version: 66.06
glider: 139
mission: 7
dive: 195
start: 5 4 110 15 21 49
data:
$ID,139
$MISSION,7
$DIVE,195
$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,-2125847.8
$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
$GPS1,151527,2108.539,-15755.505,49,6.3,68,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-70.0
$GPS2,152058,2108.551,-15755.583,41,2.5,60,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.173,-0.062
$KALMAN_X,-68029.6,-438.0,398.1,81566.2,-2945.4
$KALMAN_Y,12466.6,-232.8,-255.4,-10536.1,929.4
$MHEAD_RNG_PITCHd_Wd,99.9,22462,-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,-59.17,0.000,6,0.000,0.000,426,1908,3368,0,0,0,0,0,0
$GC,79,-1.40,-77.9,3.5,-5.6,11,97,10.65,2.47,0.00,0.000,4,0.137,0.038,2404,487,3370,0,0,0,0,0,0
$GC,105,-0.10,-77.9,14.0,-32.1,15,112,1.35,2.38,0.00,0.000,6,0.093,0.021,2681,1933,3370,0,0,0,0,0,0
$GC,306,-0.75,-77.9,28.4,-8.8,52,313,0.60,2.50,0.00,0.000,4,0.045,0.041,2542,483,3372,0,0,0,0,0,0
$GC,356,-1.09,-77.9,32.5,-7.6,59,361,0.28,2.30,0.00,0.000,6,0.038,0.020,2456,1914,3372,0,0,0,0,0,0
$GC,619,-1.14,-77.9,61.0,-11.5,83,623,0.00,2.45,0.00,0.000,4,0.000,0.044,2456,487,3373,0,0,0,0,0,0
$GC,636,-1.14,-77.9,63.3,-11.7,84,642,0.00,2.28,0.00,0.000,6,0.000,0.020,2458,1896,3372,0,0,0,0,0,0
$GC,898,-1.18,-77.9,89.9,-9.2,109,902,0.00,2.42,0.00,0.000,4,0.000,0.044,2456,491,3374,0,0,0,0,0,0
$GC,940,-1.18,-77.9,94.1,-9.4,113,944,0.00,2.25,0.00,0.000,6,0.000,0.020,2458,1892,3374,0,0,0,0,0,0
$GC,1204,-1.27,-77.9,115.8,-7.8,137,1208,0.00,2.42,0.00,0.000,4,0.000,0.044,2455,485,3374,0,0,0,0,0,0
$GC,1236,-1.27,-77.9,118.8,-8.8,140,1240,0.00,2.28,0.00,0.000,6,0.000,0.020,2457,1898,3374,0,0,0,0,0,0
$GC,1498,-1.38,-77.9,143.2,-9.7,164,1503,0.20,2.42,0.00,0.000,4,0.046,0.043,2388,494,3375,0,0,0,0,0,0
$GC,1522,-1.32,-77.9,146.3,-12.1,166,1527,0.15,2.25,0.00,0.000,6,0.094,0.021,2426,1904,3376,0,0,0,0,0,0
$GC,1783,-1.37,-77.9,177.6,-11.3,190,1787,0.00,2.42,0.00,0.000,4,0.000,0.044,2425,484,3375,0,0,0,0,0,0
$GC,1863,-1.37,-77.9,187.0,-11.1,198,1870,0.00,2.30,0.00,0.000,6,0.000,0.021,2427,1894,3376,0,0,0,0,0,0
$GC,2132,-1.42,-77.9,215.1,-10.1,217,2136,0.10,2.45,0.00,0.000,4,0.075,0.045,2389,485,3376,0,0,0,0,0,0
$GC,2179,-1.36,-77.9,221.0,-12.6,219,2183,0.12,2.25,0.00,0.000,6,0.100,0.022,2416,1897,3376,0,0,0,0,0,0
$GC,2506,-1.42,-77.9,252.2,-9.0,235,2510,0.00,2.40,0.00,0.000,4,0.000,0.046,2416,495,3376,0,0,0,0,0,0
$GC,2555,-1.42,-77.9,257.2,-10.0,237,2559,0.00,2.30,0.00,0.000,6,0.000,0.022,2404,1912,3376,0,0,0,0,0,0
