version: 66.06
glider: 139
mission: 7
dive: 255
start: 5 12 110 0 58 19
data:
$ID,139
$MISSION,7
$DIVE,255
$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,-2129065.2
$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
$GPS1,005215,2107.535,-15800.407,96,2.2,115,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-71.1
$GPS2,005728,2107.595,-15800.493,13,2.1,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.129,-0.131
$KALMAN_X,-98141.6,-26.4,-200.5,103384.7,-1099.8
$KALMAN_Y,54237.0,7.0,-63.9,-54509.6,1431.9
$MHEAD_RNG_PITCHd_Wd,125.6,30546,-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,-53.53,0.000,2,0.000,0.000,428,1882,3232,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.7,-6.0,10,95,10.68,2.45,-2.60,0.000,4,0.137,0.050,2404,470,3370,0,0,0,0,0,0
$GC,141,-1.19,-77.9,21.5,-18.6,24,149,0.20,2.35,0.00,0.000,6,0.084,0.021,2449,1899,3372,0,0,0,0,0,0
$GC,350,-1.19,-77.9,50.6,-13.4,48,354,0.00,2.47,0.00,0.000,4,0.000,0.044,2449,470,3373,0,0,0,0,0,0
$GC,366,-1.19,-77.9,52.9,-13.6,49,370,0.00,2.28,0.00,0.000,6,0.000,0.020,2448,1893,3372,0,0,0,0,0,0
$GC,627,-1.19,-77.9,85.6,-11.6,73,632,0.00,2.47,0.00,0.000,4,0.000,0.044,2449,460,3374,0,0,0,0,0,0
$GC,670,-1.19,-77.9,90.7,-12.4,77,675,0.00,2.28,0.00,0.000,6,0.000,0.020,2447,1870,3374,0,0,0,0,0,0
$GC,934,-1.23,-77.9,120.2,-9.7,101,938,0.00,2.40,0.00,0.000,4,0.000,0.044,2449,467,3375,0,0,0,0,0,0
$GC,979,-1.23,-77.9,125.9,-12.2,105,985,0.00,2.25,0.00,0.000,6,0.000,0.020,2448,1871,3376,0,0,0,0,0,0
$GC,1241,-1.29,-77.9,150.2,-7.4,130,1245,0.00,2.40,0.00,0.000,4,0.000,0.044,2448,465,3376,0,0,0,0,0,0
$GC,1286,-1.29,-77.9,154.3,-8.6,134,1293,0.00,2.30,0.00,0.000,6,0.000,0.021,2446,1879,3376,0,0,0,0,0,0
$GC,1550,-1.36,-77.9,172.5,-7.0,159,1555,0.10,2.45,0.00,0.000,4,0.076,0.045,2413,470,3377,0,0,0,0,0,0
$GC,1576,-1.31,-77.9,175.0,-10.4,161,1580,0.00,2.25,0.00,0.000,6,0.000,0.021,2408,1882,3376,0,0,0,0,0,0
$GC,1847,-1.31,-77.9,202.8,-10.7,185,1851,0.00,2.42,0.00,0.000,4,0.000,0.044,2413,463,3376,0,0,0,0,0,0
$GC,1879,-1.27,-77.9,207.1,-12.9,186,1884,0.12,2.25,0.00,0.000,6,0.100,0.021,2439,1871,3377,0,0,0,0,0,0
$GC,2197,-1.36,-77.9,238.8,-9.3,201,2201,0.00,2.40,0.00,0.000,4,0.000,0.045,2440,467,3377,0,0,0,0,0,0
$GC,2266,-1.42,-77.9,245.8,-9.6,204,2270,0.15,2.28,0.00,0.000,6,0.058,0.022,2394,1879,3377,0,0,0,0,0,0
$GC,2594,-1.42,-77.9,280.3,-10.5,220,2598,0.00,2.45,0.00,0.000,4,0.000,0.047,2393,463,3376,0,0,0,0,0,0
