version: 66.06
glider: 139
mission: 7
dive: 257
start: 5 12 110 6 46 55
data:
$ID,139
$MISSION,7
$DIVE,257
$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,-2129131.5
$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,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
$GPS1,064033,2107.227,-15759.665,55,7.9,74,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-71.2
$GPS2,064604,2107.273,-15759.646,15,6.5,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.136,-0.124
$KALMAN_X,-100178.5,228.3,187.4,106230.2,-815.1
$KALMAN_Y,56549.7,26.5,-22.5,-57477.6,1326.3
$MHEAD_RNG_PITCHd_Wd,122.7,29029,-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,-77.9,0.0,0.0,0,75,0.00,0.00,-58.40,0.000,6,0.000,0.000,427,1870,3369,0,0,0,0,0,0
$GC,78,-1.40,-77.9,4.0,-7.2,11,94,10.70,2.40,0.00,0.000,4,0.138,0.035,2405,460,3371,0,0,0,0,0,0
$GC,154,-1.21,-77.9,25.7,-19.0,27,161,0.22,2.35,0.00,0.000,6,0.099,0.021,2448,1903,3372,0,0,0,0,0,0
$GC,354,-1.21,-77.9,54.7,-13.7,48,358,0.00,2.50,0.00,0.000,4,0.000,0.045,2450,462,3373,0,0,0,0,0,0
$GC,414,-1.21,-77.9,63.5,-13.1,54,418,0.00,2.30,0.00,0.000,6,0.000,0.020,2447,1894,3373,0,0,0,0,0,0
$GC,679,-1.21,-77.9,94.4,-10.6,79,684,0.00,2.45,0.00,0.000,4,0.000,0.044,2448,464,3374,0,0,0,0,0,0
$GC,694,-1.21,-77.9,96.1,-10.5,80,698,0.00,2.28,0.00,0.000,6,0.000,0.020,2440,1887,3374,0,0,0,0,0,0
$GC,957,-1.27,-77.9,121.1,-9.3,104,961,0.00,2.42,0.00,0.000,4,0.000,0.044,2448,467,3375,0,0,0,0,0,0
$GC,1017,-1.27,-77.9,127.6,-10.2,110,1021,0.00,2.22,0.00,0.000,6,0.000,0.020,2448,1868,3375,0,0,0,0,0,0
$GC,1278,-1.34,-77.9,151.6,-8.8,134,1283,0.12,2.40,0.00,0.000,4,0.064,0.044,2407,470,3375,0,0,0,0,0,0
$GC,1297,-1.34,-77.9,153.8,-10.5,135,1302,0.00,2.25,0.00,0.000,6,0.000,0.021,2403,1879,3375,0,0,0,0,0,0
$GC,1558,-1.34,-77.9,186.5,-12.6,160,1562,0.00,2.42,0.00,0.000,4,0.000,0.044,2407,470,3376,0,0,0,0,0,0
$GC,1628,-1.34,-77.9,195.5,-12.5,167,1632,0.00,2.25,0.00,0.000,6,0.000,0.021,2405,1873,3376,0,0,0,0,0,0
$GC,1883,-1.34,-77.9,223.1,-10.2,181,1887,0.00,2.40,0.00,0.000,4,0.000,0.045,2405,470,3376,0,0,0,0,0,0
$GC,1947,-1.34,-77.9,229.8,-9.5,183,1953,0.00,2.25,0.00,0.000,6,0.000,0.021,2406,1876,3377,0,0,0,0,0,0
$GC,2264,-1.34,-77.9,260.1,-9.5,199,2268,0.00,2.42,0.00,0.000,4,0.000,0.047,2408,460,3377,0,0,0,0,0,0
$GC,2337,-1.34,-77.9,268.2,-9.7,202,2341,0.00,2.28,0.00,0.000,6,0.000,0.023,2406,1879,3376,0,0,0,0,0,0
$GC,2656,-1.38,-77.9,298.9,-11.0,218,2661,0.00,2.45,0.00,0.000,4,0.000,0.048,2408,466,3376,0,0,0,0,0,0
