version: 66.06
glider: 139
mission: 7
dive: 265
start: 5 13 110 6 45 56
data:
$ID,139
$MISSION,7
$DIVE,265
$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,637.77997
$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,-2129467.8
$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
$GPS1,062658,2106.864,-15755.247,57,3.0,76,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-71.4
$GPS2,064508,2106.909,-15754.932,11,2.0,11,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.018
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,85.8,20857,-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,-52.88,0.000,2,0.000,0.000,428,1853,3207,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.3,-5.2,10,95,10.60,2.42,-3.20,0.000,4,0.136,0.054,2400,464,3371,0,0,0,0,0,0
$GC,111,-0.61,-77.9,15.5,-31.5,17,118,0.88,2.33,0.00,0.000,6,0.093,0.020,2577,1911,3372,0,0,0,0,0,0
$GC,317,-0.87,-77.9,32.3,-6.5,51,322,0.25,2.50,0.00,0.000,4,0.041,0.042,2497,468,3372,0,0,0,0,0,0
$GC,443,-0.93,-77.9,46.1,-11.0,64,447,0.00,2.25,0.00,0.000,6,0.000,0.019,2497,1879,3373,0,0,0,0,0,0
$GC,706,-1.06,-77.9,68.2,-7.5,88,710,0.00,2.42,0.00,0.000,4,0.000,0.044,2496,460,3373,0,0,0,0,0,0
$GC,787,-1.19,-77.9,75.4,-8.7,96,793,0.15,2.28,0.00,0.000,6,0.030,0.019,2438,1869,3373,0,0,0,0,0,0
$GC,1051,-1.24,-77.9,105.8,-11.8,121,1055,0.00,2.28,0.00,0.000,4,0.000,0.025,2441,3268,3374,0,0,0,0,0,0
$GC,1060,-1.29,-77.9,107.3,-11.4,121,1066,0.00,2.30,0.00,0.000,6,0.000,0.025,2441,1869,3374,0,0,0,0,0,0
$GC,1321,-1.29,-77.9,136.0,-11.7,146,1326,0.00,2.38,0.00,0.000,4,0.000,0.044,2440,467,3374,0,0,0,0,0,0
$GC,1364,-1.29,-77.9,141.3,-12.4,150,1368,0.00,2.25,0.00,0.000,6,0.000,0.020,2441,1883,3375,0,0,0,0,0,0
$GC,1625,-1.35,-77.9,168.2,-10.0,174,1629,0.00,2.40,0.00,0.000,4,0.000,0.044,2439,474,3375,0,0,0,0,0,0
$GC,1703,-1.38,-77.9,177.0,-12.0,182,1708,0.12,2.25,0.00,0.000,6,0.064,0.020,2400,1874,3375,0,0,0,0,0,0
$GC,1962,-1.38,-77.9,206.9,-10.9,203,1967,0.00,2.40,0.00,0.000,4,0.000,0.044,2396,474,3375,0,0,0,0,0,0
$GC,1995,-1.29,-77.9,210.6,-11.7,204,2000,0.15,2.25,0.00,0.000,6,0.094,0.021,2431,1876,3375,0,0,0,0,0,0
$GC,2313,-1.35,-77.9,241.6,-10.8,219,2317,0.00,2.42,0.00,0.000,4,0.000,0.045,2429,467,3375,0,0,0,0,0,0
$GC,2336,-1.35,-77.9,244.5,-10.9,220,2340,0.00,2.28,0.00,0.000,6,0.000,0.021,2431,1880,3375,0,0,0,0,0,0
$GC,2660,-1.44,-77.9,276.4,-9.0,236,2665,0.15,2.42,0.00,0.000,4,0.058,0.047,2382,472,3374,0,0,0,0,0,0
$GC,2785,-1.39,-77.9,290.6,-11.3,241,2790,0.12,2.25,0.00,0.000,6,0.100,0.023,2410,1879,3374,0,0,0,0,0,0
