version: 66.06
glider: 139
mission: 7
dive: 159
start: 4 30 110 11 53 59
data:
$ID,139
$MISSION,7
$DIVE,159
$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,-2123942
$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,1900
$C_ROLL_CLIMB,2035
$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
$GPS1,114800,2107.752,-15800.228,57,1.5,73,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.2
$GPS2,115307,2107.712,-15800.280,10,1.5,15,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.181,-0.030
$KALMAN_X,-6666.9,217.2,360.0,11466.5,-1955.2
$KALMAN_Y,1152.4,-224.2,-234.0,-800.8,324.9
$MHEAD_RNG_PITCHd_Wd,89.5,30204,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,74,0.00,0.00,-55.40,0.000,2,0.000,0.000,425,1885,3252,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.1,-4.6,10,95,10.75,2.40,-2.35,0.000,4,0.140,0.038,2403,3328,3369,0,0,0,0,0,0
$GC,144,-1.40,-77.9,19.6,-15.7,24,151,0.00,2.47,0.00,0.000,6,0.000,0.034,2403,1896,3370,0,0,0,0,0,0
$GC,345,-1.30,-77.9,48.4,-14.5,49,350,0.12,2.45,0.00,0.000,4,0.110,0.046,2427,488,3371,0,0,0,0,0,0
$GC,380,-1.16,-77.9,54.0,-17.5,52,385,0.15,2.33,0.00,0.000,6,0.105,0.020,2457,1938,3370,0,0,0,0,0,0
$GC,641,-1.21,-77.9,83.2,-11.2,76,645,0.00,2.50,0.00,0.000,4,0.000,0.044,2456,491,3372,0,0,0,0,0,0
$GC,675,-1.21,-77.9,87.2,-11.8,79,679,0.00,2.28,0.00,0.000,6,0.000,0.020,2456,1899,3372,0,0,0,0,0,0
$GC,937,-1.32,-77.9,113.4,-9.6,103,942,0.15,2.42,0.00,0.000,4,0.058,0.044,2411,492,3373,0,0,0,0,0,0
$GC,1028,-1.28,-77.9,124.5,-13.2,112,1032,0.12,2.28,0.00,0.000,6,0.100,0.020,2436,1903,3373,0,0,0,0,0,0
$GC,1288,-1.33,-77.9,153.1,-10.1,136,1292,0.00,2.45,0.00,0.000,4,0.000,0.045,2437,485,3374,0,0,0,0,0,0
$GC,1366,-1.33,-77.9,161.6,-10.6,144,1370,0.00,2.30,0.00,0.000,6,0.000,0.021,2436,1909,3374,0,0,0,0,0,0
$GC,1628,-1.37,-77.9,185.7,-8.5,168,1632,0.00,2.45,0.00,0.000,4,0.000,0.044,2437,488,3374,0,0,0,0,0,0
$GC,1645,-1.37,-77.9,187.2,-9.0,169,1650,0.00,2.30,0.00,0.000,6,0.000,0.021,2436,1916,3375,0,0,0,0,0,0
$GC,1913,-1.45,-77.9,213.9,-10.2,188,1918,0.17,2.47,0.00,0.000,4,0.053,0.046,2384,484,3375,0,0,0,0,0,0
$GC,2027,-1.36,-77.9,226.8,-11.0,193,2031,0.15,2.28,0.00,0.000,6,0.094,0.021,2417,1889,3375,0,0,0,0,0,0
$GC,2358,-1.41,-77.9,256.6,-10.4,209,2363,0.00,2.40,0.00,0.000,4,0.000,0.048,2416,493,3375,0,0,0,0,0,0
$GC,2423,-1.41,-77.9,264.8,-12.3,212,2427,0.00,2.30,0.00,0.000,6,0.000,0.023,2417,1906,3375,0,0,0,0,0,0
$GC,2772,-1.48,-77.9,305.2,-11.5,228,2777,0.12,2.47,0.00,0.000,4,0.067,0.049,2379,492,3375,0,0,0,0,0,0
