version: 66.06
glider: 139
mission: 7
dive: 325
start: 5 20 110 17 29 55
data:
$ID,139
$MISSION,7
$DIVE,325
$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,-2132632
$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
$GPS1,171928,2106.516,-15748.160,35,5.2,54,9.8
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.2
$GPS2,172904,2106.534,-15748.210,49,4.7,68,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.176,-0.052
$KALMAN_X,-2318.2,-320.8,16.6,14233.2,-1845.7
$KALMAN_Y,17719.7,-134.7,-211.5,-18067.3,565.0
$MHEAD_RNG_PITCHd_Wd,96.7,9240,-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,-53.03,0.000,2,0.000,0.000,421,1873,3227,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.4,-5.3,10,95,10.73,2.47,-2.80,0.000,4,0.139,0.054,2401,464,3371,0,0,0,0,0,0
$GC,114,-0.80,-77.9,16.4,-28.7,18,121,0.60,2.35,0.00,0.000,6,0.088,0.021,2534,1896,3372,0,0,0,0,0,0
$GC,324,-0.96,-77.9,37.0,-9.9,49,329,0.12,2.47,0.00,0.000,4,0.061,0.044,2492,467,3372,0,0,0,0,0,0
$GC,371,-0.96,-77.9,43.0,-11.8,53,378,0.00,2.30,0.00,0.000,6,0.000,0.020,2491,1881,3372,0,0,0,0,0,0
$GC,633,-1.06,-77.9,73.6,-11.9,78,637,0.00,2.42,0.00,0.000,4,0.000,0.043,2492,464,3373,0,0,0,0,0,0
$GC,658,-1.15,-77.9,76.6,-11.7,80,663,0.12,2.28,0.00,0.000,6,0.064,0.019,2449,1886,3373,0,0,0,0,0,0
$GC,919,-1.18,-77.9,109.2,-11.4,104,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1892,3374,0,0,0,0,0,0
$GC,1174,-1.23,-77.9,135.8,-9.3,128,1179,0.00,2.42,0.00,0.000,4,0.000,0.043,2450,463,3375,0,0,0,0,0,0
$GC,1318,-1.28,-77.9,148.6,-8.1,143,1323,0.00,2.25,0.00,0.000,6,0.000,0.020,2450,1883,3375,0,0,0,0,0,0
$GC,1582,-1.35,-77.9,169.1,-8.3,167,1587,0.12,2.45,0.00,0.000,4,0.064,0.044,2406,470,3376,0,0,0,0,0,0
$GC,1619,-1.28,-77.9,173.5,-11.4,170,1626,0.10,2.28,0.00,0.000,6,0.074,0.020,2432,1873,3375,0,0,0,0,0,0
$GC,1881,-1.31,-77.9,197.8,-10.0,195,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,1878,3376,0,0,0,0,0,0
$GC,2139,-1.34,-77.9,224.1,-10.4,209,2144,0.00,2.42,0.00,0.000,4,0.000,0.045,2433,461,3376,0,0,0,0,0,0
$GC,2265,-1.34,-77.9,238.7,-10.7,214,2269,0.00,2.28,0.00,0.000,6,0.000,0.021,2432,1878,3376,0,0,0,0,0,0
$GC,2583,-1.42,-77.9,268.7,-8.4,229,2584,0.12,0.00,0.00,0.000,6,0.065,0.000,2389,1882,3375,0,0,0,0,0,0
$GC,2889,-1.42,-77.9,297.4,-9.5,244,2893,0.00,2.42,0.00,0.000,4,0.000,0.047,2391,462,3375,0,0,0,0,0,0
$GC,2943,-1.42,-77.9,303.0,-9.4,246,2948,0.00,2.28,0.00,0.000,6,0.000,0.023,2390,1881,3375,0,0,0,0,0,0
