version: 66.06
glider: 139
mission: 7
dive: 212
start: 5 6 110 17 14 19
data:
$ID,139
$MISSION,7
$DIVE,212
$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,-2126376.2
$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
$GPS1,170801,2108.017,-15751.475,105,2.0,111,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.7
$GPS2,171328,2108.065,-15751.485,37,2.0,39,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.150,-0.106
$KALMAN_X,-93115.6,-415.4,366.1,113730.5,-1639.6
$KALMAN_Y,23342.9,20.9,-196.3,-22626.0,1179.9
$MHEAD_RNG_PITCHd_Wd,115.5,15379,-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,-55.15,0.000,2,0.000,0.000,428,1890,3281,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.5,-6.3,10,94,10.68,0.00,-1.70,0.000,6,0.137,0.000,2407,1890,3369,0,0,0,0,0,0
$GC,289,-1.30,-77.9,44.5,-14.2,40,294,0.12,2.40,0.00,0.000,4,0.112,0.025,2430,3329,3371,0,0,0,0,0,0
$GC,352,-1.34,-77.9,52.5,-11.4,46,358,0.00,2.42,0.00,0.000,6,0.000,0.030,2430,1898,3372,0,0,0,0,0,0
$GC,613,-1.34,-77.9,81.3,-11.3,71,617,0.00,2.40,0.00,0.000,4,0.000,0.043,2431,495,3372,0,0,0,0,0,0
$GC,631,-1.29,-77.9,83.7,-11.7,72,638,0.00,2.33,0.00,0.000,6,0.000,0.020,2430,1934,3372,0,0,0,0,0,0
$GC,894,-1.29,-77.9,115.0,-12.0,97,898,0.00,2.47,0.00,0.000,4,0.000,0.044,2430,495,3373,0,0,0,0,0,0
$GC,945,-1.25,-77.9,121.8,-12.1,102,949,0.00,2.25,0.00,0.000,6,0.000,0.020,2430,1897,3373,0,0,0,0,0,0
$GC,1206,-1.30,-77.9,149.7,-10.9,126,1211,0.00,2.40,0.00,0.000,4,0.000,0.044,2430,490,3374,0,0,0,0,0,0
$GC,1294,-1.30,-77.9,159.5,-10.9,135,1301,0.00,2.28,0.00,0.000,6,0.000,0.020,2429,1909,3374,0,0,0,0,0,0
$GC,1563,-1.35,-77.9,188.1,-9.9,160,1567,0.00,2.42,0.00,0.000,4,0.000,0.044,2430,495,3375,0,0,0,0,0,0
$GC,1597,-1.35,-77.9,191.6,-10.8,163,1601,0.00,2.25,0.00,0.000,6,0.000,0.021,2429,1896,3375,0,0,0,0,0,0
$GC,1854,-1.40,-77.9,214.5,-8.4,179,1859,0.00,2.45,0.00,0.000,4,0.000,0.046,2430,491,3375,0,0,0,0,0,0
$GC,1965,-1.40,-77.9,225.3,-9.4,184,1969,0.00,2.28,0.00,0.000,6,0.000,0.021,2429,1901,3375,0,0,0,0,0,0
$GC,2295,-1.48,-77.9,251.1,-7.7,200,2300,0.17,2.45,0.00,0.000,4,0.054,0.046,2379,492,3375,0,0,0,0,0,0
$GC,2338,-1.42,-77.9,255.6,-11.0,202,2343,0.12,2.28,0.00,0.000,6,0.103,0.022,2402,1896,3375,0,0,0,0,0,0
$GC,2669,-1.45,-77.9,287.6,-9.6,218,2673,0.00,2.42,0.00,0.000,4,0.000,0.048,2404,497,3375,0,0,0,0,0,0