$GC,2677,-1.38,-77.9,301.2,-11.8,219,2681,0.00,2.28,0.00,0.000,6,0.000,0.024,2408,1883,3376,0,0,0,0,0,0
$GC,3021,-1.43,-77.9,330.9,-7.2,228,3026,0.00,2.47,0.00,0.000,4,0.000,0.050,2406,464,3375,0,0,0,0,0,0
$GC,3100,-1.43,-77.9,336.6,-7.0,229,3104,0.00,2.30,0.00,0.000,6,0.000,0.025,2405,1871,3374,0,0,0,0,0,0
$GC,3432,-1.49,-77.9,361.1,-7.9,237,3436,0.00,2.45,0.00,0.000,4,0.000,0.052,2407,471,3373,0,0,0,0,0,0
$GC,3520,-1.49,-77.9,370.0,-10.3,239,3524,0.00,2.30,0.00,0.000,6,0.000,0.027,2408,1880,3372,0,0,0,0,0,0
$GC,3847,-1.55,-77.9,397.5,-8.2,247,3852,0.15,2.50,0.00,0.000,4,0.064,0.054,2365,467,3370,0,0,0,0,0,0
$GC,3872,-1.49,-77.9,400.0,-10.4,247,3877,0.10,2.33,0.00,0.000,6,0.118,0.028,2386,1873,3370,0,0,0,0,0,0
$GC,4212,-1.49,-77.9,430.2,-8.8,256,4217,0.00,2.47,0.00,0.000,4,0.000,0.056,2385,473,3367,0,0,0,0,0,0
$GC,4290,-1.49,-77.9,438.0,-9.1,257,4294,0.00,2.30,0.00,0.000,6,0.000,0.030,2385,1872,3367,0,0,0,0,0,0
$STATE,4456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4456,begin apogee
$GC,4462,-0.31,0.0,452.3,8.5,261,4530,1.23,0.00,64.80,0.878,6,0.077,0.000,2647,2026,3050,0,0,0,0,0,0
$STATE,4531,end apogee,CONTROL_FINISHED_OK
$STATE,4531,begin climb
$GC,4533,1.40,77.9,452.7,0.0,262,4607,1.62,2.47,65.10,0.855,4,0.034,0.046,3025,3390,2732,0,0,0,0,0,0
$GC,4871,1.20,104.6,436.9,6.2,269,4900,0.25,2.38,23.08,0.828,6,0.115,0.038,2979,2010,2623,0,0,0,0,0,0
$GC,5223,1.11,122.1,412.9,6.8,278,5241,0.12,0.00,15.57,0.805,6,0.128,0.000,2958,2010,2552,0,0,0,0,0,0
$GC,5548,1.07,138.0,389.5,6.9,286,5565,0.00,0.00,14.80,0.797,6,0.000,0.000,2958,2010,2486,0,0,0,0,0,0
$GC,5873,1.03,138.0,361.8,9.0,294,5877,0.00,2.40,0.00,0.000,4,0.000,0.042,2958,3390,2482,0,0,0,0,0,0
$GC,5892,0.99,138.0,360.0,9.4,294,5897,0.15,2.40,0.00,0.000,6,0.117,0.038,2931,2005,2482,0,0,0,0,0,0
$GC,6236,0.99,138.0,330.5,8.6,303,6241,0.00,2.45,0.00,0.000,4,0.000,0.054,2930,605,2480,0,0,0,0,0,0
$GC,6411,0.95,138.0,314.9,8.3,306,6417,0.00,2.35,0.00,0.000,6,0.000,0.031,2930,2003,2478,0,0,0,0,0,0
$GC,6723,1.01,161.1,294.7,6.4,316,6749,0.00,2.58,19.67,0.775,4,0.000,0.052,2930,601,2392,0,0,0,0,0,0
$GC,6810,1.01,165.0,288.3,7.8,319,6820,0.00,2.38,4.45,0.542,6,0.000,0.030,2931,2013,2377,0,0,0,0,0,0
$GC,7146,1.10,184.2,264.7,6.7,336,7169,0.00,2.53,18.62,0.751,4,0.000,0.051,2931,605,2296,0,0,0,0,0,0
$GC,7211,1.10,184.2,259.6,8.2,338,7218,0.00,2.40,0.00,0.000,6,0.000,0.030,2931,2008,2293,0,0,0,0,0,0
