version: 66.06
glider: 139
mission: 7
dive: 269
start: 5 13 110 19 6 48
data:
$ID,139
$MISSION,7
$DIVE,269
$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,-2129629.5
$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
$GPS1,185528,2107.135,-15751.399,68,2.9,87,9.8
$_CALLS,2
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-70.6
$GPS2,190556,2107.211,-15751.354,57,1.4,57,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.170,-0.069
$KALMAN_X,-1834.4,-13.4,99.7,7921.4,23.0
$KALMAN_Y,1323.8,52.4,71.1,-893.4,429.9
$MHEAD_RNG_PITCHd_Wd,102.2,14805,-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,-77.9,0.0,0.0,0,70,0.00,0.00,-52.70,0.000,2,0.000,0.000,427,1860,3217,0,0,0,0,0,0
$GC,72,-1.40,-77.9,3.5,-6.0,10,94,10.65,2.42,-2.95,0.000,4,0.137,0.054,2402,466,3372,0,0,0,0,0,0
$GC,146,-1.15,-77.9,24.5,-22.8,25,152,0.30,2.33,0.00,0.000,6,0.089,0.021,2461,1897,3372,0,0,0,0,0,0
$GC,351,-1.15,-77.9,51.3,-12.1,47,355,0.00,2.22,0.00,0.000,4,0.000,0.025,2463,3276,3373,0,0,0,0,0,0
$GC,368,-1.20,-77.9,53.0,-11.3,48,372,0.00,2.35,0.00,0.000,6,0.000,0.027,2461,1866,3373,0,0,0,0,0,0
$GC,630,-1.25,-77.9,80.2,-10.3,72,634,0.00,2.38,0.00,0.000,4,0.000,0.044,2460,468,3374,0,0,0,0,0,0
$GC,709,-1.25,-77.9,89.3,-11.8,80,713,0.00,2.28,0.00,0.000,6,0.000,0.019,2462,1890,3374,0,0,0,0,0,0
$GC,971,-1.32,-77.9,117.6,-10.6,104,976,0.17,2.45,0.00,0.000,4,0.052,0.045,2407,471,3375,0,0,0,0,0,0
$GC,1045,-1.27,-77.9,127.4,-12.6,111,1051,0.12,2.25,0.00,0.000,6,0.100,0.020,2435,1873,3375,0,0,0,0,0,0
$GC,1305,-1.27,-77.9,153.9,-10.4,136,1309,0.00,2.42,0.00,0.000,4,0.000,0.045,2434,467,3375,0,0,0,0,0,0
$GC,1351,-1.27,-77.9,159.1,-10.5,140,1358,0.00,2.28,0.00,0.000,6,0.000,0.020,2434,1876,3375,0,0,0,0,0,0
$GC,1614,-1.31,-77.9,186.3,-11.2,165,1618,0.00,2.42,0.00,0.000,4,0.000,0.044,2431,467,3376,0,0,0,0,0,0
$GC,1694,-1.35,-77.9,195.2,-10.5,173,1698,0.00,2.25,0.00,0.000,6,0.000,0.021,2435,1882,3376,0,0,0,0,0,0
$GC,1950,-1.42,-77.9,220.9,-9.8,187,1955,0.12,2.42,0.00,0.000,4,0.065,0.045,2393,471,3376,0,0,0,0,0,0
$GC,1988,-1.34,-77.9,225.7,-12.3,188,1995,0.08,2.28,0.00,0.000,6,0.078,0.021,2415,1871,3376,0,0,0,0,0,0
$GC,2304,-1.39,-77.9,256.1,-9.3,204,2308,0.00,2.40,0.00,0.000,4,0.000,0.046,2414,465,3376,0,0,0,0,0,0
$GC,2371,-1.39,-77.9,263.8,-12.0,207,2375,0.00,2.25,0.00,0.000,6,0.000,0.022,2412,1874,3376,0,0,0,0,0,0
$GC,2697,-1.45,-77.9,294.9,-9.2,223,2701,0.00,2.42,0.00,0.000,4,0.000,0.048,2413,474,3376,0,0,0,0,0,0
