version: 66.06
glider: 139
mission: 7
dive: 420
start: 6 1 110 17 22 4
data:
$ID,139
$MISSION,7
$DIVE,420
$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,-2135885.2
$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
$GPS1,171425,2106.611,-15750.607,75,1.5,75,9.8
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.5
$GPS2,172113,2106.719,-15750.722,11,1.7,22,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,0.019
$KALMAN_X,-105503.9,-378.4,-602.3,113752.9,-1839.1
$KALMAN_Y,23440.4,74.1,-193.7,-23674.6,-235.3
$MHEAD_RNG_PITCHd_Wd,74.4,13588,-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,-77.9,0.0,0.0,0,70,0.00,0.00,-52.53,0.000,2,0.000,0.000,425,1855,3231,0,0,0,0,0,0
$GC,73,-1.40,-77.9,3.8,-6.9,10,95,10.60,2.42,-2.58,0.000,4,0.134,0.051,2402,454,3370,0,0,0,0,0,0
$GC,120,-0.96,-77.9,18.6,-26.8,19,126,0.47,2.33,0.00,0.000,6,0.084,0.021,2500,1906,3371,0,0,0,0,0,0
$GC,323,-0.96,-77.9,44.7,-12.6,45,327,0.00,2.22,0.00,0.000,4,0.000,0.027,2500,3272,3372,0,0,0,0,0,0
$GC,377,-1.16,-77.9,53.0,-14.7,50,384,0.10,2.35,0.00,0.000,6,0.065,0.027,2516,1876,3372,0,0,0,0,0,0
$GC,641,-1.36,-77.9,76.7,-7.7,75,646,0.43,2.40,0.00,0.000,4,0.033,0.041,2407,463,3374,0,0,0,0,0,0
$GC,751,-1.24,-77.9,91.0,-12.8,86,758,0.12,2.30,0.00,0.000,6,0.074,0.019,2439,1885,3374,0,0,0,0,0,0
$GC,1013,-1.24,-77.9,118.3,-10.0,111,1017,0.00,2.42,0.00,0.000,4,0.000,0.044,2439,464,3375,0,0,0,0,0,0
$GC,1058,-1.24,-77.9,123.3,-10.8,115,1064,0.00,2.28,0.00,0.000,6,0.000,0.019,2439,1884,3374,0,0,0,0,0,0
$GC,1320,-1.28,-77.9,148.3,-9.7,140,1324,0.00,2.42,0.00,0.000,4,0.000,0.043,2439,471,3375,0,0,0,0,0,0
$GC,1347,-1.28,-77.9,151.4,-10.6,142,1354,0.00,2.28,0.00,0.000,6,0.000,0.020,2439,1876,3376,0,0,0,0,0,0
$GC,1611,-1.32,-77.9,174.3,-9.0,167,1615,0.00,2.40,0.00,0.000,4,0.000,0.043,2439,463,3376,0,0,0,0,0,0
$GC,1637,-1.32,-77.9,177.2,-8.7,169,1643,0.00,2.25,0.00,0.000,6,0.000,0.020,2439,1883,3376,0,0,0,0,0,0
$GC,1899,-1.40,-77.9,199.1,-8.5,194,1904,0.15,2.42,0.00,0.000,4,0.056,0.044,2390,468,3376,0,0,0,0,0,0
$GC,1984,-1.30,-77.9,208.9,-11.7,198,1991,0.15,2.28,0.00,0.000,6,0.071,0.021,2427,1876,3376,0,0,0,0,0,0
$GC,2301,-1.36,-77.9,235.6,-7.1,214,2305,0.00,2.40,0.00,0.000,4,0.000,0.044,2427,464,3376,0,0,0,0,0,0
$GC,2338,-1.36,-77.9,238.6,-7.3,215,2343,0.00,2.25,0.00,0.000,6,0.000,0.021,2427,1877,3377,0,0,0,0,0,0
