version: 66.06
glider: 139
mission: 7
dive: 207
start: 5 6 110 2 25 23
data:
$ID,139
$MISSION,7
$DIVE,207
$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,-2126205.8
$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
$GPS1,021930,2108.316,-15753.435,71,1.5,77,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-71.4
$GPS2,022432,2108.318,-15753.477,20,1.9,20,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.172,-0.064
$KALMAN_X,-88414.1,377.1,440.5,104722.4,-1629.0
$KALMAN_Y,18849.6,-52.6,18.2,-17804.8,643.1
$MHEAD_RNG_PITCHd_Wd,100.6,18824,-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,-77.9,0.0,0.0,0,73,0.00,0.00,-54.88,0.000,2,0.000,0.000,426,1881,3235,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.0,-4.3,10,94,10.75,2.40,-2.65,0.000,4,0.140,0.038,2406,3325,3369,0,0,0,0,0,0
$GC,114,-0.75,-77.9,15.7,-31.1,17,121,0.62,2.42,0.00,0.000,6,0.075,0.030,2548,1902,3371,0,0,0,0,0,0
$GC,316,-0.99,-77.9,32.6,-7.2,51,321,0.22,2.40,0.00,0.000,4,0.044,0.044,2480,495,3372,0,0,0,0,0,0
$GC,387,-1.05,-77.9,39.5,-9.9,58,392,0.00,2.30,0.00,0.000,6,0.000,0.020,2480,1933,3372,0,0,0,0,0,0
$GC,650,-1.15,-77.9,65.6,-9.5,82,654,0.00,2.47,0.00,0.000,4,0.000,0.044,2480,495,3373,0,0,0,0,0,0
$GC,728,-1.23,-77.9,74.2,-11.2,90,733,0.15,2.25,0.00,0.000,6,0.057,0.020,2432,1908,3373,0,0,0,0,0,0
$GC,990,-1.23,-77.9,105.6,-11.6,114,994,0.00,2.42,0.00,0.000,4,0.000,0.045,2432,490,3374,0,0,0,0,0,0
$GC,1060,-1.23,-77.9,114.4,-12.0,121,1064,0.00,2.25,0.00,0.000,6,0.000,0.020,2431,1904,3374,0,0,0,0,0,0
$GC,1321,-1.23,-77.9,142.6,-10.9,145,1325,0.00,2.42,0.00,0.000,4,0.000,0.044,2432,495,3375,0,0,0,0,0,0
$GC,1364,-1.23,-77.9,147.7,-12.1,149,1368,0.00,2.25,0.00,0.000,6,0.000,0.020,2430,1909,3375,0,0,0,0,0,0
$GC,1627,-1.28,-77.9,174.9,-9.9,173,1632,0.00,2.42,0.00,0.000,4,0.000,0.044,2432,495,3375,0,0,0,0,0,0
$GC,1653,-1.28,-77.9,177.8,-10.9,175,1657,0.00,2.25,0.00,0.000,6,0.000,0.021,2432,1913,3375,0,0,0,0,0,0
$GC,1923,-1.36,-77.9,204.8,-9.5,198,1927,0.00,2.42,0.00,0.000,4,0.000,0.044,2432,488,3375,0,0,0,0,0,0
$GC,1973,-1.43,-77.9,209.6,-9.5,200,1978,0.12,2.25,0.00,0.000,6,0.064,0.021,2391,1900,3376,0,0,0,0,0,0
$GC,2294,-1.43,-77.9,242.3,-10.0,216,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1906,3376,0,0,0,0,0,0
$GC,2604,-1.43,-77.9,274.1,-10.2,231,2608,0.00,2.40,0.00,0.000,4,0.000,0.046,2391,497,3376,0,0,0,0,0,0
