version: 66.06
glider: 139
mission: 7
dive: 274
start: 5 14 110 10 22 21
data:
$ID,139
$MISSION,7
$DIVE,274
$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,-2130706.5
$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
$GPS1,101527,2106.542,-15743.804,371,2.2,390,9.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-69.1
$GPS2,102129,2106.510,-15743.753,15,2.4,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.069,-0.170
$KALMAN_X,1765.3,188.3,695.4,16656.4,-43.5
$KALMAN_Y,4913.3,49.1,155.1,-5861.1,682.5
$MHEAD_RNG_PITCHd_Wd,192.2,19098,-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,-53.58,0.000,2,0.000,0.000,426,1882,3240,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.5,-6.0,10,95,10.65,2.47,-2.47,0.000,4,0.137,0.054,2400,463,3371,0,0,0,0,0,0
$GC,165,-1.14,-77.9,27.8,-21.5,29,172,0.32,2.33,0.00,0.000,6,0.096,0.020,2465,1918,3372,0,0,0,0,0,0
$GC,371,-1.17,-77.9,53.7,-10.8,49,375,0.00,2.20,0.00,0.000,4,0.000,0.025,2466,3265,3372,0,0,0,0,0,0
$GC,413,-1.30,-77.9,58.2,-10.4,53,419,0.15,2.35,0.00,0.000,6,0.057,0.028,2418,1864,3373,0,0,0,0,0,0
$GC,677,-1.24,-77.9,94.3,-14.6,77,682,0.12,2.38,0.00,0.000,4,0.102,0.044,2442,472,3374,0,0,0,0,0,0
$GC,721,-1.21,-77.9,101.1,-13.8,81,725,0.00,2.25,0.00,0.000,6,0.000,0.020,2442,1885,3375,0,0,0,0,0,0
$GC,987,-1.21,-77.9,132.8,-10.7,106,991,0.00,2.45,0.00,0.000,4,0.000,0.044,2443,462,3375,0,0,0,0,0,0
$GC,1002,-1.21,-77.9,134.4,-10.6,107,1006,0.00,2.25,0.00,0.000,6,0.000,0.020,2443,1885,3375,0,0,0,0,0,0
$GC,1265,-1.27,-77.9,159.8,-8.2,131,1270,0.00,2.45,0.00,0.000,4,0.000,0.044,2442,451,3376,0,0,0,0,0,0
$GC,1358,-1.27,-77.9,169.2,-10.7,141,1363,0.00,2.25,0.00,0.000,6,0.000,0.020,2443,1868,3376,0,0,0,0,0,0
$GC,1621,-1.33,-77.9,195.4,-9.2,165,1625,0.00,2.38,0.00,0.000,4,0.000,0.043,2440,471,3376,0,0,0,0,0,0
$GC,1648,-1.33,-77.9,198.4,-10.4,167,1654,0.00,2.22,0.00,0.000,6,0.000,0.021,2443,1880,3376,0,0,0,0,0,0
$GC,1903,-1.41,-77.9,223.3,-10.2,181,1908,0.17,2.42,0.00,0.000,4,0.052,0.045,2391,473,3376,0,0,0,0,0,0
$GC,1970,-1.33,-77.9,233.0,-16.2,184,1975,0.17,2.22,0.00,0.000,6,0.091,0.021,2426,1872,3376,0,0,0,0,0,0
$GC,2300,-1.40,-77.9,270.0,-9.4,200,2304,0.00,2.40,0.00,0.000,4,0.000,0.045,2427,465,3376,0,0,0,0,0,0
$GC,2328,-1.40,-77.9,272.8,-9.9,201,2332,0.00,2.28,0.00,0.000,6,0.000,0.022,2426,1879,3376,0,0,0,0,0,0
$GC,2650,-1.47,-77.9,301.5,-9.1,217,2655,0.15,2.45,0.00,0.000,4,0.059,0.048,2382,472,3375,0,0,0,0,0,0
