version: 66.06
glider: 139
mission: 7
dive: 254
start: 5 11 110 21 57 25
data:
$ID,139
$MISSION,7
$DIVE,254
$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,-2129030.8
$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,1875
$C_ROLL_CLIMB,2010
$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
$GPS1,215119,2107.640,-15800.393,29,1.9,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-72.0
$GPS2,215634,2107.672,-15800.454,12,4.1,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.140,-0.119
$KALMAN_X,-96702.8,-246.1,223.0,101808.2,-922.0
$KALMAN_Y,52987.7,-27.0,19.4,-53169.9,1267.3
$MHEAD_RNG_PITCHd_Wd,120.7,30495,-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,-77.9,0.0,0.0,0,71,0.00,0.00,-53.28,0.000,2,0.000,0.000,426,1883,3238,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.9,-7.5,10,95,10.73,2.47,-2.50,0.000,4,0.139,0.051,2403,463,3371,0,0,0,0,0,0
$GC,132,-1.13,-77.9,21.0,-21.7,22,139,0.28,2.38,0.00,0.000,6,0.084,0.021,2463,1903,3372,0,0,0,0,0,0
$GC,337,-1.13,-77.9,45.3,-10.5,47,341,0.00,2.47,0.00,0.000,4,0.000,0.044,2463,467,3373,0,0,0,0,0,0
$GC,397,-1.13,-77.9,52.1,-10.4,53,401,0.00,2.25,0.00,0.000,6,0.000,0.020,2462,1881,3373,0,0,0,0,0,0
$GC,659,-1.20,-77.9,78.5,-9.9,77,663,0.00,2.45,0.00,0.000,4,0.000,0.044,2463,463,3374,0,0,0,0,0,0
$GC,721,-1.24,-77.9,85.2,-11.4,83,725,0.00,2.28,0.00,0.000,6,0.000,0.020,2463,1878,3375,0,0,0,0,0,0
$GC,983,-1.33,-77.9,113.5,-10.2,107,988,0.17,2.45,0.00,0.000,4,0.052,0.044,2411,469,3376,0,0,0,0,0,0
$GC,1009,-1.27,-77.9,116.8,-13.0,109,1014,0.12,2.28,0.00,0.000,6,0.100,0.020,2435,1879,3376,0,0,0,0,0,0
$GC,1271,-1.32,-77.9,145.9,-10.6,133,1275,0.00,2.40,0.00,0.000,4,0.000,0.043,2436,469,3376,0,0,0,0,0,0
$GC,1333,-1.35,-77.9,152.6,-10.5,139,1337,0.00,2.25,0.00,0.000,6,0.000,0.020,2435,1873,3377,0,0,0,0,0,0
$GC,1595,-1.39,-77.9,178.6,-10.4,163,1599,0.00,2.42,0.00,0.000,4,0.000,0.044,2436,467,3377,0,0,0,0,0,0
$GC,1613,-1.39,-77.9,180.8,-10.0,164,1619,0.08,2.30,0.00,0.000,6,0.040,0.021,2400,1880,3377,0,0,0,0,0,0
$GC,1882,-1.39,-77.9,209.5,-11.0,186,1886,0.00,2.42,0.00,0.000,4,0.000,0.045,2401,463,3377,0,0,0,0,0,0
$GC,1918,-1.33,-77.9,214.1,-13.0,187,1925,0.12,2.28,0.00,0.000,6,0.099,0.021,2426,1872,3377,0,0,0,0,0,0
$GC,2236,-1.39,-77.9,246.2,-10.2,203,2240,0.00,2.42,0.00,0.000,4,0.000,0.046,2426,461,3378,0,0,0,0,0,0
$GC,2300,-1.42,-77.9,253.5,-10.8,205,2306,0.10,2.30,0.00,0.000,6,0.075,0.022,2393,1884,3377,0,0,0,0,0,0
