version: 66.06
glider: 139
mission: 7
dive: 218
start: 5 7 110 11 16 37
data:
$ID,139
$MISSION,7
$DIVE,218
$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,-2126533.5
$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
$GPS1,111007,2106.705,-15748.971,50,1.8,50,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-66.6
$GPS2,111544,2106.746,-15749.011,11,1.5,11,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.154,-0.100
$KALMAN_X,-99419.6,298.4,-298.0,124262.1,-895.7
$KALMAN_Y,27074.2,-6.8,16.2,-28986.6,984.8
$MHEAD_RNG_PITCHd_Wd,113.1,10668,-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,-55.47,0.000,2,0.000,0.000,426,1933,3270,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.3,-5.7,10,94,10.73,2.47,-1.90,0.000,4,0.138,0.048,2404,484,3368,0,0,0,0,0,0
$GC,138,-1.15,-77.9,22.1,-21.6,23,146,0.25,2.38,0.00,0.000,6,0.084,0.020,2460,1935,3370,0,0,0,0,0,0
$GC,341,-1.19,-77.9,48.2,-11.7,46,345,0.00,2.50,0.00,0.000,4,0.000,0.043,2459,488,3370,0,0,0,0,0,0
$GC,392,-1.19,-77.9,54.4,-12.3,51,396,0.00,2.28,0.00,0.000,6,0.000,0.020,2461,1910,3370,0,0,0,0,0,0
$GC,655,-1.25,-77.9,84.9,-12.1,75,659,0.00,2.45,0.00,0.000,4,0.000,0.044,2459,490,3371,0,0,0,0,0,0
$GC,687,-1.25,-77.9,89.2,-12.8,78,691,0.00,2.25,0.00,0.000,6,0.000,0.020,2460,1901,3371,0,0,0,0,0,0
$GC,954,-1.32,-77.9,117.5,-9.7,103,959,0.15,2.42,0.00,0.000,4,0.058,0.044,2413,493,3372,0,0,0,0,0,0
$GC,983,-1.22,-77.9,121.2,-12.6,105,989,0.17,2.25,0.00,0.000,6,0.091,0.020,2451,1900,3373,0,0,0,0,0,0
$GC,1244,-1.29,-77.9,147.4,-10.4,130,1248,0.00,2.40,0.00,0.000,4,0.000,0.044,2449,493,3373,0,0,0,0,0,0
$GC,1262,-1.32,-77.9,149.4,-11.0,131,1268,0.12,2.28,0.00,0.000,6,0.064,0.020,2409,1913,3373,0,0,0,0,0,0
$GC,1522,-1.32,-77.9,178.8,-10.7,156,1526,0.00,2.45,0.00,0.000,4,0.000,0.044,2407,491,3374,0,0,0,0,0,0
$GC,1588,-1.29,-77.9,186.3,-11.8,162,1595,0.08,2.28,0.00,0.000,6,0.077,0.021,2430,1891,3374,0,0,0,0,0,0
$GC,1846,-1.33,-77.9,211.9,-9.4,181,1851,0.00,2.40,0.00,0.000,4,0.000,0.044,2429,494,3374,0,0,0,0,0,0
$GC,1883,-1.33,-77.9,215.9,-10.4,182,1889,0.00,2.28,0.00,0.000,6,0.000,0.021,2430,1895,3374,0,0,0,0,0,0
$GC,2198,-1.42,-77.9,245.3,-8.7,198,2200,0.12,0.00,0.00,0.000,6,0.066,0.000,2390,1899,3375,0,0,0,0,0,0
$GC,2508,-1.42,-77.9,273.8,-9.2,213,2512,0.00,2.42,0.00,0.000,4,0.000,0.047,2389,493,3375,0,0,0,0,0,0
