version: 66.06
glider: 139
mission: 7
dive: 214
start: 5 6 110 23 8 54
data:
$ID,139
$MISSION,7
$DIVE,214
$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,-2126409
$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
$GPS1,230256,2107.419,-15751.280,151,3.7,170,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-67.5
$GPS2,230802,2107.456,-15751.296,16,1.2,16,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.153,-0.102
$KALMAN_X,-95630.4,-125.2,-398.4,117053.9,-393.2
$KALMAN_Y,24553.6,-111.3,31.9,-25058.8,861.6
$MHEAD_RNG_PITCHd_Wd,113.8,14792,-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,-54.50,0.000,2,0.000,0.000,426,1888,3233,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.1,-4.7,10,94,10.68,2.38,-2.72,0.000,4,0.137,0.049,2406,490,3370,0,0,0,0,0,0
$GC,173,-1.23,-77.9,26.5,-18.0,31,181,0.15,2.35,0.00,0.000,6,0.083,0.021,2441,1924,3371,0,0,0,0,0,0
$GC,378,-1.23,-77.9,52.7,-13.2,52,382,0.00,2.25,0.00,0.000,4,0.000,0.025,2440,3295,3372,0,0,0,0,0,0
$GC,403,-1.27,-77.9,55.7,-12.4,54,407,0.00,2.33,0.00,0.000,6,0.000,0.029,2442,1897,3372,0,0,0,0,0,0
$GC,663,-1.27,-77.9,87.8,-12.1,78,667,0.00,2.38,0.00,0.000,4,0.000,0.044,2442,497,3373,0,0,0,0,0,0
$GC,722,-1.21,-77.9,95.6,-14.1,84,727,0.00,2.28,0.00,0.000,6,0.000,0.020,2441,1916,3373,0,0,0,0,0,0
$GC,984,-1.25,-77.9,125.5,-10.9,108,988,0.00,2.45,0.00,0.000,4,0.000,0.044,2440,495,3374,0,0,0,0,0,0
$GC,1054,-1.25,-77.9,134.1,-12.0,115,1058,0.00,2.25,0.00,0.000,6,0.000,0.020,2441,1894,3374,0,0,0,0,0,0
$GC,1318,-1.32,-77.9,160.1,-8.9,139,1322,0.00,2.40,0.00,0.000,4,0.000,0.044,2438,497,3375,0,0,0,0,0,0
$GC,1354,-1.36,-77.9,164.1,-10.1,142,1361,0.08,2.28,0.00,0.000,6,0.041,0.021,2406,1896,3375,0,0,0,0,0,0
$GC,1616,-1.36,-77.9,192.2,-11.1,167,1620,0.00,2.42,0.00,0.000,4,0.000,0.046,2405,490,3375,0,0,0,0,0,0
$GC,1678,-1.31,-77.9,199.2,-11.4,173,1682,0.10,2.28,0.00,0.000,6,0.110,0.021,2426,1902,3376,0,0,0,0,0,0
$GC,1944,-1.38,-77.9,221.3,-8.2,186,1949,0.00,2.42,0.00,0.000,4,0.000,0.045,2426,494,3376,0,0,0,0,0,0
$GC,1971,-1.38,-77.9,224.1,-9.5,187,1975,0.00,2.28,0.00,0.000,6,0.000,0.021,2426,1906,3376,0,0,0,0,0,0
$GC,2293,-1.45,-77.9,251.7,-8.9,203,2298,0.12,2.45,0.00,0.000,4,0.066,0.048,2387,488,3376,0,0,0,0,0,0
$GC,2317,-1.39,-77.9,254.6,-11.0,204,2322,0.12,2.28,0.00,0.000,6,0.102,0.022,2410,1896,3376,0,0,0,0,0,0
$GC,2646,-1.44,-77.9,281.0,-7.5,220,2650,0.00,2.42,0.00,0.000,4,0.000,0.048,2412,495,3375,0,0,0,0,0,0