$GC,7526,1.19,202.4,237.1,6.8,354,7550,0.17,2.53,16.90,0.720,4,0.064,0.050,2975,604,2223,0,0,0,0,0,0
$GC,7629,1.12,202.4,225.9,12.9,358,7633,0.00,2.38,0.00,0.000,6,0.000,0.028,2975,2012,2218,0,0,0,0,0,0
$GC,7951,1.12,202.4,193.8,9.6,377,7956,0.00,2.47,0.00,0.000,4,0.000,0.050,2975,595,2217,0,0,0,0,0,0
$GC,8049,1.06,202.4,183.8,9.6,387,8054,0.15,2.38,0.00,0.000,6,0.117,0.028,2948,2016,2216,0,0,0,0,0,0
$GC,8311,1.13,209.1,163.7,7.6,411,8324,0.00,2.53,6.00,0.547,4,0.000,0.048,2948,604,2197,0,0,0,0,0,0
$GC,8379,1.13,209.1,156.9,10.5,418,8385,0.00,2.35,0.00,0.000,6,0.000,0.025,2948,2012,2195,0,0,0,0,0,0
$GC,8641,1.19,209.1,134.5,8.8,443,8643,0.12,0.00,0.00,0.000,6,0.071,0.000,2982,2016,2195,0,0,0,0,0,0
$GC,8895,1.19,209.1,111.3,8.3,467,8899,0.00,2.45,0.00,0.000,4,0.000,0.045,2983,601,2195,0,0,0,0,0,0
$GC,8964,1.14,209.1,104.5,9.3,474,8968,0.00,2.33,0.00,0.000,6,0.000,0.023,2982,2022,2194,0,0,0,0,0,0
$GC,9225,1.14,209.1,79.8,9.8,498,9227,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2026,2195,0,0,0,0,0,0
$GC,9480,1.14,209.1,56.1,8.4,522,9485,0.00,2.45,0.00,0.000,4,0.000,0.044,2982,592,2194,0,0,0,0,0,0
$GC,9731,1.14,209.1,33.3,8.4,549,9738,0.00,2.33,0.00,0.000,6,0.000,0.021,2983,2008,2194,0,0,0,0,0,0
$GC,10001,1.23,244.2,17.7,5.6,593,10043,0.00,2.40,31.83,0.532,4,0.000,0.026,2983,3405,2054,0,0,0,0,0,0
$GC,10148,1.32,244.2,5.7,10.4,624,10155,0.00,2.38,0.00,0.000,6,0.000,0.028,2980,2005,2053,0,0,0,0,0,0
$STATE,10187,end climb,SURFACE_DEPTH_REACHED
$STATE,10188,begin surface coast
$FINISH,0.4,1.023526
$STATE,10234,end surface coast,CONTROL_FINISHED_OK
$STATE,10234,begin surface
$SM_CCo,10253,30.02,0.509,0,0,1827,300.00
$SM_GC,1.32,0.00,0.00,30.02,0.000,0.000,0.509,426,1866,1827,-10.53,-0.25,300.00
$IRIDIUM_FIX,2059.45,-15801.19,060899,030324
$TT8_MAMPS,0.029146
$HUMID,45.55
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,22.837
$10V_AH,10.0,21.981
$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,26.075,115.125,280.825,30.025,0.000,29.111,33.066,148.289,4.500,0.000,35.709,1227.620,6745.105,378.696,1892.447,371.420,33.369,1199.789,0.000,1848.897,0.000,29.238,0.000
$DEVICE_MAMPS,138.060,59.826,878.215,509.288,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,431.443,405.271,795.319,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,35005,639
$CAP_FILE_SIZE,115236,0
$CFSIZE,260165632,243896320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120510,094221,2106.913,-15758.954,187,3.8,206,9.8