version: 66.06
glider: 139
mission: 7
dive: 210
start: 5 6 110 11 23 37
data:
$ID,139
$MISSION,7
$DIVE,210
$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,-2126303
$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
$GPS1,111731,2108.113,-15752.568,79,1.5,79,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.9
$GPS2,112246,2108.144,-15752.604,35,1.5,35,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.165,-0.081
$KALMAN_X,-91533.6,287.2,-145.1,110027.8,-1282.1
$KALMAN_Y,21341.4,-7.0,202.2,-20847.6,766.0
$MHEAD_RNG_PITCHd_Wd,106.5,17283,-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,-77.9,0.0,0.0,0,73,0.00,0.00,-54.47,0.000,2,0.000,0.000,419,1893,3252,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.2,-4.6,10,94,10.77,2.40,-2.28,0.000,4,0.139,0.049,2406,484,3369,0,0,0,0,0,0
$GC,130,-1.15,-77.9,19.9,-22.1,21,138,0.22,2.38,0.00,0.000,6,0.081,0.020,2456,1938,3370,0,0,0,0,0,0
$GC,332,-1.19,-77.9,45.4,-11.9,46,336,0.00,2.47,0.00,0.000,4,0.000,0.044,2456,494,3371,0,0,0,0,0,0
$GC,366,-1.19,-77.9,49.6,-13.2,49,370,0.00,2.28,0.00,0.000,6,0.000,0.020,2454,1906,3371,0,0,0,0,0,0
$GC,628,-1.25,-77.9,78.0,-10.0,73,633,0.00,2.42,0.00,0.000,4,0.000,0.044,2453,494,3372,0,0,0,0,0,0
$GC,700,-1.25,-77.9,85.9,-10.5,80,707,0.00,2.28,0.00,0.000,6,0.000,0.020,2457,1896,3372,0,0,0,0,0,0
$GC,963,-1.30,-77.9,111.0,-10.6,105,968,0.12,2.42,0.00,0.000,4,0.064,0.045,2416,490,3373,0,0,0,0,0,0
$GC,989,-1.23,-77.9,114.5,-13.7,107,994,0.15,2.28,0.00,0.000,6,0.097,0.020,2446,1911,3373,0,0,0,0,0,0
$GC,1253,-1.30,-77.9,145.7,-10.7,131,1257,0.00,2.42,0.00,0.000,4,0.000,0.044,2446,490,3374,0,0,0,0,0,0
$GC,1340,-1.36,-77.9,155.4,-10.6,140,1345,0.12,2.28,0.00,0.000,6,0.064,0.020,2406,1906,3374,0,0,0,0,0,0
$GC,1600,-1.36,-77.9,185.8,-11.4,164,1604,0.00,2.40,0.00,0.000,4,0.000,0.044,2405,494,3375,0,0,0,0,0,0
$GC,1627,-1.28,-77.9,189.0,-11.9,166,1635,0.10,2.30,0.00,0.000,6,0.074,0.021,2431,1907,3375,0,0,0,0,0,0
$GC,1897,-1.34,-77.9,215.5,-10.3,185,1901,0.00,2.42,0.00,0.000,4,0.000,0.045,2431,485,3375,0,0,0,0,0,0
$GC,1962,-1.38,-77.9,222.9,-10.8,188,1966,0.00,2.28,0.00,0.000,6,0.000,0.021,2430,1899,3375,0,0,0,0,0,0
$GC,2291,-1.47,-77.9,252.8,-9.2,204,2293,0.17,0.00,0.00,0.000,6,0.054,0.000,2379,1904,3375,0,0,0,0,0,0
$GC,2602,-1.47,-77.9,286.5,-10.7,219,2606,0.00,2.40,0.00,0.000,4,0.000,0.046,2380,495,3375,0,0,0,0,0,0
$GC,2652,-1.43,-77.9,292.1,-10.3,221,2657,0.12,2.28,0.00,0.000,6,0.102,0.023,2404,1896,3375,0,0,0,0,0,0