$GC,2607,-1.42,-77.9,282.4,-11.1,220,2614,0.00,2.33,0.00,0.000,6,0.000,0.024,2394,1882,3376,0,0,0,0,0,0
$GC,2920,-1.42,-77.9,314.4,-10.2,233,2924,0.00,2.42,0.00,0.000,4,0.000,0.048,2394,470,3375,0,0,0,0,0,0
$GC,2971,-1.42,-77.9,320.2,-11.2,234,2975,0.00,2.30,0.00,0.000,6,0.000,0.024,2394,1876,3375,0,0,0,0,0,0
$GC,3290,-1.42,-77.9,352.1,-9.7,242,3294,0.00,2.45,0.00,0.000,4,0.000,0.050,2393,471,3374,0,0,0,0,0,0
$GC,3369,-1.42,-77.9,360.1,-10.1,243,3373,0.00,2.30,0.00,0.000,6,0.000,0.025,2394,1872,3373,0,0,0,0,0,0
$GC,3706,-1.45,-77.9,389.9,-8.9,252,3710,0.00,2.45,0.00,0.000,4,0.000,0.052,2394,472,3373,0,0,0,0,0,0
$GC,3779,-1.45,-77.9,398.0,-11.4,253,3783,0.00,2.30,0.00,0.000,6,0.000,0.028,2393,1877,3372,0,0,0,0,0,0
$GC,4114,-1.49,-77.9,430.4,-9.9,262,4119,0.00,2.45,0.00,0.000,4,0.000,0.054,2392,472,3370,0,0,0,0,0,0
$GC,4165,-1.49,-77.9,436.5,-11.6,263,4169,0.00,2.33,0.00,0.000,6,0.000,0.028,2393,1872,3369,0,0,0,0,0,0
$STATE,4318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4318,begin apogee
$GC,4323,-0.31,0.0,452.0,9.9,267,4392,1.17,0.00,65.28,0.871,6,0.074,0.000,2646,2033,3050,0,0,0,0,0,0
$STATE,4393,end apogee,CONTROL_FINISHED_OK
$STATE,4393,begin climb
$GC,4394,1.40,77.9,453.5,0.0,268,4469,1.62,2.45,64.95,0.852,4,0.033,0.045,3024,3384,2732,0,0,0,0,0,0
$GC,4520,1.27,154.4,455.3,2.8,271,4595,0.17,2.40,65.88,0.851,6,0.121,0.038,2993,2003,2419,0,0,0,0,0,0
$GC,4940,1.15,154.4,414.5,10.9,282,4945,0.15,2.40,0.00,0.000,4,0.121,0.043,2966,3382,2410,0,0,0,0,0,0
$GC,4978,1.11,154.4,411.1,8.4,282,4983,0.00,2.40,0.00,0.000,6,0.000,0.039,2967,2004,2409,0,0,0,0,0,0
$GC,5308,1.05,154.4,380.7,9.6,291,5313,0.12,2.47,0.00,0.000,4,0.125,0.054,2943,605,2406,0,0,0,0,0,0
$GC,5355,0.98,154.4,375.8,10.5,292,5360,0.00,2.35,0.00,0.000,6,0.000,0.031,2944,1993,2404,0,0,0,0,0,0
$GC,5677,0.99,159.2,349.0,7.7,300,5682,0.00,2.45,0.00,0.000,4,0.000,0.054,2944,605,2403,0,0,0,0,0,0
$GC,5696,0.94,159.2,347.4,8.2,300,5701,0.12,2.38,0.00,0.000,6,0.126,0.031,2924,2013,2401,0,0,0,0,0,0
$GC,6042,1.01,171.3,323.6,7.2,309,6061,0.00,2.53,12.48,0.759,4,0.000,0.052,2923,603,2351,0,0,0,0,0,0
$GC,6218,1.01,172.4,308.7,7.9,312,6224,0.00,2.38,0.00,0.000,6,0.000,0.030,2923,2012,2347,0,0,0,0,0,0
$GC,6531,1.11,190.9,288.9,6.7,324,6555,0.15,2.55,18.27,0.759,4,0.071,0.051,2959,597,2270,0,0,0,0,0,0
$GC,6650,1.06,190.9,277.1,10.9,329,6654,0.00,2.40,0.00,0.000,6,0.000,0.029,2959,2017,2266,0,0,0,0,0,0
