version: 66.06
glider: 139
mission: 7
dive: 221
start: 5 7 110 20 19 43
data:
$ID,139
$MISSION,7
$DIVE,221
$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,-2126663.8
$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
$GPS1,195936,2106.511,-15746.863,52,1.5,52,9.8
$_CALLS,4
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-69.2
$GPS2,201852,2106.777,-15746.999,34,4.6,53,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.150,-0.107
$KALMAN_X,-101387.6,-264.8,111.8,129859.1,-959.2
$KALMAN_Y,29608.3,140.9,-98.5,-31498.8,1014.9
$MHEAD_RNG_PITCHd_Wd,115.7,7273,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-54.38,0.000,2,0.000,0.000,421,1884,3256,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.2,-5.7,10,93,10.68,2.40,-2.17,0.000,4,0.136,0.051,2404,482,3368,0,0,0,0,0,0
$GC,100,-0.04,-77.9,12.9,-28.4,14,107,1.42,2.38,0.00,0.000,6,0.093,0.021,2703,1962,3368,0,0,0,0,0,0
$GC,304,-0.68,-77.9,26.6,-8.0,51,311,0.60,2.53,0.00,0.000,4,0.043,0.038,2554,487,3369,0,0,0,0,0,0
$GC,363,-0.92,-77.9,30.7,-6.6,62,368,0.20,2.30,0.00,0.000,6,0.048,0.019,2493,1940,3369,0,0,0,0,0,0
$GC,627,-1.05,-77.9,54.5,-9.5,86,631,0.00,2.47,0.00,0.000,4,0.000,0.042,2492,491,3370,0,0,0,0,0,0
$GC,695,-1.15,-77.9,61.7,-10.5,93,700,0.12,2.22,0.00,0.000,6,0.063,0.019,2451,1891,3370,0,0,0,0,0,0
$GC,962,-1.18,-77.9,92.3,-11.4,118,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1896,3370,0,0,0,0,0,0
$GC,1216,-1.23,-77.9,119.5,-10.5,142,1223,0.00,2.40,0.00,0.000,4,0.000,0.044,2449,492,3371,0,0,0,0,0,0
$GC,1295,-1.23,-77.9,128.9,-12.5,150,1302,0.00,2.28,0.00,0.000,6,0.000,0.020,2449,1901,3371,0,0,0,0,0,0
$GC,1559,-1.31,-77.9,156.2,-10.0,175,1563,0.00,2.40,0.00,0.000,4,0.000,0.044,2448,491,3371,0,0,0,0,0,0
$GC,1609,-1.34,-77.9,161.8,-10.0,180,1614,0.12,2.28,0.00,0.000,6,0.064,0.020,2406,1912,3371,0,0,0,0,0,0
$GC,1869,-1.34,-77.9,193.7,-13.1,204,1874,0.00,2.42,0.00,0.000,4,0.000,0.043,2405,485,3372,0,0,0,0,0,0
$GC,1906,-1.27,-77.9,198.4,-13.8,207,1912,0.15,2.28,0.00,0.000,6,0.094,0.021,2437,1904,3372,0,0,0,0,0,0
$GC,2170,-1.35,-77.9,223.2,-8.6,221,2175,0.00,2.42,0.00,0.000,4,0.000,0.044,2434,491,3372,0,0,0,0,0,0
$GC,2203,-1.39,-77.9,226.5,-9.7,222,2208,0.12,2.28,0.00,0.000,6,0.064,0.021,2395,1908,3372,0,0,0,0,0,0
$GC,2518,-1.39,-77.9,257.7,-9.1,237,2522,0.00,2.42,0.00,0.000,4,0.000,0.045,2394,485,3372,0,0,0,0,0,0
$GC,2562,-1.35,-77.9,262.0,-9.8,239,2567,0.12,2.25,0.00,0.000,6,0.100,0.022,2420,1897,3372,0,0,0,0,0,0
$GC,2896,-1.42,-77.9,291.8,-9.1,255,2900,0.00,2.40,0.00,0.000,4,0.000,0.047,2420,495,3371,0,0,0,0,0,0
