version: 66.06
glider: 139
mission: 7
dive: 241
start: 5 10 110 7 20 58
data:
$ID,139
$MISSION,7
$DIVE,241
$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,-2127551.5
$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
$GPS1,070413,2058.251,-15750.081,35,1.5,41,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.7
$GPS2,072007,2058.394,-15749.983,12,1.7,24,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.180,0.038
$KALMAN_X,-94812.9,62.6,169.5,117750.4,541.2
$KALMAN_Y,43971.0,-158.9,67.7,-61247.1,871.8
$MHEAD_RNG_PITCHd_Wd,272.2,27828,-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,-77.9,0.0,0.0,0,73,0.00,0.00,-54.80,0.000,2,0.000,0.000,425,1873,3275,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.4,-6.1,10,94,10.70,2.40,-1.80,0.000,4,0.137,0.036,2406,3323,3368,0,0,0,0,0,0
$GC,147,-1.40,-77.9,22.3,-15.7,25,154,0.00,2.45,0.00,0.000,6,0.000,0.032,2405,1897,3369,0,0,0,0,0,0
$GC,347,-1.25,-77.9,56.9,-17.3,48,352,0.17,2.42,0.00,0.000,4,0.100,0.045,2440,487,3369,0,0,0,0,0,0
$GC,373,-1.11,-77.9,60.8,-15.0,50,378,0.15,2.33,0.00,0.000,6,0.106,0.019,2469,1944,3369,0,0,0,0,0,0
$GC,635,-1.17,-77.9,87.7,-9.3,74,639,0.00,2.50,0.00,0.000,4,0.000,0.044,2469,484,3370,0,0,0,0,0,0
$GC,762,-1.17,-77.9,101.7,-10.8,87,768,0.00,2.28,0.00,0.000,6,0.000,0.019,2470,1908,3371,0,0,0,0,0,0
$GC,1024,-1.25,-77.9,127.2,-10.1,112,1029,0.12,2.42,0.00,0.000,4,0.064,0.044,2425,494,3371,0,0,0,0,0,0
$GC,1115,-1.22,-77.9,138.4,-12.5,121,1120,0.10,2.25,0.00,0.000,6,0.109,0.020,2447,1906,3371,0,0,0,0,0,0
$GC,1378,-1.27,-77.9,165.8,-10.7,145,1382,0.00,2.42,0.00,0.000,4,0.000,0.044,2446,494,3372,0,0,0,0,0,0
$GC,1403,-1.27,-77.9,168.7,-11.5,147,1407,0.00,2.25,0.00,0.000,6,0.000,0.020,2447,1910,3372,0,0,0,0,0,0
$GC,1666,-1.33,-77.9,193.2,-9.2,171,1671,0.12,2.45,0.00,0.000,4,0.064,0.044,2403,494,3372,0,0,0,0,0,0
$GC,1720,-1.27,-77.9,199.7,-12.5,176,1726,0.15,2.28,0.00,0.000,6,0.094,0.020,2436,1908,3372,0,0,0,0,0,0
$GC,1981,-1.33,-77.9,226.6,-10.2,189,1985,0.00,2.40,0.00,0.000,4,0.000,0.044,2434,494,3372,0,0,0,0,0,0
$GC,2071,-1.37,-77.9,236.4,-11.2,193,2075,0.00,2.28,0.00,0.000,6,0.000,0.021,2436,1904,3372,0,0,0,0,0,0
$GC,2402,-1.45,-77.9,267.0,-8.4,209,2407,0.17,2.45,0.00,0.000,4,0.053,0.046,2382,494,3372,0,0,0,0,0,0
$GC,2440,-1.39,-77.9,271.6,-12.1,210,2447,0.10,2.30,0.00,0.000,6,0.075,0.022,2408,1899,3372,0,0,0,0,0,0
$GC,2757,-1.44,-77.9,301.4,-8.9,226,2761,0.00,2.40,0.00,0.000,4,0.000,0.046,2407,494,3371,0,0,0,0,0,0
