version: 66.06
glider: 139
mission: 7
dive: 216
start: 5 7 110 5 12 44
data:
$ID,139
$MISSION,7
$DIVE,216
$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,-2126482
$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
$GPS1,050150,2106.957,-15749.683,50,1.8,50,9.8
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-68.1
$GPS2,051152,2106.972,-15749.754,39,2.0,39,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.168,-0.074
$KALMAN_X,-97954.3,424.9,474.7,120614.2,-1890.8
$KALMAN_Y,25928.8,-205.6,-92.6,-27111.4,833.7
$MHEAD_RNG_PITCHd_Wd,104.0,12005,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,73,0.00,0.00,-55.15,0.000,2,0.000,0.000,425,1891,3266,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.1,-4.9,10,94,10.68,2.40,-2.00,0.000,4,0.136,0.049,2407,483,3369,0,0,0,0,0,0
$GC,178,-1.24,-77.9,29.3,-15.8,32,185,0.15,2.38,0.00,0.000,6,0.082,0.021,2441,1929,3370,0,0,0,0,0,0
$GC,376,-1.24,-77.9,57.2,-13.1,51,380,0.00,2.25,0.00,0.000,4,0.000,0.025,2440,3301,3371,0,0,0,0,0,0
$GC,412,-1.31,-77.9,61.9,-11.5,54,419,0.00,2.38,0.00,0.000,6,0.000,0.030,2440,1899,3371,0,0,0,0,0,0
$GC,674,-1.31,-77.9,89.7,-11.5,79,678,0.00,2.42,0.00,0.000,4,0.000,0.044,2441,484,3372,0,0,0,0,0,0
$GC,746,-1.31,-77.9,99.0,-12.5,86,753,0.00,2.30,0.00,0.000,6,0.000,0.020,2441,1904,3372,0,0,0,0,0,0
$GC,1011,-1.35,-77.9,125.9,-9.4,111,1015,0.00,2.40,0.00,0.000,4,0.000,0.043,2440,493,3372,0,0,0,0,0,0
$GC,1047,-1.35,-77.9,130.1,-11.0,114,1054,0.00,2.28,0.00,0.000,6,0.000,0.020,2441,1898,3373,0,0,0,0,0,0
$GC,1310,-1.40,-77.9,153.3,-8.3,139,1315,0.15,2.42,0.00,0.000,4,0.059,0.044,2394,487,3373,0,0,0,0,0,0
$GC,1381,-1.31,-77.9,161.7,-11.7,146,1386,0.15,2.25,0.00,0.000,6,0.097,0.021,2426,1900,3374,0,0,0,0,0,0
$GC,1641,-1.31,-77.9,188.0,-10.5,170,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1905,3374,0,0,0,0,0,0
$GC,1903,-1.35,-77.9,216.0,-10.4,188,1907,0.00,2.42,0.00,0.000,4,0.000,0.044,2425,490,3374,0,0,0,0,0,0
$GC,1939,-1.35,-77.9,220.3,-11.6,189,1945,0.00,2.28,0.00,0.000,6,0.000,0.021,2425,1905,3374,0,0,0,0,0,0
$GC,2257,-1.41,-77.9,248.9,-8.0,205,2261,0.00,2.42,0.00,0.000,4,0.000,0.046,2424,485,3374,0,0,0,0,0,0
$GC,2280,-1.41,-77.9,251.3,-9.1,206,2284,0.00,2.28,0.00,0.000,6,0.000,0.022,2425,1911,3374,0,0,0,0,0,0
$GC,2604,-1.48,-77.9,279.6,-9.3,222,2609,0.15,2.45,0.00,0.000,4,0.060,0.047,2380,495,3373,0,0,0,0,0,0
$GC,2670,-1.43,-77.9,287.4,-11.7,224,2677,0.08,2.30,0.00,0.000,6,0.081,0.023,2399,1896,3373,0,0,0,0,0,0
