version: 66.06
glider: 139
mission: 7
dive: 213
start: 5 6 110 20 12 14
data:
$ID,139
$MISSION,7
$DIVE,213
$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,-2126391.8
$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
$GPS1,200301,2107.663,-15751.481,64,1.5,64,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-69.4
$GPS2,201120,2107.709,-15751.569,14,2.0,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.146,-0.112
$KALMAN_X,-94335.6,-391.9,-260.1,115416.5,-1029.6
$KALMAN_Y,23904.0,-31.8,-177.8,-23807.1,1114.2
$MHEAD_RNG_PITCHd_Wd,117.7,15354,-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,12,begin dive
$GC,14,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-54.75,0.000,2,0.000,0.000,426,1887,3243,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.1,-4.6,10,93,10.73,2.40,-2.45,0.000,4,0.139,0.053,2404,490,3368,0,0,0,0,0,0
$GC,126,-1.18,-77.9,18.2,-20.9,20,133,0.22,2.35,0.00,0.000,6,0.078,0.021,2454,1925,3370,0,0,0,0,0,0
$GC,332,-1.18,-77.9,45.0,-12.4,47,336,0.00,2.45,0.00,0.000,4,0.000,0.044,2451,494,3371,0,0,0,0,0,0
$GC,368,-1.13,-77.9,50.2,-14.3,50,374,0.00,2.30,0.00,0.000,6,0.000,0.020,2454,1903,3370,0,0,0,0,0,0
$GC,630,-1.18,-77.9,80.1,-11.5,75,634,0.00,2.40,0.00,0.000,4,0.000,0.044,2452,494,3371,0,0,0,0,0,0
$GC,681,-1.18,-77.9,86.3,-11.6,80,685,0.00,2.28,0.00,0.000,6,0.000,0.020,2454,1908,3372,0,0,0,0,0,0
$GC,942,-1.24,-77.9,112.9,-10.0,104,946,0.00,2.42,0.00,0.000,4,0.000,0.044,2452,488,3372,0,0,0,0,0,0
$GC,994,-1.24,-77.9,118.6,-11.5,109,998,0.00,2.25,0.00,0.000,6,0.000,0.020,2453,1896,3372,0,0,0,0,0,0
$GC,1256,-1.32,-77.9,143.3,-9.5,133,1261,0.12,2.45,0.00,0.000,4,0.064,0.044,2409,484,3373,0,0,0,0,0,0
$GC,1320,-1.28,-77.9,151.4,-12.5,139,1326,0.10,2.28,0.00,0.000,6,0.109,0.021,2434,1905,3373,0,0,0,0,0,0
$GC,1580,-1.33,-77.9,178.3,-9.5,164,1584,0.00,2.42,0.00,0.000,4,0.000,0.044,2432,494,3374,0,0,0,0,0,0
$GC,1632,-1.36,-77.9,183.8,-11.5,169,1636,0.00,2.28,0.00,0.000,6,0.000,0.021,2434,1907,3374,0,0,0,0,0,0
$GC,1890,-1.42,-77.9,210.0,-9.5,188,1895,0.12,2.42,0.00,0.000,4,0.066,0.044,2393,492,3374,0,0,0,0,0,0
$GC,1964,-1.36,-77.9,217.4,-9.7,191,1969,0.12,2.28,0.00,0.000,6,0.100,0.021,2418,1905,3374,0,0,0,0,0,0
$GC,2287,-1.41,-77.9,246.2,-10.0,207,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1911,3374,0,0,0,0,0,0
$GC,2594,-1.48,-77.9,273.8,-7.7,222,2599,0.12,2.47,0.00,0.000,4,0.066,0.047,2380,485,3374,0,0,0,0,0,0
$GC,2655,-1.43,-77.9,280.0,-11.4,224,2662,0.08,2.33,0.00,0.000,6,0.083,0.024,2397,1899,3374,0,0,0,0,0,0
