version: 66.06
glider: 139
mission: 7
dive: 262
start: 5 12 110 21 41 13
data:
$ID,139
$MISSION,7
$DIVE,262
$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,-2129335.2
$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
$GPS1,213452,2106.276,-15756.525,25,2.2,44,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.9
$GPS2,214022,2106.280,-15756.506,26,2.3,45,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.149,-0.108
$KALMAN_X,-103079.1,1.5,790.1,114179.9,-1129.6
$KALMAN_Y,61289.6,-35.4,-107.9,-63909.1,1191.8
$MHEAD_RNG_PITCHd_Wd,116.2,23493,-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,15,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-53.12,0.000,2,0.000,0.000,428,1863,3196,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.1,-4.6,10,95,10.60,2.42,-3.53,0.000,4,0.135,0.054,2401,471,3371,0,0,0,0,0,0
$GC,111,-0.63,-77.9,14.6,-30.3,17,118,0.88,2.33,0.00,0.000,6,0.091,0.021,2573,1904,3371,0,0,0,0,0,0
$GC,323,-0.91,-77.9,32.3,-6.5,52,328,0.25,2.47,0.00,0.000,4,0.044,0.043,2497,467,3373,0,0,0,0,0,0
$GC,359,-0.96,-77.9,35.8,-11.3,55,363,0.00,2.28,0.00,0.000,6,0.000,0.020,2495,1879,3372,0,0,0,0,0,0
$GC,621,-1.09,-77.9,60.9,-9.3,79,626,0.00,2.45,0.00,0.000,4,0.000,0.044,2497,461,3374,0,0,0,0,0,0
$GC,684,-1.19,-77.9,67.6,-10.2,85,691,0.15,2.30,0.00,0.000,6,0.029,0.020,2440,1881,3374,0,0,0,0,0,0
$GC,945,-1.19,-77.9,98.8,-12.0,110,949,0.00,2.45,0.00,0.000,4,0.000,0.044,2440,463,3375,0,0,0,0,0,0
$GC,1005,-1.19,-77.9,105.7,-11.3,116,1009,0.00,2.28,0.00,0.000,6,0.000,0.020,2438,1878,3375,0,0,0,0,0,0
$GC,1266,-1.22,-77.9,131.6,-9.7,140,1270,0.00,2.42,0.00,0.000,4,0.000,0.044,2440,470,3376,0,0,0,0,0,0
$GC,1356,-1.22,-77.9,141.2,-10.3,149,1361,0.00,2.25,0.00,0.000,6,0.000,0.020,2438,1877,3376,0,0,0,0,0,0
$GC,1618,-1.28,-77.9,167.4,-10.0,174,1622,0.00,2.42,0.00,0.000,4,0.000,0.044,2440,464,3376,0,0,0,0,0,0
$GC,1672,-1.33,-77.9,173.5,-11.0,179,1677,0.00,2.28,0.00,0.000,6,0.000,0.021,2437,1883,3376,0,0,0,0,0,0
$GC,1933,-1.42,-77.9,198.9,-9.5,204,1938,0.15,2.42,0.00,0.000,4,0.055,0.045,2390,470,3377,0,0,0,0,0,0
$GC,1980,-1.34,-77.9,205.0,-13.5,207,1985,0.15,2.22,0.00,0.000,6,0.094,0.021,2421,1875,3377,0,0,0,0,0,0
$GC,2307,-1.40,-77.9,239.1,-9.9,223,2311,0.00,2.40,0.00,0.000,4,0.000,0.045,2419,469,3377,0,0,0,0,0,0
$GC,2403,-1.40,-77.9,248.9,-10.0,227,2407,0.00,2.28,0.00,0.000,6,0.000,0.022,2422,1880,3377,0,0,0,0,0,0
$GC,2724,-1.47,-77.9,275.9,-7.3,243,2729,0.12,2.45,0.00,0.000,4,0.065,0.048,2380,462,3377,0,0,0,0,0,0
