version: 66.06
glider: 139
mission: 7
dive: 217
start: 5 7 110 8 14 50
data:
$ID,139
$MISSION,7
$DIVE,217
$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,-2126520.8
$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
$GPS1,080727,2106.718,-15749.247,58,3.1,77,9.8
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-67.9
$GPS2,081359,2106.759,-15749.341,17,2.8,36,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.158,-0.093
$KALMAN_X,-98665.4,473.3,-28.0,122491.0,-1620.9
$KALMAN_Y,26399.8,-123.6,-213.2,-27938.9,1023.2
$MHEAD_RNG_PITCHd_Wd,110.7,11234,-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,-77.9,0.0,0.0,0,72,0.00,0.00,-54.60,0.000,2,0.000,0.000,426,1887,3263,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.5,-6.3,10,92,10.68,2.40,-1.98,0.000,4,0.137,0.050,2402,484,3367,0,0,0,0,0,0
$GC,112,-0.65,-77.9,16.9,-33.4,17,120,0.75,2.38,0.00,0.000,6,0.087,0.021,2569,1924,3368,0,0,0,0,0,0
$GC,320,-0.93,-77.9,32.2,-6.3,52,325,0.25,2.47,0.00,0.000,4,0.042,0.042,2488,494,3370,0,0,0,0,0,0
$GC,381,-1.00,-77.9,38.1,-10.3,58,385,0.00,2.28,0.00,0.000,6,0.000,0.020,2489,1913,3369,0,0,0,0,0,0
$GC,648,-1.13,-77.9,66.9,-10.7,83,653,0.00,2.42,0.00,0.000,4,0.000,0.043,2489,492,3370,0,0,0,0,0,0
$GC,727,-1.24,-77.9,75.9,-11.4,91,734,0.17,2.28,0.00,0.000,6,0.028,0.020,2429,1900,3371,0,0,0,0,0,0
$GC,988,-1.24,-77.9,112.8,-14.0,116,993,0.00,2.42,0.00,0.000,4,0.000,0.043,2428,491,3372,0,0,0,0,0,0
$GC,1023,-1.17,-77.9,117.8,-14.8,119,1028,0.15,2.28,0.00,0.000,6,0.095,0.020,2460,1910,3372,0,0,0,0,0,0
$GC,1286,-1.27,-77.9,146.1,-10.0,143,1290,0.00,2.42,0.00,0.000,4,0.000,0.044,2457,487,3373,0,0,0,0,0,0
$GC,1313,-1.32,-77.9,149.2,-10.3,145,1319,0.15,2.28,0.00,0.000,6,0.058,0.020,2412,1908,3373,0,0,0,0,0,0
$GC,1574,-1.32,-77.9,180.2,-11.8,170,1578,0.00,2.45,0.00,0.000,4,0.000,0.044,2410,485,3373,0,0,0,0,0,0
$GC,1652,-1.32,-77.9,190.3,-12.6,178,1656,0.00,2.28,0.00,0.000,6,0.000,0.021,2412,1897,3374,0,0,0,0,0,0
$GC,1907,-1.32,-77.9,217.4,-10.3,194,1912,0.00,2.40,0.00,0.000,4,0.000,0.044,2409,490,3374,0,0,0,0,0,0
$GC,1920,-1.32,-77.9,218.8,-9.7,194,1928,0.00,2.30,0.00,0.000,6,0.000,0.021,2412,1910,3374,0,0,0,0,0,0
$GC,2236,-1.36,-77.9,247.9,-10.0,210,2240,0.00,2.42,0.00,0.000,4,0.000,0.044,2411,488,3374,0,0,0,0,0,0
$GC,2286,-1.36,-77.9,253.7,-11.7,212,2290,0.00,2.28,0.00,0.000,6,0.000,0.022,2411,1898,3374,0,0,0,0,0,0
$GC,2606,-1.41,-77.9,287.8,-10.6,228,2610,0.00,2.40,0.00,0.000,4,0.000,0.047,2410,494,3373,0,0,0,0,0,0
