version: 66.06
glider: 139
mission: 7
dive: 266
start: 5 13 110 9 53 53
data:
$ID,139
$MISSION,7
$DIVE,266
$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,-2129509.5
$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
$GPS1,094646,2107.006,-15753.744,63,2.5,82,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-63.7
$GPS2,095305,2106.954,-15753.686,37,1.4,40,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.182,-0.023
$KALMAN_X,24.4,24.4,24.4,2077.0,8.3
$KALMAN_Y,69.3,69.3,69.3,-131.4,23.4
$MHEAD_RNG_PITCHd_Wd,87.3,18724,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,122,0.00,0.00,-104.72,0.000,2,0.000,0.000,427,1857,3294,0,0,0,0,0,0
$GC,125,-1.40,-77.9,3.7,-7.0,20,143,10.65,2.40,-1.42,0.000,4,0.136,0.037,2404,3302,3369,0,0,0,0,0,0
$GC,155,-0.27,-77.9,15.0,-33.9,25,161,1.20,2.40,0.00,0.000,6,0.084,0.031,2650,1873,3369,0,0,0,0,0,0
$GC,362,-0.73,-77.9,25.2,-3.8,62,369,0.40,2.42,0.00,0.000,4,0.039,0.041,2542,460,3370,0,0,0,0,0,0
$GC,457,-0.88,-77.9,32.7,-9.0,79,461,0.00,2.33,0.00,0.000,6,0.000,0.020,2541,1915,3371,0,0,0,0,0,0
$GC,720,-1.09,-77.9,51.8,-6.7,103,725,0.25,2.47,0.00,0.000,4,0.041,0.041,2462,470,3370,0,0,0,0,0,0
$GC,872,-1.09,-77.9,68.4,-11.0,119,876,0.00,2.22,0.00,0.000,6,0.000,0.019,2463,1877,3371,0,0,0,0,0,0
$GC,1135,-1.16,-77.9,95.0,-10.1,143,1139,0.00,2.40,0.00,0.000,4,0.000,0.044,2463,470,3371,0,0,0,0,0,0
$GC,1233,-1.22,-77.9,105.0,-10.1,153,1237,0.00,2.22,0.00,0.000,6,0.000,0.019,2462,1877,3372,0,0,0,0,0,0
$GC,1496,-1.30,-77.9,127.9,-9.5,177,1501,0.15,2.42,0.00,0.000,4,0.056,0.045,2413,467,3372,0,0,0,0,0,0
$GC,1551,-1.26,-77.9,135.5,-13.6,182,1559,0.08,2.28,0.00,0.000,6,0.077,0.020,2435,1870,3372,0,0,0,0,0,0
$GC,1813,-1.31,-77.9,162.5,-10.4,207,1817,0.00,2.40,0.00,0.000,4,0.000,0.044,2434,470,3372,0,0,0,0,0,0
$GC,1894,-1.31,-77.9,171.5,-11.4,215,1899,0.00,2.28,0.00,0.000,6,0.000,0.021,2434,1885,3372,0,0,0,0,0,0
$GC,2155,-1.38,-77.9,195.3,-8.7,240,2160,0.00,2.42,0.00,0.000,4,0.000,0.044,2434,464,3372,0,0,0,0,0,0
$GC,2209,-1.42,-77.9,200.4,-9.3,245,2214,0.12,2.25,0.00,0.000,6,0.064,0.021,2391,1877,3372,0,0,0,0,0,0
$GC,2535,-1.42,-77.9,235.5,-10.9,261,2539,0.00,2.42,0.00,0.000,4,0.000,0.046,2390,468,3372,0,0,0,0,0,0
$GC,2600,-1.38,-77.9,243.5,-12.1,264,2605,0.10,2.25,0.00,0.000,6,0.111,0.022,2411,1878,3372,0,0,0,0,0,0
$GC,2930,-1.44,-77.9,276.1,-10.1,280,2935,0.00,2.42,0.00,0.000,4,0.000,0.046,2411,460,3371,0,0,0,0,0,0
$GC,2999,-1.48,-77.9,283.6,-10.6,283,3003,0.00,2.28,0.00,0.000,6,0.000,0.024,2413,1870,3371,0,0,0,0,0,0
