version: 66.06
glider: 139
mission: 7
dive: 192
start: 5 4 110 6 27 17
data:
$ID,139
$MISSION,7
$DIVE,192
$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,-2125731.2
$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,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
$GPS1,062137,2108.671,-15755.465,66,1.5,66,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-69.5
$GPS2,062625,2108.671,-15755.572,11,1.5,16,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.174,-0.059
$KALMAN_X,-62532.7,571.4,-213.3,75681.5,-2359.7
$KALMAN_Y,10348.2,78.0,-85.6,-8675.0,761.5
$MHEAD_RNG_PITCHd_Wd,99.0,22496,-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,-77.9,0.0,0.0,0,77,0.00,0.00,-58.67,0.000,6,0.000,0.000,425,1926,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.9,-6.6,11,98,10.70,2.50,0.00,0.000,4,0.137,0.039,2407,491,3370,0,0,0,0,0,0
$GC,164,-1.22,-77.9,27.1,-19.6,29,171,0.17,2.35,0.00,0.000,6,0.082,0.021,2444,1934,3371,0,0,0,0,0,0
$GC,364,-1.22,-77.9,52.2,-12.4,49,369,0.00,2.47,0.00,0.000,4,0.000,0.044,2445,494,3372,0,0,0,0,0,0
$GC,433,-1.22,-77.9,61.3,-13.8,56,437,0.00,2.25,0.00,0.000,6,0.000,0.020,2446,1897,3372,0,0,0,0,0,0
$GC,700,-1.27,-77.9,90.2,-9.9,81,704,0.00,2.40,0.00,0.000,4,0.000,0.044,2446,493,3373,0,0,0,0,0,0
$GC,726,-1.27,-77.9,92.9,-10.5,83,730,0.00,2.22,0.00,0.000,6,0.000,0.020,2446,1898,3373,0,0,0,0,0,0
$GC,988,-1.33,-77.9,120.0,-10.1,107,994,0.10,2.40,0.00,0.000,4,0.074,0.044,2409,497,3374,0,0,0,0,0,0
$GC,1096,-1.29,-77.9,134.4,-14.3,118,1103,0.08,2.28,0.00,0.000,6,0.076,0.021,2430,1891,3375,0,0,0,0,0,0
$GC,1357,-1.34,-77.9,161.7,-9.0,143,1362,0.00,2.40,0.00,0.000,4,0.000,0.044,2428,488,3375,0,0,0,0,0,0
$GC,1384,-1.34,-77.9,164.7,-10.8,145,1390,0.00,2.30,0.00,0.000,6,0.000,0.021,2430,1913,3376,0,0,0,0,0,0
$GC,1646,-1.38,-77.9,191.4,-10.7,170,1650,0.00,2.42,0.00,0.000,4,0.000,0.045,2429,494,3376,0,0,0,0,0,0
$GC,1680,-1.38,-77.9,195.3,-12.4,173,1684,0.00,2.25,0.00,0.000,6,0.000,0.021,2430,1901,3376,0,0,0,0,0,0
$GC,1936,-1.45,-77.9,223.2,-10.1,187,1941,0.15,2.42,0.00,0.000,4,0.058,0.045,2383,492,3376,0,0,0,0,0,0
$GC,1973,-1.35,-77.9,227.5,-11.5,188,1980,0.15,2.30,0.00,0.000,6,0.072,0.021,2419,1903,3376,0,0,0,0,0,0
$GC,2290,-1.41,-77.9,253.5,-7.5,204,2294,0.00,2.42,0.00,0.000,4,0.000,0.046,2419,488,3377,0,0,0,0,0,0
$GC,2378,-1.41,-77.9,261.6,-8.9,208,2382,0.00,2.28,0.00,0.000,6,0.000,0.022,2415,1907,3377,0,0,0,0,0,0
$GC,2708,-1.47,-77.9,289.2,-8.3,224,2713,0.12,2.45,0.00,0.000,4,0.066,0.048,2381,495,3376,0,0,0,0,0,0