$GC,2990,-1.48,-77.9,320.8,-8.4,232,2994,0.00,2.47,0.00,0.000,4,0.000,0.050,2404,487,3374,0,0,0,0,0,0
$GC,3079,-1.51,-77.9,329.4,-9.5,234,3083,0.00,2.30,0.00,0.000,6,0.000,0.025,2404,1894,3374,0,0,0,0,0,0
$GC,3407,-1.56,-77.9,359.6,-9.3,242,3413,0.15,2.45,0.00,0.000,4,0.062,0.052,2362,495,3373,0,0,0,0,0,0
$GC,3432,-1.49,-77.9,362.5,-12.0,242,3437,0.12,2.30,0.00,0.000,6,0.107,0.027,2385,1905,3373,0,0,0,0,0,0
$GC,3776,-1.49,-77.9,396.2,-9.5,251,3781,0.00,2.47,0.00,0.000,4,0.000,0.053,2386,495,3370,0,0,0,0,0,0
$GC,3831,-1.49,-77.9,401.9,-10.1,252,3835,0.00,2.30,0.00,0.000,6,0.000,0.028,2385,1898,3370,0,0,0,0,0,0
$GC,4144,-1.49,-77.9,429.9,-8.5,260,4148,0.00,2.47,0.00,0.000,4,0.000,0.054,2380,491,3368,0,0,0,0,0,0
$GC,4194,-1.49,-77.9,434.6,-9.6,261,4198,0.00,2.35,0.00,0.000,6,0.000,0.028,2385,1908,3367,0,0,0,0,0,0
$STATE,4388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4388,begin apogee
$GC,4393,-0.31,0.0,450.9,8.4,266,4461,1.23,0.00,64.80,0.881,6,0.078,0.000,2646,2055,3050,0,0,0,0,0,0
$STATE,4462,end apogee,CONTROL_FINISHED_OK
$STATE,4462,begin climb
$GC,4464,1.40,77.9,451.8,0.0,267,4539,1.62,2.45,64.80,0.861,4,0.035,0.046,3024,3406,2732,0,0,0,0,0,0
$GC,4803,1.21,111.5,438.3,5.7,274,4839,0.20,2.35,28.60,0.841,6,0.120,0.038,2981,2034,2595,0,0,0,0,0,0
$GC,5153,1.09,111.5,408.4,8.7,283,5158,0.17,2.42,0.00,0.000,4,0.118,0.043,2956,3412,2590,0,0,0,0,0,0
$GC,5209,1.06,133.4,404.1,6.5,284,5233,0.00,2.40,19.35,0.819,6,0.000,0.039,2957,2028,2504,0,0,0,0,0,0
$GC,5565,1.02,133.4,372.4,9.8,293,5566,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2028,2500,0,0,0,0,0,0
$GC,5890,0.99,136.5,345.9,7.8,301,5895,0.15,2.47,0.00,0.000,4,0.118,0.054,2930,625,2498,0,0,0,0,0,0
$GC,5960,0.95,136.5,340.5,8.1,302,5964,0.00,2.33,0.00,0.000,6,0.000,0.031,2929,2016,2497,0,0,0,0,0,0
$GC,6299,0.96,145.5,315.4,7.4,311,6316,0.00,2.50,10.25,0.742,4,0.000,0.042,2930,3432,2455,0,0,0,0,0,0
$GC,6325,0.96,147.5,313.4,7.9,311,6329,0.00,2.40,0.00,0.000,6,0.000,0.037,2930,2034,2456,0,0,0,0,0,0
$GC,6648,1.01,154.3,288.2,7.6,323,6664,0.00,2.50,8.75,0.706,4,0.000,0.051,2930,622,2420,0,0,0,0,0,0
$GC,6788,1.02,159.9,277.5,7.6,329,6800,0.00,2.38,6.22,0.637,6,0.000,0.030,2930,2044,2398,0,0,0,0,0,0
$GC,7118,1.13,208.3,262.0,4.7,345,7169,0.12,2.60,44.05,0.776,4,0.079,0.052,2960,630,2199,0,0,0,0,0,0
$GC,7214,1.09,208.3,254.3,10.5,349,7218,0.00,2.38,0.00,0.000,6,0.000,0.029,2960,2044,2195,0,0,0,0,0,0
$GC,7535,1.12,208.3,222.7,9.7,365,7539,0.00,2.50,0.00,0.000,4,0.000,0.051,2960,629,2191,0,0,0,0,0,0
