version: 66.06
glider: 139
mission: 7
dive: 196
start: 5 4 110 18 17 27
data:
$ID,139
$MISSION,7
$DIVE,196
$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,-2125886
$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
$GPS1,181145,2108.229,-15756.049,94,2.6,113,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-70.0
$GPS2,181636,2108.274,-15756.098,33,1.0,37,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.162,-0.086
$KALMAN_X,-70081.0,-579.0,-242.7,83505.3,-2273.9
$KALMAN_Y,12621.7,-180.5,-288.7,-11218.6,1058.2
$MHEAD_RNG_PITCHd_Wd,108.2,23224,-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,-59.10,0.000,6,0.000,0.000,425,1889,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.8,-6.1,11,98,10.65,2.42,0.00,0.000,4,0.136,0.039,2404,494,3370,0,0,0,0,0,0
$GC,175,-1.26,-77.9,30.9,-19.3,31,182,0.12,2.35,0.00,0.000,6,0.077,0.021,2434,1928,3372,0,0,0,0,0,0
$GC,437,-1.26,-77.9,68.8,-13.8,56,442,0.00,2.47,0.00,0.000,4,0.000,0.044,2433,489,3373,0,0,0,0,0,0
$GC,456,-1.22,-77.9,71.8,-13.9,57,463,0.00,2.30,0.00,0.000,6,0.000,0.021,2435,1910,3372,0,0,0,0,0,0
$GC,717,-1.22,-77.9,104.1,-11.8,82,721,0.00,2.45,0.00,0.000,4,0.000,0.044,2434,490,3373,0,0,0,0,0,0
$GC,733,-1.22,-77.9,106.1,-12.3,83,737,0.00,2.28,0.00,0.000,6,0.000,0.020,2435,1910,3373,0,0,0,0,0,0
$GC,995,-1.27,-77.9,132.6,-10.0,107,1000,0.00,2.42,0.00,0.000,4,0.000,0.044,2431,494,3374,0,0,0,0,0,0
$GC,1028,-1.27,-77.9,136.2,-10.6,110,1032,0.00,2.25,0.00,0.000,6,0.000,0.021,2432,1897,3375,0,0,0,0,0,0
$GC,1295,-1.34,-77.9,158.2,-7.2,135,1299,0.00,2.42,0.00,0.000,4,0.000,0.044,2434,493,3375,0,0,0,0,0,0
$GC,1350,-1.39,-77.9,163.3,-8.1,140,1357,0.08,2.28,0.00,0.000,6,0.039,0.021,2396,1887,3375,0,0,0,0,0,0
$GC,1612,-1.39,-77.9,193.2,-12.5,165,1616,0.00,2.40,0.00,0.000,4,0.000,0.045,2398,494,3375,0,0,0,0,0,0
$GC,1702,-1.34,-77.9,205.4,-12.6,172,1706,0.10,2.28,0.00,0.000,6,0.110,0.021,2420,1903,3376,0,0,0,0,0,0
$GC,2032,-1.38,-77.9,235.0,-8.8,188,2036,0.00,2.42,0.00,0.000,4,0.000,0.044,2419,495,3376,0,0,0,0,0,0
$GC,2077,-1.38,-77.9,239.5,-9.7,190,2081,0.00,2.25,0.00,0.000,6,0.000,0.021,2419,1900,3376,0,0,0,0,0,0
$GC,2402,-1.44,-77.9,266.4,-8.1,206,2406,0.00,2.42,0.00,0.000,4,0.000,0.045,2419,494,3376,0,0,0,0,0,0
$GC,2451,-1.44,-77.9,271.0,-9.1,208,2456,0.00,2.28,0.00,0.000,6,0.000,0.022,2417,1897,3376,0,0,0,0,0,0
$GC,2773,-1.52,-77.9,301.6,-9.5,224,2778,0.17,2.42,0.00,0.000,4,0.054,0.048,2367,495,3376,0,0,0,0,0,0