$GC,2632,-1.39,-77.9,277.4,-11.5,232,2636,0.10,2.28,0.00,0.000,6,0.110,0.024,2411,1903,3376,0,0,0,0,0,0
$GC,2956,-1.45,-77.9,310.0,-10.2,246,2960,0.00,2.45,0.00,0.000,4,0.000,0.049,2411,494,3376,0,0,0,0,0,0
$GC,3063,-1.49,-77.9,321.3,-10.2,248,3067,0.00,2.30,0.00,0.000,6,0.000,0.025,2410,1898,3375,0,0,0,0,0,0
$GC,3378,-1.56,-77.9,347.9,-7.9,256,3383,0.17,2.47,0.00,0.000,4,0.056,0.051,2361,492,3374,0,0,0,0,0,0
$GC,3462,-1.48,-77.9,357.2,-10.4,257,3468,0.15,2.30,0.00,0.000,6,0.100,0.026,2391,1901,3373,0,0,0,0,0,0
$GC,3794,-1.52,-77.9,384.3,-8.4,266,3798,0.00,2.45,0.00,0.000,4,0.000,0.052,2391,489,3371,0,0,0,0,0,0
$GC,3886,-1.52,-77.9,393.8,-10.2,268,3891,0.00,2.33,0.00,0.000,6,0.000,0.028,2391,1909,3370,0,0,0,0,0,0
$GC,4209,-1.55,-77.9,422.5,-8.7,276,4214,0.00,2.47,0.00,0.000,4,0.000,0.054,2391,490,3367,0,0,0,0,0,0
$GC,4274,-1.55,-77.9,429.0,-9.8,277,4278,0.00,2.33,0.00,0.000,6,0.000,0.029,2391,1897,3368,0,0,0,0,0,0
$STATE,4498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4499,begin apogee
$GC,4504,-0.31,0.0,450.5,9.6,283,4572,1.20,0.00,64.68,0.882,6,0.077,0.000,2646,2057,3050,0,0,0,0,0,0
$STATE,4573,end apogee,CONTROL_FINISHED_OK
$STATE,4573,begin climb
$GC,4574,1.40,77.9,451.6,0.0,284,4649,1.62,2.45,64.93,0.861,4,0.033,0.046,3028,3407,2731,0,0,0,0,0,0
$GC,4913,1.22,120.8,440.1,5.1,291,4958,0.20,2.38,36.42,0.851,6,0.114,0.037,2986,2031,2556,0,0,0,0,0,0
$GC,5302,1.10,120.8,406.5,9.5,301,5308,0.17,2.50,0.00,0.000,4,0.117,0.054,2959,625,2550,0,0,0,0,0,0
$GC,5336,0.97,120.8,403.6,8.1,301,5341,0.17,2.33,0.00,0.000,6,0.120,0.031,2927,2015,2549,0,0,0,0,0,0
$GC,5666,1.00,145.3,382.0,6.3,309,5694,0.00,2.53,21.10,0.824,4,0.000,0.053,2928,628,2455,0,0,0,0,0,0
$GC,5782,0.96,145.3,372.4,8.7,311,5787,0.00,2.35,0.00,0.000,6,0.000,0.031,2928,2033,2451,0,0,0,0,0,0
$GC,6122,1.03,175.6,350.1,5.9,320,6155,0.00,2.58,26.42,0.821,4,0.000,0.053,2928,637,2333,0,0,0,0,0,0
$GC,6335,1.04,179.7,333.9,7.7,324,6344,0.00,2.38,4.32,0.554,6,0.000,0.031,2928,2040,2317,0,0,0,0,0,0
$GC,6670,1.09,182.5,309.7,7.8,332,6682,0.10,2.50,4.38,0.552,4,0.088,0.051,2952,627,2304,0,0,0,0,0,0
$GC,6835,1.03,182.5,291.7,11.1,336,6839,0.00,2.38,0.00,0.000,6,0.000,0.029,2953,2038,2301,0,0,0,0,0,0
$GC,7163,1.03,182.5,261.0,9.0,352,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2043,2301,0,0,0,0,0,0
$GC,7474,1.04,186.9,237.3,7.7,367,7486,0.00,2.38,4.90,0.561,4,0.000,0.037,2953,3438,2286,0,0,0,0,0,0
