version: 66.06
glider: 139
mission: 7
dive: 261
start: 5 12 110 18 39 27
data:
$ID,139
$MISSION,7
$DIVE,261
$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,-2129288
$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
$GPS1,183319,2106.444,-15757.810,55,1.9,55,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.8
$GPS2,183836,2106.500,-15757.773,13,1.5,29,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.143,-0.116
$KALMAN_X,-102987.3,-24.4,124.5,112589.9,-295.6
$KALMAN_Y,60365.4,-186.8,85.3,-62618.5,1231.2
$MHEAD_RNG_PITCHd_Wd,119.1,25699,-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,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,77,0.00,0.00,-57.88,0.000,6,0.000,0.000,425,1869,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,4.0,-7.1,11,95,10.68,2.40,0.00,0.000,4,0.137,0.035,2402,460,3371,0,0,0,0,0,0
$GC,102,-0.01,-77.9,14.5,-34.1,15,109,1.52,2.33,0.00,0.000,6,0.096,0.021,2707,1905,3371,0,0,0,0,0,0
$GC,318,-0.65,-77.9,30.8,-8.0,52,328,0.57,2.47,0.00,0.000,4,0.044,0.040,2565,459,3372,0,0,0,0,0,0
$GC,358,-1.13,-77.9,33.9,-7.2,56,363,0.43,2.28,0.00,0.000,6,0.030,0.019,2448,1898,3372,0,0,0,0,0,0
$GC,620,-1.13,-77.9,63.7,-12.0,80,625,0.10,2.22,0.00,0.000,4,0.109,0.025,2470,3250,3373,0,0,0,0,0,0
$GC,637,-1.16,-77.9,65.9,-13.0,81,642,0.00,2.33,0.00,0.000,6,0.000,0.028,2462,1861,3373,0,0,0,0,0,0
$GC,900,-1.24,-77.9,94.9,-10.5,105,904,0.00,2.38,0.00,0.000,4,0.000,0.044,2469,471,3374,0,0,0,0,0,0
$GC,991,-1.28,-77.9,104.9,-10.7,114,999,0.12,2.25,0.00,0.000,6,0.031,0.019,2418,1867,3375,0,0,0,0,0,0
$GC,1253,-1.28,-77.9,134.7,-11.1,139,1257,0.00,2.25,0.00,0.000,4,0.000,0.025,2419,3261,3375,0,0,0,0,0,0
$GC,1280,-1.34,-77.9,137.9,-10.5,141,1286,0.00,2.33,0.00,0.000,6,0.000,0.029,2417,1871,3376,0,0,0,0,0,0
$GC,1541,-1.34,-77.9,168.6,-11.9,166,1545,0.00,2.40,0.00,0.000,4,0.000,0.044,2417,468,3376,0,0,0,0,0,0
$GC,1595,-1.34,-77.9,175.4,-11.7,171,1601,0.00,2.25,0.00,0.000,6,0.000,0.020,2418,1873,3376,0,0,0,0,0,0
$GC,1857,-1.38,-77.9,204.3,-10.0,194,1861,0.00,2.42,0.00,0.000,4,0.000,0.044,2417,462,3377,0,0,0,0,0,0
$GC,1916,-1.38,-77.9,210.4,-9.6,196,1923,0.00,2.30,0.00,0.000,6,0.000,0.021,2418,1880,3377,0,0,0,0,0,0
$GC,2231,-1.43,-77.9,238.3,-8.1,212,2235,0.00,2.42,0.00,0.000,4,0.000,0.045,2417,470,3377,0,0,0,0,0,0
$GC,2289,-1.43,-77.9,243.9,-10.1,214,2293,0.00,2.25,0.00,0.000,6,0.000,0.021,2419,1870,3377,0,0,0,0,0,0
$GC,2607,-1.49,-77.9,270.9,-8.3,229,2612,0.12,2.45,0.00,0.000,4,0.064,0.047,2380,464,3377,0,0,0,0,0,0