$GC,3256,-1.42,-77.9,333.9,-10.6,254,3261,0.00,2.42,0.00,0.000,4,0.000,0.049,2390,471,3374,0,0,0,0,0,0
$GC,3309,-1.38,-77.9,340.0,-12.0,255,3314,0.12,2.28,0.00,0.000,6,0.102,0.025,2413,1882,3374,0,0,0,0,0,0
$GC,3629,-1.45,-77.9,365.2,-7.4,263,3633,0.00,2.47,0.00,0.000,4,0.000,0.051,2416,464,3372,0,0,0,0,0,0
$GC,3690,-1.50,-77.9,370.5,-7.6,264,3695,0.12,2.30,0.00,0.000,6,0.066,0.027,2377,1879,3372,0,0,0,0,0,0
$GC,4040,-1.50,-77.9,401.1,-8.8,273,4044,0.00,2.45,0.00,0.000,4,0.000,0.052,2376,468,3370,0,0,0,0,0,0
$GC,4114,-1.46,-77.9,408.6,-9.6,274,4118,0.00,2.33,0.00,0.000,6,0.000,0.028,2377,1876,3369,0,0,0,0,0,0
$GC,4454,-1.46,-77.9,441.3,-9.3,283,4459,0.00,2.45,0.00,0.000,4,0.000,0.054,2375,472,3366,0,0,0,0,0,0
$GC,4477,-1.41,-77.9,443.8,-10.6,283,4482,0.15,2.33,0.00,0.000,6,0.098,0.029,2408,1882,3366,0,0,0,0,0,0
$STATE,4572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4572,begin apogee
$GC,4577,-0.31,0.0,451.6,8.1,286,4645,1.10,0.00,64.40,0.880,6,0.074,0.000,2643,2027,3050,0,0,0,0,0,0
$STATE,4646,end apogee,CONTROL_FINISHED_OK
$STATE,4646,begin climb
$GC,4648,1.40,77.9,452.5,0.0,287,4723,1.65,2.45,64.62,0.858,4,0.034,0.046,3027,3379,2732,0,0,0,0,0,0
$GC,4797,1.22,130.3,451.3,4.4,290,4850,0.25,2.38,44.75,0.849,6,0.114,0.038,2981,2002,2517,0,0,0,0,0,0
$GC,5190,1.12,130.3,412.8,10.4,300,5195,0.12,2.47,0.00,0.000,4,0.130,0.054,2955,596,2511,0,0,0,0,0,0
$GC,5205,1.01,130.3,411.3,9.5,300,5210,0.15,2.35,0.00,0.000,6,0.127,0.031,2934,1998,2509,0,0,0,0,0,0
$GC,5555,1.02,139.5,384.5,7.4,309,5567,0.00,2.50,7.30,0.705,4,0.000,0.054,2933,605,2481,0,0,0,0,0,0
$GC,5679,0.97,140.9,374.2,7.9,311,5683,0.00,2.38,0.00,0.000,6,0.000,0.031,2933,2009,2479,0,0,0,0,0,0
$GC,6016,1.00,163.6,353.3,6.5,320,6045,0.00,2.58,21.55,0.811,4,0.000,0.052,2933,610,2382,0,0,0,0,0,0
$GC,6128,0.96,163.6,342.2,11.7,322,6132,0.00,2.35,0.00,0.000,6,0.000,0.031,2933,2011,2378,0,0,0,0,0,0
$GC,6473,1.00,163.6,310.0,8.9,331,6477,0.00,2.47,0.00,0.000,4,0.000,0.052,2933,602,2376,0,0,0,0,0,0
$GC,6527,1.00,163.6,304.5,9.7,332,6531,0.00,2.38,0.00,0.000,6,0.000,0.031,2934,2020,2375,0,0,0,0,0,0
$GC,6849,1.08,185.7,280.9,6.5,346,6870,0.00,0.00,19.67,0.765,6,0.000,0.000,2934,2025,2291,0,0,0,0,0,0
$GC,7179,1.15,190.2,255.5,7.7,362,7191,0.12,2.53,4.93,0.562,4,0.077,0.049,2964,602,2273,0,0,0,0,0,0
$GC,7209,1.09,190.2,252.8,8.7,363,7214,0.00,2.38,0.00,0.000,6,0.000,0.029,2965,2013,2271,0,0,0,0,0,0