$GC,3119,-1.44,-77.9,318.2,-8.3,252,3123,0.00,2.42,0.00,0.000,4,0.000,0.049,2410,470,3373,0,0,0,0,0,0
$GC,3220,-1.44,-77.9,327.5,-8.7,254,3224,0.00,2.28,0.00,0.000,6,0.000,0.025,2410,1880,3372,0,0,0,0,0,0
$GC,3533,-1.49,-77.9,352.0,-7.9,262,3537,0.00,2.45,0.00,0.000,4,0.000,0.050,2409,474,3370,0,0,0,0,0,0
$GC,3570,-1.49,-77.9,355.6,-9.5,262,3575,0.00,2.28,0.00,0.000,6,0.000,0.026,2410,1876,3370,0,0,0,0,0,0
$GC,3901,-1.55,-77.9,383.6,-8.6,271,3906,0.15,2.45,0.00,0.000,4,0.061,0.052,2366,474,3368,0,0,0,0,0,0
$GC,3957,-1.48,-77.9,390.1,-11.3,272,3962,0.12,2.30,0.00,0.000,6,0.104,0.027,2392,1882,3368,0,0,0,0,0,0
$GC,4273,-1.51,-77.9,417.6,-8.5,280,4277,0.00,2.45,0.00,0.000,4,0.000,0.054,2391,476,3365,0,0,0,0,0,0
$GC,4341,-1.51,-77.9,424.1,-9.3,281,4346,0.00,2.33,0.00,0.000,6,0.000,0.028,2392,1879,3365,0,0,0,0,0,0
$STATE,4679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4679,begin apogee
$GC,4685,-0.31,0.0,452.5,8.2,290,4752,1.17,0.00,64.07,0.877,6,0.077,0.000,2642,2039,3050,0,0,0,0,0,0
$STATE,4753,end apogee,CONTROL_FINISHED_OK
$STATE,4753,begin climb
$GC,4755,1.40,77.9,453.3,0.0,291,4830,1.65,2.42,64.75,0.854,4,0.034,0.047,3026,3377,2731,0,0,0,0,0,0
$GC,4974,1.21,109.0,449.1,5.9,295,5008,0.25,2.35,26.92,0.832,6,0.114,0.038,2980,2013,2605,0,0,0,0,0,0
$GC,5348,1.10,109.0,420.0,8.1,305,5353,0.12,2.42,0.00,0.000,4,0.127,0.042,2957,3391,2599,0,0,0,0,0,0
$GC,5395,1.05,115.5,416.0,7.6,306,5407,0.00,2.40,6.10,0.666,6,0.000,0.038,2958,2006,2578,0,0,0,0,0,0
$GC,5721,1.01,124.8,391.5,7.4,314,5733,0.12,0.00,8.98,0.743,6,0.124,0.000,2936,2006,2541,0,0,0,0,0,0
$GC,6045,1.05,151.6,369.6,6.2,322,6075,0.00,2.55,23.90,0.819,4,0.000,0.054,2934,604,2432,0,0,0,0,0,0
$GC,6141,1.00,151.6,362.4,8.5,324,6145,0.00,2.33,0.00,0.000,6,0.000,0.031,2935,1988,2428,0,0,0,0,0,0
$GC,6458,1.02,169.7,340.0,6.8,332,6482,0.00,2.50,16.42,0.785,4,0.000,0.051,2935,601,2356,0,0,0,0,0,0
$GC,6514,0.98,169.7,335.6,8.6,333,6518,0.00,2.40,0.00,0.000,6,0.000,0.031,2936,2018,2354,0,0,0,0,0,0
$GC,6827,0.98,176.9,310.9,7.5,341,6836,0.00,0.00,6.97,0.669,6,0.000,0.000,2936,2022,2329,0,0,0,0,0,0
$GC,7134,1.04,186.4,288.4,7.4,352,7151,0.00,2.58,10.02,0.710,4,0.000,0.052,2936,606,2289,0,0,0,0,0,0
$GC,7243,1.04,186.4,278.9,8.5,356,7250,0.00,2.40,0.00,0.000,6,0.000,0.029,2936,2015,2286,0,0,0,0,0,0
$GC,7558,1.10,186.6,253.8,8.0,372,7563,0.00,2.47,0.00,0.000,4,0.000,0.051,2936,604,2285,0,0,0,0,0,0
$GC,7731,1.10,186.6,237.2,8.7,379,7737,0.00,2.35,0.00,0.000,6,0.000,0.028,2936,2025,2283,0,0,0,0,0,0