$GC,2799,-1.43,-77.9,283.8,-10.5,246,2804,0.10,2.30,0.00,0.000,6,0.110,0.023,2401,1879,3376,0,0,0,0,0,0
$GC,3139,-1.47,-77.9,315.8,-9.4,259,3143,0.00,2.45,0.00,0.000,4,0.000,0.049,2400,470,3375,0,0,0,0,0,0
$GC,3213,-1.47,-77.9,323.6,-10.4,260,3217,0.00,2.28,0.00,0.000,6,0.000,0.025,2399,1874,3376,0,0,0,0,0,0
$GC,3548,-1.51,-77.9,355.3,-9.6,269,3552,0.00,2.42,0.00,0.000,4,0.000,0.051,2399,471,3374,0,0,0,0,0,0
$GC,3584,-1.51,-77.9,359.2,-10.8,269,3590,0.00,2.30,0.00,0.000,6,0.000,0.027,2401,1872,3374,0,0,0,0,0,0
$GC,3915,-1.56,-77.9,389.2,-9.2,278,3920,0.12,2.47,0.00,0.000,4,0.067,0.053,2363,471,3372,0,0,0,0,0,0
$GC,3971,-1.49,-77.9,396.2,-12.8,279,3976,0.12,2.30,0.00,0.000,6,0.105,0.028,2389,1872,3371,0,0,0,0,0,0
$GC,4290,-1.49,-77.9,429.2,-10.0,287,4294,0.00,2.47,0.00,0.000,4,0.000,0.055,2388,468,3369,0,0,0,0,0,0
$GC,4349,-1.49,-77.9,435.7,-10.9,288,4353,0.00,2.35,0.00,0.000,6,0.000,0.029,2389,1880,3368,0,0,0,0,0,0
$STATE,4533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4534,begin apogee
$GC,4539,-0.31,0.0,453.3,9.4,293,4608,1.20,0.00,65.12,0.880,6,0.074,0.000,2646,2039,3050,0,0,0,0,0,0
$STATE,4608,end apogee,CONTROL_FINISHED_OK
$STATE,4608,begin climb
$GC,4610,1.40,77.9,454.2,0.0,294,4685,1.62,2.45,64.82,0.856,4,0.031,0.047,3028,3388,2732,0,0,0,0,0,0
$GC,4883,1.21,107.4,447.0,6.0,300,4915,0.25,2.40,25.55,0.833,6,0.110,0.038,2981,2007,2611,0,0,0,0,0,0
$GC,5248,1.13,133.6,424.6,6.2,309,5273,0.00,0.00,22.88,0.829,6,0.000,0.000,2981,2007,2505,0,0,0,0,0,0
$GC,5572,1.04,136.0,399.8,7.9,317,5574,0.20,0.00,0.00,0.000,6,0.112,0.000,2944,2007,2500,0,0,0,0,0,0
$GC,5896,1.04,136.0,373.1,8.6,325,5900,0.00,2.47,0.00,0.000,4,0.000,0.054,2941,605,2497,0,0,0,0,0,0
$GC,5986,0.96,136.0,364.9,9.3,327,5990,0.00,2.33,0.00,0.000,6,0.000,0.031,2943,1995,2496,0,0,0,0,0,0
$GC,6312,0.97,149.2,340.5,7.1,335,6333,0.00,2.45,13.57,0.778,4,0.000,0.041,2943,3403,2439,0,0,0,0,0,0
$GC,6375,1.00,168.8,336.0,6.7,336,6401,0.00,2.42,18.55,0.786,6,0.000,0.038,2944,2009,2360,0,0,0,0,0,0
$GC,6725,1.00,168.8,307.5,8.1,345,6729,0.00,2.50,0.00,0.000,4,0.000,0.054,2943,596,2355,0,0,0,0,0,0
$GC,6874,0.95,168.8,292.6,10.3,349,6878,0.12,2.35,0.00,0.000,6,0.120,0.030,2922,2011,2352,0,0,0,0,0,0
$GC,7189,1.03,173.0,266.8,7.7,364,7193,0.00,2.50,0.00,0.000,4,0.000,0.051,2921,595,2352,0,0,0,0,0,0
$GC,7302,1.03,175.1,257.4,7.9,369,7314,0.00,2.35,5.03,0.578,6,0.000,0.030,2921,2017,2336,0,0,0,0,0,0
$GC,7637,1.15,199.3,236.1,6.4,385,7666,0.20,2.55,23.17,0.738,4,0.060,0.051,2971,597,2236,0,0,0,0,0,0
