version: 66.06
glider: 139
mission: 7
dive: 222
start: 5 7 110 23 39 19
data:
$ID,139
$MISSION,7
$DIVE,222
$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,-2126720
$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
$GPS1,231828,2106.497,-15746.502,44,5.4,63,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-69.5
$GPS2,233827,2106.699,-15746.578,35,3.7,54,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.148,-0.109
$KALMAN_X,-102099.4,-79.9,-311.1,131538.8,-131.3
$KALMAN_Y,30557.9,83.0,66.1,-32695.9,819.8
$MHEAD_RNG_PITCHd_Wd,116.4,6534,-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,-55.17,0.000,2,0.000,0.000,422,1893,3309,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.9,-7.8,10,94,10.73,2.40,-1.12,0.000,4,0.138,0.049,2406,481,3370,0,0,0,0,0,0
$GC,118,-0.88,-77.9,18.7,-30.0,18,126,0.50,2.38,0.00,0.000,6,0.074,0.021,2524,1920,3371,0,0,0,0,0,0
$GC,319,-1.05,-77.9,36.2,-8.2,48,324,0.17,2.47,0.00,0.000,4,0.051,0.044,2468,488,3371,0,0,0,0,0,0
$GC,371,-1.10,-77.9,42.1,-11.5,53,375,0.00,2.28,0.00,0.000,6,0.000,0.020,2468,1919,3371,0,0,0,0,0,0
$GC,638,-1.15,-77.9,70.5,-11.1,78,643,0.00,2.47,0.00,0.000,4,0.000,0.044,2468,485,3371,0,0,0,0,0,0
$GC,682,-1.23,-77.9,76.5,-12.6,82,689,0.00,2.28,0.00,0.000,6,0.000,0.020,2468,1891,3372,0,0,0,0,0,0
$GC,947,-1.31,-77.9,104.3,-10.4,107,952,0.17,2.40,0.00,0.000,4,0.053,0.044,2413,492,3372,0,0,0,0,0,0
$GC,973,-1.24,-77.9,108.0,-14.5,109,978,0.12,2.28,0.00,0.000,6,0.103,0.020,2441,1913,3372,0,0,0,0,0,0
$GC,1235,-1.28,-77.9,137.8,-10.9,133,1239,0.00,2.42,0.00,0.000,4,0.000,0.044,2438,491,3373,0,0,0,0,0,0
$GC,1336,-1.32,-77.9,148.8,-10.3,143,1341,0.00,2.25,0.00,0.000,6,0.000,0.020,2441,1897,3373,0,0,0,0,0,0
$GC,1597,-1.39,-77.9,173.8,-10.0,168,1602,0.12,2.42,0.00,0.000,4,0.065,0.045,2397,492,3374,0,0,0,0,0,0
$GC,1651,-1.33,-77.9,180.4,-13.0,173,1656,0.12,2.25,0.00,0.000,6,0.102,0.020,2423,1899,3374,0,0,0,0,0,0
$GC,1921,-1.38,-77.9,210.1,-11.3,194,1925,0.00,2.42,0.00,0.000,4,0.000,0.044,2422,488,3373,0,0,0,0,0,0
$GC,2021,-1.38,-77.9,222.3,-11.6,198,2025,0.00,2.25,0.00,0.000,6,0.000,0.021,2423,1901,3374,0,0,0,0,0,0
$GC,2341,-1.45,-77.9,248.5,-7.7,214,2346,0.12,2.42,0.00,0.000,4,0.067,0.046,2382,490,3374,0,0,0,0,0,0
$GC,2408,-1.40,-77.9,255.6,-11.1,217,2413,0.12,2.28,0.00,0.000,6,0.103,0.022,2407,1898,3374,0,0,0,0,0,0
$GC,2741,-1.45,-77.9,288.0,-8.9,233,2745,0.00,2.42,0.00,0.000,4,0.000,0.048,2406,495,3373,0,0,0,0,0,0
