version: 66.06
glider: 139
mission: 7
dive: 223
start: 5 8 110 2 42 0
data:
$ID,139
$MISSION,7
$DIVE,223
$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,-2126737
$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
$GPS1,023530,2106.685,-15745.610,122,1.8,127,9.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-70.0
$GPS2,024108,2106.733,-15745.594,15,1.7,15,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.142,-0.117
$KALMAN_X,-102647.5,218.1,-26.6,133203.4,-141.6
$KALMAN_Y,31766.6,54.1,163.3,-33913.6,784.7
$MHEAD_RNG_PITCHd_Wd,119.9,4927,-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,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-54.65,0.000,2,0.000,0.000,429,1937,3266,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.4,-5.5,10,92,10.62,0.00,-1.98,0.000,6,0.135,0.000,2407,1937,3368,0,0,0,0,0,0
$GC,285,-1.29,-77.9,45.0,-14.8,40,287,0.12,0.00,0.00,0.000,6,0.111,0.000,2431,1938,3371,0,0,0,0,0,0
$GC,541,-1.26,-77.9,79.0,-13.2,64,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,1938,3372,0,0,0,0,0,0
$GC,794,-1.26,-77.9,110.0,-12.3,88,798,0.00,2.50,0.00,0.000,4,0.000,0.044,2430,487,3372,0,0,0,0,0,0
$GC,864,-1.26,-77.9,118.7,-13.0,95,868,0.00,2.33,0.00,0.000,6,0.000,0.020,2431,1929,3373,0,0,0,0,0,0
$GC,1126,-1.30,-77.9,149.1,-10.8,119,1130,0.00,2.45,0.00,0.000,4,0.000,0.044,2430,493,3374,0,0,0,0,0,0
$GC,1144,-1.30,-77.9,151.6,-11.4,120,1151,0.00,2.30,0.00,0.000,6,0.000,0.021,2431,1910,3374,0,0,0,0,0,0
$GC,1407,-1.34,-77.9,180.1,-11.1,145,1411,0.00,2.42,0.00,0.000,4,0.000,0.044,2428,493,3374,0,0,0,0,0,0
$GC,1463,-1.34,-77.9,187.2,-12.0,151,1467,0.00,2.28,0.00,0.000,6,0.000,0.021,2430,1902,3375,0,0,0,0,0,0
$GC,1722,-1.40,-77.9,211.9,-8.7,169,1727,0.00,2.42,0.00,0.000,4,0.000,0.044,2428,493,3375,0,0,0,0,0,0
$GC,1759,-1.40,-77.9,216.3,-11.5,170,1765,0.00,2.30,0.00,0.000,6,0.000,0.021,2431,1900,3375,0,0,0,0,0,0
$GC,2074,-1.47,-77.9,245.2,-9.1,186,2079,0.17,2.42,0.00,0.000,4,0.054,0.045,2376,490,3375,0,0,0,0,0,0
$GC,2097,-1.42,-77.9,247.9,-11.5,187,2102,0.12,2.28,0.00,0.000,6,0.104,0.022,2403,1901,3375,0,0,0,0,0,0
$GC,2424,-1.46,-77.9,279.0,-9.4,203,2428,0.00,2.45,0.00,0.000,4,0.000,0.047,2403,487,3375,0,0,0,0,0,0
$GC,2520,-1.46,-77.9,289.2,-11.4,207,2525,0.00,2.30,0.00,0.000,6,0.000,0.023,2403,1904,3375,0,0,0,0,0,0
$GC,2858,-1.50,-77.9,320.5,-9.0,219,2863,0.00,2.45,0.00,0.000,4,0.000,0.049,2403,495,3374,0,0,0,0,0,0
