version: 66.06
glider: 139
mission: 7
dive: 267
start: 5 13 110 13 2 20
data:
$ID,139
$MISSION,7
$DIVE,267
$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,-2129551.2
$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
$GPS1,125625,2106.941,-15753.318,70,2.0,70,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-70.5
$GPS2,130131,2106.929,-15753.340,40,1.6,40,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.018
$KALMAN_X,-610.0,-289.9,-235.0,3908.3,-354.3
$KALMAN_Y,225.6,137.1,29.3,-358.9,11.9
$MHEAD_RNG_PITCHd_Wd,85.9,18125,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,71,0.00,0.00,-52.58,0.000,2,0.000,0.000,425,1901,3182,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.0,-4.4,10,95,10.62,2.50,-3.78,0.000,4,0.136,0.054,2402,466,3371,0,0,0,0,0,0
$GC,111,-0.61,-77.9,15.2,-31.3,17,117,0.88,2.33,0.00,0.000,6,0.092,0.021,2579,1910,3372,0,0,0,0,0,0
$GC,323,-0.88,-77.9,31.4,-6.0,53,328,0.25,2.47,0.00,0.000,4,0.043,0.042,2500,469,3373,0,0,0,0,0,0
$GC,402,-0.92,-77.9,39.2,-10.6,61,406,0.00,2.22,0.00,0.000,6,0.000,0.019,2499,1872,3373,0,0,0,0,0,0
$GC,669,-1.07,-77.9,62.0,-8.4,86,673,0.00,2.40,0.00,0.000,4,0.000,0.044,2499,468,3374,0,0,0,0,0,0
$GC,746,-1.17,-77.9,70.0,-10.0,94,751,0.17,2.25,0.00,0.000,6,0.051,0.020,2444,1883,3374,0,0,0,0,0,0
$GC,1006,-1.17,-77.9,102.1,-12.5,118,1010,0.00,2.42,0.00,0.000,4,0.000,0.044,2444,461,3376,0,0,0,0,0,0
$GC,1112,-1.17,-77.9,115.5,-11.1,129,1117,0.00,2.25,0.00,0.000,6,0.000,0.020,2443,1879,3375,0,0,0,0,0,0
$GC,1376,-1.22,-77.9,140.6,-9.0,153,1381,0.00,2.42,0.00,0.000,4,0.000,0.044,2444,467,3376,0,0,0,0,0,0
$GC,1437,-1.22,-77.9,147.1,-10.3,159,1442,0.00,2.25,0.00,0.000,6,0.000,0.020,2444,1872,3376,0,0,0,0,0,0
$GC,1701,-1.29,-77.9,175.1,-10.3,183,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1877,3376,0,0,0,0,0,0
$GC,1956,-1.38,-77.9,200.9,-9.3,207,1961,0.15,2.42,0.00,0.000,4,0.057,0.045,2395,468,3377,0,0,0,0,0,0
$GC,2007,-1.32,-77.9,207.6,-12.7,209,2011,0.15,2.25,0.00,0.000,6,0.093,0.021,2427,1876,3377,0,0,0,0,0,0
$GC,2334,-1.39,-77.9,239.5,-9.2,225,2339,0.00,2.40,0.00,0.000,4,0.000,0.045,2428,467,3377,0,0,0,0,0,0
$GC,2398,-1.39,-77.9,245.9,-8.9,227,2404,0.00,2.28,0.00,0.000,6,0.000,0.021,2427,1884,3377,0,0,0,0,0,0
$GC,2715,-1.48,-77.9,273.6,-8.3,243,2720,0.15,2.45,0.00,0.000,4,0.058,0.048,2381,464,3377,0,0,0,0,0,0
$GC,2781,-1.42,-77.9,281.0,-11.8,246,2785,0.10,2.25,0.00,0.000,6,0.113,0.023,2401,1869,3377,0,0,0,0,0,0
