version: 66.06
glider: 139
mission: 7
dive: 276
start: 5 14 110 16 16 7
data:
$ID,139
$MISSION,7
$DIVE,276
$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,-2130775
$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
$GPS1,160958,2104.366,-15745.349,74,2.4,93,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.7
$GPS2,161516,2104.392,-15745.338,13,2.5,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.147,-0.110
$KALMAN_X,2836.1,-265.7,-794.0,14806.4,1246.0
$KALMAN_Y,5277.3,-68.0,-338.0,-9527.2,611.3
$MHEAD_RNG_PITCHd_Wd,223.4,14316,-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,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,75,0.00,0.00,-57.75,0.000,6,0.000,0.000,425,1847,3369,0,0,0,0,0,0
$GC,78,-1.40,-77.9,3.9,-7.0,11,94,10.68,2.35,0.00,0.000,4,0.138,0.035,2399,466,3370,0,0,0,0,0,0
$GC,209,-1.20,-77.9,39.7,-19.3,35,216,0.20,2.35,0.00,0.000,6,0.081,0.021,2446,1903,3372,0,0,0,0,0,0
$GC,473,-1.20,-77.9,79.3,-12.8,60,477,0.00,2.45,0.00,0.000,4,0.000,0.043,2446,469,3373,0,0,0,0,0,0
$GC,509,-1.14,-77.9,84.7,-13.6,63,515,0.00,2.28,0.00,0.000,6,0.000,0.019,2446,1893,3373,0,0,0,0,0,0
$GC,770,-1.14,-77.9,113.8,-10.4,88,774,0.00,2.45,0.00,0.000,4,0.000,0.044,2445,460,3373,0,0,0,0,0,0
$GC,830,-1.11,-77.9,120.6,-11.2,94,835,0.12,2.28,0.00,0.000,6,0.100,0.019,2472,1879,3374,0,0,0,0,0,0
$GC,1092,-1.20,-77.9,141.1,-7.0,118,1096,0.00,2.40,0.00,0.000,4,0.000,0.043,2471,470,3375,0,0,0,0,0,0
$GC,1138,-1.29,-77.9,144.8,-7.5,122,1145,0.15,2.28,0.00,0.000,6,0.031,0.020,2417,1877,3375,0,0,0,0,0,0
$GC,1400,-1.29,-77.9,170.4,-9.1,147,1404,0.00,2.40,0.00,0.000,4,0.000,0.043,2416,467,3375,0,0,0,0,0,0
$GC,1469,-1.24,-77.9,177.9,-10.8,154,1474,0.12,2.25,0.00,0.000,6,0.099,0.020,2443,1874,3376,0,0,0,0,0,0
$GC,1730,-1.30,-77.9,202.2,-10.0,177,1734,0.00,2.42,0.00,0.000,4,0.000,0.044,2443,462,3376,0,0,0,0,0,0
$GC,1749,-1.30,-77.9,204.5,-11.0,178,1754,0.00,2.28,0.00,0.000,6,0.000,0.021,2443,1882,3376,0,0,0,0,0,0
$GC,2079,-1.40,-77.9,235.4,-9.5,194,2084,0.15,2.45,0.00,0.000,4,0.058,0.047,2394,460,3377,0,0,0,0,0,0
$GC,2174,-1.36,-77.9,246.3,-11.5,198,2179,0.10,2.28,0.00,0.000,6,0.109,0.021,2415,1876,3376,0,0,0,0,0,0
$GC,2500,-1.42,-77.9,275.6,-7.9,214,2504,0.00,2.40,0.00,0.000,4,0.000,0.047,2413,470,3377,0,0,0,0,0,0
$GC,2568,-1.42,-77.9,282.0,-8.6,217,2572,0.00,2.28,0.00,0.000,6,0.000,0.023,2414,1874,3377,0,0,0,0,0,0
