version: 66.06
glider: 139
mission: 7
dive: 188
start: 5 3 110 19 0 24
data:
$ID,139
$MISSION,7
$DIVE,188
$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,-2125651.8
$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,1900
$C_ROLL_CLIMB,2035
$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
$GPS1,185501,2109.380,-15756.962,71,1.4,71,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-72.2
$GPS2,185932,2109.408,-15757.037,15,1.5,15,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.155,-0.099
$KALMAN_X,-56580.1,-428.0,-449.2,68434.9,-1227.6
$KALMAN_Y,8046.5,-194.0,74.0,-4898.8,965.1
$MHEAD_RNG_PITCHd_Wd,112.6,25288,-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,-77.9,0.0,0.0,0,77,0.00,0.00,-58.55,0.000,6,0.000,0.000,428,1884,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,4.0,-7.4,11,98,10.70,2.42,0.00,0.000,4,0.138,0.038,2404,487,3370,0,0,0,0,0,0
$GC,122,-0.82,-77.9,19.2,-33.7,19,129,0.60,2.38,0.00,0.000,6,0.087,0.021,2529,1930,3371,0,0,0,0,0,0
$GC,323,-1.03,-77.9,36.9,-7.7,48,328,0.20,2.50,0.00,0.000,4,0.045,0.043,2475,494,3372,0,0,0,0,0,0
$GC,358,-1.07,-77.9,40.0,-10.4,51,362,0.00,2.28,0.00,0.000,6,0.000,0.020,2474,1904,3372,0,0,0,0,0,0
$GC,620,-1.16,-77.9,63.6,-8.2,75,624,0.00,2.42,0.00,0.000,4,0.000,0.044,2476,491,3372,0,0,0,0,0,0
$GC,698,-1.24,-77.9,70.3,-8.1,83,703,0.15,2.28,0.00,0.000,6,0.058,0.020,2428,1902,3373,0,0,0,0,0,0
$GC,960,-1.24,-77.9,99.4,-11.5,107,967,0.00,2.42,0.00,0.000,4,0.000,0.044,2428,491,3374,0,0,0,0,0,0
$GC,1019,-1.24,-77.9,106.4,-11.0,113,1023,0.00,2.28,0.00,0.000,6,0.000,0.020,2428,1898,3374,0,0,0,0,0,0
$GC,1282,-1.24,-77.9,131.0,-8.6,137,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,1903,3375,0,0,0,0,0,0
$GC,1537,-1.28,-77.9,155.5,-10.7,161,1541,0.00,2.40,0.00,0.000,4,0.000,0.044,2427,493,3375,0,0,0,0,0,0
$GC,1669,-1.28,-77.9,172.4,-12.8,175,1673,0.00,2.28,0.00,0.000,6,0.000,0.021,2427,1901,3376,0,0,0,0,0,0
$GC,1931,-1.32,-77.9,203.4,-11.9,198,1935,0.00,2.40,0.00,0.000,4,0.000,0.044,2428,494,3376,0,0,0,0,0,0
$GC,1976,-1.32,-77.9,209.4,-12.4,200,1980,0.00,2.28,0.00,0.000,6,0.000,0.021,2426,1902,3376,0,0,0,0,0,0
$GC,2302,-1.37,-77.9,239.2,-7.7,216,2306,0.00,2.42,0.00,0.000,4,0.000,0.045,2428,485,3376,0,0,0,0,0,0
$GC,2356,-1.37,-77.9,244.1,-8.9,218,2360,0.00,2.30,0.00,0.000,6,0.000,0.022,2428,1908,3376,0,0,0,0,0,0
$GC,2674,-1.45,-77.9,270.3,-9.9,233,2679,0.12,2.47,0.00,0.000,4,0.066,0.048,2388,490,3376,0,0,0,0,0,0