$GC,2853,-1.44,-77.9,311.0,-10.1,228,2857,0.00,2.28,0.00,0.000,6,0.000,0.023,2408,1906,3371,0,0,0,0,0,0
$GC,3171,-1.49,-77.9,337.9,-8.4,236,3175,0.00,2.45,0.00,0.000,4,0.000,0.049,2406,491,3370,0,0,0,0,0,0
$GC,3235,-1.49,-77.9,343.9,-9.3,237,3239,0.00,2.28,0.00,0.000,6,0.000,0.025,2407,1900,3370,0,0,0,0,0,0
$GC,3584,-1.55,-77.9,371.2,-7.7,246,3589,0.15,2.47,0.00,0.000,4,0.061,0.051,2364,491,3368,0,0,0,0,0,0
$GC,3612,-1.46,-77.9,374.0,-10.3,246,3617,0.15,2.33,0.00,0.000,6,0.098,0.026,2393,1903,3368,0,0,0,0,0,0
$GC,3950,-1.50,-77.9,401.1,-7.8,255,3954,0.00,2.47,0.00,0.000,4,0.000,0.053,2394,495,3365,0,0,0,0,0,0
$GC,4028,-1.50,-77.9,408.0,-8.9,256,4032,0.00,2.33,0.00,0.000,6,0.000,0.028,2393,1898,3365,0,0,0,0,0,0
$GC,4359,-1.54,-77.9,433.7,-8.0,264,4363,0.00,2.47,0.00,0.000,4,0.000,0.054,2394,494,3362,0,0,0,0,0,0
$GC,4419,-1.54,-77.9,439.5,-9.2,265,4423,0.00,2.33,0.00,0.000,6,0.000,0.029,2394,1906,3362,0,0,0,0,0,0
$STATE,4562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4562,begin apogee
$GC,4567,-0.31,0.0,451.3,8.1,269,4634,1.17,0.00,63.67,0.877,6,0.077,0.000,2644,2055,3050,0,0,0,0,0,0
$STATE,4635,end apogee,CONTROL_FINISHED_OK
$STATE,4635,begin climb
$GC,4637,1.40,77.9,452.2,0.0,270,4711,1.62,2.45,64.90,0.854,4,0.033,0.044,3024,3407,2732,0,0,0,0,0,0
$GC,4846,1.23,120.6,447.2,5.1,274,4889,0.20,2.38,36.17,0.842,6,0.116,0.037,2986,2026,2558,0,0,0,0,0,0
$GC,5225,1.12,123.7,418.2,7.8,284,5227,0.15,0.00,0.00,0.000,6,0.120,0.000,2959,2026,2552,0,0,0,0,0,0
$GC,5550,1.08,138.9,395.5,7.0,292,5568,0.00,0.00,15.70,0.804,6,0.000,0.000,2959,2026,2483,0,0,0,0,0,0
$GC,5874,1.03,138.9,364.9,10.1,300,5879,0.00,2.47,0.00,0.000,4,0.000,0.054,2957,627,2479,0,0,0,0,0,0
$GC,5958,0.92,138.9,355.8,11.1,301,5964,0.22,2.33,0.00,0.000,6,0.114,0.031,2918,2016,2478,0,0,0,0,0,0
$GC,6289,0.99,153.3,331.2,7.0,310,6308,0.00,2.47,12.85,0.766,4,0.000,0.052,2919,630,2423,0,0,0,0,0,0
$GC,6350,0.99,153.3,326.3,8.5,311,6354,0.00,2.40,0.00,0.000,6,0.000,0.031,2918,2042,2421,0,0,0,0,0,0
$GC,6700,1.08,170.4,302.6,6.8,320,6721,0.15,2.58,15.60,0.763,4,0.070,0.051,2955,622,2355,0,0,0,0,0,0
$GC,6827,1.02,170.4,290.3,10.5,324,6834,0.00,2.42,0.00,0.000,6,0.000,0.030,2955,2040,2351,0,0,0,0,0,0
$GC,7142,1.06,200.9,265.5,5.9,340,7176,0.00,2.47,27.92,0.761,4,0.000,0.038,2956,3436,2230,0,0,0,0,0,0
$GC,7245,1.10,200.9,258.1,8.3,344,7250,0.00,2.42,0.00,0.000,6,0.000,0.035,2956,2028,2228,0,0,0,0,0,0
