version: 66.06
glider: 139
mission: 7
dive: 263
start: 5 13 110 0 41 15
data:
$ID,139
$MISSION,7
$DIVE,263
$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,-2129380.5
$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
$GPS1,003502,2156.687,-15614.942,49,1.6,49,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-71.2
$GPS2,004024,2106.131,-15755.830,44,1.2,44,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.136,-0.123
$KALMAN_X,-103098.3,146.0,174.1,115839.8,-1065.6
$KALMAN_Y,62196.7,75.5,-194.9,-65117.2,1373.2
$MHEAD_RNG_PITCHd_Wd,122.4,22317,-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,-53.40,0.000,2,0.000,0.000,427,1900,3215,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.4,-5.1,10,95,10.65,2.50,-3.05,0.000,4,0.137,0.051,2402,466,3371,0,0,0,0,0,0
$GC,120,-0.97,-77.9,17.3,-26.4,19,126,0.47,2.35,0.00,0.000,6,0.090,0.021,2498,1911,3371,0,0,0,0,0,0
$GC,330,-1.05,-77.9,44.8,-11.2,46,334,0.00,2.47,0.00,0.000,4,0.000,0.044,2499,470,3373,0,0,0,0,0,0
$GC,354,-1.05,-77.9,47.7,-11.4,48,358,0.00,2.28,0.00,0.000,6,0.000,0.020,2498,1886,3373,0,0,0,0,0,0
$GC,622,-1.19,-77.9,70.0,-7.4,73,627,0.17,2.45,0.00,0.000,4,0.052,0.044,2445,468,3374,0,0,0,0,0,0
$GC,673,-1.19,-77.9,75.3,-11.0,78,678,0.00,2.25,0.00,0.000,6,0.000,0.019,2444,1871,3375,0,0,0,0,0,0
$GC,940,-1.23,-77.9,102.5,-10.4,103,945,0.00,2.40,0.00,0.000,4,0.000,0.044,2444,467,3376,0,0,0,0,0,0
$GC,1031,-1.23,-77.9,113.8,-12.1,112,1038,0.00,2.28,0.00,0.000,6,0.000,0.020,2444,1870,3376,0,0,0,0,0,0
$GC,1294,-1.29,-77.9,141.9,-11.7,137,1298,0.00,2.42,0.00,0.000,4,0.000,0.045,2444,464,3377,0,0,0,0,0,0
$GC,1392,-1.35,-77.9,153.6,-11.2,147,1397,0.12,2.28,0.00,0.000,6,0.063,0.020,2402,1882,3377,0,0,0,0,0,0
$GC,1653,-1.35,-77.9,184.3,-11.5,171,1657,0.00,2.45,0.00,0.000,4,0.000,0.044,2401,459,3377,0,0,0,0,0,0
$GC,1668,-1.29,-77.9,186.1,-11.4,172,1673,0.15,2.28,0.00,0.000,6,0.095,0.021,2433,1880,3377,0,0,0,0,0,0
$GC,1942,-1.35,-77.9,212.1,-9.3,192,1946,0.00,2.42,0.00,0.000,4,0.000,0.044,2433,469,3377,0,0,0,0,0,0
$GC,1968,-1.35,-77.9,215.2,-10.9,193,1972,0.00,2.25,0.00,0.000,6,0.000,0.021,2432,1869,3377,0,0,0,0,0,0
$GC,2299,-1.44,-77.9,246.7,-9.2,209,2304,0.15,2.45,0.00,0.000,4,0.058,0.047,2384,462,3378,0,0,0,0,0,0
$GC,2346,-1.36,-77.9,252.5,-12.2,211,2350,0.15,2.30,0.00,0.000,6,0.095,0.022,2415,1883,3377,0,0,0,0,0,0
$GC,2678,-1.42,-77.9,285.1,-9.4,227,2682,0.00,2.45,0.00,0.000,4,0.000,0.048,2416,470,3377,0,0,0,0,0,0