$GC,2927,-1.42,-77.9,295.2,-9.8,256,2931,0.00,2.28,0.00,0.000,6,0.000,0.024,2411,1903,3371,0,0,0,0,0,0
$GC,3244,-1.50,-77.9,320.8,-8.2,266,3249,0.15,2.47,0.00,0.000,4,0.059,0.050,2375,491,3370,0,0,0,0,0,0
$GC,3365,-1.45,-77.9,334.2,-10.6,268,3370,0.12,2.30,0.00,0.000,6,0.101,0.025,2401,1898,3369,0,0,0,0,0,0
$GC,3702,-1.50,-77.9,361.0,-8.1,277,3706,0.00,2.42,0.00,0.000,4,0.000,0.051,2400,496,3367,0,0,0,0,0,0
$GC,3757,-1.50,-77.9,366.0,-8.8,278,3761,0.00,2.30,0.00,0.000,6,0.000,0.027,2400,1896,3367,0,0,0,0,0,0
$GC,4070,-1.55,-77.9,393.6,-9.0,286,4075,0.12,2.47,0.00,0.000,4,0.069,0.053,2365,497,3364,0,0,0,0,0,0
$GC,4135,-1.49,-77.9,400.9,-10.8,287,4140,0.12,2.33,0.00,0.000,6,0.105,0.028,2388,1900,3364,0,0,0,0,0,0
$GC,4480,-1.52,-77.9,430.1,-8.0,296,4485,0.00,2.45,0.00,0.000,4,0.000,0.055,2391,497,3361,0,0,0,0,0,0
$GC,4535,-1.52,-77.9,434.9,-8.3,297,4539,0.00,2.33,0.00,0.000,6,0.000,0.029,2390,1897,3361,0,0,0,0,0,0
$STATE,4765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4765,begin apogee
$GC,4770,-0.31,0.0,452.8,7.8,303,4837,1.20,0.00,63.38,0.881,6,0.077,0.000,2644,2057,3050,0,0,0,0,0,0
$STATE,4838,end apogee,CONTROL_FINISHED_OK
$STATE,4838,begin climb
$GC,4840,1.40,77.9,453.4,0.0,304,4914,1.65,2.45,65.03,0.858,4,0.036,0.047,3027,3409,2732,0,0,0,0,0,0
$GC,5159,1.21,112.3,442.9,5.7,311,5198,0.25,2.38,29.60,0.841,6,0.118,0.039,2980,2034,2591,0,0,0,0,0,0
$GC,5523,1.10,112.3,413.6,9.1,320,5528,0.15,2.50,0.00,0.000,4,0.123,0.054,2955,622,2586,0,0,0,0,0,0
$GC,5584,0.97,112.3,407.9,9.0,321,5589,0.15,2.35,0.00,0.000,6,0.122,0.031,2927,2020,2585,0,0,0,0,0,0
$GC,5933,1.01,140.7,385.5,6.1,330,5959,0.00,0.00,24.33,0.831,6,0.000,0.000,2926,2024,2476,0,0,0,0,0,0
$GC,6259,1.01,146.6,361.4,7.6,338,6271,0.00,2.55,5.78,0.653,4,0.000,0.054,2927,624,2452,0,0,0,0,0,0
$GC,6355,0.98,146.6,353.5,9.2,340,6359,0.00,2.40,0.00,0.000,6,0.000,0.031,2927,2041,2450,0,0,0,0,0,0
$GC,6678,1.02,156.1,330.4,7.4,348,6689,0.00,0.00,9.45,0.736,6,0.000,0.000,2927,2046,2413,0,0,0,0,0,0
$GC,7002,1.07,156.1,302.0,8.5,356,7006,0.00,2.47,0.00,0.000,4,0.000,0.053,2928,629,2410,0,0,0,0,0,0
$GC,7206,1.07,159.6,287.8,7.8,364,7215,0.00,2.35,3.85,0.505,6,0.000,0.030,2927,2039,2399,0,0,0,0,0,0
$GC,7536,1.13,159.6,263.5,8.6,380,7538,0.15,0.00,0.00,0.000,6,0.074,0.000,2963,2044,2398,0,0,0,0,0,0
$GC,7846,1.15,177.9,238.0,6.8,395,7869,0.00,2.58,17.48,0.736,4,0.000,0.050,2963,628,2324,0,0,0,0,0,0
$GC,8071,1.10,177.9,220.2,8.4,404,8078,0.00,2.38,0.00,0.000,6,0.000,0.028,2964,2033,2318,0,0,0,0,0,0