$GC,2569,-1.42,-77.9,280.8,-11.5,215,2575,0.00,2.28,0.00,0.000,6,0.000,0.023,2389,1896,3375,0,0,0,0,0,0
$GC,2881,-1.42,-77.9,312.7,-10.2,228,2886,0.00,2.45,0.00,0.000,4,0.000,0.049,2389,487,3374,0,0,0,0,0,0
$GC,2936,-1.42,-77.9,319.2,-11.0,229,2940,0.00,2.30,0.00,0.000,6,0.000,0.025,2389,1905,3374,0,0,0,0,0,0
$GC,3253,-1.42,-77.9,353.2,-11.1,237,3258,0.00,2.45,0.00,0.000,4,0.000,0.050,2390,497,3373,0,0,0,0,0,0
$GC,3313,-1.42,-77.9,360.0,-10.7,238,3320,0.00,2.30,0.00,0.000,6,0.000,0.026,2390,1899,3372,0,0,0,0,0,0
$GC,3629,-1.45,-77.9,389.2,-8.9,246,3633,0.00,2.42,0.00,0.000,4,0.000,0.051,2389,496,3370,0,0,0,0,0,0
$GC,3693,-1.45,-77.9,395.7,-9.9,247,3697,0.00,2.33,0.00,0.000,6,0.000,0.027,2390,1904,3370,0,0,0,0,0,0
$GC,4039,-1.48,-77.9,424.1,-8.2,256,4044,0.00,2.47,0.00,0.000,4,0.000,0.054,2388,489,3368,0,0,0,0,0,0
$GC,4066,-1.48,-77.9,426.9,-8.9,256,4071,0.00,2.35,0.00,0.000,6,0.000,0.028,2389,1905,3368,0,0,0,0,0,0
$STATE,4359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4359,begin apogee
$GC,4364,-0.31,0.0,451.9,8.7,264,4432,1.20,0.00,64.80,0.877,6,0.077,0.000,2645,2054,3049,0,0,0,0,0,0
$STATE,4433,end apogee,CONTROL_FINISHED_OK
$STATE,4433,begin climb
$GC,4435,1.40,77.9,452.8,0.0,265,4509,1.62,2.45,65.20,0.856,4,0.033,0.046,3024,3405,2732,0,0,0,0,0,0
$GC,4773,1.20,98.0,438.5,6.6,272,4798,0.22,2.38,17.48,0.815,6,0.114,0.038,2980,2032,2650,0,0,0,0,0,0
$GC,5126,1.09,105.5,412.9,7.5,281,5139,0.15,2.42,7.18,0.708,4,0.122,0.044,2956,3414,2620,0,0,0,0,0,0
$GC,5201,1.04,120.7,407.7,7.0,282,5222,0.00,2.40,14.60,0.798,6,0.000,0.040,2955,2034,2557,0,0,0,0,0,0
$GC,5550,1.00,120.7,378.8,8.3,291,5552,0.12,0.00,0.00,0.000,6,0.126,0.000,2933,2034,2552,0,0,0,0,0,0
$GC,5874,1.02,139.1,355.3,6.8,299,5895,0.00,2.55,16.02,0.798,4,0.000,0.054,2934,622,2481,0,0,0,0,0,0
$GC,5947,0.97,139.1,349.8,8.1,300,5951,0.00,2.35,0.00,0.000,6,0.000,0.031,2933,2016,2478,0,0,0,0,0,0
$GC,6287,1.00,167.9,328.2,6.0,309,6319,0.00,2.58,25.62,0.805,4,0.000,0.054,2934,626,2365,0,0,0,0,0,0
$GC,6330,1.02,180.0,325.5,7.2,310,6347,0.00,2.40,12.12,0.742,6,0.000,0.031,2933,2045,2316,0,0,0,0,0,0
$GC,6657,1.06,180.0,297.2,9.1,318,6661,0.00,2.50,0.00,0.000,4,0.000,0.054,2934,626,2310,0,0,0,0,0,0
$GC,6785,1.06,180.0,283.7,11.1,323,6791,0.00,2.35,0.00,0.000,6,0.000,0.030,2934,2034,2307,0,0,0,0,0,0
$GC,7102,1.11,180.0,255.9,9.0,339,7107,0.10,2.47,0.00,0.000,4,0.088,0.051,2957,629,2307,0,0,0,0,0,0