$GC,2721,-1.42,-77.9,289.6,-10.6,229,2725,0.00,2.28,0.00,0.000,6,0.000,0.024,2416,1876,3377,0,0,0,0,0,0
$GC,3052,-1.48,-77.9,321.2,-9.8,240,3057,0.12,2.45,0.00,0.000,4,0.067,0.050,2377,467,3376,0,0,0,0,0,0
$GC,3081,-1.39,-77.9,324.6,-12.5,240,3086,0.17,2.30,0.00,0.000,6,0.091,0.025,2413,1874,3376,0,0,0,0,0,0
$GC,3417,-1.45,-77.9,351.3,-7.4,249,3421,0.00,2.45,0.00,0.000,4,0.000,0.051,2411,471,3374,0,0,0,0,0,0
$GC,3523,-1.45,-77.9,359.7,-8.2,251,3527,0.00,2.30,0.00,0.000,6,0.000,0.026,2413,1875,3373,0,0,0,0,0,0
$GC,3872,-1.52,-77.9,386.5,-7.8,260,3877,0.15,2.47,0.00,0.000,4,0.061,0.053,2369,463,3371,0,0,0,0,0,0
$GC,3897,-1.47,-77.9,389.2,-11.2,260,3901,0.10,2.30,0.00,0.000,6,0.112,0.028,2391,1874,3371,0,0,0,0,0,0
$GC,4238,-1.51,-77.9,423.0,-9.9,269,4242,0.00,2.47,0.00,0.000,4,0.000,0.054,2390,467,3369,0,0,0,0,0,0
$GC,4312,-1.51,-77.9,430.3,-9.7,270,4316,0.00,2.33,0.00,0.000,6,0.000,0.028,2391,1871,3369,0,0,0,0,0,0
$STATE,4564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4564,begin apogee
$GC,4569,-0.31,0.0,452.7,8.7,277,4638,1.17,0.00,65.22,0.874,6,0.074,0.000,2643,2030,3049,0,0,0,0,0,0
$STATE,4638,end apogee,CONTROL_FINISHED_OK
$STATE,4638,begin climb
$GC,4640,1.40,77.9,453.8,0.0,278,4715,1.62,2.42,65.32,0.854,4,0.031,0.046,3024,3394,2732,0,0,0,0,0,0
$GC,4958,1.26,144.5,447.2,3.4,285,5022,0.17,2.40,56.70,0.854,6,0.117,0.038,2992,2010,2461,0,0,0,0,0,0
$GC,5368,1.15,144.5,409.3,10.5,295,5373,0.15,2.50,0.00,0.000,4,0.116,0.054,2964,598,2453,0,0,0,0,0,0
$GC,5392,1.01,144.5,406.7,10.7,295,5397,0.15,2.35,0.00,0.000,6,0.120,0.031,2939,1990,2451,0,0,0,0,0,0
$GC,5732,1.01,144.5,376.5,8.2,304,5737,0.00,2.47,0.00,0.000,4,0.000,0.054,2938,601,2449,0,0,0,0,0,0
$GC,5830,0.95,144.5,368.3,8.4,306,5834,0.00,2.40,0.00,0.000,6,0.000,0.031,2939,2018,2447,0,0,0,0,0,0
$GC,6147,0.97,158.2,346.2,7.1,314,6163,0.00,2.58,10.85,0.755,4,0.000,0.053,2938,610,2404,0,0,0,0,0,0
$GC,6210,0.93,158.2,340.9,8.4,315,6215,0.12,2.38,0.00,0.000,6,0.121,0.031,2917,2012,2401,0,0,0,0,0,0
$GC,6560,1.06,208.8,320.9,4.5,324,6614,0.12,2.60,45.53,0.808,4,0.076,0.052,2946,604,2198,0,0,0,0,0,0
$GC,6641,1.03,208.8,314.6,9.5,325,6647,0.00,2.38,0.00,0.000,6,0.000,0.030,2947,2009,2193,0,0,0,0,0,0
$GC,6955,1.06,208.8,281.1,12.0,337,6959,0.00,2.50,0.00,0.000,4,0.000,0.052,2947,604,2190,0,0,0,0,0,0
$GC,7056,1.06,208.8,267.3,13.9,341,7060,0.00,2.35,0.00,0.000,6,0.000,0.029,2947,2019,2187,0,0,0,0,0,0
$GC,7371,1.11,208.8,232.8,10.5,356,7375,0.00,2.50,0.00,0.000,4,0.000,0.051,2946,604,2187,0,0,0,0,0,0