$GC,2616,-1.42,-77.9,283.7,-9.1,221,2620,0.00,2.42,0.00,0.000,4,0.000,0.047,2391,471,3377,0,0,0,0,0,0
$GC,2666,-1.42,-77.9,289.1,-11.6,223,2670,0.00,2.28,0.00,0.000,6,0.000,0.023,2392,1874,3377,0,0,0,0,0,0
$GC,2982,-1.42,-77.9,321.4,-10.4,234,2986,0.00,2.45,0.00,0.000,4,0.000,0.049,2391,467,3376,0,0,0,0,0,0
$GC,3056,-1.39,-77.9,329.7,-11.6,235,3061,0.00,2.30,0.00,0.000,6,0.000,0.025,2391,1874,3376,0,0,0,0,0,0
$GC,3392,-1.39,-77.9,361.9,-8.8,244,3396,0.00,2.45,0.00,0.000,4,0.000,0.051,2392,472,3374,0,0,0,0,0,0
$GC,3471,-1.39,-77.9,368.2,-7.3,245,3475,0.00,2.30,0.00,0.000,6,0.000,0.026,2391,1874,3374,0,0,0,0,0,0
$GC,3801,-1.39,-77.9,389.3,-6.5,253,3805,0.00,2.47,0.00,0.000,4,0.000,0.053,2391,464,3372,0,0,0,0,0,0
$GC,3894,-1.39,-77.9,397.0,-8.8,255,3898,0.00,2.33,0.00,0.000,6,0.000,0.028,2391,1871,3372,0,0,0,0,0,0
$GC,4216,-1.39,-77.9,422.9,-8.2,263,4220,0.00,2.45,0.00,0.000,4,0.000,0.054,2392,469,3369,0,0,0,0,0,0
$GC,4234,-1.39,-77.9,424.8,-9.0,263,4239,0.00,2.33,0.00,0.000,6,0.000,0.028,2392,1877,3369,0,0,0,0,0,0
$STATE,4537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4538,begin apogee
$GC,4543,-0.31,0.0,452.4,9.5,271,4611,1.17,0.00,64.97,0.882,6,0.074,0.000,2644,2036,3050,0,0,0,0,0,0
$STATE,4612,end apogee,CONTROL_FINISHED_OK
$STATE,4612,begin climb
$GC,4614,1.40,77.9,453.9,0.0,272,4689,1.65,2.42,64.80,0.860,4,0.035,0.045,3026,3376,2732,0,0,0,0,0,0
$GC,4953,1.22,111.6,446.1,5.7,279,4990,0.25,2.38,28.70,0.844,6,0.116,0.038,2980,2003,2594,0,0,0,0,0,0
$GC,5303,1.11,111.6,413.9,10.1,288,5308,0.12,2.45,0.00,0.000,4,0.130,0.044,2958,3390,2590,0,0,0,0,0,0
$GC,5451,1.05,111.6,400.2,8.1,291,5455,0.00,2.38,0.00,0.000,6,0.000,0.038,2959,2011,2590,0,0,0,0,0,0
$GC,5769,1.03,147.9,380.2,5.5,299,5805,0.00,2.55,30.92,0.834,4,0.000,0.054,2957,597,2447,0,0,0,0,0,0
$GC,5825,0.92,150.3,376.5,7.9,300,5830,0.22,2.38,0.00,0.000,6,0.115,0.031,2918,1988,2443,0,0,0,0,0,0
$GC,6139,0.98,161.2,354.0,7.3,308,6158,0.00,2.53,12.30,0.770,4,0.000,0.053,2917,597,2391,0,0,0,0,0,0
$GC,6259,0.98,161.2,343.3,9.5,310,6263,0.00,2.40,0.00,0.000,6,0.000,0.031,2917,2017,2388,0,0,0,0,0,0
$GC,6599,1.06,179.0,318.7,6.8,319,6623,0.12,2.55,16.40,0.778,4,0.075,0.052,2948,601,2319,0,0,0,0,0,0
$GC,6702,1.01,179.0,309.6,9.2,321,6706,0.00,2.40,0.00,0.000,6,0.000,0.031,2948,2017,2315,0,0,0,0,0,0
$GC,7018,1.01,179.0,280.3,9.3,334,7022,0.00,2.50,0.00,0.000,4,0.000,0.052,2948,605,2314,0,0,0,0,0,0
$GC,7049,0.95,179.0,276.9,11.2,335,7054,0.15,2.38,0.00,0.000,6,0.114,0.029,2921,2014,2313,0,0,0,0,0,0
