version: 66.06
glider: 139
mission: 7
dive: 246
start: 5 10 110 22 0 43
data:
$ID,139
$MISSION,7
$DIVE,246
$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,-2127732.5
$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
$GPS1,215506,2101.740,-15754.306,35,1.9,45,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-70.2
$GPS2,215952,2101.752,-15754.318,11,2.3,30,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.152,0.103
$KALMAN_X,-93203.7,-166.7,192.9,108853.1,210.4
$KALMAN_Y,45204.4,-103.9,81.6,-56336.2,214.3
$MHEAD_RNG_PITCHd_Wd,294.2,18100,-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,-54.50,0.000,2,0.000,0.000,429,1878,3254,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.4,-5.5,10,93,10.68,2.40,-2.20,0.000,4,0.137,0.036,2404,3327,3368,0,0,0,0,0,0
$GC,273,-1.40,-77.9,43.5,-14.4,45,280,0.00,2.45,0.00,0.000,6,0.000,0.033,2399,1898,3370,0,0,0,0,0,0
$GC,535,-1.31,-77.9,81.6,-13.5,70,540,0.12,2.42,0.00,0.000,4,0.114,0.044,2428,491,3371,0,0,0,0,0,0
$GC,579,-1.23,-77.9,87.9,-14.0,74,583,0.00,2.33,0.00,0.000,6,0.000,0.020,2428,1932,3371,0,0,0,0,0,0
$GC,840,-1.23,-77.9,119.9,-11.0,98,845,0.10,2.47,0.00,0.000,4,0.115,0.044,2448,498,3372,0,0,0,0,0,0
$GC,945,-1.23,-77.9,132.0,-11.2,109,951,0.00,2.25,0.00,0.000,6,0.000,0.020,2448,1901,3373,0,0,0,0,0,0
$GC,1207,-1.30,-77.9,158.1,-9.4,134,1211,0.00,2.42,0.00,0.000,4,0.000,0.044,2443,491,3374,0,0,0,0,0,0
$GC,1244,-1.30,-77.9,162.0,-10.1,138,1248,0.00,2.28,0.00,0.000,6,0.000,0.020,2448,1907,3374,0,0,0,0,0,0
$GC,1506,-1.38,-77.9,185.0,-8.7,162,1510,0.15,2.45,0.00,0.000,4,0.058,0.044,2397,494,3374,0,0,0,0,0,0
$GC,1587,-1.31,-77.9,195.1,-12.3,170,1594,0.10,2.28,0.00,0.000,6,0.074,0.021,2425,1887,3374,0,0,0,0,0,0
$GC,1843,-1.35,-77.9,219.4,-9.3,185,1850,0.00,2.30,0.00,0.000,4,0.000,0.028,2426,3299,3375,0,0,0,0,0,0
$GC,1894,-1.48,-77.9,224.4,-9.7,187,1899,0.15,2.33,0.00,0.000,6,0.057,0.030,2380,1896,3375,0,0,0,0,0,0
$GC,2225,-1.48,-77.9,263.4,-11.7,203,2229,0.00,2.40,0.00,0.000,4,0.000,0.045,2378,494,3375,0,0,0,0,0,0
$GC,2303,-1.43,-77.9,272.2,-11.5,206,2308,0.10,2.28,0.00,0.000,6,0.111,0.021,2401,1901,3375,0,0,0,0,0,0
$GC,2621,-1.46,-77.9,301.8,-9.1,221,2625,0.00,2.42,0.00,0.000,4,0.000,0.048,2400,497,3375,0,0,0,0,0,0
$GC,2676,-1.46,-77.9,307.8,-10.2,222,2680,0.00,2.28,0.00,0.000,6,0.000,0.024,2401,1906,3374,0,0,0,0,0,0
$GC,2994,-1.50,-77.9,337.6,-9.9,230,2998,0.00,2.45,0.00,0.000,4,0.000,0.049,2399,498,3373,0,0,0,0,0,0