$GC,2847,-1.43,-77.9,314.8,-12.1,229,2852,0.10,2.28,0.00,0.000,6,0.111,0.024,2399,1897,3375,0,0,0,0,0,0
$GC,3183,-1.47,-77.9,346.2,-8.9,238,3187,0.00,2.45,0.00,0.000,4,0.000,0.051,2399,494,3374,0,0,0,0,0,0
$GC,3238,-1.47,-77.9,351.6,-10.1,239,3242,0.00,2.30,0.00,0.000,6,0.000,0.025,2399,1903,3374,0,0,0,0,0,0
$GC,3552,-1.50,-77.9,377.7,-7.8,247,3556,0.00,2.47,0.00,0.000,4,0.000,0.053,2399,488,3372,0,0,0,0,0,0
$GC,3590,-1.50,-77.9,380.8,-8.0,247,3595,0.00,2.33,0.00,0.000,6,0.000,0.027,2400,1908,3372,0,0,0,0,0,0
$GC,3922,-1.55,-77.9,406.3,-7.8,256,3927,0.12,2.53,0.00,0.000,4,0.071,0.055,2364,488,3370,0,0,0,0,0,0
$GC,3969,-1.49,-77.9,410.8,-9.3,257,3974,0.12,2.35,0.00,0.000,6,0.107,0.028,2389,1900,3370,0,0,0,0,0,0
$GC,4292,-1.52,-77.9,437.1,-8.6,265,4297,0.00,2.47,0.00,0.000,4,0.000,0.057,2389,494,3367,0,0,0,0,0,0
$GC,4338,-1.52,-77.9,441.5,-9.4,266,4342,0.00,2.33,0.00,0.000,6,0.000,0.029,2389,1902,3367,0,0,0,0,0,0
$STATE,4460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4460,begin apogee
$GC,4465,-0.31,0.0,452.7,9.5,269,4533,1.20,0.00,64.85,0.884,6,0.077,0.000,2644,2062,3050,0,0,0,0,0,0
$STATE,4534,end apogee,CONTROL_FINISHED_OK
$STATE,4534,begin climb
$GC,4536,1.40,77.9,453.6,0.0,270,4610,1.65,2.45,65.07,0.864,4,0.035,0.048,3027,3407,2732,0,0,0,0,0,0
$GC,4717,1.24,133.3,450.7,4.2,274,4771,0.22,2.38,47.60,0.856,6,0.116,0.038,2985,2028,2506,0,0,0,0,0,0
$GC,5081,1.13,133.3,420.0,9.6,283,5086,0.12,2.47,0.00,0.000,4,0.124,0.055,2948,632,2498,0,0,0,0,0,0
$GC,5096,1.01,133.3,418.4,9.9,283,5101,0.17,2.35,0.00,0.000,6,0.122,0.030,2933,2020,2497,0,0,0,0,0,0
$GC,5445,1.02,141.7,390.3,7.4,292,5457,0.00,2.55,6.85,0.697,4,0.000,0.056,2932,630,2471,0,0,0,0,0,0
$GC,5486,0.96,144.3,387.3,7.8,292,5491,0.00,2.40,0.00,0.000,6,0.000,0.031,2933,2039,2470,0,0,0,0,0,0
$GC,5816,0.98,160.0,364.1,6.9,301,5840,0.00,2.58,17.17,0.808,4,0.000,0.054,2932,629,2395,0,0,0,0,0,0
$GC,5873,0.93,160.0,359.2,9.2,302,5877,0.00,2.40,0.00,0.000,6,0.000,0.031,2933,2036,2393,0,0,0,0,0,0
$GC,6186,0.93,160.0,332.5,8.6,310,6190,0.00,2.50,0.00,0.000,4,0.000,0.054,2933,632,2392,0,0,0,0,0,0
$GC,6203,0.93,160.0,330.7,9.5,310,6207,0.00,2.35,0.00,0.000,6,0.000,0.031,2933,2034,2391,0,0,0,0,0,0
$GC,6548,0.96,160.0,304.0,8.0,319,6552,0.00,2.50,0.00,0.000,4,0.000,0.054,2932,628,2390,0,0,0,0,0,0
$GC,6660,0.93,160.0,294.6,8.6,322,6665,0.00,2.38,0.00,0.000,6,0.000,0.030,2933,2038,2388,0,0,0,0,0,0
$GC,6989,0.97,160.0,266.5,8.5,338,6993,0.00,2.47,0.00,0.000,4,0.000,0.052,2932,626,2388,0,0,0,0,0,0