$GC,2682,-1.44,-77.9,284.3,-8.0,221,2688,0.00,2.30,0.00,0.000,6,0.000,0.024,2411,1906,3375,0,0,0,0,0,0
$GC,2995,-1.50,-77.9,312.5,-9.9,234,3000,0.12,2.45,0.00,0.000,4,0.068,0.050,2373,497,3374,0,0,0,0,0,0
$GC,3148,-1.46,-77.9,334.3,-13.6,237,3152,0.00,2.30,0.00,0.000,6,0.000,0.025,2376,1899,3373,0,0,0,0,0,0
$GC,3497,-1.46,-77.9,372.3,-10.0,246,3501,0.00,2.45,0.00,0.000,4,0.000,0.051,2375,498,3372,0,0,0,0,0,0
$GC,3552,-1.42,-77.9,378.3,-10.1,247,3557,0.15,2.30,0.00,0.000,6,0.098,0.027,2405,1897,3372,0,0,0,0,0,0
$GC,3867,-1.48,-77.9,404.4,-8.0,255,3871,0.00,2.45,0.00,0.000,4,0.000,0.053,2406,500,3370,0,0,0,0,0,0
$GC,3889,-1.48,-77.9,406.6,-9.1,255,3893,0.00,2.33,0.00,0.000,6,0.000,0.028,2406,1905,3370,0,0,0,0,0,0
$GC,4229,-1.55,-77.9,430.9,-6.8,264,4234,0.15,2.47,0.00,0.000,4,0.065,0.055,2363,498,3367,0,0,0,0,0,0
$GC,4337,-1.50,-77.9,441.1,-10.3,266,4342,0.12,2.33,0.00,0.000,6,0.107,0.029,2388,1897,3366,0,0,0,0,0,0
$STATE,4441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4441,begin apogee
$GC,4446,-0.31,0.0,450.2,8.5,269,4514,1.20,0.00,64.53,0.874,6,0.077,0.000,2646,2060,3050,0,0,0,0,0,0
$STATE,4515,end apogee,CONTROL_FINISHED_OK
$STATE,4515,begin climb
$GC,4517,1.40,77.9,450.9,0.0,270,4592,1.62,2.42,64.60,0.851,4,0.035,0.046,3025,3400,2732,0,0,0,0,0,0
$GC,4819,1.24,128.2,440.5,4.6,276,4868,0.22,2.35,42.75,0.844,6,0.116,0.038,2983,2035,2526,0,0,0,0,0,0
$GC,5199,1.13,128.2,406.4,9.5,286,5204,0.12,2.50,0.00,0.000,4,0.127,0.054,2962,623,2519,0,0,0,0,0,0
$GC,5255,1.01,128.2,400.4,10.1,287,5260,0.15,2.35,0.00,0.000,6,0.125,0.030,2935,2020,2518,0,0,0,0,0,0
$GC,5569,1.01,131.5,374.5,7.8,295,5573,0.00,2.45,0.00,0.000,4,0.000,0.043,2937,3437,2517,0,0,0,0,0,0
$GC,5601,1.01,131.5,371.8,8.7,295,5605,0.00,2.42,0.00,0.000,6,0.000,0.038,2936,2034,2516,0,0,0,0,0,0
$GC,5931,1.01,131.5,343.9,8.2,303,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2034,2514,0,0,0,0,0,0
$GC,6256,1.05,162.9,322.8,5.9,311,6287,0.00,0.00,29.05,0.805,6,0.000,0.000,2936,2034,2385,0,0,0,0,0,0
$GC,6581,1.05,162.9,296.7,8.9,319,6585,0.00,2.45,0.00,0.000,4,0.000,0.053,2936,626,2379,0,0,0,0,0,0
$GC,6626,1.05,162.9,292.2,10.2,321,6630,0.00,2.38,0.00,0.000,6,0.000,0.030,2936,2045,2377,0,0,0,0,0,0
$GC,6958,1.11,176.1,265.8,7.1,337,6974,0.00,2.53,11.50,0.718,4,0.000,0.051,2935,630,2332,0,0,0,0,0,0
$GC,7103,1.12,177.7,254.5,7.9,342,7107,0.00,2.35,0.00,0.000,6,0.000,0.028,2936,2043,2327,0,0,0,0,0,0