$GC,2741,-1.40,-77.9,292.6,-10.4,225,2746,0.15,2.28,0.00,0.000,6,0.097,0.024,2408,1903,3377,0,0,0,0,0,0
$GC,3075,-1.46,-77.9,323.0,-9.6,235,3079,0.00,2.47,0.00,0.000,4,0.000,0.050,2411,487,3375,0,0,0,0,0,0
$GC,3139,-1.46,-77.9,330.0,-9.7,236,3143,0.00,2.30,0.00,0.000,6,0.000,0.025,2411,1904,3375,0,0,0,0,0,0
$GC,3483,-1.53,-77.9,358.9,-8.3,245,3488,0.15,2.47,0.00,0.000,4,0.061,0.052,2369,495,3374,0,0,0,0,0,0
$GC,3578,-1.48,-77.9,368.9,-11.1,247,3583,0.10,2.33,0.00,0.000,6,0.112,0.027,2390,1902,3373,0,0,0,0,0,0
$GC,3901,-1.48,-77.9,401.3,-10.5,255,3906,0.00,2.47,0.00,0.000,4,0.000,0.053,2389,495,3372,0,0,0,0,0,0
$GC,3920,-1.48,-77.9,403.5,-11.1,255,3924,0.00,2.30,0.00,0.000,6,0.000,0.028,2389,1899,3372,0,0,0,0,0,0
$GC,4265,-1.52,-77.9,442.0,-11.1,264,4269,0.00,2.47,0.00,0.000,4,0.000,0.054,2388,496,3370,0,0,0,0,0,0
$GC,4301,-1.52,-77.9,446.5,-11.1,264,4307,0.00,2.33,0.00,0.000,6,0.000,0.029,2389,1906,3369,0,0,0,0,0,0
$STATE,4345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4346,begin apogee
$GC,4351,-0.31,0.0,451.1,10.5,266,4420,1.20,0.00,65.30,0.880,6,0.074,0.000,2646,2058,3050,0,0,0,0,0,0
$STATE,4420,end apogee,CONTROL_FINISHED_OK
$STATE,4420,begin climb
$GC,4422,1.40,77.9,452.6,0.0,267,4497,1.62,2.45,64.80,0.860,4,0.033,0.045,3026,3407,2731,0,0,0,0,0,0
$GC,4761,1.21,108.4,441.8,5.9,274,4794,0.17,2.38,26.23,0.840,6,0.117,0.038,2978,2029,2607,0,0,0,0,0,0
$GC,5112,1.08,112.7,415.1,7.7,283,5124,0.15,2.42,4.47,0.579,4,0.121,0.041,2968,3408,2590,0,0,0,0,0,0
$GC,5162,1.03,133.2,411.8,6.6,284,5187,0.15,2.38,18.92,0.821,6,0.118,0.036,2941,2024,2506,0,0,0,0,0,0
$GC,5528,1.04,142.2,386.3,7.4,293,5543,0.00,2.42,8.62,0.738,4,0.000,0.039,2941,3412,2469,0,0,0,0,0,0
$GC,5576,1.04,142.2,382.1,8.8,294,5580,0.00,2.40,0.00,0.000,6,0.000,0.038,2941,2031,2469,0,0,0,0,0,0
$GC,5897,1.04,142.2,354.0,8.9,302,5901,0.00,2.47,0.00,0.000,4,0.000,0.053,2940,629,2466,0,0,0,0,0,0
$GC,6018,0.99,142.2,342.5,9.2,304,6023,0.00,2.33,0.00,0.000,6,0.000,0.029,2941,2023,2464,0,0,0,0,0,0
$GC,6354,0.99,148.1,317.4,7.6,313,6366,0.00,2.53,5.57,0.636,4,0.000,0.051,2941,626,2445,0,0,0,0,0,0
$GC,6380,0.96,148.1,315.1,8.1,313,6384,0.00,2.38,0.00,0.000,6,0.000,0.030,2941,2043,2444,0,0,0,0,0,0
$GC,6701,0.99,170.2,291.1,6.5,324,6727,0.00,2.45,20.30,0.779,4,0.000,0.040,2941,3426,2356,0,0,0,0,0,0
$GC,6755,1.05,171.0,286.8,8.0,326,6759,0.00,2.40,0.00,0.000,6,0.000,0.036,2941,2030,2356,0,0,0,0,0,0
$GC,7075,1.10,184.0,262.4,7.1,342,7095,0.00,0.00,13.30,0.728,6,0.000,0.000,2941,2030,2299,0,0,0,0,0,0