$GC,2713,-1.42,-77.9,280.8,-8.6,233,2719,0.12,2.30,0.00,0.000,6,0.101,0.023,2405,1880,3377,0,0,0,0,0,0
$GC,3048,-1.46,-77.9,308.7,-9.1,248,3052,0.00,2.45,0.00,0.000,4,0.000,0.048,2405,469,3376,0,0,0,0,0,0
$GC,3107,-1.46,-77.9,314.5,-9.5,249,3111,0.00,2.30,0.00,0.000,6,0.000,0.025,2405,1881,3375,0,0,0,0,0,0
$GC,3457,-1.50,-77.9,343.2,-7.6,258,3461,0.00,2.45,0.00,0.000,4,0.000,0.050,2404,473,3374,0,0,0,0,0,0
$GC,3530,-1.50,-77.9,349.7,-8.8,259,3534,0.00,2.30,0.00,0.000,6,0.000,0.026,2405,1874,3373,0,0,0,0,0,0
$GC,3871,-1.55,-77.9,375.4,-7.0,268,3876,0.12,2.45,0.00,0.000,4,0.067,0.053,2367,473,3371,0,0,0,0,0,0
$GC,3894,-1.48,-77.9,377.7,-9.4,268,3899,0.12,2.30,0.00,0.000,6,0.104,0.027,2391,1873,3371,0,0,0,0,0,0
$GC,4236,-1.52,-77.9,405.4,-8.1,277,4241,0.00,2.45,0.00,0.000,4,0.000,0.054,2393,467,3369,0,0,0,0,0,0
$GC,4275,-1.52,-77.9,408.9,-9.5,277,4280,0.00,2.33,0.00,0.000,6,0.000,0.028,2392,1872,3369,0,0,0,0,0,0
$GC,4607,-1.55,-77.9,437.3,-8.5,286,4611,0.00,2.45,0.00,0.000,4,0.000,0.055,2392,470,3367,0,0,0,0,0,0
$GC,4649,-1.55,-77.9,441.5,-10.0,287,4653,0.00,2.33,0.00,0.000,6,0.000,0.029,2393,1872,3366,0,0,0,0,0,0
$STATE,4770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4770,begin apogee
$GC,4776,-0.31,0.0,453.6,10.0,290,4844,1.17,0.00,64.60,0.881,6,0.073,0.000,2645,2030,3050,0,0,0,0,0,0
$STATE,4845,end apogee,CONTROL_FINISHED_OK
$STATE,4845,begin climb
$GC,4847,1.40,77.9,455.0,0.0,291,4921,1.62,2.45,64.75,0.858,4,0.034,0.045,3025,3378,2732,0,0,0,0,0,0
$GC,5051,1.23,125.7,452.4,4.7,295,5101,0.20,2.38,41.08,0.849,6,0.111,0.038,2987,2011,2536,0,0,0,0,0,0
$GC,5436,1.11,125.7,420.0,9.5,305,5441,0.15,2.40,0.00,0.000,4,0.120,0.042,2959,3387,2530,0,0,0,0,0,0
$GC,5530,1.06,125.7,410.8,9.6,307,5534,0.00,2.40,0.00,0.000,6,0.000,0.038,2958,2004,2530,0,0,0,0,0,0
$GC,5853,1.01,125.7,382.8,8.3,315,5854,0.15,0.00,0.00,0.000,6,0.118,0.000,2933,2004,2527,0,0,0,0,0,0
$GC,6177,1.03,144.9,359.1,6.7,323,6195,0.00,0.00,15.88,0.797,6,0.000,0.000,2933,2003,2459,0,0,0,0,0,0
$GC,6502,1.05,162.0,336.3,6.9,331,6523,0.00,2.45,15.93,0.784,4,0.000,0.042,2934,3390,2389,0,0,0,0,0,0
$GC,6544,1.10,169.2,333.1,7.5,332,6556,0.00,2.42,8.00,0.695,6,0.000,0.039,2934,2005,2360,0,0,0,0,0,0
$GC,6870,1.13,169.2,300.5,9.6,340,6875,0.12,2.50,0.00,0.000,4,0.077,0.055,2963,596,2355,0,0,0,0,0,0
$GC,7137,1.06,174.7,274.7,7.6,350,7147,0.00,2.38,5.10,0.584,6,0.000,0.030,2964,1995,2337,0,0,0,0,0,0
$GC,7478,1.06,174.7,243.6,9.8,367,7483,0.00,2.42,0.00,0.000,4,0.000,0.051,2964,604,2336,0,0,0,0,0,0