$GC,2880,-1.43,-77.9,315.3,-13.1,226,2885,0.17,2.28,0.00,0.000,6,0.091,0.024,2403,1896,3375,0,0,0,0,0,0
$GC,3231,-1.48,-77.9,346.4,-8.8,235,3236,0.00,2.45,0.00,0.000,4,0.000,0.051,2403,495,3374,0,0,0,0,0,0
$GC,3263,-1.48,-77.9,349.6,-9.6,235,3267,0.00,2.30,0.00,0.000,6,0.000,0.026,2404,1896,3374,0,0,0,0,0,0
$GC,3595,-1.53,-77.9,375.7,-8.0,243,3600,0.12,2.45,0.00,0.000,4,0.067,0.053,2367,497,3372,0,0,0,0,0,0
$GC,3628,-1.46,-77.9,379.0,-10.4,243,3633,0.12,2.33,0.00,0.000,6,0.103,0.028,2393,1908,3372,0,0,0,0,0,0
$GC,3960,-1.50,-77.9,406.0,-8.2,251,3965,0.00,2.50,0.00,0.000,4,0.000,0.054,2390,489,3370,0,0,0,0,0,0
$GC,4053,-1.50,-77.9,414.8,-9.3,253,4057,0.00,2.35,0.00,0.000,6,0.000,0.028,2394,1905,3370,0,0,0,0,0,0
$GC,4376,-1.54,-77.9,442.6,-8.8,261,4380,0.00,2.50,0.00,0.000,4,0.000,0.055,2392,491,3367,0,0,0,0,0,0
$GC,4403,-1.54,-77.9,445.4,-10.1,261,4407,0.00,2.35,0.00,0.000,6,0.000,0.029,2393,1902,3367,0,0,0,0,0,0
$STATE,4494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4494,begin apogee
$GC,4499,-0.31,0.0,453.2,8.7,264,4567,1.17,0.00,64.82,0.887,6,0.074,0.000,2645,2060,3050,0,0,0,0,0,0
$STATE,4568,end apogee,CONTROL_FINISHED_OK
$STATE,4568,begin climb
$GC,4570,1.40,77.9,454.2,0.0,265,4644,1.62,2.45,65.00,0.865,4,0.032,0.044,3027,3413,2732,0,0,0,0,0,0
$GC,4751,1.22,118.0,450.7,5.3,269,4792,0.22,2.40,34.83,0.850,6,0.112,0.038,2981,2027,2567,0,0,0,0,0,0
$GC,5120,1.11,118.0,420.3,8.7,278,5121,0.12,0.00,0.00,0.000,6,0.123,0.000,2959,2027,2561,0,0,0,0,0,0
$GC,5445,1.05,118.0,391.8,9.2,286,5449,0.00,2.45,0.00,0.000,4,0.000,0.055,2963,629,2559,0,0,0,0,0,0
$GC,5491,0.92,118.0,387.1,10.8,287,5496,0.25,2.35,0.00,0.000,6,0.112,0.031,2917,2023,2557,0,0,0,0,0,0
$GC,5814,0.98,140.9,363.3,6.5,295,5838,0.00,2.58,18.77,0.811,4,0.000,0.054,2917,628,2474,0,0,0,0,0,0
$GC,5959,1.01,163.0,353.7,6.5,298,5984,0.00,2.40,20.23,0.805,6,0.000,0.030,2916,2050,2385,0,0,0,0,0,0
$GC,6316,1.10,182.4,329.4,6.7,307,6341,0.17,2.45,17.85,0.788,4,0.064,0.040,2960,3421,2306,0,0,0,0,0,0
$GC,6361,1.10,182.4,325.8,8.2,308,6365,0.00,2.42,0.00,0.000,6,0.000,0.039,2960,2033,2305,0,0,0,0,0,0
$GC,6687,1.10,182.4,298.3,8.4,316,6691,0.00,2.47,0.00,0.000,4,0.000,0.053,2959,621,2300,0,0,0,0,0,0
$GC,6816,1.03,182.4,286.8,9.3,321,6822,0.00,2.35,0.00,0.000,6,0.000,0.029,2959,2029,2298,0,0,0,0,0,0
