version: 66.06
glider: 139
mission: 7
dive: 208
start: 5 6 110 5 25 9
data:
$ID,139
$MISSION,7
$DIVE,208
$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,-2126233
$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
$GPS1,051813,2108.219,-15752.766,65,1.9,71,9.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.5
$GPS2,052417,2108.249,-15752.853,26,1.9,26,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.157,-0.096
$KALMAN_X,-89333.9,651.4,245.1,106641.2,-1945.4
$KALMAN_Y,19694.0,-47.0,-241.2,-18524.1,1127.1
$MHEAD_RNG_PITCHd_Wd,111.7,17748,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-54.65,0.000,2,0.000,0.000,429,1882,3248,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.2,-5.2,10,93,10.65,2.38,-2.40,0.000,4,0.137,0.051,2406,488,3368,0,0,0,0,0,0
$GC,130,-1.22,-77.9,18.3,-19.1,21,137,0.17,2.38,0.00,0.000,6,0.080,0.021,2445,1932,3370,0,0,0,0,0,0
$GC,337,-1.22,-77.9,44.0,-12.1,48,341,0.00,2.47,0.00,0.000,4,0.000,0.044,2444,487,3371,0,0,0,0,0,0
$GC,388,-1.17,-77.9,50.9,-14.1,53,392,0.00,2.28,0.00,0.000,6,0.000,0.020,2444,1905,3370,0,0,0,0,0,0
$GC,653,-1.17,-77.9,83.0,-10.4,78,657,0.00,2.42,0.00,0.000,4,0.000,0.044,2443,491,3372,0,0,0,0,0,0
$GC,724,-1.17,-77.9,91.2,-10.7,85,730,0.00,2.28,0.00,0.000,6,0.000,0.020,2445,1910,3372,0,0,0,0,0,0
$GC,986,-1.20,-77.9,116.8,-9.5,110,990,0.00,2.45,0.00,0.000,4,0.000,0.044,2445,488,3373,0,0,0,0,0,0
$GC,1023,-1.20,-77.9,121.1,-11.3,113,1028,0.00,2.28,0.00,0.000,6,0.000,0.020,2445,1905,3373,0,0,0,0,0,0
$GC,1284,-1.27,-77.9,149.0,-10.3,138,1288,0.00,2.40,0.00,0.000,4,0.000,0.044,2445,494,3374,0,0,0,0,0,0
$GC,1328,-1.30,-77.9,153.8,-11.9,142,1332,0.00,2.28,0.00,0.000,6,0.000,0.020,2445,1910,3374,0,0,0,0,0,0
$GC,1589,-1.38,-77.9,179.1,-8.9,166,1594,0.15,2.42,0.00,0.000,4,0.058,0.044,2398,494,3374,0,0,0,0,0,0
$GC,1663,-1.34,-77.9,188.4,-12.8,173,1669,0.12,2.28,0.00,0.000,6,0.100,0.021,2424,1902,3375,0,0,0,0,0,0
$GC,1922,-1.38,-77.9,217.5,-11.6,191,1926,0.00,2.28,0.00,0.000,4,0.000,0.029,2425,3299,3375,0,0,0,0,0,0
$GC,1995,-1.51,-77.9,225.8,-9.8,194,2000,0.17,2.33,0.00,0.000,6,0.054,0.031,2372,1896,3375,0,0,0,0,0,0
$GC,2316,-1.46,-77.9,263.5,-12.7,210,2318,0.12,0.00,0.00,0.000,6,0.103,0.000,2398,1896,3375,0,0,0,0,0,0
$GC,2626,-1.49,-77.9,292.6,-8.3,225,2631,0.00,2.40,0.00,0.000,4,0.000,0.048,2398,488,3375,0,0,0,0,0,0