$GC,3002,-1.47,-77.9,319.6,-9.1,236,3007,0.00,2.42,0.00,0.000,4,0.000,0.048,2400,494,3373,0,0,0,0,0,0
$GC,3058,-1.47,-77.9,325.2,-9.9,237,3062,0.00,2.25,0.00,0.000,6,0.000,0.025,2400,1897,3372,0,0,0,0,0,0
$GC,3375,-1.51,-77.9,353.2,-8.7,245,3380,0.00,2.42,0.00,0.000,4,0.000,0.050,2400,493,3371,0,0,0,0,0,0
$GC,3449,-1.51,-77.9,360.5,-10.4,246,3454,0.00,2.30,0.00,0.000,6,0.000,0.026,2395,1897,3371,0,0,0,0,0,0
$GC,3785,-1.56,-77.9,389.9,-8.4,255,3790,0.12,2.47,0.00,0.000,4,0.070,0.054,2365,495,3369,0,0,0,0,0,0
$GC,3855,-1.49,-77.9,396.8,-10.0,256,3860,0.12,2.30,0.00,0.000,6,0.106,0.028,2390,1908,3369,0,0,0,0,0,0
$GC,4196,-1.52,-77.9,423.9,-7.8,265,4200,0.00,2.47,0.00,0.000,4,0.000,0.054,2385,490,3366,0,0,0,0,0,0
$GC,4306,-1.52,-77.9,433.4,-8.5,267,4311,0.00,2.33,0.00,0.000,6,0.000,0.028,2388,1907,3365,0,0,0,0,0,0
$STATE,4527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4527,begin apogee
$GC,4532,-0.31,0.0,451.2,8.1,273,4600,1.20,0.00,64.10,0.877,6,0.077,0.000,2645,2054,3050,0,0,0,0,0,0
$STATE,4601,end apogee,CONTROL_FINISHED_OK
$STATE,4601,begin climb
$GC,4603,1.40,77.9,452.4,0.0,274,4677,1.65,2.45,64.45,0.854,4,0.035,0.046,3027,3408,2732,0,0,0,0,0,0
$GC,4941,1.22,116.1,438.7,5.4,281,4982,0.22,2.40,32.55,0.841,6,0.117,0.038,2985,2025,2576,0,0,0,0,0,0
$GC,5291,1.10,116.1,410.4,8.3,290,5296,0.15,2.47,0.00,0.000,4,0.120,0.055,2958,628,2570,0,0,0,0,0,0
$GC,5412,0.97,116.1,400.8,8.2,292,5417,0.17,2.33,0.00,0.000,6,0.122,0.031,2926,2020,2568,0,0,0,0,0,0
$GC,5748,1.03,162.4,382.8,4.8,301,5793,0.00,2.55,39.62,0.838,4,0.000,0.054,2927,628,2386,0,0,0,0,0,0
$GC,5940,1.03,162.4,367.4,9.7,305,5945,0.00,2.38,0.00,0.000,6,0.000,0.031,2927,2042,2379,0,0,0,0,0,0
$GC,6290,1.08,163.3,339.3,8.0,314,6294,0.00,2.50,0.00,0.000,4,0.000,0.053,2927,628,2378,0,0,0,0,0,0
$GC,6378,1.08,163.3,331.5,9.3,316,6383,0.00,2.35,0.00,0.000,6,0.000,0.031,2926,2037,2376,0,0,0,0,0,0
$GC,6707,1.14,170.4,306.3,7.5,324,6720,0.15,2.55,6.12,0.646,4,0.071,0.052,2963,627,2355,0,0,0,0,0,0
$GC,6870,1.06,170.4,289.0,10.6,329,6874,0.00,2.35,0.00,0.000,6,0.000,0.029,2962,2039,2353,0,0,0,0,0,0
$GC,7200,1.06,170.4,259.6,8.8,345,7201,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2043,2352,0,0,0,0,0,0
$GC,7508,1.06,170.4,233.3,8.3,360,7509,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2043,2352,0,0,0,0,0,0
$GC,7819,1.06,170.4,209.8,8.3,375,7823,0.00,2.47,0.00,0.000,4,0.000,0.048,2963,616,2351,0,0,0,0,0,0
