version: 66.06
glider: 139
mission: 7
dive: 211
start: 5 6 110 14 19 58
data:
$ID,139
$MISSION,7
$DIVE,211
$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,-2126336
$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
$GPS1,141345,2108.120,-15752.005,130,3.2,149,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.8
$GPS2,141907,2108.169,-15752.024,31,1.6,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.167,-0.077
$KALMAN_X,-92461.9,-152.0,380.8,111869.4,-1637.2
$KALMAN_Y,22408.2,22.1,64.1,-21763.5,799.4
$MHEAD_RNG_PITCHd_Wd,105.0,16328,-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,-77.9,0.0,0.0,0,74,0.00,0.00,-55.53,0.000,2,0.000,0.000,421,1933,3284,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.6,-7.0,10,95,10.73,2.45,-1.62,0.000,4,0.138,0.048,2405,490,3368,0,0,0,0,0,0
$GC,123,-1.05,-77.9,18.3,-24.8,19,130,0.32,2.35,0.00,0.000,6,0.081,0.021,2482,1924,3369,0,0,0,0,0,0
$GC,330,-1.13,-77.9,41.8,-11.1,47,334,0.00,2.45,0.00,0.000,4,0.000,0.044,2481,493,3370,0,0,0,0,0,0
$GC,382,-1.19,-77.9,48.6,-13.1,52,387,0.12,2.28,0.00,0.000,6,0.064,0.020,2443,1903,3370,0,0,0,0,0,0
$GC,643,-1.19,-77.9,83.1,-12.9,76,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1908,3371,0,0,0,0,0,0
$GC,897,-1.22,-77.9,115.2,-12.5,100,902,0.00,2.42,0.00,0.000,4,0.000,0.044,2441,494,3372,0,0,0,0,0,0
$GC,966,-1.22,-77.9,123.8,-12.6,107,971,0.00,2.28,0.00,0.000,6,0.000,0.020,2441,1909,3372,0,0,0,0,0,0
$GC,1229,-1.27,-77.9,153.8,-11.0,131,1233,0.00,2.42,0.00,0.000,4,0.000,0.044,2442,488,3373,0,0,0,0,0,0
$GC,1266,-1.27,-77.9,158.1,-10.2,134,1273,0.00,2.30,0.00,0.000,6,0.000,0.021,2440,1907,3373,0,0,0,0,0,0
$GC,1529,-1.35,-77.9,184.1,-9.3,159,1533,0.00,2.40,0.00,0.000,4,0.000,0.044,2442,494,3374,0,0,0,0,0,0
$GC,1572,-1.35,-77.9,188.7,-9.9,163,1576,0.00,2.25,0.00,0.000,6,0.000,0.021,2442,1911,3374,0,0,0,0,0,0
$GC,1841,-1.43,-77.9,213.4,-9.0,181,1846,0.17,2.45,0.00,0.000,4,0.053,0.046,2389,488,3374,0,0,0,0,0,0
$GC,1888,-1.32,-77.9,219.1,-13.6,183,1893,0.17,2.25,0.00,0.000,6,0.094,0.021,2424,1901,3374,0,0,0,0,0,0
$GC,2225,-1.39,-77.9,247.7,-7.8,199,2229,0.00,2.40,0.00,0.000,4,0.000,0.046,2425,494,3375,0,0,0,0,0,0
$GC,2244,-1.43,-77.9,249.8,-9.5,200,2248,0.00,2.28,0.00,0.000,6,0.000,0.022,2419,1908,3375,0,0,0,0,0,0
$GC,2574,-1.51,-77.9,278.0,-8.9,216,2579,0.17,2.45,0.00,0.000,4,0.054,0.048,2373,488,3374,0,0,0,0,0,0
$GC,2735,-1.47,-77.9,295.1,-10.8,223,2740,0.10,2.28,0.00,0.000,6,0.113,0.024,2392,1893,3374,0,0,0,0,0,0
