.29,-77.9,135.4,-7.6,144,1330,0.00,2.25,0.00,0.000,6,0.000,0.018,2441,1885,3373,0,0,0,0,0,0
$GC,1589,-1.35,-77.9,154.5,-7.2,168,1593,0.00,2.22,0.00,0.000,4,0.000,0.025,2441,3259,3373,0,0,0,0,0,0
$GC,1615,-1.47,-77.9,156.4,-7.4,170,1620,0.20,2.28,0.00,0.000,6,0.046,0.025,2381,1872,3374,0,0,0,0,0,0
$GC,1876,-1.41,-77.9,178.1,-7.7,194,1881,0.12,2.40,0.00,0.000,4,0.098,0.041,2406,471,3373,0,0,0,0,0,0
$GC,1905,-1.35,-77.9,180.3,-8.2,196,1909,0.00,2.22,0.00,0.000,6,0.000,0.019,2406,1879,3374,0,0,0,0,0,0
$GC,2177,-1.35,-77.9,203.9,-9.0,219,2181,0.00,2.38,0.00,0.000,4,0.000,0.041,2406,475,3374,0,0,0,0,0,0
$GC,2233,-1.35,-77.9,209.4,-9.7,221,2237,0.00,2.22,0.00,0.000,6,0.000,0.020,2406,1882,3374,0,0,0,0,0,0
$GC,2549,-1.35,-77.9,239.9,-10.7,236,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,1886,3374,0,0,0,0,0,0
$GC,2859,-1.38,-77.9,263.6,-5.9,251,2863,0.00,2.40,0.00,0.000,4,0.000,0.043,2406,472,3373,0,0,0,0,0,0
$GC,2897,-1.38,-77.9,266.3,-7.2,252,2903,0.00,2.25,0.00,0.000,6,0.000,0.021,2406,1873,3373,0,0,0,0,0,0
$GC,3213,-1.41,-77.9,287.5,-7.2,268,3217,0.00,2.30,0.00,0.000,4,0.000,0.028,2406,3266,3372,0,0,0,0,0,0
$GC,3248,-1.51,-77.9,290.1,-8.2,269,3253,0.00,2.30,0.00,0.000,6,0.000,0.029,2406,1880,3372,0,0,0,0,0,0
$GC,3562,-1.55,-77.9,313.9,-7.7,280,3567,0.15,2.40,0.00,0.000,4,0.058,0.045,2361,472,3372,0,0,0,0,0,0
$GC,3649,-1.44,-77.9,322.2,-10.3,281,3655,0.17,2.25,0.00,0.000,6,0.090,0.022,2397,1874,3371,0,0,0,0,0,0
$GC,3980,-1.44,-77.9,345.6,-7.2,290,3984,0.00,2.28,0.00,0.000,4,0.000,0.030,2397,3264,3369,0,0,0,0,0,0
$GC,4013,-1.53,-77.9,348.1,-7.8,290,4017,0.00,2.33,0.00,0.000,6,0.000,0.031,2397,1871,3369,0,0,0,0,0,0
$GC,4345,-1.53,-77.9,373.3,-7.3,298,4349,0.00,2.42,0.00,0.000,4,0.000,0.047,2397,469,3367,0,0,0,0,0,0
$GC,4410,-1.53,-77.9,378.2,-7.0,299,4415,0.00,2.28,0.00,0.000,6,0.000,0.024,2397,1876,3367,0,0,0,0,0,0
$GC,4759,-1.56,-77.9,400.2,-5.8,308,4761,0.10,0.00,0.00,0.000,6,0.076,0.000,2366,1881,3364,0,0,0,0,0,0
$GC,5082,-1.56,-77.9,425.4,-9.1,316,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1881,3362,0,0,0,0,0,0
$STATE,5321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5321,begin apogee
$GC,5328,-0.31,0.0,450.4,9.9,322,5396,1.30,0.00,63.88,0.856,6,0.074,0.000,2643,2027,3049,0,0,0,0,0,0
$STATE,5396,end apogee,CONTROL_FINISHED_OK
$STATE,5396,begin climb
$GC,5400,1.40,77.9,451.6,0.0,323,5475,1.62,2.42,64.90,0.838,4,0.028,0.037,3024,3384,2731,0,0,0,0,0,0
$GC,5546,1.23,128.7,451.8,4.5,326,5596,0.22,2.35,43.62,0.827,6,0.113,0.032,2985,2005,2525,0,0,0,0,0,0
$GC,5942,1.13,144.6,423.3,6.9,336,5962,0.12,2.53,13.88,0.771,4,0.123,0.050,2963,613,2459,0,0,0,0,0,0
$GC,6023,1.00,144.6,417.0,8.5,337,6028,0.15,2.30,0.00,0.000,6,0.120,0.028,2936,1992,2456,0,0,0,0,0,0
$GC,6360,1.05,185.9,397.7,5.2,346,6402,0.00,2.47,36.80,0.820,4,0.000,0.035,2937,3407,2291,0,0,0,0,0,0
$GC,6443,1.10,185.9,391.4,9.0,347,6447,0.00,2.40,0.00,0.000,6,0.000,0.035,2937,2014,2290,0,0,0,0,0,0
$GC,6775,1.10,185.9,359.5,9.7,355,6779,0.00,2.47,0.00,0.000,4,0.000,0.051,2936,596,2284,0,0,0,0,0,0