$GC,2824,-1.45,-77.9,296.0,-8.7,236,2830,0.00,2.30,0.00,0.000,6,0.000,0.024,2406,1896,3372,0,0,0,0,0,0
$GC,3137,-1.50,-77.9,322.0,-8.4,246,3141,0.00,2.42,0.00,0.000,4,0.000,0.049,2408,488,3372,0,0,0,0,0,0
$GC,3187,-1.50,-77.9,326.8,-9.4,247,3191,0.00,2.30,0.00,0.000,6,0.000,0.025,2408,1896,3371,0,0,0,0,0,0
$GC,3505,-1.57,-77.9,352.9,-8.0,255,3510,0.17,2.45,0.00,0.000,4,0.058,0.052,2359,494,3369,0,0,0,0,0,0
$GC,3552,-1.48,-77.9,358.1,-11.3,256,3557,0.17,2.33,0.00,0.000,6,0.096,0.027,2392,1904,3369,0,0,0,0,0,0
$GC,3876,-1.52,-77.9,388.4,-9.4,264,3881,0.00,2.45,0.00,0.000,4,0.000,0.053,2395,495,3366,0,0,0,0,0,0
$GC,3977,-1.52,-77.9,398.4,-9.5,266,3982,0.00,2.33,0.00,0.000,6,0.000,0.028,2392,1899,3365,0,0,0,0,0,0
$GC,4290,-1.57,-77.9,423.2,-7.9,274,4295,0.00,2.45,0.00,0.000,4,0.000,0.054,2394,495,3363,0,0,0,0,0,0
$GC,4341,-1.57,-77.9,427.8,-8.7,275,4345,0.00,2.35,0.00,0.000,6,0.000,0.029,2394,1910,3363,0,0,0,0,0,0
$STATE,4615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4615,begin apogee
$GC,4621,-0.31,0.0,450.7,8.6,282,4688,1.17,0.00,63.70,0.881,6,0.076,0.000,2646,2055,3050,0,0,0,0,0,0
$STATE,4689,end apogee,CONTROL_FINISHED_OK
$STATE,4689,begin climb
$GC,4690,1.40,77.9,451.7,0.0,283,4765,1.62,2.45,64.65,0.860,4,0.035,0.045,3024,3406,2732,0,0,0,0,0,0
$GC,4942,1.22,116.0,445.9,5.4,288,4982,0.20,2.40,32.65,0.846,6,0.117,0.038,2984,2026,2577,0,0,0,0,0,0
$GC,5328,1.11,116.0,414.9,8.2,298,5332,0.15,2.42,0.00,0.000,4,0.121,0.045,2961,3411,2571,0,0,0,0,0,0
$GC,5388,1.05,121.6,410.3,7.6,299,5400,0.00,2.40,5.28,0.633,6,0.000,0.039,2961,2028,2554,0,0,0,0,0,0
$GC,5741,1.00,129.6,384.2,7.5,308,5752,0.15,0.00,8.12,0.732,6,0.123,0.000,2934,2028,2521,0,0,0,0,0,0
$GC,6065,1.01,139.2,360.9,7.4,316,6082,0.00,2.55,9.55,0.752,4,0.000,0.055,2933,629,2480,0,0,0,0,0,0
$GC,6225,0.97,139.2,347.1,9.3,319,6230,0.00,2.35,0.00,0.000,6,0.000,0.031,2933,2017,2478,0,0,0,0,0,0
$GC,6570,1.00,166.0,325.0,6.2,328,6595,0.00,0.00,23.95,0.808,6,0.000,0.000,2933,2022,2373,0,0,0,0,0,0
$GC,6895,1.04,166.0,300.0,8.0,336,6899,0.00,2.45,0.00,0.000,4,0.000,0.053,2933,625,2369,0,0,0,0,0,0
$GC,7010,1.04,166.0,290.0,8.8,340,7014,0.00,2.38,0.00,0.000,6,0.000,0.031,2933,2038,2366,0,0,0,0,0,0
$GC,7334,1.10,179.2,267.7,7.1,356,7351,0.00,2.53,11.95,0.729,4,0.000,0.052,2933,626,2319,0,0,0,0,0,0
$GC,7447,1.10,179.2,258.2,9.2,360,7451,0.00,2.35,0.00,0.000,6,0.000,0.029,2933,2038,2315,0,0,0,0,0,0