$GC,3082,-1.50,-77.9,329.7,-10.3,233,3086,0.00,2.42,0.00,0.000,4,0.000,0.050,2392,494,3373,0,0,0,0,0,0
$GC,3150,-1.50,-77.9,337.5,-10.3,234,3155,0.00,2.30,0.00,0.000,6,0.000,0.025,2392,1896,3373,0,0,0,0,0,0
$GC,3490,-1.53,-77.9,367.1,-8.2,243,3494,0.00,2.42,0.00,0.000,4,0.000,0.052,2393,497,3371,0,0,0,0,0,0
$GC,3587,-1.53,-77.9,375.7,-7.5,245,3591,0.00,2.33,0.00,0.000,6,0.000,0.028,2393,1907,3370,0,0,0,0,0,0
$GC,3905,-1.57,-77.9,402.7,-9.2,253,3910,0.00,2.47,0.00,0.000,4,0.000,0.054,2392,497,3368,0,0,0,0,0,0
$GC,3974,-1.57,-77.9,409.7,-10.0,254,3979,0.00,2.30,0.00,0.000,6,0.000,0.028,2393,1897,3368,0,0,0,0,0,0
$GC,4316,-1.62,-77.9,441.0,-9.2,263,4321,0.15,2.47,0.00,0.000,4,0.065,0.056,2352,494,3365,0,0,0,0,0,0
$GC,4355,-1.53,-77.9,445.5,-12.5,263,4361,0.15,2.30,0.00,0.000,6,0.106,0.030,2381,1897,3365,0,0,0,0,0,0
$STATE,4399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4399,begin apogee
$GC,4404,-0.31,0.0,450.2,10.5,265,4472,1.23,0.00,64.55,0.884,6,0.077,0.000,2641,2060,3050,0,0,0,0,0,0
$STATE,4473,end apogee,CONTROL_FINISHED_OK
$STATE,4473,begin climb
$GC,4474,1.40,77.9,451.4,0.0,266,4549,1.65,2.45,65.12,0.861,4,0.035,0.048,3025,3408,2732,0,0,0,0,0,0
$GC,4662,1.23,122.3,449.3,5.0,270,4707,0.05,2.38,38.20,0.849,6,0.179,0.038,3002,2028,2551,0,0,0,0,0,0
$GC,5025,1.05,122.3,414.3,10.2,279,5030,0.30,2.40,0.00,0.000,4,0.107,0.041,2957,3410,2544,0,0,0,0,0,0
$GC,5049,0.97,122.3,412.1,8.4,279,5054,0.15,2.38,0.00,0.000,6,0.116,0.039,2929,2031,2544,0,0,0,0,0,0
$GC,5389,1.01,155.8,390.0,5.7,288,5425,0.00,2.53,28.45,0.837,4,0.000,0.054,2929,629,2413,0,0,0,0,0,0
$GC,5454,0.99,171.2,386.4,7.0,289,5476,0.00,2.38,14.93,0.788,6,0.000,0.031,2928,2027,2350,0,0,0,0,0,0
$GC,5801,1.02,174.1,359.0,7.8,298,5805,0.00,2.47,0.00,0.000,4,0.000,0.054,2929,625,2344,0,0,0,0,0,0
$GC,5966,1.02,174.1,342.7,10.1,301,5970,0.00,2.38,0.00,0.000,6,0.000,0.031,2928,2038,2341,0,0,0,0,0,0
$GC,6307,1.08,179.7,315.9,7.6,310,6319,0.00,2.55,6.88,0.677,4,0.000,0.054,2929,632,2317,0,0,0,0,0,0
$GC,6407,1.08,179.7,306.5,8.7,312,6411,0.00,2.38,0.00,0.000,6,0.000,0.031,2929,2038,2314,0,0,0,0,0,0
$GC,6729,1.14,181.4,279.0,7.9,326,6731,0.15,0.00,0.00,0.000,6,0.071,0.000,2965,2043,2314,0,0,0,0,0,0
$GC,7039,1.16,198.7,258.1,6.8,341,7064,0.00,2.60,17.80,0.749,4,0.000,0.051,2965,615,2239,0,0,0,0,0,0
$GC,7165,1.11,198.7,244.7,11.5,346,7169,0.00,2.40,0.00,0.000,6,0.000,0.029,2966,2043,2235,0,0,0,0,0,0
$GC,7481,1.11,198.7,212.6,8.5,361,7485,0.00,2.47,0.00,0.000,4,0.000,0.049,2965,627,2234,0,0,0,0,0,0
