version: 66.06
glider: 139
mission: 7
dive: 260
start: 5 12 110 15 43 21
data:
$ID,139
$MISSION,7
$DIVE,260
$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,-2129257.8
$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
$GPS1,153652,2106.646,-15758.674,46,2.6,65,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.6
$GPS2,154230,2106.713,-15758.707,36,1.9,41,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.129,-0.131
$KALMAN_X,-102599.2,82.3,-543.1,111152.9,-594.2
$KALMAN_Y,59408.1,-243.3,31.5,-61159.7,1413.0
$MHEAD_RNG_PITCHd_Wd,125.5,27332,-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,-77.9,0.0,0.0,0,71,0.00,0.00,-52.80,0.000,2,0.000,0.000,427,1869,3184,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.1,-4.7,10,95,10.60,2.45,-3.75,0.000,4,0.135,0.055,2405,470,3370,0,0,0,0,0,0
$GC,129,-1.12,-77.9,18.4,-21.6,21,135,0.32,2.30,0.00,0.000,6,0.091,0.021,2469,1897,3372,0,0,0,0,0,0
$GC,333,-1.15,-77.9,43.6,-10.3,47,337,0.00,2.45,0.00,0.000,4,0.000,0.043,2470,470,3372,0,0,0,0,0,0
$GC,367,-1.15,-77.9,47.3,-11.7,50,371,0.00,2.28,0.00,0.000,6,0.000,0.020,2468,1885,3373,0,0,0,0,0,0
$GC,629,-1.24,-77.9,72.5,-10.0,74,634,0.12,2.45,0.00,0.000,4,0.064,0.044,2427,467,3374,0,0,0,0,0,0
$GC,736,-1.16,-77.9,86.2,-13.0,85,741,0.15,2.28,0.00,0.000,6,0.095,0.020,2459,1885,3375,0,0,0,0,0,0
$GC,998,-1.23,-77.9,111.9,-9.6,109,1002,0.00,2.42,0.00,0.000,4,0.000,0.044,2459,464,3376,0,0,0,0,0,0
$GC,1044,-1.29,-77.9,116.8,-10.1,113,1050,0.12,2.28,0.00,0.000,6,0.064,0.020,2417,1881,3375,0,0,0,0,0,0
$GC,1304,-1.29,-77.9,148.9,-11.9,138,1308,0.00,2.42,0.00,0.000,4,0.000,0.044,2417,461,3376,0,0,0,0,0,0
$GC,1323,-1.24,-77.9,151.2,-12.7,139,1329,0.12,2.25,0.00,0.000,6,0.100,0.021,2442,1877,3376,0,0,0,0,0,0
$GC,1583,-1.30,-77.9,177.1,-9.5,164,1587,0.00,2.40,0.00,0.000,4,0.000,0.044,2443,467,3377,0,0,0,0,0,0
$GC,1639,-1.30,-77.9,182.8,-10.0,169,1644,0.00,2.25,0.00,0.000,6,0.000,0.021,2442,1873,3377,0,0,0,0,0,0
$GC,1909,-1.36,-77.9,209.6,-10.7,191,1914,0.12,2.42,0.00,0.000,4,0.064,0.046,2401,463,3377,0,0,0,0,0,0
$GC,1933,-1.31,-77.9,212.8,-12.4,192,1938,0.12,2.25,0.00,0.000,6,0.100,0.021,2426,1882,3376,0,0,0,0,0,0
$GC,2259,-1.36,-77.9,247.0,-11.1,208,2263,0.00,2.45,0.00,0.000,4,0.000,0.046,2427,463,3377,0,0,0,0,0,0
$GC,2328,-1.39,-77.9,254.4,-10.6,211,2332,0.00,2.25,0.00,0.000,6,0.000,0.022,2427,1878,3377,0,0,0,0,0,0
$GC,2654,-1.46,-77.9,285.4,-9.1,227,2659,0.15,2.45,0.00,0.000,4,0.058,0.047,2380,469,3377,0,0,0,0,0,0