$GC,3030,-1.50,-77.9,341.2,-9.7,230,3035,0.00,2.30,0.00,0.000,6,0.000,0.025,2401,1902,3373,0,0,0,0,0,0
$GC,3360,-1.55,-77.9,369.7,-8.5,239,3365,0.12,2.47,0.00,0.000,4,0.069,0.051,2364,498,3372,0,0,0,0,0,0
$GC,3477,-1.48,-77.9,382.0,-10.4,241,3482,0.12,2.30,0.00,0.000,6,0.106,0.027,2388,1895,3371,0,0,0,0,0,0
$GC,3817,-1.48,-77.9,413.5,-9.6,250,3821,0.00,2.47,0.00,0.000,4,0.000,0.054,2386,500,3369,0,0,0,0,0,0
$GC,3862,-1.48,-77.9,418.2,-10.3,251,3867,0.00,2.33,0.00,0.000,6,0.000,0.028,2388,1901,3368,0,0,0,0,0,0
$GC,4186,-1.52,-77.9,443.8,-7.7,259,4191,0.00,2.47,0.00,0.000,4,0.000,0.055,2387,498,3366,0,0,0,0,0,0
$STATE,4253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4254,begin apogee
$GC,4260,-0.31,0.0,450.0,7.7,260,4329,1.17,0.00,64.53,0.877,6,0.077,0.000,2642,2037,3050,0,0,0,0,0,0
$STATE,4329,end apogee,CONTROL_FINISHED_OK
$STATE,4330,begin climb
$GC,4332,1.40,77.9,450.5,0.0,262,4406,1.65,2.53,64.82,0.854,4,0.035,0.046,3025,3431,2732,0,0,0,0,0,0
$GC,4570,1.23,121.8,441.8,5.0,267,4615,0.22,2.42,37.60,0.843,6,0.114,0.037,2984,2032,2553,0,0,0,0,0,0
$GC,4929,1.12,126.5,415.0,7.7,276,4936,0.12,0.00,4.43,0.573,6,0.124,0.000,2962,2031,2534,0,0,0,0,0,0
$GC,5253,1.09,140.3,393.9,7.1,284,5274,0.00,2.53,13.48,0.794,4,0.000,0.052,2960,630,2475,0,0,0,0,0,0
$GC,5279,1.02,144.1,391.7,7.8,284,5291,0.12,2.40,4.32,0.555,6,0.129,0.031,2939,2044,2462,0,0,0,0,0,0
$GC,5622,1.02,146.8,364.3,7.8,293,5626,0.00,2.50,0.00,0.000,4,0.000,0.053,2940,625,2459,0,0,0,0,0,0
$GC,5673,0.95,146.8,359.7,8.8,294,5677,0.00,2.38,0.00,0.000,6,0.000,0.031,2940,2034,2458,0,0,0,0,0,0
$GC,5990,0.95,146.8,333.1,8.5,302,5994,0.00,2.47,0.00,0.000,4,0.000,0.052,2940,627,2458,0,0,0,0,0,0
$GC,6098,0.89,146.8,323.7,8.3,304,6103,0.17,2.38,0.00,0.000,6,0.113,0.030,2909,2035,2455,0,0,0,0,0,0
$GC,6448,1.01,173.6,302.0,6.2,313,6481,0.12,2.58,25.48,0.794,4,0.107,0.051,2938,632,2342,0,0,0,0,0,0
$GC,6545,1.01,173.6,293.3,10.0,316,6549,0.00,2.38,0.00,0.000,6,0.000,0.030,2939,2036,2338,0,0,0,0,0,0
$GC,6864,1.06,173.6,265.1,8.7,332,6869,0.00,2.47,0.00,0.000,4,0.000,0.051,2938,631,2336,0,0,0,0,0,0
$GC,6978,1.06,173.6,254.7,8.5,337,6983,0.00,2.38,0.00,0.000,6,0.000,0.029,2939,2044,2334,0,0,0,0,0,0
$GC,7304,1.15,199.6,234.2,6.2,353,7333,0.12,2.55,23.08,0.734,4,0.077,0.049,2970,622,2235,0,0,0,0,0,0
$GC,7411,1.10,199.6,221.8,12.8,357,7417,0.00,2.35,0.00,0.000,6,0.000,0.028,2970,2038,2231,0,0,0,0,0,0