$GC,7444,1.11,208.8,224.1,11.3,359,7449,0.00,2.35,0.00,0.000,6,0.000,0.028,2947,2014,2185,0,0,0,0,0,0
$GC,7765,1.18,211.3,197.4,7.9,376,7770,0.10,2.47,0.00,0.000,4,0.085,0.049,2974,602,2185,0,0,0,0,0,0
$GC,7837,1.14,211.3,190.1,11.5,383,7841,0.00,2.35,0.00,0.000,6,0.000,0.027,2973,2015,2183,0,0,0,0,0,0
$GC,8100,1.14,211.3,164.1,9.9,407,8105,0.00,2.47,0.00,0.000,4,0.000,0.048,2974,598,2183,0,0,0,0,0,0
$GC,8137,1.08,211.3,159.8,11.4,410,8144,0.10,2.38,0.00,0.000,6,0.094,0.025,2952,2018,2182,0,0,0,0,0,0
$GC,8401,1.15,212.2,138.4,8.0,435,8405,0.00,2.47,0.00,0.000,4,0.000,0.046,2952,595,2183,0,0,0,0,0,0
$GC,8589,1.15,212.2,119.0,11.1,455,8594,0.00,2.33,0.00,0.000,6,0.000,0.024,2952,2015,2182,0,0,0,0,0,0
$GC,8852,1.23,212.2,94.8,8.9,479,8857,0.12,2.47,0.00,0.000,4,0.069,0.045,2987,595,2182,0,0,0,0,0,0
$GC,8923,1.18,212.2,86.0,12.4,486,8927,0.00,2.30,0.00,0.000,6,0.000,0.022,2987,2023,2182,0,0,0,0,0,0
$GC,9185,1.18,212.2,60.4,9.1,510,9186,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2028,2182,0,0,0,0,0,0
$GC,9440,1.19,221.5,38.7,7.4,534,9459,0.00,2.30,10.07,0.505,4,0.000,0.027,2987,3404,2145,0,0,0,0,0,0
$GC,9471,1.25,230.9,36.5,7.4,537,9486,0.00,2.35,9.82,0.495,6,0.000,0.028,2988,2002,2108,0,0,0,0,0,0
$GC,9757,1.33,244.1,16.4,7.1,581,9778,0.00,2.38,12.82,0.498,4,0.000,0.028,2988,3391,2054,0,0,0,0,0,0
$GC,9808,1.44,252.6,12.6,7.4,591,9825,0.17,2.33,8.93,0.466,6,0.054,0.029,3036,2011,2019,0,0,0,0,0,0
$STATE,9889,end climb,SURFACE_DEPTH_REACHED
$STATE,9890,begin surface coast
$FINISH,0.5,1.023230
$STATE,9913,end surface coast,CONTROL_FINISHED_OK
$STATE,9913,begin surface
$SM_CCo,9932,29.67,0.511,0,0,1826,300.00
$SM_GC,0.97,0.00,0.00,29.67,0.000,0.000,0.511,431,1862,1826,-10.51,-0.40,300.00
$IRIDIUM_FIX,2057.14,-15759.05,060899,212113
$TT8_MAMPS,0.029146
$HUMID,46.14
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,23.317
$10V_AH,10.0,22.461
$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,27.725,124.825,285.275,29.675,0.000,27.426,33.604,131.639,4.500,0.000,44.421,1196.938,6513.901,370.726,1835.560,367.710,33.364,1182.980,0.000,1787.150,0.000,29.239,0.000
$DEVICE_MAMPS,136.526,55.991,874.380,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.089,387.108,772.865,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,34841,610
$CAP_FILE_SIZE,117833,0
$CFSIZE,260165632,243544064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130510,032928,2105.721,-15755.352,75,2.6,94,9.8