$GC,7132,1.03,182.4,261.1,8.2,337,7136,0.00,2.47,0.00,0.000,4,0.000,0.051,2959,628,2297,0,0,0,0,0,0
$GC,7244,0.97,182.4,250.4,8.9,342,7249,0.17,2.35,0.00,0.000,6,0.111,0.028,2927,2042,2296,0,0,0,0,0,0
$GC,7574,1.06,182.4,221.8,9.5,358,7578,0.00,2.47,0.00,0.000,4,0.000,0.050,2927,619,2296,0,0,0,0,0,0
$GC,7823,1.10,182.4,201.3,8.0,369,7829,0.12,2.38,0.00,0.000,6,0.072,0.027,2960,2047,2294,0,0,0,0,0,0
$GC,8153,1.10,182.4,173.8,9.5,399,8157,0.00,2.45,0.00,0.000,4,0.000,0.047,2960,626,2293,0,0,0,0,0,0
$GC,8244,1.06,182.4,162.7,12.2,408,8250,0.00,2.35,0.00,0.000,6,0.000,0.025,2960,2040,2293,0,0,0,0,0,0
$GC,8507,1.09,182.4,136.2,8.8,433,8511,0.00,2.33,0.00,0.000,4,0.000,0.033,2960,3431,2293,0,0,0,0,0,0
$GC,8550,1.14,182.4,132.5,8.8,437,8554,0.00,2.35,0.00,0.000,6,0.000,0.031,2959,2020,2293,0,0,0,0,0,0
$GC,8813,1.21,202.4,112.6,6.7,461,8835,0.00,2.45,16.60,0.613,4,0.000,0.045,2960,636,2225,0,0,0,0,0,0
$GC,8871,1.21,202.4,108.0,8.3,467,8876,0.00,2.33,0.00,0.000,6,0.000,0.023,2958,2043,2222,0,0,0,0,0,0
$GC,9132,1.27,202.4,87.2,8.1,492,9137,0.15,2.45,0.00,0.000,4,0.061,0.044,3003,626,2222,0,0,0,0,0,0
$GC,9364,1.19,202.4,60.7,10.3,517,9371,0.12,2.33,0.00,0.000,6,0.081,0.022,2974,2039,2221,0,0,0,0,0,0
$GC,9626,1.25,213.2,40.1,7.3,542,9638,0.00,0.00,10.88,0.522,6,0.000,0.000,2975,2044,2180,0,0,0,0,0,0
$GC,9891,1.30,213.2,17.7,8.8,580,9898,0.10,0.00,0.00,0.000,6,0.076,0.000,3009,2044,2179,0,0,0,0,0,0
$STATE,10037,end climb,SURFACE_DEPTH_REACHED
$STATE,10037,begin surface coast
$FINISH,0.5,1.023684
$STATE,10071,end surface coast,CONTROL_FINISHED_OK
$STATE,10071,begin surface
$SM_CCo,10090,47.60,0.531,0,0,1827,300.00
$SM_GC,1.83,0.00,0.00,47.60,0.000,0.000,0.531,430,1891,1827,-10.51,-0.25,300.00
$IRIDIUM_FIX,2059.45,-15753.90,290799,151540
$TT8_MAMPS,0.029146
$HUMID,44.99
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.4,17.765
$10V_AH,10.0,16.854
$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,26.875,115.075,248.975,47.600,0.000,24.296,26.598,121.502,4.500,0.000,37.554,1214.923,6584.365,360.835,1940.221,330.377,33.367,1187.333,0.000,1889.258,0.000,29.239,0.000
$DEVICE_MAMPS,135.759,55.224,887.419,530.764,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.143,391.523,874.934,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,34904,613
$CAP_FILE_SIZE,116406,0
$CFSIZE,260165632,247422976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040510,210810,2108.049,-15756.299,49,2.1,68,9.8