$GC,7730,1.10,199.6,191.9,8.6,377,7734,0.00,2.47,0.00,0.000,4,0.000,0.048,2970,628,2230,0,0,0,0,0,0
$GC,7744,1.10,199.6,190.6,8.4,378,7748,0.00,2.33,0.00,0.000,6,0.000,0.026,2970,2041,2229,0,0,0,0,0,0
$GC,8005,1.10,199.6,169.8,9.2,402,8009,0.00,2.45,0.00,0.000,4,0.000,0.047,2971,624,2228,0,0,0,0,0,0
$GC,8094,1.06,199.6,160.2,11.2,411,8099,0.15,2.35,0.00,0.000,6,0.114,0.025,2942,2044,2227,0,0,0,0,0,0
$GC,8357,1.15,206.3,137.3,7.6,435,8370,0.10,2.50,6.35,0.533,4,0.083,0.044,2970,630,2208,0,0,0,0,0,0
$GC,8397,1.11,206.3,133.4,9.3,439,8403,0.00,2.33,0.00,0.000,6,0.000,0.024,2968,2046,2206,0,0,0,0,0,0
$GC,8659,1.15,206.3,111.9,8.2,464,8663,0.00,2.42,0.00,0.000,4,0.000,0.044,2970,628,2207,0,0,0,0,0,0
$GC,8862,1.15,206.3,90.5,10.7,486,8869,0.00,2.33,0.00,0.000,6,0.000,0.022,2970,2036,2206,0,0,0,0,0,0
$GC,9126,1.24,230.7,69.2,6.3,511,9156,0.00,2.50,22.58,0.571,4,0.000,0.043,2969,630,2108,0,0,0,0,0,0
$GC,9211,1.24,230.7,62.4,8.9,520,9215,0.00,2.33,0.00,0.000,6,0.000,0.021,2970,2050,2105,0,0,0,0,0,0
$GC,9479,1.34,234.2,40.5,7.8,545,9491,0.15,2.45,4.22,0.384,4,0.061,0.041,3013,628,2094,0,0,0,0,0,0
$GC,9633,1.29,234.2,24.8,10.4,567,9640,0.00,2.33,0.00,0.000,6,0.000,0.021,3013,2044,2093,0,0,0,0,0,0
$GC,9835,1.29,234.2,6.3,8.6,604,9842,0.00,2.45,0.00,0.000,4,0.000,0.041,3013,628,2093,0,0,0,0,0,0
$STATE,9868,end climb,SURFACE_DEPTH_REACHED
$STATE,9868,begin surface coast
$FINISH,2.6,1.023174
$STATE,9874,end surface coast,CONTROL_FINISHED_OK
$STATE,9874,begin surface
$SM_CCo,9896,42.67,0.524,0,0,1826,300.00
$SM_GC,1.75,0.00,0.00,42.67,0.000,0.000,0.524,427,1920,1826,-10.52,0.57,300.00
$IRIDIUM_FIX,2052.52,-15817.49,040899,191957
$TT8_MAMPS,0.029146
$HUMID,44.76
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.70
$XPDR_PINGS,1
$24V_AH,23.4,21.969
$10V_AH,10.0,21.061
$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,27.250,124.775,270.875,42.675,0.000,28.657,25.857,116.734,4.750,0.000,31.782,1207.301,6370.041,373.227,1930.138,346.326,33.363,1209.278,0.000,1891.118,0.000,29.257,0.000
$DEVICE_MAMPS,137.293,55.224,877.448,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.288,389.943,876.950,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,34921,612
$CAP_FILE_SIZE,116828,0
$CFSIZE,260165632,244531200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110510,004755,2102.696,-15755.271,57,1.6,57,9.8