$GC,7838,1.02,170.4,208.0,8.5,376,7843,0.15,2.35,0.00,0.000,6,0.117,0.027,2936,2043,2350,0,0,0,0,0,0
$GC,8165,1.09,173.3,183.9,7.8,401,8169,0.00,2.47,0.00,0.000,4,0.000,0.048,2936,618,2350,0,0,0,0,0,0
$GC,8234,1.10,182.2,178.4,7.4,408,8253,0.00,2.35,10.98,0.639,6,0.000,0.025,2935,2046,2307,0,0,0,0,0,0
$GC,8508,1.18,190.3,159.3,7.5,434,8519,0.17,0.00,8.52,0.592,6,0.063,0.000,2980,2046,2274,0,0,0,0,0,0
$GC,8773,1.18,190.3,136.2,10.1,459,8778,0.00,2.45,0.00,0.000,4,0.000,0.045,2980,618,2273,0,0,0,0,0,0
$GC,8837,1.13,190.3,129.2,11.2,465,8842,0.00,2.33,0.00,0.000,6,0.000,0.024,2980,2033,2272,0,0,0,0,0,0
$GC,9098,1.13,190.3,103.5,8.9,490,9102,0.00,2.42,0.00,0.000,4,0.000,0.044,2980,626,2271,0,0,0,0,0,0
$GC,9269,1.09,190.3,87.3,8.9,508,9276,0.10,2.33,0.00,0.000,6,0.091,0.022,2957,2036,2272,0,0,0,0,0,0
$GC,9533,1.18,208.0,70.1,6.8,533,9556,0.00,2.50,16.88,0.560,4,0.000,0.042,2955,626,2201,0,0,0,0,0,0
$GC,9671,1.21,208.0,57.5,11.0,548,9678,0.05,2.33,0.00,0.000,6,0.055,0.021,2980,2040,2198,0,0,0,0,0,0
$GC,9933,1.29,208.0,32.8,10.8,573,9937,0.00,2.42,0.00,0.000,4,0.000,0.041,2979,625,2198,0,0,0,0,0,0
$GC,10017,1.29,208.0,24.7,9.5,588,10024,0.00,2.33,0.00,0.000,6,0.000,0.021,2980,2043,2198,0,0,0,0,0,0
$GC,10220,1.38,229.9,9.0,6.5,625,10250,0.15,2.50,20.10,0.517,4,0.059,0.041,3024,627,2110,0,0,0,0,0,0
$GC,10262,1.32,229.9,5.8,8.4,632,10269,0.08,2.33,0.00,0.000,6,0.086,0.021,3005,2037,2109,0,0,0,0,0,0
$STATE,10286,end climb,SURFACE_DEPTH_REACHED
$STATE,10286,begin surface coast
$FINISH,0.5,1.023476
$STATE,10313,end surface coast,CONTROL_FINISHED_OK
$STATE,10313,begin surface
$SM_CCo,10332,36.40,0.515,0,0,1827,300.00
$SM_GC,1.48,0.00,0.00,36.40,0.000,0.000,0.515,427,1887,1827,-10.52,-0.37,300.00
$IRIDIUM_FIX,2101.76,-15745.74,010899,050503
$TT8_MAMPS,0.029913
$HUMID,45.31
$INTERNAL_PRESSURE,9.68441
$TCM_TEMP,21.50
$XPDR_PINGS,1
$24V_AH,23.4,19.419
$10V_AH,10.0,18.521
$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,27.000,114.925,263.325,36.400,0.000,51.708,73.517,277.445,4.750,0.000,39.649,1249.239,6763.113,360.712,2017.340,583.650,33.368,1223.107,0.000,1968.877,0.000,29.265,0.000
$DEVICE_MAMPS,135.759,56.758,877.448,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,432.843,411.027,924.285,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,34898,641
$CAP_FILE_SIZE,123796,0
$CFSIZE,260165632,246259712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070510,080727,2106.718,-15749.247,58,3.1,77,9.8