$GC,7365,1.06,193.9,252.7,7.0,350,7389,0.10,2.58,13.45,0.724,4,0.086,0.051,2946,604,2258,0,0,0,0,0,0
$GC,7605,1.06,193.9,231.3,9.6,360,7609,0.00,2.38,0.00,0.000,6,0.000,0.028,2946,2021,2254,0,0,0,0,0,0
$GC,7924,1.11,193.9,205.4,8.5,376,7926,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2026,2254,0,0,0,0,0,0
$GC,8242,1.17,193.9,175.2,9.3,402,8247,0.10,2.47,0.00,0.000,4,0.084,0.048,2974,604,2254,0,0,0,0,0,0
$GC,8350,1.11,193.9,164.7,10.2,413,8355,0.00,2.35,0.00,0.000,6,0.000,0.025,2973,2022,2252,0,0,0,0,0,0
$GC,8613,1.11,193.9,142.2,8.2,437,8617,0.00,2.30,0.00,0.000,4,0.000,0.032,2973,3402,2252,0,0,0,0,0,0
$GC,8686,1.15,193.9,135.7,8.4,444,8692,0.00,2.38,0.00,0.000,6,0.000,0.032,2972,2013,2252,0,0,0,0,0,0
$GC,8948,1.15,193.9,114.0,9.3,469,8953,0.00,2.40,0.00,0.000,4,0.000,0.045,2973,603,2252,0,0,0,0,0,0
$GC,9028,1.11,193.9,105.9,10.3,477,9033,0.00,2.33,0.00,0.000,6,0.000,0.023,2972,2025,2252,0,0,0,0,0,0
$GC,9291,1.11,193.9,81.5,8.8,501,9295,0.00,2.42,0.00,0.000,4,0.000,0.044,2973,602,2252,0,0,0,0,0,0
$GC,9462,1.11,193.9,63.5,9.2,519,9469,0.00,2.33,0.00,0.000,6,0.000,0.022,2973,2017,2253,0,0,0,0,0,0
$GC,9725,1.16,193.9,39.4,9.1,544,9726,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2023,2253,0,0,0,0,0,0
$GC,9983,1.27,231.5,21.2,5.4,580,10021,0.00,0.00,33.10,0.541,6,0.000,0.000,2973,2023,2105,0,0,0,0,0,0
$GC,10223,1.39,249.0,4.7,6.8,623,10245,0.20,2.45,16.02,0.501,4,0.051,0.041,3029,602,2034,0,0,0,0,0,0
$STATE,10249,end climb,SURFACE_DEPTH_REACHED
$STATE,10249,begin surface coast
$FINISH,0.4,1.001289
$STATE,10291,end surface coast,CONTROL_FINISHED_OK
$STATE,10291,begin surface
$SM_CCo,10312,25.75,0.507,0,0,1826,300.00
$SM_GC,0.90,0.00,0.00,25.75,0.000,0.000,0.507,428,1883,1826,-10.52,0.20,300.00
$IRIDIUM_FIX,2059.45,-15818.78,050899,191919
$TT8_MAMPS,0.029146
$HUMID,45.90
$INTERNAL_PRESSURE,9.68441
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,22.601
$10V_AH,10.0,21.747
$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,26.975,119.575,280.675,25.750,0.000,28.768,34.594,136.925,4.500,0.000,32.923,1244.436,6704.629,364.768,1968.059,373.393,33.371,1224.464,0.000,1928.009,0.000,29.239,0.000
$DEVICE_MAMPS,138.827,54.457,882.050,506.987,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.378,404.688,802.417,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,34925,637
$CAP_FILE_SIZE,119045,0
$CFSIZE,260165632,244064256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120510,005215,2107.535,-15800.407,96,2.2,115,9.8