version: 66.06
glider: 139
mission: 7
dive: 219
start: 5 7 110 14 12 27
data:
$ID,139
$MISSION,7
$DIVE,219
$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,-2126573.5
$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
$GPS1,140531,2106.493,-15748.503,84,1.6,84,9.8
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-72.2
$GPS2,141136,2106.543,-15748.514,23,1.3,39,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.175,-0.057
$KALMAN_X,-100385.3,0.6,97.1,125992.5,-1095.7
$KALMAN_Y,27588.3,71.8,169.7,-30105.2,514.5
$MHEAD_RNG_PITCHd_Wd,98.2,9763,-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,-55.25,0.000,2,0.000,0.000,422,1887,3293,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.7,-7.4,10,94,10.73,2.40,-1.42,0.000,4,0.138,0.051,2405,485,3369,0,0,0,0,0,0
$GC,135,-1.14,-77.9,23.3,-23.3,22,142,0.25,2.35,0.00,0.000,6,0.082,0.021,2461,1919,3370,0,0,0,0,0,0
$GC,336,-1.14,-77.9,51.5,-11.3,44,340,0.00,2.45,0.00,0.000,4,0.000,0.044,2457,489,3371,0,0,0,0,0,0
$GC,362,-1.14,-77.9,55.1,-12.8,46,370,0.00,2.30,0.00,0.000,6,0.000,0.020,2460,1907,3370,0,0,0,0,0,0
$GC,625,-1.18,-77.9,82.2,-10.2,71,629,0.00,2.42,0.00,0.000,4,0.000,0.044,2456,493,3372,0,0,0,0,0,0
$GC,713,-1.18,-77.9,91.5,-10.8,80,717,0.00,2.22,0.00,0.000,6,0.000,0.020,2461,1894,3372,0,0,0,0,0,0
$GC,975,-1.24,-77.9,117.7,-11.0,104,979,0.00,2.40,0.00,0.000,4,0.000,0.044,2450,490,3373,0,0,0,0,0,0
$GC,1029,-1.28,-77.9,124.8,-12.3,109,1035,0.12,2.28,0.00,0.000,6,0.064,0.020,2419,1908,3373,0,0,0,0,0,0
$GC,1289,-1.28,-77.9,156.4,-11.3,134,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1912,3374,0,0,0,0,0,0
$GC,1544,-1.28,-77.9,182.7,-10.4,158,1548,0.00,2.42,0.00,0.000,4,0.000,0.044,2415,485,3374,0,0,0,0,0,0
$GC,1607,-1.28,-77.9,190.3,-11.8,164,1614,0.00,2.30,0.00,0.000,6,0.000,0.021,2419,1904,3375,0,0,0,0,0,0
$GC,1873,-1.28,-77.9,218.8,-10.5,182,1877,0.00,2.40,0.00,0.000,4,0.000,0.044,2418,492,3375,0,0,0,0,0,0
$GC,1915,-1.28,-77.9,223.5,-11.7,184,1919,0.00,2.28,0.00,0.000,6,0.000,0.021,2419,1905,3375,0,0,0,0,0,0
$GC,2244,-1.33,-77.9,254.1,-8.6,200,2249,0.00,2.42,0.00,0.000,4,0.000,0.045,2418,494,3375,0,0,0,0,0,0
$GC,2295,-1.37,-77.9,259.2,-10.1,202,2299,0.00,2.28,0.00,0.000,6,0.000,0.022,2418,1904,3375,0,0,0,0,0,0
$GC,2615,-1.44,-77.9,288.3,-9.1,218,2619,0.00,2.45,0.00,0.000,4,0.000,0.047,2418,488,3375,0,0,0,0,0,0
$GC,2711,-1.47,-77.9,297.7,-9.0,222,2715,0.00,2.25,0.00,0.000,6,0.000,0.023,2414,1898,3375,0,0,0,0,0,0
