version: 66.06
glider: 139
mission: 7
dive: 220
start: 5 7 110 17 6 8
data:
$ID,139
$MISSION,7
$DIVE,220
$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,-2126609
$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
$GPS1,165952,2106.600,-15747.600,113,3.0,132,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-70.0
$GPS2,170516,2106.641,-15747.609,14,2.8,33,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.171,-0.067
$KALMAN_X,-100886.5,-210.1,414.2,127944.3,-1352.8
$KALMAN_Y,28497.4,134.3,14.1,-30745.3,641.1
$MHEAD_RNG_PITCHd_Wd,101.5,8249,-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,-54.92,0.000,2,0.000,0.000,425,1894,3265,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.4,-5.7,10,93,10.70,2.42,-1.98,0.000,4,0.139,0.054,2403,484,3369,0,0,0,0,0,0
$GC,117,-0.84,-77.9,18.1,-30.7,18,125,0.55,2.35,0.00,0.000,6,0.087,0.021,2527,1922,3370,0,0,0,0,0,0
$GC,324,-1.03,-77.9,37.5,-6.7,47,329,0.17,2.47,0.00,0.000,4,0.050,0.044,2471,488,3371,0,0,0,0,0,0
$GC,375,-1.03,-77.9,42.2,-10.4,52,380,0.00,2.28,0.00,0.000,6,0.000,0.020,2472,1905,3371,0,0,0,0,0,0
$GC,638,-1.13,-77.9,68.3,-9.8,76,642,0.00,2.45,0.00,0.000,4,0.000,0.044,2470,487,3372,0,0,0,0,0,0
$GC,680,-1.13,-77.9,72.9,-11.3,80,685,0.00,2.28,0.00,0.000,6,0.000,0.020,2472,1910,3372,0,0,0,0,0,0
$GC,942,-1.22,-77.9,98.2,-9.5,104,947,0.12,2.47,0.00,0.000,4,0.064,0.044,2425,484,3372,0,0,0,0,0,0
$GC,1012,-1.22,-77.9,107.4,-13.0,111,1017,0.00,2.25,0.00,0.000,6,0.000,0.020,2430,1898,3373,0,0,0,0,0,0
$GC,1275,-1.25,-77.9,137.0,-10.4,135,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,1905,3374,0,0,0,0,0,0
$GC,1530,-1.29,-77.9,166.6,-11.6,159,1534,0.00,2.42,0.00,0.000,4,0.000,0.044,2427,489,3374,0,0,0,0,0,0
$GC,1575,-1.29,-77.9,172.5,-11.7,163,1580,0.00,2.28,0.00,0.000,6,0.000,0.021,2430,1906,3374,0,0,0,0,0,0
$GC,1837,-1.33,-77.9,203.1,-12.2,187,1841,0.00,2.42,0.00,0.000,4,0.000,0.044,2426,485,3374,0,0,0,0,0,0
$GC,1896,-1.33,-77.9,210.6,-11.6,189,1902,0.00,2.28,0.00,0.000,6,0.000,0.021,2430,1905,3375,0,0,0,0,0,0
$GC,2214,-1.40,-77.9,241.8,-9.8,205,2218,0.00,2.42,0.00,0.000,4,0.000,0.045,2428,494,3375,0,0,0,0,0,0
$GC,2279,-1.43,-77.9,248.6,-9.9,208,2284,0.12,2.25,0.00,0.000,6,0.065,0.021,2389,1904,3375,0,0,0,0,0,0
$GC,2610,-1.43,-77.9,281.8,-9.9,224,2614,0.00,2.42,0.00,0.000,4,0.000,0.046,2389,494,3375,0,0,0,0,0,0
$GC,2656,-1.40,-77.9,287.4,-12.4,226,2660,0.10,2.25,0.00,0.000,6,0.110,0.022,2408,1898,3375,0,0,0,0,0,0