$GC,6980,1.06,190.9,247.1,9.0,345,6984,0.00,2.38,0.00,0.000,4,0.000,0.037,2959,3414,2265,0,0,0,0,0,0
$GC,6993,1.06,190.9,245.6,9.1,345,6998,0.00,2.40,0.00,0.000,6,0.000,0.034,2960,2009,2265,0,0,0,0,0,0
$GC,7310,1.07,198.1,220.3,7.5,361,7322,0.00,2.50,6.85,0.607,4,0.000,0.050,2959,611,2241,0,0,0,0,0,0
$GC,7483,1.03,198.1,203.0,10.6,368,7487,0.00,2.33,0.00,0.000,6,0.000,0.026,2959,2017,2238,0,0,0,0,0,0
$GC,7805,1.03,198.1,168.4,10.9,396,7809,0.00,2.45,0.00,0.000,4,0.000,0.047,2959,598,2239,0,0,0,0,0,0
$GC,7859,1.03,198.1,162.1,12.1,401,7864,0.00,2.35,0.00,0.000,6,0.000,0.025,2959,2020,2238,0,0,0,0,0,0
$GC,8120,1.08,198.1,136.5,9.5,426,8122,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2026,2238,0,0,0,0,0,0
$GC,8374,1.13,198.1,115.5,8.1,450,8378,0.00,2.47,0.00,0.000,4,0.000,0.045,2959,592,2238,0,0,0,0,0,0
$GC,8481,1.13,198.1,106.8,8.1,461,8485,0.00,2.33,0.00,0.000,6,0.000,0.023,2958,2017,2238,0,0,0,0,0,0
$GC,8744,1.20,209.6,88.7,7.2,485,8762,0.00,0.00,11.40,0.558,6,0.000,0.000,2958,2023,2194,0,0,0,0,0,0
$GC,9019,1.32,254.2,69.9,5.0,511,9068,0.20,2.55,39.75,0.580,4,0.054,0.045,3013,600,2011,0,0,0,0,0,0
$GC,9213,1.25,254.2,46.6,15.3,532,9218,0.15,2.30,0.00,0.000,6,0.105,0.021,2985,2016,2006,0,0,0,0,0,0
$GC,9478,1.33,256.7,23.3,7.9,563,9484,0.00,2.42,0.00,0.000,4,0.000,0.044,2985,602,2006,0,0,0,0,0,0
$GC,9624,1.33,256.7,8.0,12.1,595,9630,0.00,2.30,0.00,0.000,6,0.000,0.021,2985,2020,2004,0,0,0,0,0,0
$STATE,9672,end climb,SURFACE_DEPTH_REACHED
$STATE,9672,begin surface coast
$FINISH,0.4,1.023383
$STATE,9702,end surface coast,CONTROL_FINISHED_OK
$STATE,9702,begin surface
$SM_CCo,9722,22.98,0.505,0,0,1826,300.00
$SM_GC,0.96,0.00,0.00,22.98,0.000,0.000,0.505,427,1863,1826,-10.52,-0.34,300.00
$IRIDIUM_FIX,2101.76,-15758.18,050899,222241
$TT8_MAMPS,0.029146
$HUMID,46.77
$INTERNAL_PRESSURE,9.68441
$TCM_TEMP,21.00
$XPDR_PINGS,0
$24V_AH,23.4,22.679
$10V_AH,10.1,21.823
$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,26.200,119.850,284.850,22.975,0.000,25.560,30.563,139.005,4.500,0.000,33.831,1170.113,6383.033,372.188,1780.281,353.044,33.373,1161.382,0.000,1737.520,0.000,30.355,0.000
$DEVICE_MAMPS,137.293,54.457,871.312,505.453,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,410.906,390.193,760.291,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,34878,609
$CAP_FILE_SIZE,112473,0
$CFSIZE,260165632,244015104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120510,034307,2107.397,-15800.432,107,1.5,107,9.8