$GC,2653,-1.41,-77.9,292.9,-11.0,230,2657,0.00,2.28,0.00,0.000,6,0.000,0.024,2411,1897,3373,0,0,0,0,0,0
$GC,2976,-1.47,-77.9,321.6,-8.3,240,2980,0.00,2.45,0.00,0.000,4,0.000,0.049,2410,487,3373,0,0,0,0,0,0
$GC,3068,-1.47,-77.9,330.3,-9.7,242,3072,0.00,2.30,0.00,0.000,6,0.000,0.025,2411,1896,3373,0,0,0,0,0,0
$GC,3390,-1.54,-77.9,356.6,-8.1,250,3395,0.15,2.47,0.00,0.000,4,0.061,0.052,2368,491,3371,0,0,0,0,0,0
$GC,3462,-1.49,-77.9,364.5,-11.4,251,3467,0.10,2.33,0.00,0.000,6,0.113,0.026,2387,1901,3371,0,0,0,0,0,0
$GC,3802,-1.49,-77.9,395.4,-8.8,260,3807,0.00,2.47,0.00,0.000,4,0.000,0.052,2388,489,3368,0,0,0,0,0,0
$GC,3844,-1.49,-77.9,399.3,-9.2,261,3848,0.00,2.35,0.00,0.000,6,0.000,0.028,2388,1909,3368,0,0,0,0,0,0
$GC,4171,-1.49,-77.9,426.3,-7.9,269,4176,0.00,2.47,0.00,0.000,4,0.000,0.054,2387,490,3365,0,0,0,0,0,0
$GC,4199,-1.45,-77.9,428.8,-9.7,269,4203,0.00,2.35,0.00,0.000,6,0.000,0.028,2388,1905,3366,0,0,0,0,0,0
$STATE,4491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4491,begin apogee
$GC,4496,-0.31,0.0,452.7,8.5,277,4564,1.20,0.00,64.47,0.880,6,0.076,0.000,2644,2057,3050,0,0,0,0,0,0
$STATE,4565,end apogee,CONTROL_FINISHED_OK
$STATE,4565,begin climb
$GC,4567,1.40,77.9,453.9,0.0,278,4642,1.62,2.45,64.95,0.858,4,0.033,0.046,3023,3405,2731,0,0,0,0,0,0
$GC,4906,1.19,93.6,441.9,6.9,285,4928,0.25,2.38,14.18,0.798,6,0.114,0.038,2976,2025,2667,0,0,0,0,0,0
$GC,5254,1.11,115.1,418.4,6.5,294,5278,0.00,2.50,18.77,0.821,4,0.000,0.044,2977,3405,2579,0,0,0,0,0,0
$GC,5543,1.05,142.1,399.0,6.2,300,5573,0.00,2.35,24.10,0.829,6,0.000,0.038,2975,2035,2470,0,0,0,0,0,0
$GC,5898,0.97,142.1,370.7,8.4,309,5900,0.25,0.00,0.00,0.000,6,0.107,0.000,2928,2035,2464,0,0,0,0,0,0
$GC,6223,0.98,143.3,346.5,7.9,317,6227,0.00,2.50,0.00,0.000,4,0.000,0.054,2930,630,2462,0,0,0,0,0,0
$GC,6246,0.94,143.3,344.4,8.7,317,6250,0.00,2.33,0.00,0.000,6,0.000,0.030,2928,2025,2461,0,0,0,0,0,0
$GC,6586,0.98,147.8,317.6,7.7,326,6598,0.00,2.47,4.80,0.590,4,0.000,0.051,2929,625,2446,0,0,0,0,0,0
$GC,6687,0.98,147.8,309.2,8.2,328,6691,0.00,2.35,0.00,0.000,6,0.000,0.030,2929,2035,2445,0,0,0,0,0,0
$GC,7007,1.06,171.4,289.0,6.4,340,7036,0.00,2.53,21.73,0.778,4,0.000,0.051,2929,626,2350,0,0,0,0,0,0
$GC,7160,1.06,171.4,275.7,8.9,346,7166,0.00,2.40,0.00,0.000,6,0.000,0.029,2930,2036,2345,0,0,0,0,0,0
$GC,7475,1.15,195.3,252.6,6.4,362,7505,0.15,2.55,21.90,0.748,4,0.072,0.050,2966,625,2252,0,0,0,0,0,0