$GC,7068,0.97,160.0,259.0,9.7,341,7072,0.00,2.35,0.00,0.000,6,0.000,0.029,2933,2043,2386,0,0,0,0,0,0
$GC,7383,1.05,181.9,235.3,6.5,356,7407,0.00,2.53,18.67,0.739,4,0.000,0.050,2931,632,2307,0,0,0,0,0,0
$GC,7449,1.05,181.9,230.1,8.1,358,7456,0.00,2.40,0.00,0.000,6,0.000,0.028,2933,2037,2303,0,0,0,0,0,0
$GC,7764,1.14,206.6,206.8,6.3,374,7794,0.12,2.58,22.83,0.717,4,0.076,0.049,2962,629,2206,0,0,0,0,0,0
$GC,7909,1.10,206.6,194.0,9.2,384,7913,0.00,2.38,0.00,0.000,6,0.000,0.027,2964,2045,2201,0,0,0,0,0,0
$GC,8170,1.10,206.6,170.2,10.1,408,8174,0.00,2.33,0.00,0.000,4,0.000,0.034,2965,3434,2200,0,0,0,0,0,0
$GC,8193,1.14,206.6,167.9,10.3,410,8197,0.00,2.40,0.00,0.000,6,0.000,0.033,2962,2028,2200,0,0,0,0,0,0
$GC,8454,1.14,206.6,141.4,10.5,434,8458,0.00,2.40,0.00,0.000,4,0.000,0.047,2964,629,2200,0,0,0,0,0,0
$GC,8599,1.10,206.6,125.2,11.3,449,8605,0.00,2.33,0.00,0.000,6,0.000,0.024,2964,2046,2198,0,0,0,0,0,0
$GC,8861,1.15,206.6,101.0,9.9,474,8865,0.00,2.45,0.00,0.000,4,0.000,0.046,2964,625,2198,0,0,0,0,0,0
$GC,9122,1.15,206.6,74.7,8.7,502,9128,0.00,2.33,0.00,0.000,6,0.000,0.022,2963,2037,2198,0,0,0,0,0,0
$GC,9385,1.22,214.7,53.8,7.5,527,9399,0.00,2.50,7.32,0.499,4,0.000,0.043,2964,628,2173,0,0,0,0,0,0
$GC,9417,1.22,214.7,51.0,8.4,530,9424,0.00,2.33,0.00,0.000,6,0.000,0.021,2961,2036,2172,0,0,0,0,0,0
$GC,9680,1.29,214.7,30.0,8.1,555,9688,0.15,2.47,0.00,0.000,4,0.063,0.043,3006,626,2172,0,0,0,0,0,0
$GC,9868,1.21,214.7,11.0,11.0,598,9875,0.10,2.30,0.00,0.000,6,0.084,0.021,2983,2032,2172,0,0,0,0,0,0
$STATE,9946,end climb,SURFACE_DEPTH_REACHED
$STATE,9946,begin surface coast
$FINISH,0.4,1.004747
$STATE,9981,end surface coast,CONTROL_FINISHED_OK
$STATE,9981,begin surface
$SM_CCo,10000,43.30,0.529,0,0,1826,300.00
$SM_GC,1.42,0.00,0.00,43.30,0.000,0.000,0.529,429,1887,1826,-10.51,-0.42,300.00
$IRIDIUM_FIX,2101.76,-15803.33,250799,090905
$TT8_MAMPS,0.029146
$HUMID,43.85
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.4,14.885
$10V_AH,10.0,13.898
$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,26.850,130.300,250.375,43.300,0.000,27.871,33.704,149.508,4.500,0.000,15.483,1229.219,6488.972,365.921,1895.489,374.373,33.343,1187.333,0.000,1872.915,0.000,29.241,0.000
$DEVICE_MAMPS,139.594,56.758,884.351,529.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.701,397.652,900.225,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,34959,618
$CAP_FILE_SIZE,118959,0
$CFSIZE,260165632,249479168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300410,144324,2107.682,-15800.703,68,2.0,86,9.8