version: 66.06
glider: 139
mission: 7
dive: 224
start: 5 8 110 5 40 52
data:
$ID,139
$MISSION,7
$DIVE,224
$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,-2126782
$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
$GPS1,052918,2106.328,-15744.333,140,1.9,151,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.4
$GPS2,054001,2106.392,-15744.299,39,1.9,44,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.144,-0.114
$KALMAN_X,-102701.0,428.4,462.3,134790.1,-731.4
$KALMAN_Y,32713.3,-21.0,-20.5,-35229.5,879.7
$MHEAD_RNG_PITCHd_Wd,118.5,2614,-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,-77.9,0.0,0.0,0,72,0.00,0.00,-54.42,0.000,2,0.000,0.000,427,1904,3280,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.5,-5.1,10,93,10.62,2.42,-1.67,0.000,4,0.136,0.049,2403,483,3369,0,0,0,0,0,0
$GC,186,-1.19,-77.9,31.7,-17.1,33,191,0.25,2.33,0.00,0.000,6,0.090,0.021,2453,1926,3370,0,0,0,0,0,0
$GC,450,-1.19,-77.9,64.3,-12.4,57,456,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1930,3371,0,0,0,0,0,0
$GC,710,-1.19,-77.9,94.3,-10.9,82,714,0.00,2.47,0.00,0.000,4,0.000,0.044,2452,492,3371,0,0,0,0,0,0
$GC,726,-1.19,-77.9,96.1,-11.8,83,730,0.00,2.28,0.00,0.000,6,0.000,0.020,2454,1926,3372,0,0,0,0,0,0
$GC,988,-1.25,-77.9,121.8,-8.4,107,992,0.00,2.45,0.00,0.000,4,0.000,0.044,2451,491,3372,0,0,0,0,0,0
$GC,1042,-1.25,-77.9,127.6,-10.4,112,1049,0.00,2.25,0.00,0.000,6,0.000,0.020,2454,1887,3372,0,0,0,0,0,0
$GC,1305,-1.32,-77.9,152.4,-10.1,137,1310,0.12,2.40,0.00,0.000,4,0.065,0.045,2412,492,3373,0,0,0,0,0,0
$GC,1379,-1.29,-77.9,162.2,-11.8,144,1385,0.00,2.28,0.00,0.000,6,0.000,0.020,2413,1902,3373,0,0,0,0,0,0
$GC,1641,-1.29,-77.9,190.9,-10.3,169,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1908,3373,0,0,0,0,0,0
$GC,1890,-1.29,-77.9,217.5,-10.1,185,1894,0.00,2.40,0.00,0.000,4,0.000,0.044,2412,493,3373,0,0,0,0,0,0
$GC,1934,-1.29,-77.9,222.5,-11.4,187,1938,0.00,2.28,0.00,0.000,6,0.000,0.021,2413,1912,3374,0,0,0,0,0,0
$GC,2265,-1.33,-77.9,253.4,-9.0,203,2269,0.00,2.45,0.00,0.000,4,0.000,0.045,2411,487,3374,0,0,0,0,0,0
$GC,2287,-1.33,-77.9,255.7,-8.8,204,2291,0.00,2.28,0.00,0.000,6,0.000,0.021,2412,1903,3374,0,0,0,0,0,0
$GC,2612,-1.38,-77.9,284.9,-9.7,220,2617,0.00,2.42,0.00,0.000,4,0.000,0.047,2410,487,3373,0,0,0,0,0,0
$GC,2742,-1.41,-77.9,298.2,-10.9,225,2748,0.00,2.28,0.00,0.000,6,0.000,0.024,2412,1889,3373,0,0,0,0,0,0
$GC,3053,-1.48,-77.9,327.2,-9.5,234,3057,0.00,2.42,0.00,0.000,4,0.000,0.049,2412,494,3372,0,0,0,0,0,0
$GC,3108,-1.48,-77.9,332.9,-10.2,235,3112,0.00,2.28,0.00,0.000,6,0.000,0.025,2413,1900,3372,0,0,0,0,0,0
$GC,3426,-1.55,-77.9,360.4,-8.4,243,3431,0.17,2.45,0.00,0.000,4,0.058,0.051,2364,495,3370,0,0,0,0,0,0
$GC,3482,-1.49,-77.9,366.8,-11.4,244,3487,0.15,2.30,0.00,0.000,6,0.100,0.027,2390,1895,3369,0,0,0,0,0,0
$GC,3796,-1.53,-77.9,396.1,-9.3,252,3800,0.00,2.47,0.00,0.000,4,0.000,0.053,2395,497,3367,0,0,0,0,0,0
$GC,3856,-1.53,-77.9,402.3,-10.2,253,3861,0.00,2.33,0.00,0.000,6,0.000,0.028,2394,1899,3367,0,0,0,0,0,0
$GC,4206,-1.57,-77.9,433.6,-9.1,262,4210,0.00,2.47,0.00,0.000,4,0.000,0.054,2394,492,3364,0,0,0,0,0,0
$GC,4288,-1.57,-77.9,442.2,-10.4,263,4294,0.00,2.35,0.00,0.000,6,0.000,0.029,2394,1905,3363,0,0,0,0,0,0
$STATE,4414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4414,begin apogee
$GC,4419,-0.31,0.0,453.5,8.9,267,4487,1.17,0.00,64.00,0.878,6,0.077,0.000,2644,2059,3050,0,0,0,0,0,0
$STATE,4487,end apogee,CONTROL_FINISHED_OK
$STATE,4487,begin climb