$GC,7561,1.10,200.9,229.8,9.3,359,7566,0.00,2.45,0.00,0.000,4,0.000,0.050,2954,628,2224,0,0,0,0,0,0
$GC,7690,1.10,200.9,216.4,9.8,364,7697,0.00,2.38,0.00,0.000,6,0.000,0.026,2955,2040,2222,0,0,0,0,0,0
$GC,8011,1.14,204.2,189.6,7.8,385,8016,0.00,2.45,0.00,0.000,4,0.000,0.047,2956,623,2221,0,0,0,0,0,0
$GC,8228,1.14,204.2,171.1,8.2,408,8233,0.00,2.33,0.00,0.000,6,0.000,0.025,2955,2046,2220,0,0,0,0,0,0
$GC,8491,1.20,208.3,151.7,7.7,432,8502,0.00,2.47,6.22,0.532,4,0.000,0.044,2955,624,2200,0,0,0,0,0,0
$GC,8587,1.20,208.3,142.7,9.4,442,8591,0.00,2.33,0.00,0.000,6,0.000,0.023,2955,2038,2198,0,0,0,0,0,0
$GC,8849,1.26,209.6,121.5,7.9,466,8854,0.15,2.45,0.00,0.000,4,0.063,0.044,2997,618,2198,0,0,0,0,0,0
$GC,8873,1.19,209.6,119.0,10.5,468,8878,0.12,2.33,0.00,0.000,6,0.113,0.023,2974,2042,2198,0,0,0,0,0,0
$GC,9134,1.23,209.6,94.3,8.5,492,9138,0.00,2.42,0.00,0.000,4,0.000,0.043,2974,618,2198,0,0,0,0,0,0
$GC,9295,1.23,209.6,79.9,9.2,509,9301,0.00,2.28,0.00,0.000,6,0.000,0.021,2975,2034,2198,0,0,0,0,0,0
$GC,9559,1.30,218.9,60.6,7.4,534,9580,0.00,2.45,11.25,0.526,4,0.000,0.041,2974,625,2155,0,0,0,0,0,0
$GC,9803,1.32,237.7,40.7,6.7,561,9827,0.12,2.28,17.35,0.531,6,0.068,0.021,3013,2048,2080,0,0,0,0,0,0
$GC,10091,1.33,246.7,18.2,7.4,601,10110,0.00,2.50,9.12,0.474,4,0.000,0.043,3013,629,2043,0,0,0,0,0,0
$GC,10151,1.28,246.7,11.8,12.3,613,10158,0.00,2.30,0.00,0.000,6,0.000,0.020,3013,2030,2040,0,0,0,0,0,0
$STATE,10232,end climb,SURFACE_DEPTH_REACHED
$STATE,10232,begin surface coast
$FINISH,0.5,1.009272
$STATE,10261,end surface coast,CONTROL_FINISHED_OK
$STATE,10261,begin surface
$SM_CCo,10281,28.45,0.508,0,0,1827,300.00
$SM_GC,1.19,0.00,0.00,28.45,0.000,0.000,0.508,429,1880,1827,-10.51,-0.57,300.00
$IRIDIUM_FIX,2052.52,-15749.62,040899,070720
$TT8_MAMPS,0.029146
$HUMID,44.80
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.4,21.581
$10V_AH,10.0,20.651
$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,27.075,119.875,280.775,28.450,0.000,104.479,122.234,408.078,4.500,0.000,24.200,1248.391,6836.544,367.921,1967.010,844.908,33.354,1219.639,0.000,1937.572,0.000,29.265,0.000
$DEVICE_MAMPS,137.293,55.991,876.681,507.754,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,427.273,407.476,907.823,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34875,633
$CAP_FILE_SIZE,132249,0
$CFSIZE,260165632,244805632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100510,101427,2058.554,-15751.021,44,2.8,63,9.8