$GC,7577,1.07,198.7,204.0,8.4,365,7581,0.00,2.35,0.00,0.000,6,0.000,0.027,2966,2039,2232,0,0,0,0,0,0
$GC,7904,1.07,198.7,173.6,10.5,394,7908,0.00,2.47,0.00,0.000,4,0.000,0.047,2966,618,2233,0,0,0,0,0,0
$GC,7939,1.02,198.7,169.8,12.2,397,7944,0.15,2.35,0.00,0.000,6,0.114,0.025,2938,2041,2231,0,0,0,0,0,0
$GC,8201,1.11,198.7,144.9,9.2,421,8205,0.00,2.45,0.00,0.000,4,0.000,0.046,2938,625,2231,0,0,0,0,0,0
$GC,8354,1.15,198.7,129.0,9.1,437,8360,0.12,2.33,0.00,0.000,6,0.073,0.024,2972,2046,2231,0,0,0,0,0,0
$GC,8616,1.18,199.4,106.5,8.0,462,8620,0.00,2.45,0.00,0.000,4,0.000,0.044,2973,625,2231,0,0,0,0,0,0
$GC,8640,1.18,199.4,104.4,8.6,464,8644,0.00,2.30,0.00,0.000,6,0.000,0.023,2972,2048,2231,0,0,0,0,0,0
$GC,8901,1.22,204.8,85.6,7.6,488,8912,0.00,2.45,5.88,0.468,4,0.000,0.042,2972,624,2214,0,0,0,0,0,0
$GC,9006,1.22,204.8,75.5,10.8,499,9010,0.00,2.28,0.00,0.000,6,0.000,0.022,2972,2037,2213,0,0,0,0,0,0
$GC,9271,1.27,208.3,53.3,7.8,523,9282,0.00,2.42,5.05,0.434,4,0.000,0.041,2971,625,2199,0,0,0,0,0,0
$GC,9295,1.27,208.3,51.0,8.2,525,9302,0.00,2.33,0.00,0.000,6,0.000,0.021,2972,2037,2199,0,0,0,0,0,0
$GC,9558,1.34,220.2,31.6,7.2,550,9580,0.15,2.50,11.93,0.515,4,0.061,0.042,3015,619,2150,0,0,0,0,0,0
$GC,9596,1.30,220.2,28.0,9.6,555,9603,0.00,2.33,0.00,0.000,6,0.000,0.021,3014,2032,2149,0,0,0,0,0,0
$GC,9797,1.30,220.2,8.4,8.8,592,9803,0.00,2.33,0.00,0.000,4,0.000,0.030,3015,3420,2149,0,0,0,0,0,0
$STATE,9852,end climb,SURFACE_DEPTH_REACHED
$STATE,9852,begin surface coast
$FINISH,0.5,1.023616
$STATE,9874,end surface coast,CONTROL_FINISHED_OK
$STATE,9874,begin surface
$SM_CCo,9896,40.45,0.521,0,0,1826,300.00
$SM_GC,1.65,0.00,0.00,40.45,0.000,0.000,0.521,429,1890,1826,-10.51,-0.31,300.00
$IRIDIUM_FIX,2101.76,-15750.89,310799,111141
$TT8_MAMPS,0.03068
$HUMID,45.58
$INTERNAL_PRESSURE,9.68441
$TCM_TEMP,21.10
$XPDR_PINGS,0
$24V_AH,23.4,19.001
$10V_AH,10.1,18.098
$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,27.250,124.625,258.775,40.450,0.000,30.571,28.026,150.806,4.500,0.000,32.276,1206.895,6419.335,366.945,1893.499,374.816,33.361,1181.596,0.000,1855.720,0.000,29.246,0.000
$DEVICE_MAMPS,178.711,55.991,883.584,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.291,395.260,886.848,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,35031,609
$CAP_FILE_SIZE,117920,0
$CFSIZE,260165632,246558720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060510,170801,2108.017,-15751.475,105,2.0,111,9.8