$GC,2877,-1.49,-77.9,282.5,-7.5,253,2882,0.12,2.47,0.00,0.000,4,0.065,0.048,2374,485,3376,0,0,0,0,0,0
$GC,2906,-1.41,-77.9,285.2,-9.6,254,2911,0.15,2.30,0.00,0.000,6,0.096,0.024,2405,1898,3375,0,0,0,0,0,0
$GC,3246,-1.47,-77.9,315.3,-9.0,267,3250,0.00,2.42,0.00,0.000,4,0.000,0.050,2406,494,3375,0,0,0,0,0,0
$GC,3315,-1.50,-77.9,322.5,-10.2,268,3319,0.00,2.30,0.00,0.000,6,0.000,0.025,2406,1905,3375,0,0,0,0,0,0
$GC,3655,-1.56,-77.9,357.5,-10.8,277,3660,0.15,2.47,0.00,0.000,4,0.060,0.053,2363,497,3373,0,0,0,0,0,0
$GC,3730,-1.49,-77.9,367.6,-13.5,278,3734,0.12,2.30,0.00,0.000,6,0.104,0.027,2388,1900,3372,0,0,0,0,0,0
$GC,4066,-1.49,-77.9,402.8,-10.1,287,4070,0.00,2.45,0.00,0.000,4,0.000,0.053,2387,495,3370,0,0,0,0,0,0
$GC,4139,-1.49,-77.9,410.7,-10.0,288,4143,0.00,2.35,0.00,0.000,6,0.000,0.028,2388,1907,3369,0,0,0,0,0,0
$GC,4475,-1.52,-77.9,440.0,-8.6,297,4479,0.00,2.47,0.00,0.000,4,0.000,0.056,2381,496,3367,0,0,0,0,0,0
$GC,4503,-1.49,-77.9,442.7,-9.8,297,4507,0.00,2.33,0.00,0.000,6,0.000,0.030,2387,1905,3367,0,0,0,0,0,0
$STATE,4592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4593,begin apogee
$GC,4597,-0.31,0.0,450.7,8.7,300,4666,1.20,0.00,64.80,0.890,6,0.076,0.000,2643,2055,3050,0,0,0,0,0,0
$STATE,4666,end apogee,CONTROL_FINISHED_OK
$STATE,4667,begin climb
$GC,4668,1.40,77.9,451.6,0.0,301,4743,1.65,2.45,64.75,0.867,4,0.034,0.044,3025,3405,2731,0,0,0,0,0,0
$GC,4776,1.27,154.9,451.7,2.7,303,4850,0.17,2.40,66.10,0.861,6,0.114,0.038,2992,2029,2417,0,0,0,0,0,0
$GC,5168,1.16,154.9,412.3,11.1,313,5173,0.12,2.47,0.00,0.000,4,0.123,0.057,2972,629,2408,0,0,0,0,0,0
$GC,5289,1.03,154.9,399.9,10.7,315,5294,0.17,2.38,0.00,0.000,6,0.119,0.030,2941,2023,2405,0,0,0,0,0,0
$GC,5625,1.03,156.8,373.2,7.9,324,5629,0.00,2.47,0.00,0.000,4,0.000,0.054,2941,631,2403,0,0,0,0,0,0
$GC,5752,0.98,156.8,362.1,9.5,326,5756,0.00,2.35,0.00,0.000,6,0.000,0.031,2941,2035,2401,0,0,0,0,0,0
$GC,6083,0.99,167.8,336.1,7.3,334,6099,0.00,2.53,9.30,0.732,4,0.000,0.052,2940,631,2365,0,0,0,0,0,0
$GC,6146,0.95,167.8,330.4,9.3,335,6150,0.00,2.40,0.00,0.000,6,0.000,0.031,2941,2042,2363,0,0,0,0,0,0
$GC,6494,0.95,167.8,300.4,8.8,344,6499,0.00,2.50,0.00,0.000,4,0.000,0.053,2941,623,2361,0,0,0,0,0,0
$GC,6542,0.91,167.8,295.9,9.8,345,6547,0.15,2.38,0.00,0.000,6,0.118,0.030,2915,2039,2360,0,0,0,0,0,0
$GC,6869,1.01,182.7,273.8,7.0,361,6891,0.00,2.58,13.82,0.749,4,0.000,0.052,2914,632,2304,0,0,0,0,0,0