$GC,7629,1.10,195.3,239.6,8.6,368,7635,0.00,2.40,0.00,0.000,6,0.000,0.028,2967,2034,2246,0,0,0,0,0,0
$GC,7943,1.10,195.3,214.2,9.0,384,7944,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2039,2246,0,0,0,0,0,0
$GC,8259,1.10,195.3,183.7,8.5,407,8263,0.00,2.45,0.00,0.000,4,0.000,0.048,2966,629,2246,0,0,0,0,0,0
$GC,8350,1.06,195.3,175.0,9.0,416,8357,0.08,2.35,0.00,0.000,6,0.099,0.025,2949,2037,2243,0,0,0,0,0,0
$GC,8612,1.13,202.1,155.8,7.6,441,8625,0.00,2.50,5.97,0.538,4,0.000,0.045,2950,627,2225,0,0,0,0,0,0
$GC,8652,1.13,202.1,152.1,8.9,445,8657,0.00,2.30,0.00,0.000,6,0.000,0.025,2948,2038,2224,0,0,0,0,0,0
$GC,8914,1.20,202.8,130.5,8.0,470,8919,0.12,2.45,0.00,0.000,4,0.073,0.045,2984,626,2224,0,0,0,0,0,0
$GC,9004,1.15,202.8,120.5,12.0,479,9008,0.00,2.30,0.00,0.000,6,0.000,0.023,2983,2043,2223,0,0,0,0,0,0
$GC,9267,1.15,202.8,94.8,9.2,503,9268,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2048,2223,0,0,0,0,0,0
$GC,9520,1.16,211.2,73.7,7.4,527,9534,0.00,2.47,9.45,0.532,4,0.000,0.043,2983,623,2189,0,0,0,0,0,0
$GC,9564,1.12,211.2,70.0,8.9,531,9569,0.12,2.30,0.00,0.000,6,0.111,0.022,2961,2044,2187,0,0,0,0,0,0
$GC,9826,1.19,212.0,49.8,8.0,555,9827,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2049,2187,0,0,0,0,0,0
$GC,10082,1.32,251.5,32.3,5.3,579,10127,0.17,2.53,36.10,0.548,4,0.057,0.043,3009,628,2023,0,0,0,0,0,0
$STATE,10361,end climb,SURFACE_DEPTH_REACHED
$STATE,10361,begin surface coast
$FINISH,0.4,1.023451
$STATE,10384,end surface coast,CONTROL_FINISHED_OK
$STATE,10384,begin surface
$SM_CCo,10405,26.80,0.513,0,0,1827,300.00
$SM_GC,1.04,0.00,0.00,26.80,0.000,0.000,0.513,426,1934,1827,-10.52,0.96,300.00
$IRIDIUM_FIX,2057.14,-15741.46,010899,050511
$TT8_MAMPS,0.029146
$HUMID,45.51
$INTERNAL_PRESSURE,9.68441
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,19.502
$10V_AH,10.0,18.607
$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,27.500,114.750,286.425,26.800,0.000,24.597,31.536,215.610,4.500,0.000,38.004,1246.268,6761.873,363.657,2006.953,445.983,33.374,1214.837,0.000,1967.724,0.000,29.241,0.000
$DEVICE_MAMPS,137.293,56.758,879.749,513.123,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.389,415.939,953.541,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34941,644
$CAP_FILE_SIZE,119503,0
$CFSIZE,260165632,246202368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070510,111007,2106.705,-15748.971,50,1.8,50,9.8