$GC,2729,-1.41,-77.9,309.9,-10.6,218,2734,0.12,2.25,0.00,0.000,6,0.103,0.023,2407,1878,3375,0,0,0,0,0,0
$GC,3061,-1.46,-77.9,343.3,-10.1,226,3065,0.00,2.45,0.00,0.000,4,0.000,0.050,2407,468,3373,0,0,0,0,0,0
$GC,3167,-1.46,-77.9,354.0,-10.2,228,3171,0.00,2.28,0.00,0.000,6,0.000,0.025,2407,1879,3373,0,0,0,0,0,0
$GC,3518,-1.51,-77.9,384.1,-9.4,237,3523,0.10,2.47,0.00,0.000,4,0.079,0.052,2376,474,3372,0,0,0,0,0,0
$GC,3574,-1.46,-77.9,391.0,-12.1,238,3578,0.00,2.28,0.00,0.000,6,0.000,0.027,2376,1876,3371,0,0,0,0,0,0
$GC,3887,-1.46,-77.9,425.1,-10.6,246,3891,0.00,2.45,0.00,0.000,4,0.000,0.052,2373,474,3369,0,0,0,0,0,0
$GC,3910,-1.42,-77.9,427.6,-11.1,246,3915,0.15,2.30,0.00,0.000,6,0.097,0.028,2406,1874,3369,0,0,0,0,0,0
$STATE,4207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4208,begin apogee
$GC,4213,-0.31,0.0,453.3,8.1,254,4281,1.10,0.00,64.72,0.869,6,0.073,0.000,2643,2032,3050,0,0,0,0,0,0
$STATE,4282,end apogee,CONTROL_FINISHED_OK
$STATE,4282,begin climb
$GC,4284,1.40,77.9,454.3,0.0,255,4358,1.62,2.42,64.70,0.848,4,0.033,0.044,3020,3375,2732,0,0,0,0,0,0
$GC,4622,1.21,102.9,443.6,6.3,262,4651,0.22,2.38,21.52,0.821,6,0.117,0.038,2980,2005,2630,0,0,0,0,0,0
$GC,4974,1.10,119.9,420.0,6.9,271,4995,0.12,2.42,14.98,0.799,4,0.123,0.041,2958,3384,2560,0,0,0,0,0,0
$GC,5194,1.06,130.3,403.4,7.3,275,5210,0.00,2.38,10.27,0.756,6,0.000,0.037,2956,2008,2517,0,0,0,0,0,0
$GC,5535,1.04,152.6,380.4,6.5,284,5560,0.00,2.55,19.92,0.811,4,0.000,0.054,2957,600,2427,0,0,0,0,0,0
$GC,5589,0.93,152.6,375.8,8.5,285,5594,0.22,2.35,0.00,0.000,6,0.112,0.031,2917,1999,2424,0,0,0,0,0,0
$GC,5903,1.01,165.7,353.1,7.1,293,5920,0.00,2.53,12.00,0.760,4,0.000,0.054,2916,606,2374,0,0,0,0,0,0
$GC,6045,1.01,165.7,339.9,9.6,296,6049,0.00,2.38,0.00,0.000,6,0.000,0.030,2918,2011,2369,0,0,0,0,0,0
$GC,6363,1.10,180.2,316.0,7.0,304,6383,0.15,2.50,13.50,0.756,4,0.071,0.050,2953,602,2314,0,0,0,0,0,0
$GC,6593,1.06,180.2,296.7,9.0,309,6597,0.00,2.38,0.00,0.000,6,0.000,0.029,2954,2014,2309,0,0,0,0,0,0
$GC,6923,1.06,180.2,271.8,8.2,325,6927,0.00,2.35,0.00,0.000,4,0.000,0.038,2954,3405,2309,0,0,0,0,0,0
$GC,6960,1.11,180.2,268.5,8.2,326,6967,0.00,2.42,0.00,0.000,6,0.000,0.037,2954,2009,2309,0,0,0,0,0,0
$GC,7275,1.11,181.6,242.9,7.9,342,7280,0.00,2.45,0.00,0.000,4,0.000,0.049,2953,598,2308,0,0,0,0,0,0
$GC,7375,1.11,181.6,233.1,9.7,346,7380,0.00,2.35,0.00,0.000,6,0.000,0.027,2953,2013,2305,0,0,0,0,0,0
