version: 66.06
glider: 139
mission: 7
dive: 259
start: 5 12 110 12 59 52
data:
$ID,139
$MISSION,7
$DIVE,259
$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,-2129215.8
$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
$GPS1,124410,2404.367,-16733.926,52,5.9,71,9.5
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-70.8
$GPS2,125900,2106.731,-15758.924,40,1.6,46,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.148,-0.109
$KALMAN_X,-101911.0,188.4,-50.7,109494.4,-1679.4
$KALMAN_Y,58347.0,-205.4,-129.0,-59941.1,1220.0
$MHEAD_RNG_PITCHd_Wd,116.4,27709,-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,-77.9,0.0,0.0,0,76,0.00,0.00,-57.88,0.000,6,0.000,0.000,425,1858,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,4.2,-7.6,11,95,10.68,0.00,0.00,0.000,6,0.137,0.000,2404,1858,3370,0,0,0,0,0,0
$GC,297,-1.30,-77.9,46.9,-13.7,40,301,0.12,2.42,0.00,0.000,4,0.108,0.045,2429,464,3372,0,0,0,0,0,0
$GC,331,-1.20,-77.9,51.7,-13.9,43,336,0.12,2.33,0.00,0.000,6,0.104,0.020,2452,1906,3372,0,0,0,0,0,0
$GC,593,-1.24,-77.9,82.0,-11.1,67,598,0.00,2.50,0.00,0.000,4,0.000,0.044,2454,461,3373,0,0,0,0,0,0
$GC,663,-1.24,-77.9,90.8,-11.9,74,668,0.00,2.30,0.00,0.000,6,0.000,0.020,2453,1884,3373,0,0,0,0,0,0
$GC,925,-1.28,-77.9,119.1,-11.7,98,929,0.00,2.45,0.00,0.000,4,0.000,0.044,2454,465,3373,0,0,0,0,0,0
$GC,985,-1.33,-77.9,126.2,-11.9,104,990,0.12,2.28,0.00,0.000,6,0.063,0.020,2412,1880,3374,0,0,0,0,0,0
$GC,1245,-1.33,-77.9,158.6,-11.0,128,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1884,3374,0,0,0,0,0,0
$GC,1500,-1.33,-77.9,185.7,-10.7,152,1504,0.00,2.45,0.00,0.000,4,0.000,0.045,2411,460,3374,0,0,0,0,0,0
$GC,1559,-1.29,-77.9,192.6,-11.1,158,1563,0.00,2.25,0.00,0.000,6,0.000,0.021,2411,1874,3374,0,0,0,0,0,0
$GC,1825,-1.29,-77.9,219.1,-10.1,174,1829,0.00,2.40,0.00,0.000,4,0.000,0.044,2412,465,3375,0,0,0,0,0,0
$GC,1861,-1.29,-77.9,223.2,-11.1,175,1866,0.00,2.28,0.00,0.000,6,0.000,0.021,2411,1877,3375,0,0,0,0,0,0
$GC,2177,-1.34,-77.9,255.0,-10.5,191,2181,0.00,2.40,0.00,0.000,4,0.000,0.045,2412,470,3375,0,0,0,0,0,0
$GC,2259,-1.34,-77.9,264.5,-10.9,194,2266,0.00,2.30,0.00,0.000,6,0.000,0.022,2412,1877,3375,0,0,0,0,0,0
$GC,2575,-1.39,-77.9,294.3,-9.2,210,2579,0.00,2.42,0.00,0.000,4,0.000,0.048,2411,466,3374,0,0,0,0,0,0
$GC,2629,-1.39,-77.9,299.7,-9.4,212,2634,0.00,2.30,0.00,0.000,6,0.000,0.024,2412,1881,3373,0,0,0,0,0,0
$GC,2965,-1.44,-77.9,327.2,-8.7,221,2969,0.00,2.45,0.00,0.000,4,0.000,0.050,2411,463,3372,0,0,0,0,0,0
$GC,3034,-1.44,-77.9,334.3,-10.0,222,3038,0.00,2.30,0.00,0.000,6,0.000,0.025,2411,1873,3372,0,0,0,0,0,0
$GC,3373,-1.50,-77.9,365.8,-9.6,231,3375,0.12,0.00,0.00,0.000,6,0.068,0.000,2375,1878,3370,0,0,0,0,0,0
$GC,3699,-1.50,-77.9,402.8,-11.1,239,3703,0.00,2.45,0.00,0.000,4,0.000,0.054,2373,467,3367,0,0,0,0,0,0
$GC,3811,-1.46,-77.9,415.6,-11.5,241,3816,0.10,2.33,0.00,0.000,6,0.114,0.028,2394,1874,3367,0,0,0,0,0,0
$GC,4158,-1.49,-77.9,447.3,-9.0,250,4162,0.00,2.47,0.00,0.000,4,0.000,0.055,2394,471,3364,0,0,0,0,0,0
$STATE,4183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4183,begin apogee
$GC,4191,-0.31,0.0,450.1,9.5,250,4258,1.15,0.00,64.03,0.871,6,0.077,0.000,2641,2005,3050,0,0,0,0,0,0
$STATE,4259,end apogee,CONTROL_FINISHED_OK
$STATE,4259,begin climb
$GC,4261,1.40,77.9,451.4,0.0,252,4336,1.65,2.53,64.45,0.851,4,0.035,0.045,3024,3406,2732,0,0,0,0,0,0
$GC,4364,1.26,151.3,450.7,3.0,254,4435,0.17,2.42,62.80,0.844,6,0.117,0.037,2993,2010,2433,0,0,0,0,0,0