$GC,2765,-1.45,-77.9,302.0,-10.1,226,2770,0.00,2.25,0.00,0.000,6,0.000,0.024,2415,1875,3375,0,0,0,0,0,0
$GC,3105,-1.52,-77.9,331.3,-8.3,235,3110,0.15,2.45,0.00,0.000,4,0.060,0.051,2371,466,3374,0,0,0,0,0,0
$GC,3161,-1.46,-77.9,337.1,-11.0,236,3166,0.12,2.28,0.00,0.000,6,0.100,0.025,2396,1868,3374,0,0,0,0,0,0
$GC,3478,-1.50,-77.9,366.4,-9.4,244,3482,0.00,2.45,0.00,0.000,4,0.000,0.052,2396,467,3372,0,0,0,0,0,0
$GC,3542,-1.50,-77.9,373.3,-10.7,245,3546,0.00,2.30,0.00,0.000,6,0.000,0.027,2396,1878,3372,0,0,0,0,0,0
$GC,3888,-1.54,-77.9,404.1,-8.6,254,3892,0.00,2.45,0.00,0.000,4,0.000,0.053,2396,470,3369,0,0,0,0,0,0
$GC,3947,-1.54,-77.9,409.6,-8.9,255,3952,0.00,2.30,0.00,0.000,6,0.000,0.028,2396,1875,3369,0,0,0,0,0,0
$GC,4297,-1.58,-77.9,436.0,-7.6,264,4302,0.12,2.47,0.00,0.000,4,0.071,0.055,2359,470,3366,0,0,0,0,0,0
$GC,4335,-1.49,-77.9,439.7,-9.6,264,4342,0.12,2.33,0.00,0.000,6,0.107,0.029,2386,1872,3365,0,0,0,0,0,0
$STATE,4460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4460,begin apogee
$GC,4465,-0.31,0.0,450.9,8.9,268,4533,1.23,0.00,64.18,0.875,6,0.077,0.000,2645,2030,3050,0,0,0,0,0,0
$STATE,4533,end apogee,CONTROL_FINISHED_OK
$STATE,4534,begin climb
$GC,4536,1.40,77.9,451.7,0.0,269,4610,1.62,2.45,64.55,0.852,4,0.034,0.045,3024,3384,2732,0,0,0,0,0,0
$GC,4740,1.24,127.3,448.9,4.6,273,4789,0.00,2.38,42.28,0.843,6,0.000,0.038,3020,2013,2529,0,0,0,0,0,0
$GC,5124,1.05,127.3,413.2,10.1,283,5130,0.38,2.40,0.00,0.000,4,0.107,0.041,2949,3395,2522,0,0,0,0,0,0
$GC,5199,1.05,128.1,407.1,8.0,284,5204,0.00,2.40,0.00,0.000,6,0.000,0.039,2946,2013,2522,0,0,0,0,0,0
$GC,5534,1.07,137.2,381.9,7.4,293,5547,0.00,2.55,7.93,0.717,4,0.000,0.054,2949,594,2490,0,0,0,0,0,0
$GC,5590,0.97,137.2,377.4,8.2,294,5595,0.12,2.38,0.00,0.000,6,0.128,0.031,2928,1995,2488,0,0,0,0,0,0
$GC,5903,1.00,162.9,356.1,6.3,302,5932,0.00,2.53,23.25,0.808,4,0.000,0.054,2928,599,2386,0,0,0,0,0,0
$GC,6028,1.00,162.9,346.0,9.4,304,6033,0.00,2.38,0.00,0.000,6,0.000,0.031,2928,2011,2381,0,0,0,0,0,0
$GC,6359,1.07,180.5,323.6,6.8,312,6377,0.00,0.00,16.10,0.773,6,0.000,0.000,2928,2016,2314,0,0,0,0,0,0
$GC,6684,1.14,191.6,299.9,7.3,320,6702,0.15,2.58,11.02,0.726,4,0.070,0.053,2964,604,2268,0,0,0,0,0,0
$GC,6811,1.07,191.6,286.3,11.8,325,6815,0.00,2.38,0.00,0.000,6,0.000,0.029,2965,2014,2263,0,0,0,0,0,0