$GC,2891,-1.48,-77.9,306.7,-7.1,231,2896,0.10,2.47,0.00,0.000,4,0.076,0.050,2381,460,3376,0,0,0,0,0,0
$GC,2910,-1.48,-77.9,308.4,-8.7,231,2914,0.00,2.30,0.00,0.000,6,0.000,0.025,2381,1876,3376,0,0,0,0,0,0
$GC,3255,-1.48,-77.9,342.3,-10.0,240,3259,0.00,2.45,0.00,0.000,4,0.000,0.050,2381,469,3374,0,0,0,0,0,0
$GC,3287,-1.41,-77.9,345.8,-11.3,240,3292,0.12,2.30,0.00,0.000,6,0.103,0.025,2406,1878,3374,0,0,0,0,0,0
$GC,3618,-1.46,-77.9,375.7,-9.8,248,3622,0.00,2.45,0.00,0.000,4,0.000,0.051,2406,464,3372,0,0,0,0,0,0
$GC,3733,-1.46,-77.9,388.3,-10.5,250,3737,0.00,2.33,0.00,0.000,6,0.000,0.027,2406,1874,3372,0,0,0,0,0,0
$GC,4074,-1.52,-77.9,418.8,-7.9,259,4079,0.10,2.47,0.00,0.000,4,0.079,0.054,2375,470,3369,0,0,0,0,0,0
$GC,4092,-1.52,-77.9,420.4,-8.1,259,4096,0.00,2.33,0.00,0.000,6,0.000,0.028,2375,1876,3369,0,0,0,0,0,0
$GC,4437,-1.52,-77.9,446.0,-7.4,268,4441,0.00,2.45,0.00,0.000,4,0.000,0.054,2375,473,3367,0,0,0,0,0,0
$STATE,4481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4481,begin apogee
$GC,4488,-0.31,0.0,450.1,9.2,269,4556,1.25,0.00,63.90,0.877,6,0.079,0.000,2642,2005,3050,0,0,0,0,0,0
$STATE,4557,end apogee,CONTROL_FINISHED_OK
$STATE,4557,begin climb
$GC,4559,1.40,77.9,450.8,0.0,270,4634,1.65,2.53,64.53,0.854,4,0.035,0.046,3022,3400,2731,0,0,0,0,0,0
$GC,4662,1.25,141.8,449.1,3.6,272,4723,0.17,2.42,54.88,0.846,6,0.120,0.037,2989,2008,2470,0,0,0,0,0,0
$GC,5056,1.13,141.8,408.6,11.4,282,5061,0.15,2.47,0.00,0.000,4,0.119,0.053,2965,606,2461,0,0,0,0,0,0
$GC,5168,1.01,141.8,395.4,12.1,284,5173,0.17,2.38,0.00,0.000,6,0.120,0.031,2935,2012,2458,0,0,0,0,0,0
$GC,5514,1.01,143.6,366.6,7.9,293,5518,0.00,2.50,0.00,0.000,4,0.000,0.052,2934,604,2457,0,0,0,0,0,0
$GC,5592,0.96,145.3,360.2,7.9,294,5597,0.00,2.38,0.00,0.000,6,0.000,0.031,2935,2013,2455,0,0,0,0,0,0
$GC,5923,0.97,154.1,336.6,7.4,302,5939,0.00,2.53,8.90,0.725,4,0.000,0.051,2934,606,2420,0,0,0,0,0,0
$GC,6055,0.94,154.1,322.6,10.0,304,6060,0.00,2.38,0.00,0.000,6,0.000,0.031,2935,2013,2418,0,0,0,0,0,0
$GC,6367,0.98,161.1,297.2,7.5,313,6379,0.00,2.45,6.93,0.664,4,0.000,0.041,2934,3402,2393,0,0,0,0,0,0
$GC,6483,1.06,182.2,289.1,6.6,318,6509,0.00,2.40,20.20,0.765,6,0.000,0.037,2935,2012,2306,0,0,0,0,0,0
$GC,6840,1.12,182.2,261.8,8.6,335,6845,0.00,2.47,0.00,0.000,4,0.000,0.051,2934,604,2301,0,0,0,0,0,0
$GC,6992,1.12,182.2,245.8,10.7,341,6998,0.10,2.38,0.00,0.000,6,0.084,0.028,2959,2022,2298,0,0,0,0,0,0