$GC,7771,1.17,179.2,232.3,8.3,376,7776,0.15,2.50,0.00,0.000,4,0.071,0.051,2970,621,2315,0,0,0,0,0,0
$GC,7996,1.11,179.2,209.8,9.9,386,8000,0.00,2.38,0.00,0.000,6,0.000,0.028,2971,2045,2313,0,0,0,0,0,0
$GC,8323,1.11,179.2,181.1,8.9,411,8327,0.00,2.47,0.00,0.000,4,0.000,0.047,2970,625,2313,0,0,0,0,0,0
$GC,8414,1.05,179.2,172.2,9.8,420,8421,0.12,2.38,0.00,0.000,6,0.097,0.026,2944,2042,2312,0,0,0,0,0,0
$GC,8678,1.13,196.1,154.3,6.9,445,8700,0.00,2.55,15.27,0.644,4,0.000,0.045,2943,627,2249,0,0,0,0,0,0
$GC,8752,1.13,196.1,148.0,8.8,453,8757,0.00,2.33,0.00,0.000,6,0.000,0.025,2943,2041,2246,0,0,0,0,0,0
$GC,9016,1.25,222.1,129.6,6.2,477,9047,0.20,2.55,23.88,0.632,4,0.057,0.045,2995,628,2143,0,0,0,0,0,0
$GC,9084,1.17,222.1,123.1,10.9,484,9091,0.10,2.35,0.00,0.000,6,0.091,0.023,2972,2038,2139,0,0,0,0,0,0
$GC,9346,1.23,222.1,96.9,10.4,509,9351,0.00,2.42,0.00,0.000,4,0.000,0.044,2972,626,2139,0,0,0,0,0,0
$GC,9474,1.23,222.1,81.8,11.4,522,9481,0.00,2.33,0.00,0.000,6,0.000,0.022,2971,2032,2137,0,0,0,0,0,0
$GC,9737,1.29,222.1,55.8,10.4,547,9738,0.10,0.00,0.00,0.000,6,0.080,0.000,3002,2037,2137,0,0,0,0,0,0
$GC,9990,1.29,222.1,29.7,9.1,571,9996,0.00,2.33,0.00,0.000,4,0.000,0.029,3004,3424,2137,0,0,0,0,0,0
$GC,10003,1.29,222.1,28.7,8.7,573,10010,0.00,2.35,0.00,0.000,6,0.000,0.027,3002,2027,2137,0,0,0,0,0,0
$GC,10204,1.29,222.1,11.9,11.5,610,10210,0.00,2.40,0.00,0.000,4,0.000,0.044,3001,633,2137,0,0,0,0,0,0
$STATE,10304,end climb,SURFACE_DEPTH_REACHED
$STATE,10304,begin surface coast
$FINISH,0.4,1.019439
$STATE,10348,end surface coast,CONTROL_FINISHED_OK
$STATE,10348,begin surface
$SM_CCo,10369,38.40,0.515,0,0,1826,300.00
$SM_GC,1.50,0.00,0.00,38.40,0.000,0.000,0.515,429,1938,1826,-10.52,1.07,300.00
$IRIDIUM_FIX,2059.45,-15745.74,010899,232315
$TT8_MAMPS,0.029146
$HUMID,45.58
$INTERNAL_PRESSURE,9.68441
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.4,19.955
$10V_AH,10.0,19.041
$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,27.600,119.325,259.000,38.400,0.000,139.397,144.107,498.121,4.500,0.000,55.613,1267.945,6933.500,374.627,2047.823,984.632,33.370,1225.789,0.000,1983.166,0.000,29.257,0.000
$DEVICE_MAMPS,138.060,56.758,880.516,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.026,412.408,937.256,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34861,643
$CAP_FILE_SIZE,135894,0
$CFSIZE,260165632,245895168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080510,023530,2106.685,-15745.610,122,1.8,127,9.8