$GC,7420,1.19,189.0,231.3,7.2,357,7438,0.17,0.00,12.45,0.696,6,0.065,0.000,2979,2047,2279,0,0,0,0,0,0
$GC,7748,1.19,189.0,202.5,9.5,373,7752,0.00,2.33,0.00,0.000,4,0.000,0.036,2979,3430,2276,0,0,0,0,0,0
$GC,7785,1.19,189.0,199.0,8.3,374,7792,0.00,2.40,0.00,0.000,6,0.000,0.034,2979,2037,2276,0,0,0,0,0,0
$GC,8110,1.19,189.0,170.6,10.7,405,8114,0.00,2.45,0.00,0.000,4,0.000,0.047,2978,619,2275,0,0,0,0,0,0
$GC,8282,1.11,189.0,151.2,9.6,423,8288,0.00,2.35,0.00,0.000,6,0.000,0.025,2977,2044,2273,0,0,0,0,0,0
$GC,8543,1.11,189.0,130.5,8.5,448,8544,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2050,2273,0,0,0,0,0,0
$GC,8797,1.13,203.5,111.8,7.0,472,8817,0.00,2.47,13.52,0.593,4,0.000,0.044,2978,621,2220,0,0,0,0,0,0
$GC,8966,1.13,203.5,97.8,9.7,490,8973,0.00,2.35,0.00,0.000,6,0.000,0.022,2976,2041,2216,0,0,0,0,0,0
$GC,9229,1.14,209.3,77.6,7.6,515,9238,0.00,0.00,6.32,0.484,6,0.000,0.000,2977,2046,2195,0,0,0,0,0,0
$GC,9494,1.19,224.7,57.2,7.0,540,9514,0.00,2.47,15.10,0.545,4,0.000,0.042,2978,620,2133,0,0,0,0,0,0
$GC,9561,1.19,224.7,51.7,9.5,547,9565,0.00,2.30,0.00,0.000,6,0.000,0.021,2977,2043,2130,0,0,0,0,0,0
$GC,9824,1.25,224.7,29.1,8.8,571,9830,0.00,2.45,0.00,0.000,4,0.000,0.042,2977,632,2130,0,0,0,0,0,0
$GC,9900,1.25,224.7,22.2,8.4,588,9907,0.00,2.30,0.00,0.000,6,0.000,0.021,2979,2037,2128,0,0,0,0,0,0
$GC,10101,1.35,264.7,8.0,5.3,625,10142,0.12,2.53,35.12,0.522,4,0.067,0.042,3016,629,1970,0,0,0,0,0,0
$STATE,10164,end climb,SURFACE_DEPTH_REACHED
$STATE,10165,begin surface coast
$FINISH,0.3,1.023781
$STATE,10201,end surface coast,CONTROL_FINISHED_OK
$STATE,10201,begin surface
$SM_CCo,10222,19.73,0.501,0,0,1827,300.00
$SM_GC,1.20,0.00,0.00,19.73,0.000,0.000,0.501,423,1931,1827,-10.54,0.88,300.00
$IRIDIUM_FIX,2057.14,-15751.76,310799,202026
$TT8_MAMPS,0.029146
$HUMID,45.27
$INTERNAL_PRESSURE,9.68441
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,19.242
$10V_AH,10.0,18.350
$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,26.625,114.150,294.950,19.725,0.000,30.628,31.188,141.958,4.500,0.000,16.545,1233.095,6681.397,373.508,1903.040,358.630,33.364,1182.859,0.000,1875.752,0.000,29.243,0.000
$DEVICE_MAMPS,136.526,55.224,874.380,500.851,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.594,415.954,951.696,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,35017,645
$CAP_FILE_SIZE,114783,0
$CFSIZE,260165632,246382592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070510,020140,2107.261,-15750.480,79,1.7,89,9.8