$GC,2696,-1.49,-77.9,299.8,-10.6,228,2701,0.00,2.30,0.00,0.000,6,0.000,0.024,2397,1907,3375,0,0,0,0,0,0
$GC,3041,-1.52,-77.9,329.7,-8.2,237,3045,0.00,2.45,0.00,0.000,4,0.000,0.050,2398,497,3374,0,0,0,0,0,0
$GC,3133,-1.52,-77.9,338.7,-8.9,239,3137,0.00,2.30,0.00,0.000,6,0.000,0.025,2398,1900,3373,0,0,0,0,0,0
$GC,3455,-1.55,-77.9,368.4,-9.6,247,3459,0.00,2.42,0.00,0.000,4,0.000,0.051,2398,498,3372,0,0,0,0,0,0
$GC,3497,-1.55,-77.9,372.7,-10.4,248,3502,0.00,2.33,0.00,0.000,6,0.000,0.027,2398,1908,3372,0,0,0,0,0,0
$GC,3825,-1.60,-77.9,403.2,-8.9,256,3830,0.15,2.50,0.00,0.000,4,0.064,0.054,2356,491,3369,0,0,0,0,0,0
$GC,3909,-1.51,-77.9,412.3,-11.7,257,3915,0.12,2.33,0.00,0.000,6,0.110,0.028,2381,1898,3369,0,0,0,0,0,0
$GC,4240,-1.51,-77.9,440.2,-8.0,266,4244,0.00,2.47,0.00,0.000,4,0.000,0.054,2380,492,3366,0,0,0,0,0,0
$GC,4300,-1.51,-77.9,445.3,-8.8,267,4304,0.00,2.35,0.00,0.000,6,0.000,0.028,2375,1907,3366,0,0,0,0,0,0
$STATE,4362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4362,begin apogee
$GC,4367,-0.31,0.0,450.4,8.0,269,4435,1.25,0.00,64.68,0.880,6,0.077,0.000,2646,2058,3049,0,0,0,0,0,0
$STATE,4436,end apogee,CONTROL_FINISHED_OK
$STATE,4436,begin climb
$GC,4438,1.40,77.9,450.6,0.0,270,4513,1.62,2.45,64.85,0.858,4,0.035,0.045,3026,3408,2732,0,0,0,0,0,0
$GC,4610,1.21,106.6,446.0,6.0,273,4643,0.22,2.38,25.02,0.828,6,0.113,0.037,2979,2036,2615,0,0,0,0,0,0
$GC,4983,1.14,144.2,422.5,5.4,283,5018,0.00,0.00,32.75,0.840,6,0.000,0.000,2980,2036,2462,0,0,0,0,0,0
$GC,5308,1.05,144.2,395.5,9.0,291,5313,0.20,2.50,0.00,0.000,4,0.113,0.054,2948,629,2457,0,0,0,0,0,0
$GC,5365,0.97,144.2,390.1,9.8,292,5369,0.00,2.33,0.00,0.000,6,0.000,0.030,2944,2014,2454,0,0,0,0,0,0
$GC,5677,0.97,144.2,361.9,9.2,300,5682,0.12,2.42,0.00,0.000,4,0.121,0.054,2925,631,2453,0,0,0,0,0,0
$GC,5760,0.97,144.2,353.7,9.8,301,5766,0.00,2.38,0.00,0.000,6,0.000,0.031,2924,2040,2452,0,0,0,0,0,0
$GC,6091,1.00,144.2,326.0,8.4,310,6096,0.00,2.47,0.00,0.000,4,0.000,0.053,2924,629,2451,0,0,0,0,0,0
$GC,6228,1.00,144.2,314.0,8.2,313,6233,0.00,2.35,0.00,0.000,6,0.000,0.030,2925,2041,2449,0,0,0,0,0,0
$GC,6558,1.08,162.4,290.4,6.8,324,6581,0.10,2.58,14.85,0.757,4,0.087,0.052,2949,630,2386,0,0,0,0,0,0
$GC,6615,1.03,168.9,286.4,7.6,326,6631,0.00,2.35,7.00,0.654,6,0.000,0.030,2950,2042,2361,0,0,0,0,0,0
$GC,6938,1.03,168.9,257.9,10.3,342,6942,0.00,2.47,0.00,0.000,4,0.000,0.051,2949,631,2359,0,0,0,0,0,0