$GC,7649,1.12,208.3,210.4,10.7,370,7654,0.00,2.35,0.00,0.000,6,0.000,0.028,2960,2045,2188,0,0,0,0,0,0
$GC,7980,1.16,208.3,178.6,9.6,396,7984,0.00,2.50,0.00,0.000,4,0.000,0.048,2960,619,2188,0,0,0,0,0,0
$GC,8014,1.16,208.3,175.0,11.2,399,8018,0.00,2.38,0.00,0.000,6,0.000,0.026,2960,2049,2187,0,0,0,0,0,0
$GC,8277,1.21,208.3,151.3,9.0,423,8281,0.00,2.47,0.00,0.000,4,0.000,0.047,2960,626,2187,0,0,0,0,0,0
$GC,8346,1.21,208.3,145.1,8.3,430,8350,0.00,2.33,0.00,0.000,6,0.000,0.024,2960,2039,2186,0,0,0,0,0,0
$GC,8607,1.27,208.3,123.5,8.0,454,8612,0.15,2.45,0.00,0.000,4,0.064,0.045,3001,622,2186,0,0,0,0,0,0
$GC,8625,1.24,208.3,121.6,10.0,455,8631,0.00,2.33,0.00,0.000,6,0.000,0.024,3000,2044,2186,0,0,0,0,0,0
$GC,8887,1.24,208.3,97.5,9.0,480,8891,0.00,2.45,0.00,0.000,4,0.000,0.044,3000,625,2186,0,0,0,0,0,0
$GC,9006,1.17,208.3,85.5,10.5,492,9013,0.12,2.33,0.00,0.000,6,0.085,0.022,2970,2037,2186,0,0,0,0,0,0
$GC,9269,1.22,208.3,63.7,9.1,517,9273,0.00,2.42,0.00,0.000,4,0.000,0.044,2972,625,2186,0,0,0,0,0,0
$GC,9393,1.22,208.3,51.4,8.8,530,9397,0.00,2.30,0.00,0.000,6,0.000,0.021,2972,2044,2186,0,0,0,0,0,0
$GC,9657,1.28,208.3,30.1,8.1,554,9661,0.00,2.25,0.00,0.000,4,0.000,0.028,2971,3425,2186,0,0,0,0,0,0
$GC,9668,1.34,208.3,28.9,8.1,555,9676,0.12,2.35,0.00,0.000,6,0.035,0.028,3014,2025,2187,0,0,0,0,0,0
$GC,9870,1.34,208.3,10.0,9.8,592,9877,0.00,2.40,0.00,0.000,4,0.000,0.044,3015,628,2187,0,0,0,0,0,0
$STATE,9933,end climb,SURFACE_DEPTH_REACHED
$STATE,9933,begin surface coast
$FINISH,0.9,1.023558
$STATE,9956,end surface coast,CONTROL_FINISHED_OK
$STATE,9957,begin surface
$SM_CCo,9978,44.53,0.522,0,0,1826,300.00
$SM_GC,1.39,0.00,0.00,44.53,0.000,0.000,0.522,422,1932,1826,-10.55,0.90,300.00
$IRIDIUM_FIX,2059.45,-15753.90,310799,080839
$TT8_MAMPS,0.029146
$HUMID,44.52
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,18.923
$10V_AH,10.0,18.015
$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,27.050,124.050,246.825,44.525,0.000,22.826,28.376,144.220,4.500,0.000,35.569,1211.134,6516.849,357.524,1893.576,359.835,33.361,1166.961,0.000,1849.146,0.000,29.248,0.000
$DEVICE_MAMPS,138.827,56.758,881.283,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.097,392.308,884.043,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,35001,611
$CAP_FILE_SIZE,117003,0
$CFSIZE,260165632,246616064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060510,141345,2108.120,-15752.005,130,3.2,149,9.8