$GC,3002,-1.44,-77.9,318.8,-8.8,238,3007,0.00,2.40,0.00,0.000,4,0.000,0.048,2409,495,3374,0,0,0,0,0,0
$GC,3095,-1.44,-77.9,327.2,-8.4,240,3099,0.00,2.25,0.00,0.000,6,0.000,0.024,2409,1896,3374,0,0,0,0,0,0
$GC,3419,-1.50,-77.9,352.0,-7.7,248,3423,0.00,2.42,0.00,0.000,4,0.000,0.050,2408,491,3373,0,0,0,0,0,0
$GC,3479,-1.55,-77.9,356.9,-8.3,249,3484,0.12,2.30,0.00,0.000,6,0.067,0.026,2368,1904,3373,0,0,0,0,0,0
$GC,3828,-1.55,-77.9,388.9,-9.4,258,3833,0.00,2.47,0.00,0.000,4,0.000,0.052,2369,491,3371,0,0,0,0,0,0
$GC,3898,-1.50,-77.9,396.2,-10.2,259,3902,0.00,2.30,0.00,0.000,6,0.000,0.028,2369,1897,3370,0,0,0,0,0,0
$GC,4237,-1.50,-77.9,430.8,-10.3,268,4241,0.00,2.47,0.00,0.000,4,0.000,0.054,2369,492,3368,0,0,0,0,0,0
$GC,4283,-1.44,-77.9,436.0,-10.7,269,4288,0.15,2.35,0.00,0.000,6,0.099,0.028,2400,1904,3368,0,0,0,0,0,0
$STATE,4442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4442,begin apogee
$GC,4447,-0.31,0.0,450.5,8.8,273,4515,1.15,0.00,64.60,0.874,6,0.077,0.000,2645,2063,3050,0,0,0,0,0,0
$STATE,4516,end apogee,CONTROL_FINISHED_OK
$STATE,4516,begin climb
$GC,4518,1.40,77.9,451.6,0.0,274,4593,1.62,2.45,64.57,0.856,4,0.035,0.046,3024,3411,2732,0,0,0,0,0,0
$GC,4825,1.23,116.9,443.4,5.3,280,4866,0.20,2.40,33.17,0.841,6,0.115,0.038,2986,2025,2573,0,0,0,0,0,0
$GC,5201,1.11,116.9,414.2,8.1,290,5206,0.15,2.47,0.00,0.000,4,0.122,0.054,2959,628,2567,0,0,0,0,0,0
$GC,5235,0.98,120.0,411.4,7.8,290,5240,0.15,2.35,0.00,0.000,6,0.126,0.031,2930,2019,2566,0,0,0,0,0,0
$GC,5565,1.00,141.7,389.6,6.5,298,5593,0.00,2.53,21.10,0.821,4,0.000,0.053,2932,630,2470,0,0,0,0,0,0
$GC,5609,0.96,144.6,386.3,7.8,299,5613,0.00,2.40,0.00,0.000,6,0.000,0.031,2931,2035,2469,0,0,0,0,0,0
$GC,5936,0.97,152.0,361.1,7.5,307,5953,0.00,2.58,9.52,0.744,4,0.000,0.053,2932,627,2429,0,0,0,0,0,0
$GC,6054,0.92,152.0,350.8,8.5,309,6059,0.00,2.38,0.00,0.000,6,0.000,0.031,2932,2044,2427,0,0,0,0,0,0
$GC,6395,0.99,179.8,328.8,6.1,318,6427,0.00,2.60,25.50,0.805,4,0.000,0.052,2932,631,2314,0,0,0,0,0,0
$GC,6492,0.99,179.8,319.8,10.4,320,6497,0.00,2.40,0.00,0.000,6,0.000,0.031,2932,2044,2310,0,0,0,0,0,0
$GC,6812,1.05,183.2,293.1,7.8,330,6816,0.00,2.50,0.00,0.000,4,0.000,0.051,2933,622,2309,0,0,0,0,0,0
$GC,6859,1.05,183.2,289.1,8.3,332,6863,0.00,2.38,0.00,0.000,6,0.000,0.030,2933,2044,2306,0,0,0,0,0,0
$GC,7188,1.11,183.2,262.5,8.8,348,7193,0.10,2.50,0.00,0.000,4,0.087,0.051,2957,628,2307,0,0,0,0,0,0
$GC,7445,1.07,183.2,236.6,8.6,359,7449,0.00,2.35,0.00,0.000,6,0.000,0.028,2957,2046,2304,0,0,0,0,0,0