$GC,3027,-1.54,-77.9,321.7,-7.7,231,3032,0.17,2.45,0.00,0.000,4,0.055,0.050,2369,488,3374,0,0,0,0,0,0
$GC,3131,-1.48,-77.9,333.6,-12.0,233,3136,0.10,2.28,0.00,0.000,6,0.114,0.025,2389,1894,3373,0,0,0,0,0,0
$GC,3446,-1.48,-77.9,367.0,-11.1,241,3450,0.00,2.42,0.00,0.000,4,0.000,0.051,2389,495,3372,0,0,0,0,0,0
$GC,3488,-1.48,-77.9,372.2,-12.2,242,3492,0.00,2.30,0.00,0.000,6,0.000,0.027,2388,1904,3372,0,0,0,0,0,0
$GC,3815,-1.48,-77.9,405.9,-9.8,250,3819,0.00,2.47,0.00,0.000,4,0.000,0.053,2389,495,3370,0,0,0,0,0,0
$GC,3870,-1.48,-77.9,411.7,-10.0,251,3874,0.00,2.33,0.00,0.000,6,0.000,0.028,2388,1898,3370,0,0,0,0,0,0
$GC,4188,-1.52,-77.9,441.0,-9.3,259,4192,0.00,2.47,0.00,0.000,4,0.000,0.054,2388,495,3367,0,0,0,0,0,0
$GC,4252,-1.52,-77.9,447.6,-9.7,260,4256,0.00,2.33,0.00,0.000,6,0.000,0.029,2387,1905,3367,0,0,0,0,0,0
$STATE,4310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4310,begin apogee
$GC,4315,-0.31,0.0,452.5,8.5,262,4384,1.20,0.00,64.88,0.875,6,0.076,0.000,2645,2059,3050,0,0,0,0,0,0
$STATE,4384,end apogee,CONTROL_FINISHED_OK
$STATE,4384,begin climb
$GC,4386,1.40,77.9,453.3,0.0,263,4461,1.62,2.45,64.97,0.853,4,0.034,0.046,3023,3409,2732,0,0,0,0,0,0
$GC,4554,1.22,110.6,449.6,5.8,266,4590,0.22,2.38,28.45,0.832,6,0.117,0.038,2981,2029,2598,0,0,0,0,0,0
$GC,4931,1.11,110.6,417.1,9.0,276,4936,0.15,2.50,0.00,0.000,4,0.124,0.054,2956,629,2593,0,0,0,0,0,0
$GC,5015,0.98,110.6,409.5,8.7,277,5021,0.15,2.35,0.00,0.000,6,0.123,0.031,2929,2019,2591,0,0,0,0,0,0
$GC,5345,1.02,142.2,388.3,5.9,286,5378,0.00,2.58,26.48,0.828,4,0.000,0.055,2929,628,2469,0,0,0,0,0,0
$GC,5430,0.98,144.6,382.1,7.9,287,5435,0.00,2.38,0.00,0.000,6,0.000,0.031,2929,2038,2466,0,0,0,0,0,0
$GC,5760,1.00,162.0,359.2,6.8,296,5785,0.00,2.58,17.62,0.797,4,0.000,0.054,2929,634,2388,0,0,0,0,0,0
$GC,5865,0.97,164.2,351.1,7.9,298,5869,0.00,2.38,0.00,0.000,6,0.000,0.031,2929,2034,2385,0,0,0,0,0,0
$GC,6178,1.01,171.4,327.3,7.5,306,6194,0.00,2.53,8.93,0.719,4,0.000,0.052,2928,632,2350,0,0,0,0,0,0
$GC,6245,1.01,171.4,321.5,9.1,307,6249,0.00,2.38,0.00,0.000,6,0.000,0.031,2928,2041,2347,0,0,0,0,0,0
$GC,6576,1.09,188.3,297.8,6.9,316,6600,0.10,2.58,16.10,0.762,4,0.088,0.051,2953,630,2281,0,0,0,0,0,0
$GC,6625,1.03,188.3,293.6,9.7,318,6629,0.00,2.40,0.00,0.000,6,0.000,0.030,2954,2043,2278,0,0,0,0,0,0