$GC,8048,1.17,189.4,211.3,7.8,395,8053,0.15,2.50,0.00,0.000,4,0.068,0.048,2974,604,2283,0,0,0,0,0,0
$GC,8169,1.10,189.4,198.8,10.4,401,8175,0.00,2.33,0.00,0.000,6,0.000,0.026,2973,2014,2282,0,0,0,0,0,0
$GC,8430,1.10,189.4,173.6,9.5,426,8431,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2019,2282,0,0,0,0,0,0
$GC,8684,1.10,189.4,149.7,9.3,450,8689,0.00,2.45,0.00,0.000,4,0.000,0.046,2974,602,2282,0,0,0,0,0,0
$GC,8792,1.05,189.4,139.2,9.8,461,8797,0.17,2.30,0.00,0.000,6,0.110,0.024,2942,2018,2281,0,0,0,0,0,0
$GC,9054,1.16,211.2,121.7,6.5,485,9083,0.10,2.50,21.60,0.621,4,0.082,0.045,2970,598,2189,0,0,0,0,0,0
$GC,9132,1.16,211.2,115.0,9.8,493,9136,0.00,2.33,0.00,0.000,6,0.000,0.023,2969,2014,2185,0,0,0,0,0,0
$GC,9395,1.21,223.3,93.5,7.2,517,9415,0.00,2.53,11.62,0.558,4,0.000,0.044,2970,597,2138,0,0,0,0,0,0
$GC,9420,1.24,223.3,91.3,8.0,519,9426,0.00,2.30,0.00,0.000,6,0.000,0.022,2970,2017,2137,0,0,0,0,0,0
$GC,9684,1.30,224.2,69.5,8.0,544,9689,0.12,2.47,0.00,0.000,4,0.067,0.044,3007,598,2137,0,0,0,0,0,0
$GC,9744,1.22,224.2,63.8,10.1,550,9749,0.15,2.30,0.00,0.000,6,0.106,0.021,2978,2013,2136,0,0,0,0,0,0
$GC,10006,1.32,247.6,45.3,6.4,574,10037,0.10,2.50,22.30,0.545,4,0.077,0.043,3010,607,2039,0,0,0,0,0,0
$GC,10199,1.27,247.6,27.9,9.8,597,10204,0.00,2.28,0.00,0.000,6,0.000,0.021,3010,2006,2035,0,0,0,0,0,0
$GC,10403,1.30,247.6,8.7,9.5,634,10410,0.00,2.33,0.00,0.000,4,0.000,0.027,3010,3402,2035,0,0,0,0,0,0
$GC,10434,1.35,247.6,6.0,8.7,640,10441,0.00,2.38,0.00,0.000,6,0.000,0.029,3009,2001,2035,0,0,0,0,0,0
$STATE,10474,end climb,SURFACE_DEPTH_REACHED
$STATE,10474,begin surface coast
$FINISH,0.4,1.009761
$STATE,10512,end surface coast,CONTROL_FINISHED_OK
$STATE,10512,begin surface
$SM_CCo,10532,199.45,0.509,0,0,449,637.78
$SM_GC,0.98,0.00,0.00,199.45,0.000,0.000,0.509,428,1856,449,-10.52,-0.57,637.78
$IRIDIUM_FIX,2059.45,-15753.90,070899,060618
$TT8_MAMPS,0.029146
$HUMID,43.73
$INTERNAL_PRESSURE,9.59652
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,23.526
$10V_AH,10.0,22.630
$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,28.000,124.075,283.675,199.450,0.000,144.725,176.213,401.540,4.500,0.000,11.273,1281.530,7115.800,555.477,1938.170,933.869,29.241,1407.841,0.000,1915.262,0.000,29.252,0.000
$DEVICE_MAMPS,135.759,55.991,876.681,509.288,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,441.213,414.850,834.995,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,38038,654
$CAP_FILE_SIZE,137303,0
$CFSIZE,260165632,243392512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130510,094646,2107.006,-15753.744,63,2.5,82,9.8