$GC,2918,-1.50,-77.9,326.7,-10.3,220,2922,0.00,2.30,0.00,0.000,6,0.000,0.025,2404,1900,3373,0,0,0,0,0,0
$GC,3267,-1.55,-77.9,358.8,-9.1,229,3272,0.12,2.47,0.00,0.000,4,0.069,0.051,2367,495,3372,0,0,0,0,0,0
$GC,3371,-1.49,-77.9,370.6,-11.1,231,3376,0.12,2.30,0.00,0.000,6,0.104,0.026,2388,1897,3372,0,0,0,0,0,0
$GC,3686,-1.53,-77.9,400.2,-9.3,239,3690,0.00,2.45,0.00,0.000,4,0.000,0.053,2392,497,3370,0,0,0,0,0,0
$GC,3755,-1.53,-77.9,407.1,-10.5,240,3759,0.00,2.33,0.00,0.000,6,0.000,0.028,2391,1900,3369,0,0,0,0,0,0
$GC,4099,-1.57,-77.9,438.3,-9.1,249,4103,0.00,2.47,0.00,0.000,4,0.000,0.054,2392,495,3368,0,0,0,0,0,0
$GC,4188,-1.57,-77.9,447.1,-10.0,251,4192,0.00,2.35,0.00,0.000,6,0.000,0.029,2392,1909,3366,0,0,0,0,0,0
$STATE,4217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4218,begin apogee
$GC,4222,-0.31,0.0,450.0,8.6,251,4291,1.15,0.00,64.65,0.875,6,0.077,0.000,2640,2058,3050,0,0,0,0,0,0
$STATE,4291,end apogee,CONTROL_FINISHED_OK
$STATE,4292,begin climb
$GC,4293,1.40,77.9,451.1,0.0,253,4368,1.65,2.45,64.60,0.852,4,0.034,0.046,3025,3407,2732,0,0,0,0,0,0
$GC,4438,1.24,136.3,450.5,4.0,256,4495,0.20,2.38,50.22,0.844,6,0.116,0.037,2985,2026,2493,0,0,0,0,0,0
$GC,4835,1.13,136.3,412.7,10.0,266,4840,0.12,2.47,0.00,0.000,4,0.125,0.055,2967,626,2484,0,0,0,0,0,0
$GC,4878,1.00,136.3,408.1,10.6,267,4884,0.17,2.35,0.00,0.000,6,0.119,0.031,2932,2020,2483,0,0,0,0,0,0
$GC,5206,1.00,141.2,381.7,7.7,275,5211,0.00,2.45,0.00,0.000,4,0.000,0.054,2934,629,2481,0,0,0,0,0,0
$GC,5318,0.95,141.2,371.9,8.6,277,5322,0.00,2.38,0.00,0.000,6,0.000,0.031,2934,2036,2480,0,0,0,0,0,0
$GC,5662,0.97,161.2,348.3,6.6,286,5688,0.00,2.55,20.00,0.803,4,0.000,0.053,2934,629,2391,0,0,0,0,0,0
$GC,5697,0.99,172.9,345.8,7.2,286,5714,0.00,2.40,11.68,0.739,6,0.000,0.031,2934,2041,2343,0,0,0,0,0,0
$GC,6033,1.03,172.9,317.9,8.8,295,6037,0.00,2.47,0.00,0.000,4,0.000,0.053,2935,629,2339,0,0,0,0,0,0
$GC,6202,1.03,172.9,301.9,9.4,298,6207,0.00,2.38,0.00,0.000,6,0.000,0.029,2934,2040,2336,0,0,0,0,0,0
$GC,6517,1.08,172.9,276.5,8.4,312,6521,0.00,2.47,0.00,0.000,4,0.000,0.051,2934,622,2335,0,0,0,0,0,0
$GC,6652,1.08,172.9,264.5,8.4,318,6656,0.00,2.38,0.00,0.000,6,0.000,0.028,2934,2039,2334,0,0,0,0,0,0
$GC,6981,1.17,196.5,240.4,6.4,334,7007,0.15,2.55,20.33,0.733,4,0.071,0.050,2971,625,2248,0,0,0,0,0,0
$GC,7128,1.11,196.5,226.8,9.9,340,7132,0.00,2.35,0.00,0.000,6,0.000,0.027,2972,2037,2242,0,0,0,0,0,0
$GC,7449,1.11,196.5,197.0,8.8,357,7453,0.00,2.47,0.00,0.000,4,0.000,0.048,2972,622,2242,0,0,0,0,0,0