$GC,7042,1.05,182.7,257.4,9.3,368,7047,0.12,2.35,0.00,0.000,6,0.073,0.029,2948,2041,2300,0,0,0,0,0,0
$GC,7359,1.09,182.7,230.1,8.3,383,7363,0.00,2.47,0.00,0.000,4,0.000,0.051,2948,628,2300,0,0,0,0,0,0
$GC,7557,1.10,191.6,213.2,7.4,391,7570,0.00,2.38,8.35,0.649,6,0.000,0.028,2948,2048,2268,0,0,0,0,0,0
$GC,7894,1.16,191.6,187.4,10.3,414,7898,0.00,2.47,0.00,0.000,4,0.000,0.048,2947,619,2266,0,0,0,0,0,0
$GC,8021,1.16,191.6,171.9,12.9,427,8026,0.00,2.33,0.00,0.000,6,0.000,0.026,2948,2034,2264,0,0,0,0,0,0
$GC,8282,1.21,191.6,146.9,8.3,452,8284,0.12,0.00,0.00,0.000,6,0.071,0.000,2981,2040,2264,0,0,0,0,0,0
$GC,8536,1.21,191.6,124.1,9.5,476,8537,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2040,2264,0,0,0,0,0,0
$GC,8791,1.21,191.6,97.2,11.8,500,8795,0.00,2.42,0.00,0.000,4,0.000,0.044,2981,620,2264,0,0,0,0,0,0
$GC,8832,1.16,191.6,92.8,10.3,504,8837,0.00,2.33,0.00,0.000,6,0.000,0.024,2980,2049,2264,0,0,0,0,0,0
$GC,9101,1.19,213.2,74.0,6.5,529,9128,0.00,0.00,20.20,0.592,6,0.000,0.000,2980,2054,2179,0,0,0,0,0,0
$GC,9384,1.19,213.2,50.7,8.6,556,9388,0.00,2.45,0.00,0.000,4,0.000,0.043,2979,618,2177,0,0,0,0,0,0
$GC,9525,1.19,213.2,36.8,10.4,571,9531,0.00,2.35,0.00,0.000,6,0.000,0.022,2981,2043,2175,0,0,0,0,0,0
$GC,9791,1.23,213.2,15.3,8.3,612,9797,0.00,2.30,0.00,0.000,4,0.000,0.028,2980,3425,2175,0,0,0,0,0,0
$GC,9867,1.29,214.3,9.1,7.9,629,9874,0.00,2.35,0.00,0.000,6,0.000,0.028,2971,2031,2175,0,0,0,0,0,0
$STATE,9945,end climb,SURFACE_DEPTH_REACHED
$STATE,9945,begin surface coast
$FINISH,0.5,1.023366
$STATE,9984,end surface coast,CONTROL_FINISHED_OK
$STATE,9984,begin surface
$SM_CCo,10003,43.00,0.529,0,0,1826,300.00
$SM_GC,1.29,0.00,0.00,43.00,0.000,0.000,0.529,425,1888,1826,-10.53,-0.34,300.00
$IRIDIUM_FIX,2101.76,-15756.04,290799,121219
$TT8_MAMPS,0.029146
$HUMID,44.64
$INTERNAL_PRESSURE,9.68441
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,17.690
$10V_AH,10.1,16.772
$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,28.625,119.900,247.325,43.000,0.000,24.612,33.722,128.749,4.500,0.000,61.373,1259.418,6401.133,364.588,2005.112,349.570,33.360,1188.932,0.000,1937.409,0.000,29.237,0.000
$DEVICE_MAMPS,136.526,58.292,890.487,529.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,440.177,428.669,997.468,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,35046,650
$CAP_FILE_SIZE,117747,0
$CFSIZE,260165632,247480320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040510,181145,2108.229,-15756.049,94,2.6,113,9.8