$GC,7770,1.10,183.2,210.9,8.9,375,7774,0.00,2.47,0.00,0.000,4,0.000,0.048,2957,627,2304,0,0,0,0,0,0
$GC,7853,1.06,183.2,202.9,9.3,378,7860,0.00,2.35,0.00,0.000,6,0.000,0.027,2957,2029,2303,0,0,0,0,0,0
$GC,8178,1.11,195.9,178.1,7.1,407,8198,0.00,2.47,13.12,0.650,4,0.000,0.045,2957,625,2251,0,0,0,0,0,0
$GC,8255,1.11,195.9,171.5,9.7,415,8260,0.00,2.33,0.00,0.000,6,0.000,0.025,2957,2040,2248,0,0,0,0,0,0
$GC,8518,1.16,195.9,148.2,9.2,439,8519,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2044,2248,0,0,0,0,0,0
$GC,8772,1.21,195.9,125.3,8.4,463,8773,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2045,2248,0,0,0,0,0,0
$GC,9027,1.28,197.9,105.2,7.9,487,9032,0.15,2.47,0.00,0.000,4,0.064,0.044,2997,616,2248,0,0,0,0,0,0
$GC,9127,1.20,197.9,94.3,12.2,497,9132,0.12,2.30,0.00,0.000,6,0.112,0.022,2975,2043,2248,0,0,0,0,0,0
$GC,9388,1.24,197.9,70.5,8.2,521,9392,0.00,2.42,0.00,0.000,4,0.000,0.042,2974,624,2248,0,0,0,0,0,0
$GC,9410,1.24,197.9,68.2,9.8,523,9416,0.00,2.30,0.00,0.000,6,0.000,0.022,2974,2027,2248,0,0,0,0,0,0
$GC,9673,1.29,207.2,49.3,7.4,548,9694,0.00,2.47,11.48,0.524,4,0.000,0.041,2974,625,2204,0,0,0,0,0,0
$GC,9805,1.29,207.2,36.8,10.5,562,9811,0.00,2.30,0.00,0.000,6,0.000,0.021,2975,2031,2202,0,0,0,0,0,0
$GC,10068,1.40,232.0,19.5,6.3,602,10098,0.20,2.35,22.70,0.525,4,0.053,0.028,3031,3432,2103,0,0,0,0,0,0
$GC,10194,1.40,232.0,7.6,10.6,629,10201,0.00,2.40,0.00,0.000,6,0.000,0.031,3028,2023,2102,0,0,0,0,0,0
$STATE,10238,end climb,SURFACE_DEPTH_REACHED
$STATE,10238,begin surface coast
$FINISH,0.4,1.023477
$STATE,10267,end surface coast,CONTROL_FINISHED_OK
$STATE,10267,begin surface
$SM_CCo,10286,34.58,0.510,0,0,1827,300.00
$SM_GC,1.50,0.00,0.00,34.58,0.000,0.000,0.510,422,1884,1827,-10.55,-0.45,300.00
$IRIDIUM_FIX,2057.14,-15746.61,010899,141450
$TT8_MAMPS,0.029146
$HUMID,44.68
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,19.739
$10V_AH,10.0,18.854
$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,27.075,120.025,265.775,34.575,0.000,29.075,26.046,152.832,4.500,0.000,34.681,1255.632,6622.449,358.943,2022.182,388.960,33.374,1220.625,0.000,1988.199,0.000,29.247,0.000
$DEVICE_MAMPS,138.827,59.826,873.613,510.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,434.211,420.649,960.302,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34869,642
$CAP_FILE_SIZE,120514,0
$CFSIZE,260165632,246030336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070510,195936,2106.511,-15746.863,52,1.5,52,9.8