$GC,7494,1.06,196.5,192.6,9.3,361,7500,0.15,2.35,0.00,0.000,6,0.118,0.026,2944,2040,2240,0,0,0,0,0,0
$GC,7755,1.13,201.0,172.3,7.7,386,7767,0.00,2.47,4.32,0.473,4,0.000,0.046,2945,624,2230,0,0,0,0,0,0
$GC,7813,1.17,201.0,167.3,8.6,392,7818,0.12,2.35,0.00,0.000,6,0.074,0.025,2977,2043,2228,0,0,0,0,0,0
$GC,8073,1.18,207.0,145.6,7.6,416,8085,0.00,2.40,6.93,0.548,4,0.000,0.031,2978,3435,2206,0,0,0,0,0,0
$GC,8113,1.22,207.0,142.3,8.6,420,8118,0.00,2.38,0.00,0.000,6,0.000,0.031,2975,2021,2206,0,0,0,0,0,0
$GC,8374,1.22,207.0,121.3,8.2,444,8379,0.00,2.40,0.00,0.000,4,0.000,0.044,2977,621,2206,0,0,0,0,0,0
$GC,8492,1.22,207.0,110.6,10.0,456,8499,0.00,2.33,0.00,0.000,6,0.000,0.022,2975,2034,2204,0,0,0,0,0,0
$GC,8755,1.26,215.4,89.4,7.4,481,8774,0.00,2.42,9.18,0.535,4,0.000,0.041,2975,628,2170,0,0,0,0,0,0
$GC,8784,1.26,215.4,86.7,9.3,484,8789,0.00,2.33,0.00,0.000,6,0.000,0.021,2977,2053,2169,0,0,0,0,0,0
$GC,9048,1.30,215.4,64.5,8.0,508,9052,0.00,2.45,0.00,0.000,4,0.000,0.042,2975,628,2169,0,0,0,0,0,0
$GC,9082,1.27,215.4,61.6,8.5,511,9086,0.00,2.28,0.00,0.000,6,0.000,0.021,2977,2036,2168,0,0,0,0,0,0
$GC,9345,1.34,221.8,40.7,7.6,535,9359,0.12,2.35,7.15,0.469,4,0.067,0.028,3013,3423,2145,0,0,0,0,0,0
$GC,9428,1.34,221.8,32.4,9.2,544,9432,0.00,2.30,0.00,0.000,6,0.000,0.027,3013,2030,2145,0,0,0,0,0,0
$GC,9695,1.35,229.7,10.2,7.5,591,9714,0.00,2.45,8.68,0.466,4,0.000,0.042,3015,633,2112,0,0,0,0,0,0
$STATE,9761,end climb,SURFACE_DEPTH_REACHED
$STATE,9761,begin surface coast
$FINISH,0.4,1.023105
$STATE,9793,end surface coast,CONTROL_FINISHED_OK
$STATE,9794,begin surface
$SM_CCo,9814,36.83,0.511,0,0,1825,300.00
$SM_GC,1.45,0.00,0.00,36.83,0.000,0.000,0.511,428,1906,1825,-10.52,0.17,300.00
$IRIDIUM_FIX,2057.14,-15743.60,010899,232319
$TT8_MAMPS,0.029146
$HUMID,45.39
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.4,20.035
$10V_AH,10.1,19.123
$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,26.325,119.575,267.725,36.825,0.000,25.541,29.364,185.168,4.500,0.000,16.325,1201.412,6334.264,356.633,1900.950,397.309,33.371,1182.874,0.000,1871.368,0.000,30.465,0.000
$DEVICE_MAMPS,134.992,55.224,875.147,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.662,395.254,890.277,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,34805,612
$CAP_FILE_SIZE,117083,0
$CFSIZE,260165632,245854208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080510,052918,2106.328,-15744.333,140,1.9,151,9.8