$GC,3131,-1.46,-77.9,319.6,-11.5,259,3136,0.00,2.42,0.00,0.000,4,0.000,0.049,2401,470,3376,0,0,0,0,0,0
$GC,3168,-1.46,-77.9,325.0,-13.3,259,3172,0.00,2.28,0.00,0.000,6,0.000,0.025,2401,1877,3376,0,0,0,0,0,0
$GC,3500,-1.50,-77.9,362.6,-10.9,267,3504,0.00,2.45,0.00,0.000,4,0.000,0.051,2400,471,3375,0,0,0,0,0,0
$GC,3545,-1.50,-77.9,368.2,-11.5,268,3549,0.00,2.30,0.00,0.000,6,0.000,0.026,2401,1883,3375,0,0,0,0,0,0
$GC,3867,-1.55,-77.9,399.1,-9.1,276,3872,0.12,2.47,0.00,0.000,4,0.069,0.053,2363,471,3372,0,0,0,0,0,0
$GC,3958,-1.49,-77.9,409.1,-11.3,278,3963,0.12,2.30,0.00,0.000,6,0.106,0.028,2389,1873,3372,0,0,0,0,0,0
$GC,4290,-1.49,-77.9,439.3,-9.0,286,4294,0.00,2.47,0.00,0.000,4,0.000,0.054,2389,465,3369,0,0,0,0,0,0
$GC,4317,-1.49,-77.9,442.0,-9.8,286,4321,0.00,2.30,0.00,0.000,6,0.000,0.028,2389,1873,3369,0,0,0,0,0,0
$STATE,4447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4447,begin apogee
$GC,4452,-0.31,0.0,453.3,8.6,290,4521,1.20,0.00,65.25,0.871,6,0.074,0.000,2647,2033,3050,0,0,0,0,0,0
$STATE,4522,end apogee,CONTROL_FINISHED_OK
$STATE,4522,begin climb
$GC,4524,1.40,77.9,454.1,0.0,291,4598,1.62,2.45,64.68,0.850,4,0.031,0.044,3026,3386,2732,0,0,0,0,0,0
$GC,4863,1.21,106.3,442.8,6.1,298,4895,0.22,2.38,24.40,0.828,6,0.113,0.038,2981,2004,2616,0,0,0,0,0,0
$GC,5213,1.09,106.3,416.5,8.0,307,5218,0.15,2.40,0.00,0.000,4,0.117,0.042,2957,3383,2611,0,0,0,0,0,0
$GC,5431,1.06,123.1,401.0,6.9,311,5451,0.00,2.35,14.68,0.795,6,0.000,0.038,2959,2006,2546,0,0,0,0,0,0
$GC,5771,1.02,133.1,375.2,7.3,320,5788,0.12,2.58,9.35,0.741,4,0.126,0.054,2937,592,2506,0,0,0,0,0,0
$GC,5831,0.96,142.6,370.9,7.4,321,5847,0.00,2.38,9.65,0.737,6,0.000,0.030,2936,1998,2468,0,0,0,0,0,0
$GC,6188,1.00,173.2,348.7,5.9,330,6220,0.00,2.53,27.30,0.808,4,0.000,0.053,2937,605,2343,0,0,0,0,0,0
$GC,6239,1.01,181.9,345.0,7.4,331,6255,0.00,2.38,9.20,0.709,6,0.000,0.031,2937,2016,2308,0,0,0,0,0,0
$GC,6600,1.05,181.9,311.7,10.3,340,6604,0.00,2.47,0.00,0.000,4,0.000,0.052,2937,605,2302,0,0,0,0,0,0
$GC,6678,1.05,181.9,303.1,11.0,341,6682,0.00,2.35,0.00,0.000,6,0.000,0.029,2937,2015,2300,0,0,0,0,0,0
$GC,6994,1.12,201.9,275.6,6.6,355,7018,0.00,2.58,17.98,0.747,4,0.000,0.051,2936,606,2225,0,0,0,0,0,0
$GC,7078,1.12,201.9,268.4,9.1,358,7085,0.00,2.40,0.00,0.000,6,0.000,0.028,2937,2013,2221,0,0,0,0,0,0
$GC,7393,1.19,201.9,240.7,9.3,374,7398,0.17,2.50,0.00,0.000,4,0.064,0.051,2980,605,2220,0,0,0,0,0,0