$GC,2719,-1.45,-77.9,293.2,-10.5,220,2723,0.00,2.28,0.00,0.000,6,0.000,0.023,2403,1901,3375,0,0,0,0,0,0
$GC,3058,-1.50,-77.9,323.2,-8.6,231,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1906,3374,0,0,0,0,0,0
$GC,3381,-1.55,-77.9,351.5,-9.0,239,3386,0.12,2.45,0.00,0.000,4,0.069,0.051,2368,498,3373,0,0,0,0,0,0
$GC,3418,-1.48,-77.9,355.8,-12.5,239,3425,0.12,2.30,0.00,0.000,6,0.104,0.026,2392,1898,3373,0,0,0,0,0,0
$GC,3749,-1.48,-77.9,386.1,-8.9,248,3753,0.00,2.45,0.00,0.000,4,0.000,0.051,2393,498,3371,0,0,0,0,0,0
$GC,3831,-1.48,-77.9,394.0,-9.1,249,3837,0.00,2.33,0.00,0.000,6,0.000,0.028,2392,1906,3371,0,0,0,0,0,0
$GC,4163,-1.52,-77.9,423.1,-8.8,258,4167,0.00,2.45,0.00,0.000,4,0.000,0.054,2392,498,3368,0,0,0,0,0,0
$GC,4259,-1.52,-77.9,432.5,-9.1,260,4264,0.00,2.33,0.00,0.000,6,0.000,0.028,2392,1899,3368,0,0,0,0,0,0
$STATE,4453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4453,begin apogee
$GC,4458,-0.31,0.0,450.4,9.2,265,4526,1.17,0.00,64.82,0.877,6,0.076,0.000,2643,2058,3050,0,0,0,0,0,0
$STATE,4527,end apogee,CONTROL_FINISHED_OK
$STATE,4527,begin climb
$GC,4529,1.40,77.9,451.7,0.0,266,4604,1.65,2.45,64.93,0.857,4,0.034,0.047,3028,3406,2732,0,0,0,0,0,0
$GC,4683,1.23,138.1,451.5,3.9,269,4741,0.17,2.38,51.53,0.849,6,0.120,0.037,2988,2031,2487,0,0,0,0,0,0
$GC,5066,1.11,138.1,411.6,11.3,278,5071,0.17,2.38,0.00,0.000,4,0.117,0.042,2965,3409,2478,0,0,0,0,0,0
$GC,5081,1.01,138.1,410.0,10.7,278,5085,0.00,2.38,0.00,0.000,6,0.000,0.038,2954,2036,2478,0,0,0,0,0,0
$GC,5430,0.96,138.1,378.3,9.0,287,5435,0.15,2.50,0.00,0.000,4,0.118,0.055,2937,630,2476,0,0,0,0,0,0
$GC,5616,0.91,138.1,361.7,8.6,291,5621,0.12,2.33,0.00,0.000,6,0.123,0.030,2915,2024,2473,0,0,0,0,0,0
$GC,5939,1.00,163.4,340.7,6.3,299,5967,0.00,2.53,20.67,0.802,4,0.000,0.051,2914,631,2382,0,0,0,0,0,0
$GC,6142,1.00,163.4,323.7,8.4,303,6146,0.00,2.35,0.00,0.000,6,0.000,0.030,2914,2035,2377,0,0,0,0,0,0
$GC,6487,1.10,179.5,299.7,6.9,312,6508,0.17,0.00,14.52,0.755,6,0.066,0.000,2956,2039,2317,0,0,0,0,0,0
$GC,6816,1.10,179.5,269.8,8.6,328,6820,0.00,2.47,0.00,0.000,4,0.000,0.051,2956,630,2314,0,0,0,0,0,0
$GC,6941,1.05,179.5,258.7,9.3,333,6945,0.00,2.33,0.00,0.000,6,0.000,0.028,2957,2036,2311,0,0,0,0,0,0
$GC,7256,1.05,179.5,232.6,8.9,348,7260,0.00,2.38,0.00,0.000,4,0.000,0.038,2957,3432,2311,0,0,0,0,0,0
$GC,7376,1.09,179.5,222.5,9.0,353,7380,0.00,2.40,0.00,0.000,6,0.000,0.035,2957,2027,2311,0,0,0,0,0,0