$GC,2721,-1.41,-77.9,293.0,-12.2,230,2725,0.12,2.25,0.00,0.000,6,0.103,0.023,2406,1876,3377,0,0,0,0,0,0
$GC,3047,-1.46,-77.9,322.2,-8.8,240,3051,0.00,2.45,0.00,0.000,4,0.000,0.048,2406,463,3376,0,0,0,0,0,0
$GC,3139,-1.46,-77.9,333.5,-12.9,242,3143,0.00,2.28,0.00,0.000,6,0.000,0.025,2406,1869,3375,0,0,0,0,0,0
$GC,3461,-1.50,-77.9,369.4,-11.0,250,3466,0.00,2.42,0.00,0.000,4,0.000,0.051,2404,467,3375,0,0,0,0,0,0
$GC,3503,-1.50,-77.9,373.9,-10.1,251,3508,0.00,2.33,0.00,0.000,6,0.000,0.026,2405,1882,3374,0,0,0,0,0,0
$GC,3831,-1.55,-77.9,405.8,-9.9,259,3836,0.15,2.50,0.00,0.000,4,0.062,0.054,2363,467,3372,0,0,0,0,0,0
$GC,3859,-1.46,-77.9,409.3,-13.1,259,3864,0.17,2.33,0.00,0.000,6,0.094,0.027,2398,1878,3372,0,0,0,0,0,0
$GC,4196,-1.50,-77.9,440.9,-9.4,268,4200,0.00,2.47,0.00,0.000,4,0.000,0.054,2398,470,3370,0,0,0,0,0,0
$GC,4247,-1.50,-77.9,446.1,-10.0,269,4251,0.00,2.33,0.00,0.000,6,0.000,0.028,2399,1875,3369,0,0,0,0,0,0
$STATE,4318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4319,begin apogee
$GC,4323,-0.31,0.0,452.8,9.2,271,4392,1.15,0.00,65.22,0.866,6,0.072,0.000,2646,2036,3050,0,0,0,0,0,0
$STATE,4393,end apogee,CONTROL_FINISHED_OK
$STATE,4393,begin climb
$GC,4395,1.40,77.9,454.1,0.0,272,4470,1.62,2.42,64.55,0.845,4,0.031,0.045,3028,3377,2732,0,0,0,0,0,0
$GC,4647,1.24,136.8,451.1,4.0,277,4706,0.22,2.38,50.40,0.843,6,0.111,0.038,2987,2008,2491,0,0,0,0,0,0
$GC,5031,1.13,136.8,419.1,9.8,287,5036,0.15,2.38,0.00,0.000,4,0.117,0.042,2959,3384,2483,0,0,0,0,0,0
$GC,5097,1.09,136.8,412.0,10.9,288,5102,0.00,2.38,0.00,0.000,6,0.000,0.037,2960,2011,2483,0,0,0,0,0,0
$GC,5442,1.05,136.8,378.4,9.6,297,5446,0.00,2.45,0.00,0.000,4,0.000,0.051,2960,605,2480,0,0,0,0,0,0
$GC,5507,0.94,136.8,371.8,10.4,298,5512,0.20,2.33,0.00,0.000,6,0.117,0.030,2924,1989,2479,0,0,0,0,0,0
$GC,5852,0.99,148.5,347.2,7.2,307,5864,0.00,0.00,9.05,0.724,6,0.000,0.000,2924,1994,2443,0,0,0,0,0,0
$GC,6183,1.06,159.0,323.6,7.3,315,6199,0.00,2.53,10.10,0.727,4,0.000,0.052,2923,606,2400,0,0,0,0,0,0
$GC,6370,1.06,159.0,306.9,8.7,319,6374,0.00,2.38,0.00,0.000,6,0.000,0.029,2924,2020,2398,0,0,0,0,0,0
$GC,6695,1.15,184.5,284.8,6.3,332,6726,0.17,2.58,23.12,0.762,4,0.064,0.051,2966,610,2297,0,0,0,0,0,0
$GC,6755,1.06,184.5,280.2,9.2,334,6759,0.00,2.38,0.00,0.000,6,0.000,0.028,2966,2015,2293,0,0,0,0,0,0
$GC,7071,1.06,184.5,252.4,9.5,349,7075,0.00,2.47,0.00,0.000,4,0.000,0.051,2966,602,2292,0,0,0,0,0,0
$GC,7172,1.00,184.5,241.9,10.5,353,7177,0.17,2.38,0.00,0.000,6,0.112,0.028,2934,2019,2289,0,0,0,0,0,0
