version: 66.06
glider: 139
mission: 7
dive: 193
start: 5 4 110 9 30 42
data:
$ID,139
$MISSION,7
$DIVE,193
$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,-2125749.8
$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,1900
$C_ROLL_CLIMB,2035
$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
$GPS1,091806,2108.816,-15755.427,57,2.0,57,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-68.0
$GPS2,092949,2108.870,-15755.569,12,1.7,17,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.171,-0.066
$KALMAN_X,-64020.5,348.3,-435.7,77620.7,-1434.8
$KALMAN_Y,11264.8,-92.2,203.6,-9346.9,618.1
$MHEAD_RNG_PITCHd_Wd,101.4,22581,-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,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,73,0.00,0.00,-54.62,0.000,2,0.000,0.000,431,1896,3255,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.2,-6.0,10,93,10.57,2.42,-2.33,0.000,4,0.133,0.054,2402,490,3369,0,0,0,0,0,0
$GC,113,-0.70,-77.9,14.6,-28.5,17,121,0.70,2.38,0.00,0.000,6,0.087,0.021,2558,1939,3370,0,0,0,0,0,0
$GC,320,-0.96,-77.9,32.5,-7.5,52,325,0.25,2.50,0.00,0.000,4,0.040,0.043,2476,490,3370,0,0,0,0,0,0
$GC,374,-1.05,-77.9,38.3,-10.5,57,381,0.00,2.30,0.00,0.000,6,0.000,0.021,2480,1897,3371,0,0,0,0,0,0
$GC,636,-1.14,-77.9,65.5,-10.4,82,641,0.00,2.42,0.00,0.000,4,0.000,0.044,2478,494,3371,0,0,0,0,0,0
$GC,705,-1.21,-77.9,72.5,-9.8,89,710,0.12,2.25,0.00,0.000,6,0.063,0.020,2435,1905,3371,0,0,0,0,0,0
$GC,966,-1.21,-77.9,101.4,-10.6,113,970,0.00,2.45,0.00,0.000,4,0.000,0.044,2435,488,3372,0,0,0,0,0,0
$GC,999,-1.17,-77.9,105.4,-12.0,116,1004,0.10,2.25,0.00,0.000,6,0.107,0.021,2458,1898,3372,0,0,0,0,0,0
$GC,1260,-1.27,-77.9,129.3,-9.7,140,1264,0.00,2.42,0.00,0.000,4,0.000,0.044,2457,491,3373,0,0,0,0,0,0
$GC,1348,-1.35,-77.9,137.7,-8.6,149,1353,0.17,2.28,0.00,0.000,6,0.052,0.021,2403,1898,3373,0,0,0,0,0,0
$GC,1610,-1.35,-77.9,167.9,-11.5,173,1614,0.00,2.40,0.00,0.000,4,0.000,0.044,2402,492,3374,0,0,0,0,0,0
$GC,1635,-1.28,-77.9,171.0,-12.4,175,1640,0.15,2.28,0.00,0.000,6,0.094,0.021,2434,1919,3374,0,0,0,0,0,0
$GC,1897,-1.35,-77.9,197.0,-9.4,199,1901,0.00,2.47,0.00,0.000,4,0.000,0.044,2434,485,3374,0,0,0,0,0,0
$GC,1934,-1.39,-77.9,201.1,-10.7,202,1941,0.08,2.30,0.00,0.000,6,0.038,0.021,2399,1896,3374,0,0,0,0,0,0
$GC,2248,-1.39,-77.9,235.7,-11.0,218,2253,0.00,2.45,0.00,0.000,4,0.000,0.047,2398,493,3374,0,0,0,0,0,0
$GC,2307,-1.39,-77.9,242.8,-12.1,220,2314,0.00,2.30,0.00,0.000,6,0.000,0.022,2397,1898,3374,0,0,0,0,0,0