$GC,7540,1.12,201.9,221.7,12.6,380,7545,0.12,2.35,0.00,0.000,6,0.122,0.027,2959,2025,2217,0,0,0,0,0,0
$GC,7858,1.17,201.9,193.0,8.4,398,7863,0.00,2.47,0.00,0.000,4,0.000,0.048,2959,599,2218,0,0,0,0,0,0
$GC,7984,1.17,201.9,181.1,9.6,411,7988,0.00,2.33,0.00,0.000,6,0.000,0.026,2958,2015,2216,0,0,0,0,0,0
$GC,8247,1.21,201.9,157.2,10.4,435,8251,0.00,2.47,0.00,0.000,4,0.000,0.048,2959,597,2216,0,0,0,0,0,0
$GC,8319,1.21,201.9,148.3,12.0,442,8326,0.00,2.35,0.00,0.000,6,0.000,0.025,2959,2009,2216,0,0,0,0,0,0
$GC,8582,1.26,201.9,125.3,8.3,467,8584,0.12,0.00,0.00,0.000,6,0.070,0.000,2994,2015,2216,0,0,0,0,0,0
$GC,8836,1.26,201.9,99.1,9.3,491,8840,0.00,2.42,0.00,0.000,4,0.000,0.044,2994,602,2215,0,0,0,0,0,0
$GC,8861,1.18,201.9,96.7,9.8,493,8866,0.12,2.30,0.00,0.000,6,0.112,0.023,2971,2016,2216,0,0,0,0,0,0
$GC,9125,1.23,209.2,77.5,7.5,517,9136,0.00,2.45,6.43,0.486,4,0.000,0.042,2971,601,2195,0,0,0,0,0,0
$GC,9192,1.23,210.2,72.1,8.0,524,9196,0.00,2.30,0.00,0.000,6,0.000,0.021,2971,2017,2194,0,0,0,0,0,0
$GC,9460,1.29,210.2,49.0,8.7,549,9465,0.10,2.45,0.00,0.000,4,0.077,0.043,3003,601,2194,0,0,0,0,0,0
$GC,9584,1.21,210.2,35.3,11.1,562,9589,0.12,2.28,0.00,0.000,6,0.109,0.021,2980,2020,2194,0,0,0,0,0,0
$GC,9854,1.30,228.4,15.6,6.8,605,9880,0.00,2.35,17.75,0.516,4,0.000,0.029,2979,3398,2119,0,0,0,0,0,0
$GC,10021,1.43,238.7,4.7,7.3,641,10037,0.20,2.33,10.82,0.477,6,0.050,0.029,3035,2003,2076,0,0,0,0,0,0
$STATE,10043,end climb,SURFACE_DEPTH_REACHED
$STATE,10043,begin surface coast
$FINISH,0.5,1.023305
$STATE,10089,end surface coast,CONTROL_FINISHED_OK
$STATE,10089,begin surface
$SM_CCo,10109,30.27,0.505,0,0,1826,300.00
$SM_GC,1.14,0.00,0.00,30.27,0.000,0.000,0.505,427,1867,1826,-10.52,-0.20,300.00
$IRIDIUM_FIX,2101.76,-15753.03,070899,090907
$TT8_MAMPS,0.029146
$HUMID,46.45
$INTERNAL_PRESSURE,9.68441
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.4,23.684
$10V_AH,10.0,22.800
$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,28.200,119.550,277.475,30.275,0.000,24.418,30.723,125.180,4.500,0.000,40.897,1279.144,6417.832,363.638,2022.504,361.636,31.432,1233.059,0.000,1972.523,0.000,29.267,0.000
$DEVICE_MAMPS,135.759,58.292,871.312,505.453,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,441.076,423.210,840.322,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,38110,653
$CAP_FILE_SIZE,121773,0
$CFSIZE,260165632,243294208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130510,155313,2106.998,-15752.843,72,1.8,78,9.8