$GC,3341,-1.54,-77.9,313.6,-8.2,296,3346,0.15,2.45,0.00,0.000,4,0.061,0.050,2369,471,3369,0,0,0,0,0,0
$GC,3399,-1.48,-77.9,320.1,-12.0,297,3404,0.10,2.30,0.00,0.000,6,0.110,0.025,2389,1879,3369,0,0,0,0,0,0
$GC,3712,-1.48,-77.9,349.1,-9.0,305,3716,0.00,2.47,0.00,0.000,4,0.000,0.051,2387,462,3367,0,0,0,0,0,0
$GC,3773,-1.48,-77.9,355.0,-9.2,306,3777,0.00,2.30,0.00,0.000,6,0.000,0.026,2390,1875,3367,0,0,0,0,0,0
$GC,4122,-1.48,-77.9,384.0,-7.9,315,4126,0.00,2.45,0.00,0.000,4,0.000,0.053,2389,466,3364,0,0,0,0,0,0
$GC,4205,-1.48,-77.9,391.1,-8.3,316,4210,0.00,2.33,0.00,0.000,6,0.000,0.028,2389,1873,3363,0,0,0,0,0,0
$GC,4535,-1.48,-77.9,418.8,-9.1,325,4540,0.00,2.47,0.00,0.000,4,0.000,0.054,2387,469,3361,0,0,0,0,0,0
$GC,4599,-1.48,-77.9,425.5,-10.3,326,4603,0.00,2.33,0.00,0.000,6,0.000,0.028,2389,1874,3361,0,0,0,0,0,0
$STATE,4901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4901,begin apogee
$GC,4906,-0.31,0.0,450.5,8.4,334,4973,1.20,0.00,62.95,0.877,6,0.077,0.000,2645,2029,3050,0,0,0,0,0,0
$STATE,4974,end apogee,CONTROL_FINISHED_OK
$STATE,4974,begin climb
$GC,4975,1.40,77.9,451.3,0.0,335,5050,1.62,2.45,64.38,0.855,4,0.033,0.045,3022,3379,2732,0,0,0,0,0,0
$GC,5314,1.22,106.5,438.8,6.1,342,5346,0.05,2.35,24.52,0.831,6,0.173,0.038,3007,2011,2615,0,0,0,0,0,0
$GC,5664,1.04,106.5,409.7,8.7,351,5669,0.32,2.40,0.00,0.000,4,0.107,0.043,2946,3386,2610,0,0,0,0,0,0
$GC,5794,1.02,125.6,400.5,6.7,353,5816,0.00,2.40,16.40,0.806,6,0.000,0.039,2950,2003,2538,0,0,0,0,0,0
$GC,6126,1.04,142.7,377.3,6.8,362,6146,0.00,2.55,15.60,0.797,4,0.000,0.056,2949,599,2467,0,0,0,0,0,0
$GC,6208,0.96,142.7,370.6,8.6,363,6214,0.15,2.35,0.00,0.000,6,0.120,0.031,2923,1996,2465,0,0,0,0,0,0
$GC,6539,1.02,160.4,347.6,6.8,372,6563,0.00,2.53,16.38,0.790,4,0.000,0.053,2922,605,2393,0,0,0,0,0,0
$GC,6650,1.02,161.2,338.4,8.0,374,6655,0.00,2.35,0.00,0.000,6,0.000,0.031,2923,2010,2389,0,0,0,0,0,0
$GC,6995,1.07,161.7,311.9,8.0,383,7000,0.12,2.53,0.00,0.000,4,0.077,0.053,2953,597,2388,0,0,0,0,0,0
$GC,7042,1.00,161.7,307.3,10.4,384,7047,0.12,2.38,0.00,0.000,6,0.124,0.031,2932,2018,2387,0,0,0,0,0,0
$GC,7371,1.06,176.2,282.5,7.0,397,7393,0.00,2.58,13.77,0.744,4,0.000,0.052,2932,607,2330,0,0,0,0,0,0
$GC,7443,1.06,176.2,276.3,8.7,400,7448,0.00,2.35,0.00,0.000,6,0.000,0.030,2932,2012,2328,0,0,0,0,0,0
$GC,7768,1.10,176.2,248.5,8.2,416,7773,0.10,2.50,0.00,0.000,4,0.087,0.052,2957,602,2327,0,0,0,0,0,0
$GC,7828,1.05,176.2,242.7,9.9,418,7835,0.00,2.38,0.00,0.000,6,0.000,0.029,2957,2008,2325,0,0,0,0,0,0