$GC,2622,-1.39,-77.9,276.5,-10.6,236,2626,0.00,2.42,0.00,0.000,4,0.000,0.046,2398,494,3374,0,0,0,0,0,0
$GC,2680,-1.39,-77.9,283.3,-11.0,238,2687,0.00,2.30,0.00,0.000,6,0.000,0.024,2394,1891,3374,0,0,0,0,0,0
$GC,2993,-1.39,-77.9,311.3,-9.0,251,2994,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1896,3373,0,0,0,0,0,0
$GC,3319,-1.43,-77.9,342.6,-9.6,259,3324,0.00,2.42,0.00,0.000,4,0.000,0.050,2398,489,3372,0,0,0,0,0,0
$GC,3399,-1.43,-77.9,351.5,-11.7,260,3403,0.00,2.30,0.00,0.000,6,0.000,0.026,2397,1898,3371,0,0,0,0,0,0
$GC,3730,-1.48,-77.9,384.0,-9.0,268,3734,0.00,2.45,0.00,0.000,4,0.000,0.052,2397,488,3369,0,0,0,0,0,0
$GC,3772,-1.48,-77.9,387.8,-8.6,269,3776,0.00,2.33,0.00,0.000,6,0.000,0.028,2398,1906,3369,0,0,0,0,0,0
$GC,4099,-1.53,-77.9,412.4,-7.1,277,4103,0.00,2.47,0.00,0.000,4,0.000,0.054,2395,497,3367,0,0,0,0,0,0
$GC,4154,-1.53,-77.9,417.2,-8.6,278,4158,0.00,2.33,0.00,0.000,6,0.000,0.028,2398,1896,3366,0,0,0,0,0,0
$GC,4471,-1.58,-77.9,445.1,-9.1,286,4476,0.12,2.50,0.00,0.000,4,0.070,0.055,2361,492,3364,0,0,0,0,0,0
$GC,4491,-1.54,-77.9,447.1,-10.3,286,4495,0.00,2.33,0.00,0.000,6,0.000,0.030,2362,1900,3364,0,0,0,0,0,0
$STATE,4548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4549,begin apogee
$GC,4553,-0.31,0.0,453.3,10.3,288,4621,1.33,0.00,64.20,0.886,6,0.076,0.000,2644,2058,3050,0,0,0,0,0,0
$STATE,4622,end apogee,CONTROL_FINISHED_OK
$STATE,4622,begin climb
$GC,4624,1.40,77.9,454.4,0.0,289,4698,1.65,2.45,64.62,0.866,4,0.035,0.044,3027,3409,2732,0,0,0,0,0,0
$GC,4740,1.28,167.4,455.6,1.9,291,4826,0.15,2.40,76.38,0.864,6,0.120,0.036,2996,2027,2366,0,0,0,0,0,0
$GC,5162,1.16,167.4,413.3,11.9,302,5167,0.15,2.50,0.00,0.000,4,0.118,0.054,2973,625,2356,0,0,0,0,0,0
$GC,5176,1.04,167.4,411.5,12.1,302,5181,0.17,2.35,0.00,0.000,6,0.118,0.031,2941,2022,2355,0,0,0,0,0,0
$GC,5526,1.04,167.4,378.9,8.6,311,5530,0.00,2.50,0.00,0.000,4,0.000,0.054,2942,621,2353,0,0,0,0,0,0
$GC,5581,0.98,167.4,373.8,9.7,312,5585,0.00,2.40,0.00,0.000,6,0.000,0.031,2942,2036,2350,0,0,0,0,0,0
$GC,5894,0.98,167.4,344.3,10.2,320,5898,0.00,2.50,0.00,0.000,4,0.000,0.054,2942,630,2350,0,0,0,0,0,0
$GC,5963,0.93,167.4,335.5,13.3,321,5968,0.12,2.38,0.00,0.000,6,0.126,0.031,2921,2044,2347,0,0,0,0,0,0
$GC,6303,1.01,167.4,299.3,9.8,330,6308,0.00,2.50,0.00,0.000,4,0.000,0.052,2920,621,2347,0,0,0,0,0,0
$GC,6433,1.01,167.4,287.9,8.6,335,6438,0.00,2.38,0.00,0.000,6,0.000,0.030,2921,2042,2345,0,0,0,0,0,0
$GC,6749,1.10,186.5,266.0,6.7,351,6772,0.15,2.45,13.82,0.742,4,0.070,0.040,2958,3426,2289,0,0,0,0,0,0