$GC,2688,-1.45,-77.9,272.2,-10.0,233,2693,0.00,2.30,0.00,0.000,6,0.000,0.023,2386,1910,3376,0,0,0,0,0,0
$GC,3002,-1.45,-77.9,305.0,-9.6,248,3006,0.00,2.45,0.00,0.000,4,0.000,0.048,2386,485,3375,0,0,0,0,0,0
$GC,3113,-1.40,-77.9,315.7,-9.0,250,3118,0.10,2.30,0.00,0.000,6,0.112,0.024,2406,1896,3376,0,0,0,0,0,0
$GC,3461,-1.45,-77.9,343.7,-9.3,259,3465,0.00,2.45,0.00,0.000,4,0.000,0.051,2408,495,3375,0,0,0,0,0,0
$GC,3550,-1.49,-77.9,352.8,-10.6,261,3554,0.00,2.30,0.00,0.000,6,0.000,0.025,2408,1904,3374,0,0,0,0,0,0
$GC,3882,-1.55,-77.9,380.8,-8.1,269,3887,0.15,2.47,0.00,0.000,4,0.061,0.052,2365,490,3373,0,0,0,0,0,0
$GC,3901,-1.50,-77.9,382.6,-8.6,269,3906,0.10,2.33,0.00,0.000,6,0.114,0.027,2385,1898,3373,0,0,0,0,0,0
$GC,4246,-1.50,-77.9,415.5,-9.9,278,4250,0.00,2.45,0.00,0.000,4,0.000,0.054,2385,495,3370,0,0,0,0,0,0
$GC,4282,-1.50,-77.9,419.4,-10.4,278,4288,0.00,2.33,0.00,0.000,6,0.000,0.028,2385,1898,3371,0,0,0,0,0,0
$GC,4613,-1.50,-77.9,450.0,-9.3,287,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1904,3368,0,0,0,0,0,0
$STATE,4651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4651,begin apogee
$GC,4656,-0.31,0.0,453.3,9.0,288,4725,1.23,0.00,64.75,0.881,6,0.076,0.000,2646,2060,3050,0,0,0,0,0,0
$STATE,4725,end apogee,CONTROL_FINISHED_OK
$STATE,4725,begin climb
$GC,4727,1.40,77.9,454.2,0.0,289,4802,1.62,2.45,64.82,0.861,4,0.032,0.045,3027,3408,2732,0,0,0,0,0,0
$GC,4908,1.21,115.9,451.6,5.4,293,4947,0.22,2.40,32.58,0.846,6,0.114,0.038,2980,2025,2577,0,0,0,0,0,0
$GC,5272,1.10,115.9,423.7,8.1,302,5277,0.15,2.42,0.00,0.000,4,0.117,0.044,2959,3405,2571,0,0,0,0,0,0
$GC,5439,1.04,115.9,408.6,9.1,305,5443,0.00,2.40,0.00,0.000,6,0.000,0.039,2959,2028,2570,0,0,0,0,0,0
$GC,5774,0.99,115.9,378.9,8.7,314,5780,0.15,2.47,0.00,0.000,4,0.123,0.055,2931,629,2567,0,0,0,0,0,0
$GC,5794,0.93,115.9,377.2,8.3,314,5798,0.00,2.35,0.00,0.000,6,0.000,0.031,2932,2015,2567,0,0,0,0,0,0
$GC,6138,0.98,161.0,357.6,4.9,323,6183,0.00,2.55,37.67,0.839,4,0.000,0.042,2932,3431,2393,0,0,0,0,0,0
$GC,6233,1.04,179.4,351.8,6.8,325,6257,0.00,2.42,17.40,0.792,6,0.000,0.038,2932,2031,2318,0,0,0,0,0,0
$GC,6594,1.08,179.4,324.2,8.2,334,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2031,2311,0,0,0,0,0,0
$GC,6900,1.13,179.4,293.7,10.3,343,6905,0.12,2.45,0.00,0.000,4,0.079,0.054,2961,629,2309,0,0,0,0,0,0
$GC,7075,1.06,179.4,272.2,12.1,350,7081,0.00,2.40,0.00,0.000,6,0.000,0.029,2962,2037,2305,0,0,0,0,0,0
$GC,7389,1.06,179.4,240.1,9.3,366,7393,0.00,2.47,0.00,0.000,4,0.000,0.051,2961,628,2305,0,0,0,0,0,0