$GC,7692,1.15,181.6,205.2,8.9,361,7696,0.00,2.33,0.00,0.000,4,0.000,0.035,2954,3405,2305,0,0,0,0,0,0
$GC,7793,1.20,181.6,195.9,8.6,368,7799,0.00,2.40,0.00,0.000,6,0.000,0.032,2954,2005,2305,0,0,0,0,0,0
$GC,8056,1.24,184.5,174.6,7.8,393,8061,0.15,2.45,0.00,0.000,4,0.066,0.047,2993,596,2305,0,0,0,0,0,0
$GC,8091,1.13,184.5,171.4,9.0,396,8096,0.17,2.33,0.00,0.000,6,0.106,0.025,2961,2022,2305,0,0,0,0,0,0
$GC,8352,1.20,216.8,154.9,5.8,420,8389,0.00,2.53,31.60,0.653,4,0.000,0.044,2960,603,2165,0,0,0,0,0,0
$GC,8492,1.20,216.8,142.8,10.5,435,8496,0.00,2.30,0.00,0.000,6,0.000,0.023,2961,2013,2160,0,0,0,0,0,0
$GC,8755,1.27,216.8,118.5,8.9,459,8760,0.12,2.30,0.00,0.000,4,0.070,0.031,2996,3401,2159,0,0,0,0,0,0
$GC,8792,1.27,216.8,114.7,10.1,462,8799,0.00,2.38,0.00,0.000,6,0.000,0.030,2996,2006,2159,0,0,0,0,0,0
$GC,9054,1.27,216.8,90.8,8.9,487,9058,0.00,2.40,0.00,0.000,4,0.000,0.044,2995,604,2159,0,0,0,0,0,0
$GC,9136,1.21,216.8,82.7,10.2,495,9142,0.00,2.28,0.00,0.000,6,0.000,0.021,2996,2019,2158,0,0,0,0,0,0
$GC,9399,1.26,262.4,65.0,4.9,520,9440,0.00,0.00,39.58,0.567,6,0.000,0.000,2996,2024,1980,0,0,0,0,0,0
$GC,9692,1.33,262.4,39.7,9.4,548,9696,0.00,2.45,0.00,0.000,4,0.000,0.043,2996,604,1976,0,0,0,0,0,0
$GC,9800,1.33,262.4,28.4,9.7,561,9805,0.00,2.28,0.00,0.000,6,0.000,0.021,2996,2018,1972,0,0,0,0,0,0
$GC,10005,1.38,262.4,6.9,11.4,598,10011,0.00,2.45,0.00,0.000,4,0.000,0.043,2995,610,1972,0,0,0,0,0,0
$STATE,10048,end climb,SURFACE_DEPTH_REACHED
$STATE,10048,begin surface coast
$FINISH,0.5,1.009111
$STATE,10085,end surface coast,CONTROL_FINISHED_OK
$STATE,10085,begin surface
$SM_CCo,10107,18.75,0.494,0,0,1827,300.00
$SM_GC,1.32,0.00,0.00,18.75,0.000,0.000,0.494,427,1887,1827,-10.52,0.34,300.00
$IRIDIUM_FIX,2059.45,-15746.61,080899,070710
$TT8_MAMPS,0.029146
$HUMID,46.33
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,24.273
$10V_AH,10.0,23.388
$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,27.000,123.200,292.800,18.750,0.000,23.823,35.442,185.186,4.500,0.000,36.372,1230.393,6506.135,372.165,1958.394,423.633,33.341,1231.290,0.000,1915.994,0.000,29.260,0.000
$DEVICE_MAMPS,137.293,53.690,869.011,493.948,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.686,392.194,777.837,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,35007,615
$CAP_FILE_SIZE,122309,0
$CFSIZE,260165632,242884608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140510,131240,2105.468,-15744.282,38,3.7,57,9.8