$GC,2970,-1.47,-77.9,312.0,-9.7,237,2974,0.00,2.33,0.00,0.000,4,0.000,0.032,2398,3299,3373,0,0,0,0,0,0
$GC,3006,-1.57,-77.9,315.8,-9.5,237,3012,0.12,2.38,0.00,0.000,6,0.067,0.033,2363,1895,3373,0,0,0,0,0,0
$GC,3338,-1.53,-77.9,348.9,-10.0,246,3343,0.00,2.42,0.00,0.000,4,0.000,0.050,2363,492,3372,0,0,0,0,0,0
$GC,3352,-1.47,-77.9,350.7,-10.3,246,3357,0.15,2.30,0.00,0.000,6,0.102,0.025,2392,1901,3372,0,0,0,0,0,0
$GC,3704,-1.51,-77.9,382.6,-9.3,255,3709,0.00,2.47,0.00,0.000,4,0.000,0.052,2393,490,3369,0,0,0,0,0,0
$GC,3815,-1.51,-77.9,394.6,-10.5,257,3819,0.00,2.33,0.00,0.000,6,0.000,0.028,2393,1896,3368,0,0,0,0,0,0
$GC,4159,-1.55,-77.9,426.2,-9.0,266,4164,0.00,2.47,0.00,0.000,4,0.000,0.055,2389,494,3366,0,0,0,0,0,0
$GC,4209,-1.55,-77.9,431.5,-10.8,267,4214,0.00,2.35,0.00,0.000,6,0.000,0.029,2392,1908,3365,0,0,0,0,0,0
$STATE,4403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4403,begin apogee
$GC,4408,-0.31,0.0,450.2,9.6,272,4476,1.17,0.00,64.38,0.879,6,0.078,0.000,2642,2054,3050,0,0,0,0,0,0
$STATE,4477,end apogee,CONTROL_FINISHED_OK
$STATE,4477,begin climb
$GC,4479,1.40,77.9,451.5,0.0,273,4553,1.65,2.45,64.85,0.858,4,0.035,0.046,3024,3408,2732,0,0,0,0,0,0
$GC,4726,1.21,102.6,446.6,6.3,278,4755,0.22,2.40,21.83,0.827,6,0.117,0.038,2981,2028,2630,0,0,0,0,0,0
$GC,5078,1.10,110.8,421.5,7.5,287,5091,0.15,2.45,7.35,0.709,4,0.120,0.042,2957,3412,2598,0,0,0,0,0,0
$GC,5174,1.06,126.2,414.3,7.0,289,5194,0.00,2.40,14.73,0.797,6,0.000,0.039,2957,2032,2534,0,0,0,0,0,0
$GC,5536,1.03,139.8,386.5,7.1,298,5555,0.00,2.53,12.30,0.782,4,0.000,0.055,2956,623,2479,0,0,0,0,0,0
$GC,5580,0.91,142.2,382.9,7.9,299,5585,0.22,2.38,0.00,0.000,6,0.114,0.031,2916,2021,2478,0,0,0,0,0,0
$GC,5909,1.00,172.1,362.4,6.0,307,5945,0.00,2.53,28.90,0.823,4,0.000,0.054,2915,629,2347,0,0,0,0,0,0
$GC,6002,1.00,172.1,355.0,8.9,309,6006,0.00,2.40,0.00,0.000,6,0.000,0.031,2915,2037,2342,0,0,0,0,0,0
$GC,6324,1.08,172.1,325.6,9.4,317,6329,0.15,2.53,0.00,0.000,4,0.071,0.054,2951,629,2341,0,0,0,0,0,0
$GC,6408,1.02,172.1,315.4,12.2,318,6414,0.00,2.38,0.00,0.000,6,0.000,0.031,2950,2037,2339,0,0,0,0,0,0
$GC,6720,1.02,172.1,284.5,9.0,330,6724,0.00,2.38,0.00,0.000,4,0.000,0.041,2951,3432,2338,0,0,0,0,0,0
$GC,6734,1.02,172.1,283.3,8.7,330,6741,0.00,2.42,0.00,0.000,6,0.000,0.038,2952,2038,2338,0,0,0,0,0,0
$GC,7048,1.03,181.2,256.5,7.4,346,7061,0.00,2.53,7.57,0.667,4,0.000,0.053,2951,619,2311,0,0,0,0,0,0