$GC,7531,1.10,198.8,228.8,7.4,379,7547,0.00,2.38,8.95,0.660,4,0.000,0.035,2965,3405,2238,0,0,0,0,0,0
$GC,7561,1.14,201.2,226.3,7.9,380,7565,0.00,2.40,0.00,0.000,6,0.000,0.035,2964,2001,2238,0,0,0,0,0,0
$GC,7881,1.14,201.2,199.4,8.6,396,7885,0.00,2.42,0.00,0.000,4,0.000,0.048,2964,594,2236,0,0,0,0,0,0
$GC,7933,1.09,201.2,194.5,10.7,401,7938,0.00,2.35,0.00,0.000,6,0.000,0.026,2965,2021,2234,0,0,0,0,0,0
$GC,8196,1.09,201.2,170.0,9.6,425,8197,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2026,2234,0,0,0,0,0,0
$GC,8451,1.13,201.2,144.5,9.7,449,8455,0.00,2.47,0.00,0.000,4,0.000,0.045,2964,596,2234,0,0,0,0,0,0
$GC,8568,1.13,201.2,133.2,8.9,461,8572,0.00,2.33,0.00,0.000,6,0.000,0.023,2965,2017,2233,0,0,0,0,0,0
$GC,8831,1.20,222.9,113.8,6.5,485,8859,0.00,2.50,21.67,0.611,4,0.000,0.045,2965,602,2140,0,0,0,0,0,0
$GC,9059,1.20,222.9,94.4,9.3,510,9064,0.00,2.28,0.00,0.000,6,0.000,0.022,2965,2012,2136,0,0,0,0,0,0
$GC,9322,1.31,245.3,76.5,6.5,534,9354,0.15,2.33,20.58,0.568,4,0.061,0.028,3007,3398,2047,0,0,0,0,0,0
$GC,9385,1.31,245.3,71.2,8.8,540,9391,0.00,2.38,0.00,0.000,6,0.000,0.029,3007,2008,2047,0,0,0,0,0,0
$GC,9647,1.31,245.3,48.3,8.3,565,9651,0.00,2.38,0.00,0.000,4,0.000,0.042,3007,602,2046,0,0,0,0,0,0
$GC,9787,1.28,245.3,34.5,10.0,580,9791,0.00,2.28,0.00,0.000,6,0.000,0.021,3007,2023,2044,0,0,0,0,0,0
$GC,10057,1.32,245.3,8.9,10.7,624,10064,0.00,2.47,0.00,0.000,4,0.000,0.043,3007,601,2044,0,0,0,0,0,0
$STATE,10112,end climb,SURFACE_DEPTH_REACHED
$STATE,10112,begin surface coast
$FINISH,0.5,1.023364
$STATE,10146,end surface coast,CONTROL_FINISHED_OK
$STATE,10146,begin surface
$SM_CCo,10167,27.67,0.505,0,0,1826,300.00
$SM_GC,1.27,0.00,0.00,27.67,0.000,0.000,0.505,430,1871,1826,-10.51,-0.11,300.00
$IRIDIUM_FIX,2057.14,-15748.75,140899,171749
$TT8_MAMPS,0.029146
$HUMID,47.08
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,28.636
$10V_AH,10.1,27.453
$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,26.975,114.525,278.425,27.675,0.000,51.159,72.719,230.410,4.500,0.000,69.423,1237.960,6731.025,366.559,1897.362,540.697,33.375,1176.734,0.000,1824.973,0.000,29.250,0.000
$DEVICE_MAMPS,138.827,55.991,879.749,505.453,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,434.628,417.564,815.338,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,34840,643
$CAP_FILE_SIZE,119886,0
$CFSIZE,260165632,239915008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200510,202231,2106.332,-15748.062,125,1.4,125,9.8