$GC,7222,1.07,180.0,242.6,11.2,344,7226,0.00,2.38,0.00,0.000,6,0.000,0.028,2958,2043,2305,0,0,0,0,0,0
$GC,7542,1.07,183.5,215.3,7.8,360,7543,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2047,2305,0,0,0,0,0,0
$GC,7855,1.11,209.8,192.0,6.2,380,7886,0.00,2.58,25.67,0.704,4,0.000,0.048,2958,628,2194,0,0,0,0,0,0
$GC,8014,1.11,209.8,178.0,9.1,397,8020,0.00,2.33,0.00,0.000,6,0.000,0.025,2958,2040,2188,0,0,0,0,0,0
$GC,8276,1.16,209.8,153.1,9.7,422,8280,0.00,2.45,0.00,0.000,4,0.000,0.047,2958,623,2187,0,0,0,0,0,0
$GC,8366,1.16,209.8,143.4,11.0,431,8372,0.00,2.33,0.00,0.000,6,0.000,0.025,2958,2055,2186,0,0,0,0,0,0
$GC,8628,1.22,211.4,121.4,7.9,456,8632,0.00,2.30,0.00,0.000,4,0.000,0.033,2958,3429,2186,0,0,0,0,0,0
$GC,8663,1.27,211.5,118.8,8.0,459,8668,0.15,2.35,0.00,0.000,6,0.063,0.028,2996,2025,2186,0,0,0,0,0,0
$GC,8925,1.22,211.5,94.9,11.0,483,8929,0.00,2.38,0.00,0.000,4,0.000,0.043,2998,634,2186,0,0,0,0,0,0
$GC,8978,1.15,211.5,88.8,9.7,488,8983,0.17,2.30,0.00,0.000,6,0.104,0.022,2965,2046,2186,0,0,0,0,0,0
$GC,9241,1.23,229.2,68.4,6.8,512,9260,0.00,0.00,17.38,0.563,6,0.000,0.000,2964,2050,2114,0,0,0,0,0,0
$GC,9515,1.31,229.2,45.3,8.2,538,9520,0.15,2.45,0.00,0.000,4,0.061,0.043,3006,633,2114,0,0,0,0,0,0
$GC,9737,1.26,229.2,21.0,10.2,572,9743,0.00,2.30,0.00,0.000,6,0.000,0.020,3007,2048,2111,0,0,0,0,0,0
$STATE,9931,end climb,SURFACE_DEPTH_REACHED
$STATE,9931,begin surface coast
$FINISH,0.4,1.016095
$STATE,9959,end surface coast,CONTROL_FINISHED_OK
$STATE,9959,begin surface
$SM_CCo,9979,35.65,0.516,0,0,1826,300.00
$SM_GC,1.55,0.00,0.00,35.65,0.000,0.000,0.516,422,1887,1826,-10.54,-0.37,300.00
$IRIDIUM_FIX,2059.45,-15748.75,010899,080839
$TT8_MAMPS,0.029146
$HUMID,45.07
$INTERNAL_PRESSURE,9.68441
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,19.583
$10V_AH,10.1,18.686
$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,26.600,110.250,266.075,35.650,0.000,28.051,36.224,177.777,4.500,0.000,11.978,1194.968,6538.313,359.571,1849.654,412.132,33.372,1157.282,0.000,1833.816,0.000,29.249,0.000
$DEVICE_MAMPS,138.060,56.758,877.448,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.618,394.223,884.230,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,34932,613
$CAP_FILE_SIZE,113223,0
$CFSIZE,260165632,246153216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070510,140531,2106.493,-15748.503,84,1.6,84,9.8