$GC,7308,1.13,196.0,221.0,7.1,357,7329,0.00,2.53,12.48,0.686,4,0.000,0.048,2959,597,2248,0,0,0,0,0,0
$GC,7435,1.13,196.0,209.7,8.3,362,7439,0.00,2.38,0.00,0.000,6,0.000,0.027,2959,2018,2245,0,0,0,0,0,0
$GC,7755,1.15,211.4,188.3,7.0,384,7774,0.00,2.35,14.23,0.663,4,0.000,0.032,2960,3404,2188,0,0,0,0,0,0
$GC,7825,1.22,212.6,182.9,7.9,391,7830,0.00,2.40,0.00,0.000,6,0.000,0.032,2959,2000,2187,0,0,0,0,0,0
$GC,8086,1.27,212.6,159.0,8.8,416,8091,0.15,2.45,0.00,0.000,4,0.064,0.047,2998,597,2186,0,0,0,0,0,0
$GC,8241,1.17,212.6,141.9,11.8,432,8248,0.12,2.35,0.00,0.000,6,0.088,0.024,2971,2004,2182,0,0,0,0,0,0
$GC,8503,1.17,212.6,118.9,9.2,457,8507,0.00,2.33,0.00,0.000,4,0.000,0.030,2971,3407,2183,0,0,0,0,0,0
$GC,8529,1.22,212.6,116.3,10.2,459,8533,0.00,2.35,0.00,0.000,6,0.000,0.030,2970,2007,2182,0,0,0,0,0,0
$GC,8791,1.26,212.6,90.9,9.7,483,8796,0.00,2.38,0.00,0.000,4,0.000,0.043,2971,605,2182,0,0,0,0,0,0
$GC,8900,1.26,212.6,79.4,9.9,494,8907,0.00,2.33,0.00,0.000,6,0.000,0.021,2970,2022,2183,0,0,0,0,0,0
$GC,9162,1.31,212.6,56.6,8.6,519,9167,0.12,2.42,0.00,0.000,4,0.067,0.043,3009,603,2182,0,0,0,0,0,0
$GC,9321,1.23,212.6,40.7,8.7,536,9326,0.12,2.28,0.00,0.000,6,0.107,0.021,2984,2014,2182,0,0,0,0,0,0
$GC,9586,1.33,244.7,23.3,5.8,570,9623,0.00,2.35,29.60,0.534,4,0.000,0.027,2985,3391,2051,0,0,0,0,0,0
$GC,9671,1.44,244.7,17.0,8.5,587,9678,0.20,2.33,0.00,0.000,6,0.051,0.027,3041,2007,2051,0,0,0,0,0,0
$STATE,9816,end climb,SURFACE_DEPTH_REACHED
$STATE,9816,begin surface coast
$FINISH,0.5,1.023270
$STATE,9854,end surface coast,CONTROL_FINISHED_OK
$STATE,9854,begin surface
$SM_CCo,9873,29.60,0.509,0,0,1827,300.00
$SM_GC,0.82,0.00,0.00,29.60,0.000,0.000,0.509,429,1858,1827,-10.51,-0.48,300.00
$IRIDIUM_FIX,2057.14,-15743.60,080899,131352
$TT8_MAMPS,0.029146
$HUMID,46.37
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,23.4,24.428
$10V_AH,10.0,23.542
$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,27.400,124.400,275.625,29.600,0.000,24.800,32.551,143.510,4.750,0.000,33.085,1214.148,6392.932,357.479,1888.660,369.335,33.360,1192.260,0.000,1839.655,0.000,29.248,0.000
$DEVICE_MAMPS,138.060,54.457,876.681,509.288,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,417.963,396.497,780.042,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,34986,620
$CAP_FILE_SIZE,118371,0
$CFSIZE,260165632,242774016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140510,190345,2104.375,-15745.504,99,2.1,118,9.8