$GC,7575,0.99,174.7,232.9,10.8,371,7579,0.17,2.38,0.00,0.000,6,0.112,0.028,2933,2020,2334,0,0,0,0,0,0
$GC,7898,1.08,194.6,209.4,6.7,387,7923,0.00,2.58,18.70,0.710,4,0.000,0.049,2932,606,2256,0,0,0,0,0,0
$GC,7990,1.08,194.6,202.8,8.6,391,7995,0.00,2.35,0.00,0.000,6,0.000,0.027,2932,2014,2252,0,0,0,0,0,0
$GC,8322,1.18,203.2,177.8,7.4,420,8337,0.17,2.53,8.70,0.617,4,0.061,0.048,2977,598,2220,0,0,0,0,0,0
$GC,8505,1.14,203.2,159.1,9.5,439,8509,0.00,2.35,0.00,0.000,6,0.000,0.025,2976,2014,2217,0,0,0,0,0,0
$GC,8767,1.14,203.2,135.6,8.4,463,8771,0.00,2.47,0.00,0.000,4,0.000,0.047,2977,595,2217,0,0,0,0,0,0
$GC,8804,1.09,203.2,131.9,9.1,466,8811,0.10,2.35,0.00,0.000,6,0.093,0.025,2954,2004,2216,0,0,0,0,0,0
$GC,9067,1.17,203.2,113.3,8.1,491,9072,0.00,2.42,0.00,0.000,4,0.000,0.044,2954,592,2216,0,0,0,0,0,0
$GC,9175,1.17,203.2,103.1,10.4,502,9179,0.00,2.33,0.00,0.000,6,0.000,0.023,2954,2017,2216,0,0,0,0,0,0
$GC,9436,1.29,230.0,84.4,6.2,526,9468,0.17,2.55,24.23,0.588,4,0.057,0.044,3004,602,2111,0,0,0,0,0,0
$GC,9567,1.22,230.0,71.1,11.1,540,9572,0.12,2.28,0.00,0.000,6,0.109,0.021,2981,2003,2107,0,0,0,0,0,0
$GC,9829,1.27,230.0,48.2,8.6,564,9833,0.00,2.42,0.00,0.000,4,0.000,0.042,2980,598,2107,0,0,0,0,0,0
$GC,9881,1.27,230.0,43.4,9.4,569,9888,0.00,2.33,0.00,0.000,6,0.000,0.021,2980,2017,2106,0,0,0,0,0,0
$GC,10147,1.35,236.5,22.1,7.6,603,10160,0.12,2.30,6.65,0.446,4,0.064,0.027,3020,3394,2085,0,0,0,0,0,0
$GC,10190,1.35,236.5,18.4,9.0,611,10195,0.00,2.33,0.00,0.000,6,0.000,0.027,3021,2002,2085,0,0,0,0,0,0
$STATE,10356,end climb,SURFACE_DEPTH_REACHED
$STATE,10356,begin surface coast
$FINISH,0.5,1.023309
$STATE,10391,end surface coast,CONTROL_FINISHED_OK
$STATE,10391,begin surface
$SM_CCo,10411,33.17,0.509,0,0,1826,300.00
$SM_GC,1.27,0.00,0.00,33.17,0.000,0.000,0.509,427,1862,1826,-10.52,-0.37,300.00
$IRIDIUM_FIX,2059.45,-15756.04,060899,151510
$TT8_MAMPS,0.029146
$HUMID,46.29
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.4,23.158
$10V_AH,10.0,22.304
$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,29.350,123.975,273.600,33.175,0.000,31.581,29.016,142.098,4.500,0.000,29.591,1277.466,6787.001,380.846,1931.041,386.064,33.370,1226.945,0.000,1899.272,0.000,29.236,0.000
$DEVICE_MAMPS,137.293,56.758,880.516,508.521,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,436.983,415.827,807.771,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,38073,647
$CAP_FILE_SIZE,122242,0
$CFSIZE,260165632,243654656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120510,213452,2106.276,-15756.525,25,2.2,44,9.8