$GC,2656,-1.44,-77.9,262.3,-7.9,231,2661,0.12,2.42,0.00,0.000,4,0.064,0.045,2386,467,3376,0,0,0,0,0,0
$GC,2759,-1.39,-77.9,273.8,-12.1,235,2764,0.12,2.25,0.00,0.000,6,0.099,0.022,2411,1872,3376,0,0,0,0,0,0
$GC,3095,-1.43,-77.9,309.1,-10.2,249,3099,0.00,2.42,0.00,0.000,4,0.000,0.047,2411,470,3375,0,0,0,0,0,0
$GC,3123,-1.43,-77.9,312.1,-10.7,249,3127,0.00,2.28,0.00,0.000,6,0.000,0.024,2411,1877,3375,0,0,0,0,0,0
$GC,3459,-1.49,-77.9,340.3,-7.7,258,3463,0.00,2.42,0.00,0.000,4,0.000,0.048,2411,466,3373,0,0,0,0,0,0
$GC,3491,-1.49,-77.9,343.2,-8.6,258,3495,0.00,2.30,0.00,0.000,6,0.000,0.025,2411,1877,3373,0,0,0,0,0,0
$GC,3822,-1.56,-77.9,369.1,-8.2,266,3827,0.17,2.45,0.00,0.000,4,0.055,0.050,2361,468,3371,0,0,0,0,0,0
$GC,3902,-1.48,-77.9,378.5,-12.6,267,3907,0.15,2.28,0.00,0.000,6,0.097,0.026,2391,1869,3371,0,0,0,0,0,0
$GC,4233,-1.51,-77.9,412.7,-10.3,275,4237,0.00,2.45,0.00,0.000,4,0.000,0.052,2391,470,3369,0,0,0,0,0,0
$GC,4310,-1.51,-77.9,422.0,-11.2,276,4315,0.00,2.30,0.00,0.000,6,0.000,0.028,2391,1877,3368,0,0,0,0,0,0
$STATE,4598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4598,begin apogee
$GC,4604,-0.31,0.0,451.3,9.6,283,4672,1.17,0.00,64.60,0.877,6,0.075,0.000,2642,2038,3050,0,0,0,0,0,0
$STATE,4673,end apogee,CONTROL_FINISHED_OK
$STATE,4673,begin climb
$GC,4675,1.40,77.9,452.4,0.0,284,4750,1.65,2.42,64.85,0.854,4,0.035,0.044,3024,3384,2732,0,0,0,0,0,0
$GC,5009,1.24,129.0,440.5,4.5,291,5058,0.22,2.35,43.10,0.849,6,0.114,0.036,2984,2009,2524,0,0,0,0,0,0
$GC,5403,1.13,129.0,409.0,8.2,301,5405,0.12,0.00,0.00,0.000,6,0.126,0.000,2962,2009,2517,0,0,0,0,0,0
$GC,5728,1.09,142.4,385.5,7.1,309,5745,0.00,2.50,11.45,0.772,4,0.000,0.052,2960,609,2469,0,0,0,0,0,0
$GC,5760,1.00,149.7,383.0,7.5,309,5775,0.15,2.35,7.90,0.709,6,0.126,0.030,2935,2001,2439,0,0,0,0,0,0
$GC,6099,1.01,156.3,357.1,7.6,318,6111,0.00,2.53,6.78,0.683,4,0.000,0.052,2934,610,2412,0,0,0,0,0,0
$GC,6215,0.97,156.3,346.8,10.1,320,6219,0.00,2.38,0.00,0.000,6,0.000,0.031,2935,2015,2410,0,0,0,0,0,0
$GC,6564,0.99,169.4,320.0,7.1,329,6579,0.00,0.00,12.65,0.757,6,0.000,0.000,2935,2019,2359,0,0,0,0,0,0
$GC,6890,1.08,209.0,301.7,5.3,337,6932,0.00,2.55,35.95,0.793,4,0.000,0.051,2935,608,2197,0,0,0,0,0,0
$GC,7002,1.08,209.0,293.0,8.8,341,7007,0.00,2.38,0.00,0.000,6,0.000,0.030,2936,2023,2192,0,0,0,0,0,0
$GC,7337,1.15,209.0,261.2,10.5,357,7342,0.12,2.50,0.00,0.000,4,0.076,0.051,2967,608,2190,0,0,0,0,0,0