$GC,7789,1.10,199.3,218.2,12.1,391,7794,0.00,2.35,0.00,0.000,6,0.000,0.028,2971,2009,2231,0,0,0,0,0,0
$GC,8108,1.10,199.3,185.6,9.2,413,8113,0.00,2.45,0.00,0.000,4,0.000,0.048,2971,601,2231,0,0,0,0,0,0
$GC,8171,1.04,199.3,178.9,11.0,419,8176,0.15,2.33,0.00,0.000,6,0.114,0.027,2944,2010,2229,0,0,0,0,0,0
$GC,8433,1.13,208.8,159.0,7.4,443,8452,0.00,2.47,8.93,0.607,4,0.000,0.046,2943,600,2196,0,0,0,0,0,0
$GC,8530,1.13,208.8,150.1,10.3,453,8536,0.00,2.35,0.00,0.000,6,0.000,0.025,2943,2016,2194,0,0,0,0,0,0
$GC,8792,1.21,208.8,126.3,9.0,478,8797,0.15,2.47,0.00,0.000,4,0.064,0.047,2985,596,2194,0,0,0,0,0,0
$GC,8928,1.15,208.8,111.1,11.9,492,8935,0.00,2.35,0.00,0.000,6,0.000,0.024,2985,2010,2193,0,0,0,0,0,0
$GC,9191,1.16,214.3,90.3,7.6,517,9204,0.00,2.53,5.80,0.486,4,0.000,0.045,2985,594,2176,0,0,0,0,0,0
$GC,9347,1.12,214.3,76.8,9.7,534,9352,0.15,2.33,0.00,0.000,6,0.107,0.022,2957,2018,2174,0,0,0,0,0,0
$GC,9610,1.21,222.8,56.3,7.4,558,9624,0.00,2.47,9.23,0.515,4,0.000,0.044,2957,591,2141,0,0,0,0,0,0
$GC,9699,1.27,222.8,48.6,10.7,567,9703,0.15,2.30,0.00,0.000,6,0.061,0.021,2999,2010,2138,0,0,0,0,0,0
$GC,9964,1.29,241.3,28.4,6.8,594,9986,0.00,2.40,17.50,0.525,4,0.000,0.028,2998,3405,2065,0,0,0,0,0,0
$GC,10039,1.35,242.9,22.9,7.9,609,10044,0.00,2.35,0.00,0.000,6,0.000,0.028,2999,1996,2065,0,0,0,0,0,0
$GC,10244,1.40,242.9,4.6,9.7,646,10251,0.00,2.40,0.00,0.000,4,0.000,0.043,2999,606,2065,0,0,0,0,0,0
$STATE,10260,end climb,SURFACE_DEPTH_REACHED
$STATE,10261,begin surface coast
$FINISH,0.4,1.023224
$STATE,10291,end surface coast,CONTROL_FINISHED_OK
$STATE,10291,begin surface
$SM_CCo,10312,32.03,0.511,0,0,1826,300.00
$SM_GC,0.92,0.00,0.00,32.03,0.000,0.000,0.511,427,1900,1826,-10.52,0.71,300.00
$IRIDIUM_FIX,2057.14,-15759.05,060899,181840
$TT8_MAMPS,0.029146
$HUMID,46.25
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,23.237
$10V_AH,10.0,22.385
$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,27.875,124.075,280.150,32.025,0.000,30.664,31.367,136.204,4.500,0.000,46.510,1275.611,6636.232,389.890,1986.325,386.379,33.372,1238.405,0.000,1939.987,0.000,29.240,0.000
$DEVICE_MAMPS,134.992,55.224,879.749,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.188,423.321,840.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,38171,656
$CAP_FILE_SIZE,121580,0
$CFSIZE,260165632,243597312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,4
$GPS,130510,003502,2156.687,-15614.942,49,1.6,49,10.0