$GC,6953,1.03,188.3,263.2,9.6,334,6957,0.00,2.50,0.00,0.000,4,0.000,0.051,2953,629,2276,0,0,0,0,0,0
$GC,7186,1.04,197.8,241.5,7.4,344,7202,0.00,2.35,8.70,0.667,6,0.000,0.028,2954,2044,2243,0,0,0,0,0,0
$GC,7510,1.09,197.8,218.2,8.4,360,7515,0.00,2.47,0.00,0.000,4,0.000,0.048,2953,627,2241,0,0,0,0,0,0
$GC,7538,1.09,197.8,215.6,9.3,361,7543,0.00,2.33,0.00,0.000,6,0.000,0.027,2954,2037,2239,0,0,0,0,0,0
$GC,7864,1.14,200.2,188.0,7.9,384,7868,0.00,2.45,0.00,0.000,4,0.000,0.048,2954,619,2239,0,0,0,0,0,0
$GC,8006,1.14,200.2,174.1,10.5,399,8010,0.00,2.33,0.00,0.000,6,0.000,0.025,2954,2044,2239,0,0,0,0,0,0
$GC,8269,1.19,200.2,147.3,10.8,423,8273,0.00,2.45,0.00,0.000,4,0.000,0.045,2954,628,2239,0,0,0,0,0,0
$GC,8312,1.19,200.2,142.2,12.1,427,8316,0.00,2.33,0.00,0.000,6,0.000,0.024,2953,2044,2239,0,0,0,0,0,0
$GC,8575,1.26,203.3,118.9,7.8,451,8584,0.15,0.00,5.85,0.502,6,0.064,0.000,2995,2048,2221,0,0,0,0,0,0
$GC,8837,1.26,203.3,94.7,8.6,476,8841,0.00,2.45,0.00,0.000,4,0.000,0.043,2995,621,2221,0,0,0,0,0,0
$GC,8971,1.19,203.3,79.7,10.9,490,8975,0.00,2.28,0.00,0.000,6,0.000,0.022,2995,2041,2220,0,0,0,0,0,0
$GC,9233,1.19,203.3,54.2,9.8,514,9234,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2046,2220,0,0,0,0,0,0
$GC,9487,1.19,203.3,29.6,9.0,538,9494,0.00,2.45,0.00,0.000,4,0.000,0.043,2994,628,2220,0,0,0,0,0,0
$GC,9729,1.13,208.1,6.3,7.7,594,9742,0.15,2.30,6.25,0.435,6,0.081,0.021,2961,2040,2201,0,0,0,0,0,0
$STATE,9768,end climb,SURFACE_DEPTH_REACHED
$STATE,9768,begin surface coast
$FINISH,0.4,1.010066
$STATE,9809,end surface coast,CONTROL_FINISHED_OK
$STATE,9809,begin surface
$SM_CCo,9828,48.17,0.522,0,0,1826,300.00
$SM_GC,1.75,0.00,0.00,48.17,0.000,0.000,0.522,426,1892,1826,-10.53,-0.23,300.00
$IRIDIUM_FIX,2057.14,-15756.04,010899,111131
$TT8_MAMPS,0.029146
$HUMID,44.95
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,19.662
$10V_AH,10.0,18.767
$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,25.975,115.200,248.225,48.175,0.000,29.940,32.789,183.094,4.500,0.000,39.171,1190.942,6391.836,360.587,1895.274,405.197,33.376,1164.650,0.000,1849.673,0.000,29.240,0.000
$DEVICE_MAMPS,138.060,57.525,875.147,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,411.510,389.602,879.908,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,34920,608
$CAP_FILE_SIZE,114602,0
$CFSIZE,260165632,246095872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070510,165952,2106.600,-15747.600,113,3.0,132,9.8