$GC,7403,1.15,184.0,234.6,9.6,358,7408,0.10,2.47,0.00,0.000,4,0.085,0.051,2966,619,2295,0,0,0,0,0,0
$GC,7670,1.10,184.0,205.8,10.6,369,7676,0.00,2.38,0.00,0.000,6,0.000,0.027,2967,2045,2292,0,0,0,0,0,0
$GC,7995,1.11,191.9,178.7,7.5,397,8007,0.00,2.53,7.30,0.597,4,0.000,0.048,2966,619,2267,0,0,0,0,0,0
$GC,8040,1.06,191.9,174.9,8.5,402,8044,0.00,2.35,0.00,0.000,6,0.000,0.026,2966,2043,2265,0,0,0,0,0,0
$GC,8301,1.06,191.9,155.7,8.2,426,8305,0.00,2.47,0.00,0.000,4,0.000,0.046,2966,619,2265,0,0,0,0,0,0
$GC,8343,1.02,191.9,152.0,9.9,430,8348,0.15,2.35,0.00,0.000,6,0.115,0.025,2939,2044,2265,0,0,0,0,0,0
$GC,8603,1.11,201.7,137.9,7.3,454,8622,0.00,2.50,10.30,0.594,4,0.000,0.044,2940,621,2225,0,0,0,0,0,0
$GC,8708,1.14,205.3,129.1,7.8,465,8719,0.10,2.33,4.32,0.444,6,0.081,0.023,2965,2040,2213,0,0,0,0,0,0
$GC,8972,1.18,205.3,103.7,10.1,490,8973,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2044,2213,0,0,0,0,0,0
$GC,9227,1.24,205.3,80.0,8.9,514,9231,0.00,2.28,0.00,0.000,4,0.000,0.031,2967,3423,2213,0,0,0,0,0,0
$GC,9252,1.31,205.3,77.9,9.0,516,9257,0.15,2.35,0.00,0.000,6,0.060,0.031,3009,2030,2213,0,0,0,0,0,0
$GC,9513,1.28,205.3,54.1,8.5,540,9515,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2029,2213,0,0,0,0,0,0
$GC,9768,1.28,205.3,30.1,10.1,564,9772,0.00,2.38,0.00,0.000,4,0.000,0.044,3005,627,2213,0,0,0,0,0,0
$GC,10015,1.18,205.3,5.8,10.9,621,10022,0.15,2.30,0.00,0.000,6,0.078,0.021,2973,2045,2213,0,0,0,0,0,0
$STATE,10049,end climb,SURFACE_DEPTH_REACHED
$STATE,10050,begin surface coast
$FINISH,0.5,1.003343
$STATE,10090,end surface coast,CONTROL_FINISHED_OK
$STATE,10090,begin surface
$SM_CCo,10109,47.70,0.525,0,0,1826,300.00
$SM_GC,1.17,0.00,0.00,47.70,0.000,0.000,0.525,431,1895,1826,-10.50,-0.14,300.00
$IRIDIUM_FIX,2101.76,-15755.17,290799,030336
$TT8_MAMPS,0.029146
$HUMID,44.92
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.4,17.434
$10V_AH,10.0,16.517
$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,26.725,119.650,249.450,47.700,0.000,30.970,27.219,134.479,4.500,0.000,16.335,1239.755,6563.063,370.633,1921.463,353.929,33.350,1193.633,0.000,1897.017,0.000,29.249,0.000
$DEVICE_MAMPS,137.293,59.059,879.749,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,429.151,408.410,919.908,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34972,634
$CAP_FILE_SIZE,118330,0
$CFSIZE,260165632,247652352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040510,091806,2108.816,-15755.427,57,2.0,57,9.8