$GC,7568,1.03,191.6,224.3,7.2,374,7585,0.12,2.35,9.68,0.677,6,0.123,0.028,2940,2051,2267,0,0,0,0,0,0
$GC,7901,1.10,191.6,200.1,8.6,390,7905,0.00,2.50,0.00,0.000,4,0.000,0.048,2939,620,2265,0,0,0,0,0,0
$GC,8009,1.10,191.6,188.9,10.3,401,8014,0.00,2.33,0.00,0.000,6,0.000,0.026,2940,2034,2263,0,0,0,0,0,0
$GC,8271,1.20,220.4,169.4,6.0,426,8303,0.17,2.55,26.12,0.680,4,0.062,0.047,2984,629,2151,0,0,0,0,0,0
$GC,8357,1.12,220.4,162.2,9.8,435,8362,0.12,2.33,0.00,0.000,6,0.117,0.025,2962,2037,2147,0,0,0,0,0,0
$GC,8618,1.17,220.4,139.5,10.4,459,8623,0.00,2.45,0.00,0.000,4,0.000,0.045,2962,617,2147,0,0,0,0,0,0
$GC,8709,1.17,220.4,128.6,12.3,468,8716,0.00,2.38,0.00,0.000,6,0.000,0.024,2961,2036,2144,0,0,0,0,0,0
$GC,8972,1.23,220.4,101.6,9.7,493,8976,0.00,2.45,0.00,0.000,4,0.000,0.045,2962,626,2143,0,0,0,0,0,0
$GC,9078,1.23,220.4,89.9,11.6,504,9083,0.00,2.30,0.00,0.000,6,0.000,0.022,2961,2043,2144,0,0,0,0,0,0
$GC,9343,1.30,220.4,68.3,8.2,528,9348,0.15,2.45,0.00,0.000,4,0.062,0.044,3003,622,2144,0,0,0,0,0,0
$GC,9439,1.22,220.4,58.8,9.9,538,9444,0.12,2.30,0.00,0.000,6,0.110,0.021,2981,2046,2143,0,0,0,0,0,0
$GC,9702,1.27,226.2,39.2,7.6,562,9711,0.00,0.00,5.93,0.451,6,0.000,0.000,2981,2051,2127,0,0,0,0,0,0
$GC,9967,1.32,226.2,12.9,10.6,602,9974,0.00,2.47,0.00,0.000,4,0.000,0.043,2979,622,2127,0,0,0,0,0,0
$GC,10057,1.32,226.2,3.1,9.9,622,10063,0.08,2.33,0.00,0.000,6,0.044,0.021,3008,2043,2126,0,0,0,0,0,0
$STATE,10068,end climb,SURFACE_DEPTH_REACHED
$STATE,10069,begin surface coast
$FINISH,0.5,1.013279
$STATE,10102,end surface coast,CONTROL_FINISHED_OK
$STATE,10102,begin surface
$SM_CCo,10121,38.10,0.525,0,0,1826,300.00
$SM_GC,1.75,0.00,0.00,38.10,0.000,0.000,0.525,428,1869,1826,-10.52,-0.88,300.00
$IRIDIUM_FIX,2101.76,-15755.17,280799,161620
$TT8_MAMPS,0.029146
$HUMID,44.84
$INTERNAL_PRESSURE,9.68441
$TCM_TEMP,21.50
$XPDR_PINGS,1
$24V_AH,23.4,17.123
$10V_AH,10.0,16.195
$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,27.525,115.325,258.950,38.100,0.000,26.424,28.503,120.535,4.750,0.000,15.176,1232.358,6581.098,360.541,1927.348,332.690,33.354,1186.027,0.000,1905.293,0.000,29.244,0.000
$DEVICE_MAMPS,138.060,55.224,881.283,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.387,408.614,932.450,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,34930,630
$CAP_FILE_SIZE,116537,0
$CFSIZE,260165632,247881728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030510,215113,2109.325,-15756.750,48,1.5,54,9.8