$GC,7125,1.07,191.6,253.7,10.0,340,7130,0.00,2.50,0.00,0.000,4,0.000,0.051,2964,601,2263,0,0,0,0,0,0
$GC,7162,1.01,191.6,249.5,11.6,341,7169,0.17,2.35,0.00,0.000,6,0.118,0.029,2933,2015,2261,0,0,0,0,0,0
$GC,7479,1.12,219.1,225.3,6.1,357,7511,0.12,2.55,24.95,0.726,4,0.077,0.049,2964,602,2154,0,0,0,0,0,0
$GC,7585,1.12,219.1,214.3,12.0,361,7591,0.00,2.38,0.00,0.000,6,0.000,0.027,2964,2017,2150,0,0,0,0,0,0
$GC,7906,1.12,219.1,182.4,9.8,385,7910,0.00,2.47,0.00,0.000,4,0.000,0.049,2964,597,2149,0,0,0,0,0,0
$GC,8005,1.12,219.1,171.1,10.7,395,8011,0.00,2.35,0.00,0.000,6,0.000,0.026,2964,2014,2146,0,0,0,0,0,0
$GC,8266,1.16,219.1,145.9,10.5,420,8271,0.00,2.45,0.00,0.000,4,0.000,0.047,2964,599,2146,0,0,0,0,0,0
$GC,8357,1.16,219.1,135.2,11.1,429,8363,0.00,2.33,0.00,0.000,6,0.000,0.024,2964,2014,2145,0,0,0,0,0,0
$GC,8619,1.22,219.1,106.6,12.0,454,8623,0.00,2.45,0.00,0.000,4,0.000,0.045,2964,601,2145,0,0,0,0,0,0
$GC,8682,1.22,219.1,98.6,12.8,460,8689,0.00,2.33,0.00,0.000,6,0.000,0.023,2964,2009,2145,0,0,0,0,0,0
$GC,8945,1.28,219.1,74.4,9.1,485,8950,0.12,2.42,0.00,0.000,4,0.068,0.044,3000,590,2145,0,0,0,0,0,0
$GC,9090,1.22,219.1,58.2,8.9,500,9097,0.00,2.33,0.00,0.000,6,0.000,0.022,3000,2006,2145,0,0,0,0,0,0
$GC,9353,1.29,245.1,40.6,6.2,525,9382,0.00,0.00,22.60,0.549,6,0.000,0.000,3001,2012,2049,0,0,0,0,0,0
$GC,9643,1.32,245.1,12.6,10.3,567,9648,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2012,2047,0,0,0,0,0,0
$STATE,9753,end climb,SURFACE_DEPTH_REACHED
$STATE,9753,begin surface coast
$FINISH,0.6,1.023028
$STATE,9789,end surface coast,CONTROL_FINISHED_OK
$STATE,9789,begin surface
$SM_CCo,9808,28.05,0.511,0,0,1826,300.00
$SM_GC,0.87,0.00,0.00,28.05,0.000,0.000,0.511,426,1863,1826,-10.52,-0.34,300.00
$IRIDIUM_FIX,2057.14,-15753.90,070899,191958
$TT8_MAMPS,0.029146
$HUMID,47.04
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.4,23.850
$10V_AH,10.0,22.960
$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,26.925,114.825,276.850,28.050,0.000,69.451,64.317,281.017,4.500,0.000,58.755,1166.651,6537.770,380.020,1794.161,587.284,33.357,1156.076,0.000,1732.266,0.000,29.259,0.000
$DEVICE_MAMPS,136.526,56.758,875.147,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,400.157,372.788,747.437,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34919,593
$CAP_FILE_SIZE,117910,0
$CFSIZE,260165632,243179520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130510,215149,2107.111,-15749.616,24,1.6,29,9.8