$GC,6903,1.07,185.9,346.7,9.2,357,6907,0.00,2.35,0.00,0.000,6,0.000,0.029,2937,2010,2281,0,0,0,0,0,0
$GC,7235,1.15,217.2,323.3,5.9,365,7265,0.12,0.00,27.60,0.780,6,0.075,0.000,2968,2013,2164,0,0,0,0,0,0
$GC,7539,1.15,217.2,297.8,9.5,373,7543,0.00,2.50,0.00,0.000,4,0.000,0.051,2968,599,2159,0,0,0,0,0,0
$GC,7633,1.09,217.2,287.3,11.1,377,7637,0.00,2.38,0.00,0.000,6,0.000,0.028,2968,2011,2156,0,0,0,0,0,0
$GC,7957,1.09,217.2,258.8,8.2,393,7961,0.00,2.50,0.00,0.000,4,0.000,0.050,2968,594,2156,0,0,0,0,0,0
$GC,8037,1.07,228.6,252.6,7.2,396,8054,0.00,2.38,10.30,0.675,6,0.000,0.028,2968,2024,2117,0,0,0,0,0,0
$GC,8382,1.14,243.7,227.6,7.0,413,8404,0.00,2.58,14.73,0.684,4,0.000,0.049,2968,602,2056,0,0,0,0,0,0
$GC,8548,1.14,243.7,212.6,8.7,420,8552,0.00,2.33,0.00,0.000,6,0.000,0.027,2968,2007,2051,0,0,0,0,0,0
$GC,8874,1.19,247.2,187.4,7.8,443,8884,0.00,2.50,3.83,0.431,4,0.000,0.048,2968,593,2042,0,0,0,0,0,0
$GC,9018,1.19,247.2,175.2,8.6,458,9024,0.00,2.38,0.00,0.000,6,0.000,0.025,2968,2020,2040,0,0,0,0,0,0
$GC,9283,1.29,278.1,157.0,5.9,483,9318,0.12,2.53,29.15,0.647,4,0.071,0.044,3003,593,1915,0,0,0,0,0,0
$GC,9431,1.25,278.1,144.4,9.2,499,9435,0.00,2.38,0.00,0.000,6,0.000,0.025,3003,2019,1910,0,0,0,0,0,0
$GC,9695,1.25,278.1,119.6,8.7,523,9699,0.00,2.47,0.00,0.000,4,0.000,0.045,3003,601,1909,0,0,0,0,0,0
$GC,9887,1.25,278.1,102.0,8.5,543,9891,0.00,2.33,0.00,0.000,6,0.000,0.023,3003,2025,1908,0,0,0,0,0,0
$GC,10150,1.33,300.9,83.1,6.5,567,10176,0.00,2.50,20.38,0.566,4,0.000,0.043,3003,599,1822,0,0,0,0,0,0
$GC,10302,1.33,300.9,70.6,8.4,583,10308,0.00,2.30,0.00,0.000,6,0.000,0.022,3003,2013,1818,0,0,0,0,0,0
$GC,10565,1.42,300.9,50.3,8.3,608,10569,0.00,2.42,0.00,0.000,4,0.000,0.042,3003,599,1818,0,0,0,0,0,0
$GC,10670,1.45,300.9,40.6,8.7,618,10677,0.12,2.28,0.00,0.000,6,0.066,0.021,3042,2013,1817,0,0,0,0,0,0
$GC,10939,1.45,300.9,16.8,8.9,656,10945,0.00,2.45,0.00,0.000,4,0.000,0.042,3042,594,1817,0,0,0,0,0,0
$STATE,11075,end climb,SURFACE_DEPTH_REACHED
$STATE,11076,begin surface coast
$FINISH,0.5,1.009853
$STATE,11108,end surface coast,CONTROL_FINISHED_OK
$STATE,11108,begin surface
$SM_CCo,11192,0.00,0.000,0,0,1813,302.95
$SM_GC,1.59,11.12,0.00,0.00,0.021,0.000,0.000,424,1900,1813,-10.43,0.71,302.95
$IRIDIUM_FIX,2059.45,-15753.03,061099,232339
$TT8_MAMPS,0.029146
$HUMID,55.39
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.3,65.727
$10V_AH,10.0,55.575
$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,26.350,118.500,329.050,0.000,0.000,86.701,151.395,512.442,4.500,0.000,35.427,1309.595,7922.005,397.043,1558.849,1028.117,33.371,1239.327,0.000,1498.110,0.000,29.254,0.000
$DEVICE_MAMPS,128.856,52.923,855.972,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,465.402,453.779,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,356124
$DATA_FILE_SIZE,34826,692
$CAP_FILE_SIZE,127922,0
$CFSIZE,260165632,215265280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130710,030222,2106.470,-15753.539,59,2.2,78,9.8