$GC,4489,1.40,77.9,454.6,0.0,268,4564,1.62,2.42,64.82,0.854,4,0.033,0.045,3025,3400,2732,0,0,0,0,0,0
$GC,4741,1.22,108.2,447.4,5.9,273,4774,0.17,2.38,26.40,0.832,6,0.119,0.038,2986,2028,2607,0,0,0,0,0,0
$GC,5088,1.08,109.9,419.6,7.9,282,5093,0.17,2.50,0.00,0.000,4,0.116,0.055,2962,619,2602,0,0,0,0,0,0
$GC,5179,0.95,118.6,412.8,7.4,284,5195,0.20,2.35,9.00,0.741,6,0.118,0.030,2923,2023,2566,0,0,0,0,0,0
$GC,5510,1.00,158.0,394.0,5.3,292,5549,0.00,0.00,34.90,0.838,6,0.000,0.000,2922,2023,2406,0,0,0,0,0,0
$GC,5874,1.03,158.0,365.6,8.2,301,5878,0.00,2.45,0.00,0.000,4,0.000,0.054,2925,629,2399,0,0,0,0,0,0
$GC,5966,1.03,158.0,356.8,9.3,303,5970,0.00,2.38,0.00,0.000,6,0.000,0.031,2924,2035,2397,0,0,0,0,0,0
$GC,6289,1.09,165.8,332.4,7.5,311,6302,0.15,2.55,6.57,0.671,4,0.072,0.053,2961,628,2374,0,0,0,0,0,0
$GC,6446,1.01,165.8,316.4,10.5,314,6451,0.15,2.35,0.00,0.000,6,0.120,0.030,2933,2039,2371,0,0,0,0,0,0
$GC,6780,1.06,175.4,290.1,7.4,325,6796,0.00,2.55,9.75,0.716,4,0.000,0.051,2934,633,2333,0,0,0,0,0,0
$GC,6924,1.06,175.4,278.0,8.4,331,6928,0.00,2.38,0.00,0.000,6,0.000,0.029,2933,2044,2330,0,0,0,0,0,0
$GC,7245,1.13,189.1,256.0,7.1,347,7268,0.12,2.53,12.93,0.723,4,0.077,0.048,2965,618,2277,0,0,0,0,0,0
$GC,7401,1.08,189.1,239.3,10.9,353,7406,0.00,2.35,0.00,0.000,6,0.000,0.028,2965,2034,2273,0,0,0,0,0,0
$GC,7717,1.08,189.1,211.9,8.9,369,7721,0.00,2.47,0.00,0.000,4,0.000,0.048,2964,618,2273,0,0,0,0,0,0
$GC,7837,1.02,189.1,200.4,9.9,374,7843,0.15,2.35,0.00,0.000,6,0.117,0.027,2938,2038,2272,0,0,0,0,0,0
$GC,8169,1.11,201.0,175.2,7.2,405,8182,0.00,0.00,11.02,0.638,6,0.000,0.000,2938,2044,2230,0,0,0,0,0,0
$GC,8434,1.22,216.9,155.0,6.9,430,8453,0.20,0.00,15.55,0.639,6,0.059,0.000,2989,2044,2165,0,0,0,0,0,0
$GC,8707,1.22,216.9,126.1,10.7,456,8711,0.00,2.42,0.00,0.000,4,0.000,0.044,2989,627,2162,0,0,0,0,0,0
$GC,8815,1.16,216.9,114.2,12.5,467,8819,0.00,2.33,0.00,0.000,6,0.000,0.023,2988,2044,2160,0,0,0,0,0,0
$GC,9078,1.16,216.9,86.4,10.1,491,9079,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2048,2160,0,0,0,0,0,0
$GC,9331,1.16,216.9,62.3,9.0,515,9333,0.12,0.00,0.00,0.000,6,0.108,0.000,2966,2049,2159,0,0,0,0,0,0
$GC,9588,1.25,232.9,41.8,6.9,539,9610,0.00,2.30,14.95,0.535,4,0.000,0.028,2961,3428,2099,0,0,0,0,0,0
$GC,9665,1.37,236.2,35.9,7.8,547,9677,0.22,2.35,4.53,0.396,6,0.049,0.028,3025,2026,2087,0,0,0,0,0,0
$GC,9935,1.37,236.2,8.9,10.5,591,9942,0.00,2.40,0.00,0.000,4,0.000,0.044,3024,639,2086,0,0,0,0,0,0
$STATE,9981,end climb,SURFACE_DEPTH_REACHED
$STATE,9981,begin surface coast
$FINISH,0.5,1.011565
$STATE,10004,end surface coast,CONTROL_FINISHED_OK
$STATE,10004,begin surface
$SM_CCo,10025,32.17,0.515,0,0,1827,300.00
$SM_GC,1.36,0.00,0.00,32.17,0.000,0.000,0.515,426,1939,1827,-10.52,1.07,300.00
$IRIDIUM_FIX,2059.45,-15743.60,020899,050537
$TT8_MAMPS,0.029913
$HUMID,46.25
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,20.127
$10V_AH,10.0,19.209
$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,26.975,100.100,274.425,32.175,0.000,59.466,62.463,327.453,4.500,0.000,44.304,1188.821,6613.078,374.555,1900.037,626.367,33.366,1171.082,0.000,1854.724,0.000,29.253,0.000
$DEVICE_MAMPS,135.759,56.758,878.215,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.645,390.043,865.274,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34962,606
$CAP_FILE_SIZE,117029,0
$CFSIZE,260165632,245796864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080510,083052,2105.790,-15743.468,87,3.0,106,9.8