$GC,7487,1.07,184.5,216.3,8.9,368,7488,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2024,2289,0,0,0,0,0,0
$GC,7801,1.14,184.5,188.3,8.5,389,7806,0.12,2.47,0.00,0.000,4,0.074,0.048,2967,600,2289,0,0,0,0,0,0
$GC,8021,1.10,184.5,167.1,9.9,412,8028,0.00,2.35,0.00,0.000,6,0.000,0.025,2967,2008,2288,0,0,0,0,0,0
$GC,8284,1.12,201.3,147.6,6.9,437,8304,0.00,2.47,14.68,0.626,4,0.000,0.045,2967,604,2228,0,0,0,0,0,0
$GC,8368,1.12,201.3,140.5,9.0,446,8372,0.00,2.35,0.00,0.000,6,0.000,0.025,2967,2021,2225,0,0,0,0,0,0
$GC,8630,1.16,206.2,120.4,7.7,470,8642,0.00,2.47,5.68,0.482,4,0.000,0.044,2967,601,2208,0,0,0,0,0,0
$GC,8700,1.16,206.2,113.8,9.5,477,8706,0.00,2.33,0.00,0.000,6,0.000,0.023,2966,2016,2206,0,0,0,0,0,0
$GC,8962,1.21,206.2,90.7,9.3,502,8963,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2021,2206,0,0,0,0,0,0
$GC,9217,1.26,206.2,67.6,8.8,526,9221,0.00,2.42,0.00,0.000,4,0.000,0.044,2967,598,2206,0,0,0,0,0,0
$GC,9352,1.26,206.2,54.4,9.7,540,9359,0.00,2.33,0.00,0.000,6,0.000,0.022,2967,2016,2206,0,0,0,0,0,0
$GC,9615,1.35,230.7,35.1,6.3,565,9646,0.17,2.53,22.42,0.537,4,0.055,0.044,3017,598,2108,0,0,0,0,0,0
$GC,9667,1.26,230.7,30.6,9.6,570,9672,0.15,2.30,0.00,0.000,6,0.101,0.021,2988,2016,2106,0,0,0,0,0,0
$GC,9939,1.33,232.2,8.9,7.9,618,9946,0.00,2.30,0.00,0.000,4,0.000,0.028,2987,3391,2106,0,0,0,0,0,0
$GC,10002,1.40,232.2,3.7,8.5,631,10008,0.12,2.33,0.00,0.000,6,0.066,0.028,3026,2004,2106,0,0,0,0,0,0
$STATE,10013,end climb,SURFACE_DEPTH_REACHED
$STATE,10013,begin surface coast
$FINISH,0.4,1.009156
$STATE,10052,end surface coast,CONTROL_FINISHED_OK
$STATE,10052,begin surface
$SM_CCo,10072,35.90,0.509,0,0,1826,300.00
$SM_GC,1.47,0.00,0.00,35.90,0.000,0.000,0.509,426,1869,1826,-10.53,-0.17,300.00
$IRIDIUM_FIX,2059.45,-15758.18,060899,131334
$TT8_MAMPS,0.028379
$HUMID,45.90
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,23.4,23.080
$10V_AH,10.0,22.224
$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,27.775,119.475,265.225,35.900,0.000,27.921,30.719,157.927,4.500,0.000,41.164,1246.786,6516.686,368.433,1935.424,381.894,33.365,1204.156,0.000,1883.079,0.000,29.241,0.000
$DEVICE_MAMPS,134.992,60.593,865.943,509.288,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,432.359,410.458,817.865,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,34872,640
$CAP_FILE_SIZE,120908,0
$CFSIZE,260165632,243716096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120510,183319,2106.444,-15757.810,55,1.9,55,9.8