$GC,6804,1.10,186.5,261.6,8.6,353,6808,0.00,2.40,0.00,0.000,6,0.000,0.037,2957,2032,2289,0,0,0,0,0,0
$GC,7124,1.10,189.7,236.7,7.8,369,7133,0.00,2.50,4.05,0.499,4,0.000,0.053,2957,625,2276,0,0,0,0,0,0
$GC,7294,1.06,189.7,219.5,11.1,376,7298,0.00,2.35,0.00,0.000,6,0.000,0.028,2957,2040,2273,0,0,0,0,0,0
$GC,7612,1.07,193.8,191.5,7.7,395,7622,0.00,2.47,5.07,0.544,4,0.000,0.048,2957,629,2259,0,0,0,0,0,0
$GC,7790,1.03,193.8,175.0,8.7,414,7797,0.00,2.38,0.00,0.000,6,0.000,0.026,2958,2042,2256,0,0,0,0,0,0
$GC,8053,1.05,207.1,157.0,7.1,439,8072,0.00,2.50,13.20,0.644,4,0.000,0.044,2958,619,2204,0,0,0,0,0,0
$GC,8093,1.06,214.4,154.1,7.5,443,8106,0.00,2.35,7.55,0.575,6,0.000,0.025,2957,2041,2175,0,0,0,0,0,0
$GC,8368,1.12,214.4,132.6,8.1,469,8372,0.00,2.45,0.00,0.000,4,0.000,0.046,2958,623,2174,0,0,0,0,0,0
$GC,8501,1.12,214.4,117.4,11.7,483,8505,0.00,2.33,0.00,0.000,6,0.000,0.023,2957,2039,2172,0,0,0,0,0,0
$GC,8764,1.20,214.4,92.5,8.5,507,8768,0.00,2.45,0.00,0.000,4,0.000,0.044,2957,624,2172,0,0,0,0,0,0
$GC,8872,1.20,214.4,80.4,11.2,518,8879,0.00,2.33,0.00,0.000,6,0.000,0.022,2956,2033,2172,0,0,0,0,0,0
$GC,9135,1.27,214.4,56.9,9.3,543,9140,0.15,2.42,0.00,0.000,4,0.062,0.044,2999,626,2172,0,0,0,0,0,0
$GC,9153,1.27,214.4,54.6,10.4,544,9160,0.00,2.33,0.00,0.000,6,0.000,0.022,2998,2042,2172,0,0,0,0,0,0
$GC,9416,1.27,214.4,29.8,9.1,569,9422,0.00,2.45,0.00,0.000,4,0.000,0.044,2998,629,2172,0,0,0,0,0,0
$GC,9665,1.21,214.4,5.0,10.9,627,9672,0.08,2.30,0.00,0.000,6,0.087,0.021,2981,2034,2172,0,0,0,0,0,0
$STATE,9683,end climb,SURFACE_DEPTH_REACHED
$STATE,9683,begin surface coast
$FINISH,0.6,1.023740
$STATE,9712,end surface coast,CONTROL_FINISHED_OK
$STATE,9712,begin surface
$SM_CCo,9731,43.12,0.530,0,0,1825,300.00
$SM_GC,1.64,0.00,0.00,43.12,0.000,0.000,0.530,426,1888,1825,-10.52,-0.34,300.00
$IRIDIUM_FIX,2059.45,-15759.05,290799,090922
$TT8_MAMPS,0.029146
$HUMID,44.44
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.40
$XPDR_PINGS,1
$24V_AH,23.4,17.524
$10V_AH,10.0,16.602
$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,27.150,124.950,248.900,43.125,0.000,89.438,103.014,270.070,4.750,0.000,17.748,1227.181,6361.274,366.711,1894.700,631.680,33.384,1174.465,0.000,1868.066,0.000,31.056,0.000
$DEVICE_MAMPS,133.458,55.224,885.885,529.997,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,429.617,414.013,954.155,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,35015,635
$CAP_FILE_SIZE,122761,0
$CFSIZE,260165632,247590912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040510,121527,2108.663,-15755.246,55,2.6,74,9.8