$GC,7696,1.11,194.0,197.3,7.0,370,7716,0.00,2.47,12.93,0.667,4,0.000,0.050,2956,629,2259,0,0,0,0,0,0
$GC,7899,1.11,194.0,178.2,10.4,392,7903,0.00,2.35,0.00,0.000,6,0.000,0.025,2956,2048,2255,0,0,0,0,0,0
$GC,8161,1.16,199.1,156.4,7.7,416,8172,0.00,2.47,5.85,0.532,4,0.000,0.044,2956,629,2237,0,0,0,0,0,0
$GC,8266,1.16,202.2,148.2,7.8,427,8276,0.00,2.30,4.07,0.439,6,0.000,0.024,2955,2039,2225,0,0,0,0,0,0
$GC,8531,1.22,202.2,126.1,9.8,452,8535,0.10,2.47,0.00,0.000,4,0.082,0.045,2985,624,2225,0,0,0,0,0,0
$GC,8685,1.16,202.2,108.1,11.0,468,8692,0.00,2.35,0.00,0.000,6,0.000,0.023,2984,2043,2225,0,0,0,0,0,0
$GC,8947,1.16,202.2,84.9,8.7,493,8951,0.00,2.45,0.00,0.000,4,0.000,0.044,2984,622,2224,0,0,0,0,0,0
$GC,8972,1.11,202.2,82.4,10.3,495,8977,0.15,2.30,0.00,0.000,6,0.109,0.022,2957,2046,2224,0,0,0,0,0,0
$GC,9234,1.18,202.6,61.1,8.0,519,9238,0.00,2.45,0.00,0.000,4,0.000,0.043,2956,619,2225,0,0,0,0,0,0
$GC,9322,1.18,202.6,53.0,9.4,528,9326,0.00,2.30,0.00,0.000,6,0.000,0.021,2957,2042,2224,0,0,0,0,0,0
$GC,9587,1.26,205.5,31.5,7.8,552,9594,0.15,0.00,5.00,0.416,6,0.062,0.000,2999,2047,2212,0,0,0,0,0,0
$GC,9851,1.32,224.2,9.6,6.7,600,9874,0.00,2.30,18.08,0.516,4,0.000,0.028,2999,3419,2134,0,0,0,0,0,0
$GC,9890,1.33,231.7,6.7,7.5,607,9904,0.00,2.38,7.95,0.454,6,0.000,0.028,2998,2025,2104,0,0,0,0,0,0
$STATE,9931,end climb,SURFACE_DEPTH_REACHED
$STATE,9931,begin surface coast
$FINISH,0.4,1.023531
$STATE,9964,end surface coast,CONTROL_FINISHED_OK
$STATE,9966,begin surface
$SM_CCo,9985,36.83,0.518,0,0,1827,300.00
$SM_GC,1.37,0.00,0.00,36.83,0.000,0.000,0.518,426,1888,1827,-10.52,-0.34,300.00
$IRIDIUM_FIX,2057.14,-15751.76,310799,141402
$TT8_MAMPS,0.029146
$HUMID,45.35
$INTERNAL_PRESSURE,9.68441
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,19.079
$10V_AH,10.0,18.181
$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,26.625,109.925,270.350,36.825,0.000,35.630,29.745,141.975,4.500,0.000,39.384,1208.951,6456.395,364.630,1941.535,380.132,33.366,1185.885,0.000,1904.108,0.000,29.246,0.000
$DEVICE_MAMPS,137.293,60.593,876.681,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.198,407.836,908.589,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,34902,620
$CAP_FILE_SIZE,115107,0
$CFSIZE,260165632,246501376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060510,200301,2107.663,-15751.481,64,1.5,64,9.8