$GC,8143,1.07,189.4,218.8,7.1,434,8160,0.00,2.50,11.98,0.688,4,0.000,0.051,2957,603,2278,0,0,0,0,0,0
$GC,8278,1.07,189.4,207.3,8.7,439,8283,0.00,2.35,0.00,0.000,6,0.000,0.028,2957,2020,2274,0,0,0,0,0,0
$GC,8605,1.11,189.4,180.7,8.4,465,8609,0.00,2.47,0.00,0.000,4,0.000,0.048,2957,594,2274,0,0,0,0,0,0
$GC,8729,1.11,189.4,170.5,8.1,478,8733,0.00,2.35,0.00,0.000,6,0.000,0.026,2956,2025,2272,0,0,0,0,0,0
$GC,8991,1.16,197.2,151.1,7.5,502,9005,0.00,2.53,7.90,0.581,4,0.000,0.045,2957,606,2245,0,0,0,0,0,0
$GC,9014,1.17,202.3,149.0,7.7,504,9029,0.00,2.35,6.05,0.531,6,0.000,0.025,2957,2019,2225,0,0,0,0,0,0
$GC,9283,1.23,202.3,126.6,8.7,530,9288,0.12,2.45,0.00,0.000,4,0.071,0.046,2992,602,2224,0,0,0,0,0,0
$GC,9344,1.16,202.3,120.2,11.1,536,9349,0.12,2.30,0.00,0.000,6,0.111,0.024,2969,2019,2222,0,0,0,0,0,0
$GC,9605,1.20,204.1,98.1,7.9,560,9609,0.00,2.42,0.00,0.000,4,0.000,0.044,2969,602,2222,0,0,0,0,0,0
$GC,9623,1.20,204.8,96.6,8.0,561,9628,0.00,2.28,0.00,0.000,6,0.000,0.023,2968,2013,2222,0,0,0,0,0,0
$GC,9886,1.25,204.8,76.0,8.5,586,9887,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2019,2222,0,0,0,0,0,0
$GC,10140,1.31,214.5,57.8,7.4,610,10161,0.15,2.50,12.32,0.534,4,0.061,0.044,3013,602,2174,0,0,0,0,0,0
$GC,10304,1.22,214.5,40.2,10.5,628,10309,0.17,2.28,0.00,0.000,6,0.098,0.021,2980,2015,2172,0,0,0,0,0,0
$GC,10572,1.34,253.5,22.8,5.3,663,10614,0.12,2.47,34.42,0.532,4,0.066,0.041,3019,602,2014,0,0,0,0,0,0
$STATE,10768,end climb,SURFACE_DEPTH_REACHED
$STATE,10768,begin surface coast
$FINISH,0.5,1.023335
$STATE,10801,end surface coast,CONTROL_FINISHED_OK
$STATE,10801,begin surface
$SM_CCo,10822,24.55,0.505,0,0,1827,300.00
$SM_GC,0.93,0.00,0.00,24.55,0.000,0.000,0.505,426,1901,1827,-10.53,0.74,300.00
$IRIDIUM_FIX,2059.45,-15753.90,070899,060618
$TT8_MAMPS,0.029146
$HUMID,46.29
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.4,23.607
$10V_AH,10.0,22.718
$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,28.725,129.025,286.675,24.550,0.000,30.498,27.487,196.275,4.500,0.000,41.073,1352.300,6867.753,405.438,2160.200,440.188,30.190,1342.038,0.000,2107.545,0.000,29.253,0.000
$DEVICE_MAMPS,173.342,55.991,877.448,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,479.205,457.982,907.864,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,41345,712
$CAP_FILE_SIZE,130053,0
$CFSIZE,260165632,243347456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130510,125625,2106.941,-15753.318,70,2.0,70,9.8