$GC,7205,1.00,176.5,233.5,7.5,353,7217,0.00,2.33,7.47,0.643,6,0.000,0.028,2951,2040,2329,0,0,0,0,0,0
$GC,7543,1.03,176.5,208.6,8.3,370,7547,0.00,2.47,0.00,0.000,4,0.000,0.049,2951,623,2328,0,0,0,0,0,0
$GC,7752,1.03,176.5,188.3,9.3,387,7756,0.00,2.35,0.00,0.000,6,0.000,0.026,2951,2039,2326,0,0,0,0,0,0
$GC,8015,1.11,205.1,170.0,6.1,411,8051,0.00,2.50,26.40,0.683,4,0.000,0.046,2951,627,2211,0,0,0,0,0,0
$GC,8217,1.11,205.1,150.9,12.0,433,8222,0.00,2.35,0.00,0.000,6,0.000,0.025,2951,2045,2206,0,0,0,0,0,0
$GC,8481,1.18,209.9,126.7,7.7,457,8491,0.00,2.47,4.55,0.460,4,0.000,0.045,2951,619,2194,0,0,0,0,0,0
$GC,8619,1.22,209.9,113.8,9.7,472,8624,0.12,2.33,0.00,0.000,6,0.071,0.023,2986,2049,2192,0,0,0,0,0,0
$GC,8879,1.22,209.9,89.8,9.1,496,8880,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2054,2191,0,0,0,0,0,0
$GC,9135,1.22,214.4,68.7,7.7,520,9146,0.00,2.45,5.70,0.458,4,0.000,0.041,2985,628,2174,0,0,0,0,0,0
$GC,9204,1.18,214.4,62.4,8.8,527,9210,0.00,2.33,0.00,0.000,6,0.000,0.021,2986,2040,2174,0,0,0,0,0,0
$GC,9467,1.22,214.4,38.9,9.9,552,9471,0.00,2.40,0.00,0.000,4,0.000,0.043,2986,628,2174,0,0,0,0,0,0
$GC,9636,1.22,214.4,23.5,8.8,578,9643,0.00,2.30,0.00,0.000,6,0.000,0.021,2986,2034,2174,0,0,0,0,0,0
$GC,9837,1.26,214.4,5.2,9.3,615,9843,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2039,2173,0,0,0,0,0,0
$STATE,9864,end climb,SURFACE_DEPTH_REACHED
$STATE,9864,begin surface coast
$FINISH,0.4,1.016758
$STATE,9897,end surface coast,CONTROL_FINISHED_OK
$STATE,9897,begin surface
$SM_CCo,9917,44.20,0.525,0,0,1826,300.00
$SM_GC,1.60,0.00,0.00,44.20,0.000,0.000,0.525,430,1890,1826,-10.51,-0.28,300.00
$IRIDIUM_FIX,2101.76,-15753.03,310799,020241
$TT8_MAMPS,0.029146
$HUMID,45.35
$INTERNAL_PRESSURE,9.68441
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,18.761
$10V_AH,10.0,17.847
$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,26.275,110.100,253.275,44.200,0.000,28.005,32.612,191.580,4.500,0.000,26.474,1224.799,6327.276,377.159,1978.639,420.124,33.362,1204.854,0.000,1949.594,0.000,29.249,0.000
$DEVICE_MAMPS,136.526,55.991,879.749,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,423.208,406.320,916.903,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,35015,626
$CAP_FILE_SIZE,116166,0
$CFSIZE,260165632,246730752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060510,081308,2108.159,-15752.768,82,1.8,82,9.8