$GC,4762,1.15,151.3,405.9,13.1,264,4764,0.15,0.00,0.00,0.000,6,0.114,0.000,2966,2010,2423,0,0,0,0,0,0
$GC,5087,1.10,151.3,369.6,10.7,272,5091,0.00,2.50,0.00,0.000,4,0.000,0.054,2966,599,2420,0,0,0,0,0,0
$GC,5142,0.98,151.3,363.6,11.9,273,5148,0.20,2.40,0.00,0.000,6,0.116,0.031,2931,2020,2418,0,0,0,0,0,0
$GC,5456,0.98,151.3,336.4,8.5,281,5460,0.00,2.38,0.00,0.000,4,0.000,0.041,2931,3407,2417,0,0,0,0,0,0
$GC,5483,1.03,151.3,334.0,8.8,281,5488,0.00,2.42,0.00,0.000,6,0.000,0.038,2931,2005,2417,0,0,0,0,0,0
$GC,5819,1.08,158.3,308.3,7.5,290,5828,0.00,2.50,4.25,0.542,4,0.000,0.054,2931,600,2403,0,0,0,0,0,0
$GC,5889,1.09,168.1,303.2,7.3,291,5907,0.00,2.38,10.23,0.722,6,0.000,0.030,2931,2018,2363,0,0,0,0,0,0
$GC,6217,1.15,171.7,278.7,7.8,306,6229,0.15,2.50,4.43,0.542,4,0.071,0.051,2967,598,2348,0,0,0,0,0,0
$GC,6240,1.10,171.7,276.5,9.8,307,6245,0.00,2.35,0.00,0.000,6,0.000,0.030,2967,2008,2347,0,0,0,0,0,0
$GC,6571,1.10,171.7,248.1,8.1,323,6572,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2012,2346,0,0,0,0,0,0
$GC,6878,1.13,199.7,225.6,6.1,338,6909,0.00,2.42,25.27,0.728,4,0.000,0.037,2968,3409,2235,0,0,0,0,0,0
$GC,6923,1.16,217.3,222.9,6.8,340,6945,0.00,2.42,17.12,0.693,6,0.000,0.034,2968,2007,2164,0,0,0,0,0,0
$GC,7268,1.16,217.3,187.3,11.6,361,7272,0.00,2.42,0.00,0.000,4,0.000,0.048,2967,604,2157,0,0,0,0,0,0
$GC,7441,1.12,217.3,166.1,12.6,379,7446,0.00,2.35,0.00,0.000,6,0.000,0.025,2967,2020,2154,0,0,0,0,0,0
$GC,7702,1.15,217.3,138.9,9.9,404,7706,0.00,2.45,0.00,0.000,4,0.000,0.046,2967,602,2154,0,0,0,0,0,0
$GC,7756,1.15,217.3,133.0,10.1,409,7762,0.00,2.33,0.00,0.000,6,0.000,0.024,2966,2016,2153,0,0,0,0,0,0
$GC,8018,1.19,217.3,110.1,8.9,434,8022,0.00,2.45,0.00,0.000,4,0.000,0.046,2967,603,2153,0,0,0,0,0,0
$GC,8109,1.19,217.3,101.1,9.8,443,8114,0.00,2.28,0.00,0.000,6,0.000,0.023,2966,2009,2152,0,0,0,0,0,0
$GC,8371,1.23,217.3,77.7,8.4,468,8375,0.00,2.42,0.00,0.000,4,0.000,0.044,2967,602,2152,0,0,0,0,0,0
$GC,8413,1.23,217.3,73.4,9.9,472,8417,0.00,2.30,0.00,0.000,6,0.000,0.022,2967,2017,2152,0,0,0,0,0,0
$GC,8681,1.30,217.3,48.9,8.4,497,8686,0.12,2.42,0.00,0.000,4,0.067,0.043,3005,594,2152,0,0,0,0,0,0
$GC,8874,1.25,217.3,29.3,9.9,518,8880,0.00,2.30,0.00,0.000,6,0.000,0.021,3005,2003,2152,0,0,0,0,0,0
$GC,9080,1.25,217.3,11.1,8.7,555,9085,0.00,2.28,0.00,0.000,4,0.000,0.028,3003,3398,2152,0,0,0,0,0,0
$STATE,9197,end climb,SURFACE_DEPTH_REACHED
$STATE,9199,begin surface coast
$FINISH,0.4,1.023503
$STATE,9255,end surface coast,CONTROL_FINISHED_OK
$STATE,9255,begin surface
$SM_CCo,9276,41.10,0.517,0,0,1826,300.00
$SM_GC,1.73,0.00,0.00,41.10,0.000,0.000,0.517,428,1869,1826,-10.52,-0.17,300.00
$IRIDIUM_FIX,2059.45,-15758.18,060899,090937
$TT8_MAMPS,0.029146
$HUMID,46.37
$INTERNAL_PRESSURE,9.68441
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,23.002
$10V_AH,10.0,22.145
$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,25.900,105.475,252.575,41.100,0.000,154.973,203.150,153.439,4.500,0.000,46.312,1126.692,6344.274,355.287,1707.277,676.413,33.374,1085.609,0.000,1656.321,0.000,29.256,0.000
$DEVICE_MAMPS,136.526,55.224,871.312,516.958,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.006,382.043,755.289,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34971,593
$CAP_FILE_SIZE,106819,0
$CFSIZE,260165632,243781632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120510,153652,2106.646,-15758.674,46,2.6,65,9.8