$GC,7462,1.11,209.0,243.7,13.7,362,7467,0.00,2.35,0.00,0.000,6,0.000,0.028,2967,2022,2187,0,0,0,0,0,0
$GC,7779,1.11,209.0,212.8,9.3,377,7783,0.00,2.47,0.00,0.000,4,0.000,0.048,2967,606,2187,0,0,0,0,0,0
$GC,7868,1.11,209.0,203.2,11.2,381,7872,0.00,2.35,0.00,0.000,6,0.000,0.028,2967,2016,2185,0,0,0,0,0,0
$GC,8194,1.11,209.0,173.3,8.9,410,8198,0.00,2.47,0.00,0.000,4,0.000,0.048,2967,602,2185,0,0,0,0,0,0
$GC,8337,1.11,209.0,158.4,10.1,425,8341,0.00,2.33,0.00,0.000,6,0.000,0.025,2967,2022,2184,0,0,0,0,0,0
$GC,8601,1.15,209.0,137.3,8.2,449,8605,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2028,2184,0,0,0,0,0,0
$GC,8862,1.23,230.3,120.1,6.6,474,8885,0.00,2.47,17.77,0.613,4,0.000,0.044,2967,606,2110,0,0,0,0,0,0
$GC,9116,1.23,230.3,94.3,10.9,501,9121,0.00,2.28,0.00,0.000,6,0.000,0.022,2968,2019,2105,0,0,0,0,0,0
$GC,9379,1.37,272.2,74.7,5.1,526,9420,0.20,0.00,37.25,0.587,6,0.052,0.000,3022,2023,1940,0,0,0,0,0,0
$GC,9672,1.37,272.2,50.5,8.9,554,9676,0.00,2.45,0.00,0.000,4,0.000,0.041,3022,601,1936,0,0,0,0,0,0
$GC,9715,1.32,272.2,46.2,11.3,558,9719,0.00,2.30,0.00,0.000,6,0.000,0.021,3022,2014,1933,0,0,0,0,0,0
$GC,9982,1.32,272.2,21.1,9.6,592,9990,0.00,2.30,0.00,0.000,4,0.000,0.027,3022,3391,1933,0,0,0,0,0,0
$GC,10012,1.35,272.2,18.5,10.0,597,10018,0.00,2.30,0.00,0.000,6,0.000,0.028,3021,2005,1933,0,0,0,0,0,0
$STATE,10159,end climb,SURFACE_DEPTH_REACHED
$STATE,10159,begin surface coast
$FINISH,0.6,1.023172
$STATE,10182,end surface coast,CONTROL_FINISHED_OK
$STATE,10182,begin surface
$SM_CCo,10202,14.75,0.489,0,0,1826,300.00
$SM_GC,1.56,0.00,0.00,14.75,0.000,0.000,0.489,425,1877,1826,-10.53,0.06,300.00
$IRIDIUM_FIX,2057.14,-15748.75,260899,141449
$TT8_MAMPS,0.029146
$HUMID,48.89
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,37.196
$10V_AH,10.1,35.248
$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,27.525,109.425,302.300,14.750,0.000,32.776,53.285,208.719,4.500,0.000,22.412,1209.239,6689.742,377.545,1859.697,489.190,33.378,1186.862,0.000,1827.465,0.000,29.249,0.000
$DEVICE_MAMPS,134.225,66.729,876.681,489.346,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,422.666,400.228,796.863,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34959,627
$CAP_FILE_SIZE,115683,0
$CFSIZE,260165632,234270720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010610,201352,2106.652,-15750.544,34,10.0,53,9.8