$GC,7198,1.00,181.2,243.6,9.7,352,7205,0.00,2.40,0.00,0.000,6,0.000,0.030,2951,2035,2307,0,0,0,0,0,0
$GC,7513,1.00,188.4,218.3,7.5,368,7526,0.00,2.42,7.70,0.639,4,0.000,0.039,2951,3433,2281,0,0,0,0,0,0
$GC,7614,1.07,188.4,208.8,9.6,372,7618,0.00,2.42,0.00,0.000,6,0.000,0.036,2951,2025,2280,0,0,0,0,0,0
$GC,7938,1.12,188.4,182.2,8.3,397,7942,0.00,2.42,0.00,0.000,4,0.000,0.049,2951,628,2279,0,0,0,0,0,0
$GC,8108,1.12,188.4,166.3,9.6,415,8112,0.00,2.35,0.00,0.000,6,0.000,0.025,2951,2046,2276,0,0,0,0,0,0
$GC,8371,1.18,194.0,146.5,7.6,439,8384,0.00,2.55,5.82,0.531,4,0.000,0.045,2951,618,2258,0,0,0,0,0,0
$GC,8466,1.18,194.0,137.6,9.1,449,8471,0.00,2.35,0.00,0.000,6,0.000,0.024,2950,2043,2257,0,0,0,0,0,0
$GC,8728,1.29,225.1,120.4,5.9,474,8765,0.20,2.55,28.75,0.629,4,0.056,0.044,3003,626,2131,0,0,0,0,0,0
$GC,8905,1.22,225.1,101.0,13.0,493,8910,0.12,2.30,0.00,0.000,6,0.110,0.023,2979,2036,2126,0,0,0,0,0,0
$GC,9168,1.25,225.1,73.4,10.0,517,9172,0.00,2.42,0.00,0.000,4,0.000,0.044,2979,621,2125,0,0,0,0,0,0
$GC,9290,1.25,225.1,62.0,10.0,530,9294,0.00,2.33,0.00,0.000,6,0.000,0.021,2979,2048,2125,0,0,0,0,0,0
$GC,9553,1.31,225.1,38.3,9.6,554,9557,0.00,2.45,0.00,0.000,4,0.000,0.042,2979,625,2124,0,0,0,0,0,0
$GC,9586,1.31,225.1,34.4,11.3,557,9591,0.00,2.28,0.00,0.000,6,0.000,0.021,2979,2036,2125,0,0,0,0,0,0
$GC,9851,1.39,225.1,12.3,8.2,601,9858,0.17,2.33,0.00,0.000,4,0.054,0.029,3031,3419,2125,0,0,0,0,0,0
$GC,9925,1.36,225.1,5.5,9.6,617,9931,0.00,2.35,0.00,0.000,6,0.000,0.029,3031,2031,2125,0,0,0,0,0,0
$STATE,9947,end climb,SURFACE_DEPTH_REACHED
$STATE,9947,begin surface coast
$FINISH,0.4,1.023586
$STATE,9976,end surface coast,CONTROL_FINISHED_OK
$STATE,9976,begin surface
$SM_CCo,9995,40.53,0.521,0,0,1826,300.00
$SM_GC,1.48,0.00,0.00,40.53,0.000,0.000,0.521,426,1888,1826,-10.52,-0.34,300.00
$IRIDIUM_FIX,2059.45,-15748.75,310799,202015
$TT8_MAMPS,0.029146
$HUMID,44.84
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.4,19.164
$10V_AH,10.0,18.264
$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,27.200,124.900,264.175,40.525,0.000,57.222,58.585,219.188,4.500,0.000,14.772,1237.950,6475.060,372.111,1934.977,519.883,33.362,1213.129,0.000,1919.261,0.000,29.245,0.000
$DEVICE_MAMPS,138.827,62.127,878.982,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,423.437,409.414,907.500,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34973,626
$CAP_FILE_SIZE,122848,0
$CFSIZE,260165632,246439936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060510,230256,2107.419,-15751.280,151,3.7,170,9.8