$GC,8387,1.10,177.9,195.6,9.4,422,8391,0.00,2.35,0.00,0.000,4,0.000,0.036,2964,3433,2318,0,0,0,0,0,0
$GC,8429,1.13,177.9,191.5,10.6,426,8433,0.00,2.38,0.00,0.000,6,0.000,0.032,2963,2029,2318,0,0,0,0,0,0
$GC,8690,1.13,177.9,168.7,8.5,450,8694,0.00,2.42,0.00,0.000,4,0.000,0.046,2963,624,2318,0,0,0,0,0,0
$GC,8706,1.13,177.9,167.5,8.4,451,8710,0.00,2.35,0.00,0.000,6,0.000,0.025,2962,2044,2317,0,0,0,0,0,0
$GC,8968,1.13,177.9,146.7,8.4,475,8972,0.00,2.42,0.00,0.000,4,0.000,0.044,2963,627,2317,0,0,0,0,0,0
$GC,9102,1.13,177.9,134.0,9.6,489,9106,0.00,2.30,0.00,0.000,6,0.000,0.024,2962,2044,2317,0,0,0,0,0,0
$GC,9365,1.18,193.8,114.7,6.9,513,9385,0.00,2.47,14.45,0.601,4,0.000,0.042,2963,630,2258,0,0,0,0,0,0
$GC,9396,1.22,219.1,112.4,6.3,516,9425,0.00,2.30,23.30,0.611,6,0.000,0.023,2964,2040,2156,0,0,0,0,0,0
$GC,9679,1.28,219.1,88.6,9.3,543,9684,0.12,2.42,0.00,0.000,4,0.069,0.044,2998,631,2152,0,0,0,0,0,0
$GC,9859,1.22,219.1,68.8,10.8,562,9863,0.00,2.30,0.00,0.000,6,0.000,0.022,2998,2039,2149,0,0,0,0,0,0
$GC,10121,1.22,219.1,45.0,9.6,586,10125,0.00,2.42,0.00,0.000,4,0.000,0.041,2998,625,2149,0,0,0,0,0,0
$GC,10137,1.22,219.1,43.3,10.1,587,10141,0.00,2.28,0.00,0.000,6,0.000,0.021,2997,2040,2149,0,0,0,0,0,0
$GC,10399,1.22,219.1,17.1,11.7,623,10406,0.00,2.45,0.00,0.000,4,0.000,0.043,2998,630,2150,0,0,0,0,0,0
$GC,10485,1.19,219.1,8.1,9.9,642,10492,0.10,2.30,0.00,0.000,6,0.081,0.021,2975,2038,2149,0,0,0,0,0,0
$STATE,10535,end climb,SURFACE_DEPTH_REACHED
$STATE,10536,begin surface coast
$FINISH,1.4,1.023400
$STATE,10563,end surface coast,CONTROL_FINISHED_OK
$STATE,10563,begin surface
$SM_CCo,10582,42.05,0.520,0,0,1826,300.00
$SM_GC,1.45,0.00,0.00,42.05,0.000,0.000,0.520,423,1893,1826,-10.54,-0.20,300.00
$IRIDIUM_FIX,2057.14,-15746.61,010899,202053
$TT8_MAMPS,0.029146
$HUMID,46.22
$INTERNAL_PRESSURE,9.68441
$TCM_TEMP,21.10
$XPDR_PINGS,0
$24V_AH,23.4,19.848
$10V_AH,10.0,18.948
$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,28.700,119.475,256.625,42.050,0.000,115.286,146.716,546.439,4.500,0.000,54.025,1284.034,7076.992,376.332,2039.325,1005.573,33.377,1215.797,0.000,1978.552,0.000,29.265,0.000
$DEVICE_MAMPS,135.759,55.224,880.516,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,444.120,422.288,964.398,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,38015,656
$CAP_FILE_SIZE,135377,0
$CFSIZE,260165632,245952512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070510,231828,2106.497,-15746.502,44,5.4,63,9.8