$GC,7496,1.07,186.9,235.3,8.5,368,7501,0.00,2.40,0.00,0.000,6,0.000,0.035,2953,2034,2286,0,0,0,0,0,0
$GC,7825,1.07,186.9,208.2,9.0,384,7829,0.00,2.42,0.00,0.000,4,0.000,0.049,2952,629,2285,0,0,0,0,0,0
$GC,7870,1.07,186.9,203.5,10.7,386,7874,0.00,2.33,0.00,0.000,6,0.000,0.027,2953,2042,2283,0,0,0,0,0,0
$GC,8204,1.13,196.0,178.7,7.4,415,8223,0.00,2.50,9.15,0.632,4,0.000,0.046,2953,625,2249,0,0,0,0,0,0
$GC,8256,1.13,196.0,174.0,9.8,420,8263,0.00,2.38,0.00,0.000,6,0.000,0.026,2953,2039,2248,0,0,0,0,0,0
$GC,8519,1.18,196.0,149.3,9.7,445,8520,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2044,2248,0,0,0,0,0,0
$GC,8773,1.27,215.1,128.5,6.7,469,8797,0.17,2.47,18.00,0.629,4,0.060,0.044,2999,625,2172,0,0,0,0,0,0
$GC,8839,1.17,215.1,122.6,9.9,475,8845,0.15,2.33,0.00,0.000,6,0.109,0.023,2971,2046,2169,0,0,0,0,0,0
$GC,9100,1.21,215.1,101.4,8.1,500,9105,0.00,2.42,0.00,0.000,4,0.000,0.044,2971,628,2169,0,0,0,0,0,0
$GC,9200,1.21,215.1,91.2,10.3,510,9207,0.00,2.33,0.00,0.000,6,0.000,0.022,2968,2042,2167,0,0,0,0,0,0
$GC,9463,1.26,215.1,68.4,8.1,535,9467,0.00,2.45,0.00,0.000,4,0.000,0.043,2968,618,2167,0,0,0,0,0,0
$GC,9586,1.26,215.1,57.8,8.4,548,9590,0.00,2.30,0.00,0.000,6,0.000,0.021,2969,2047,2168,0,0,0,0,0,0
$GC,9848,1.31,215.1,35.5,8.9,572,9853,0.12,2.47,0.00,0.000,4,0.067,0.043,3008,617,2167,0,0,0,0,0,0
$GC,10000,1.23,215.1,18.1,12.7,600,10007,0.10,2.33,0.00,0.000,6,0.082,0.021,2985,2043,2167,0,0,0,0,0,0
$STATE,10168,end climb,SURFACE_DEPTH_REACHED
$STATE,10168,begin surface coast
$FINISH,0.4,1.023600
$STATE,10202,end surface coast,CONTROL_FINISHED_OK
$STATE,10202,begin surface
$SM_CCo,10221,42.28,0.525,0,0,1826,300.00
$SM_GC,1.45,0.00,0.00,42.28,0.000,0.000,0.525,429,1882,1826,-10.51,-0.51,300.00
$IRIDIUM_FIX,2101.76,-15753.03,300799,232325
$TT8_MAMPS,0.029146
$HUMID,45.47
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.4,18.681
$10V_AH,10.0,17.763
$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,27.300,115.025,254.300,42.275,0.000,23.785,29.026,144.639,4.500,0.000,20.566,1255.550,6584.327,356.199,2000.374,370.299,33.359,1201.072,0.000,1974.450,0.000,30.076,0.000
$DEVICE_MAMPS,139.594,54.457,882.050,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,431.832,411.245,942.515,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,34927,637
$CAP_FILE_SIZE,118156,0
$CFSIZE,260165632,246788096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060510,051813,2108.219,-15752.766,65,1.9,71,9.8