version: 66.06
glider: 139
mission: 7
dive: 252
start: 5 11 110 15 58 43
data:
$ID,139
$MISSION,7
$DIVE,252
$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,-2128964
$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
$GPS1,155256,2107.599,-15801.707,43,2.3,62,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-72.2
$GPS2,155752,2107.650,-15801.744,17,3.3,36,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.145,-0.113
$KALMAN_X,-94848.1,-383.6,-347.1,98433.6,-83.5
$KALMAN_Y,50530.2,-2.9,39.0,-50795.3,1109.0
$MHEAD_RNG_PITCHd_Wd,118.2,32706,-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,-77.9,0.0,0.0,0,77,0.00,0.00,-58.10,0.000,6,0.000,0.000,429,1908,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,4.2,-7.5,11,98,10.68,2.47,0.00,0.000,4,0.138,0.038,2403,487,3371,0,0,0,0,0,0
$GC,143,-1.15,-77.9,26.1,-22.3,24,151,0.25,2.38,0.00,0.000,6,0.081,0.021,2459,1928,3372,0,0,0,0,0,0
$GC,349,-1.18,-77.9,49.9,-10.9,45,354,0.00,2.50,0.00,0.000,4,0.000,0.044,2459,487,3373,0,0,0,0,0,0
$GC,418,-1.18,-77.9,58.2,-11.3,52,422,0.00,2.30,0.00,0.000,6,0.000,0.020,2459,1910,3373,0,0,0,0,0,0
$GC,679,-1.22,-77.9,87.9,-11.7,76,683,0.00,2.42,0.00,0.000,4,0.000,0.044,2459,492,3373,0,0,0,0,0,0
$GC,713,-1.22,-77.9,92.2,-12.7,79,717,0.00,2.28,0.00,0.000,6,0.000,0.020,2459,1905,3373,0,0,0,0,0,0
$GC,976,-1.30,-77.9,118.2,-8.2,103,981,0.12,2.42,0.00,0.000,4,0.064,0.044,2417,494,3374,0,0,0,0,0,0
$GC,1040,-1.24,-77.9,125.8,-12.1,109,1046,0.12,2.25,0.00,0.000,6,0.100,0.020,2443,1897,3375,0,0,0,0,0,0
$GC,1300,-1.30,-77.9,150.8,-10.5,134,1305,0.00,2.42,0.00,0.000,4,0.000,0.044,2443,491,3375,0,0,0,0,0,0
$GC,1382,-1.30,-77.9,160.5,-11.5,142,1389,0.00,2.28,0.00,0.000,6,0.000,0.020,2442,1894,3375,0,0,0,0,0,0
$GC,1647,-1.35,-77.9,186.5,-10.3,167,1652,0.12,2.42,0.00,0.000,4,0.065,0.044,2402,494,3376,0,0,0,0,0,0
$GC,1675,-1.28,-77.9,190.4,-12.5,169,1681,0.17,2.25,0.00,0.000,6,0.091,0.021,2437,1901,3376,0,0,0,0,0,0
$GC,1944,-1.34,-77.9,216.0,-9.0,187,1948,0.00,2.42,0.00,0.000,4,0.000,0.044,2438,492,3376,0,0,0,0,0,0
$GC,2010,-1.34,-77.9,222.7,-10.4,190,2015,0.00,2.28,0.00,0.000,6,0.000,0.021,2438,1903,3376,0,0,0,0,0,0
$GC,2341,-1.44,-77.9,249.9,-7.8,206,2346,0.17,2.45,0.00,0.000,4,0.053,0.046,2386,492,3376,0,0,0,0,0,0
$GC,2424,-1.37,-77.9,259.0,-10.1,209,2430,0.15,2.28,0.00,0.000,6,0.095,0.021,2417,1901,3376,0,0,0,0,0,0
$GC,2741,-1.44,-77.9,286.6,-8.8,225,2745,0.00,2.45,0.00,0.000,4,0.000,0.047,2416,487,3376,0,0,0,0,0,0
$GC,2806,-1.48,-77.9,293.6,-10.6,228,2811,0.12,2.30,0.00,0.000,6,0.065,0.024,2378,1898,3376,0,0,0,0,0,0
$GC,3152,-1.48,-77.9,330.0,-10.5,238,3156,0.00,2.45,0.00,0.000,4,0.000,0.048,2377,489,3375,0,0,0,0,0,0
$GC,3226,-1.42,-77.9,337.9,-10.9,239,3231,0.12,2.30,0.00,0.000,6,0.102,0.025,2403,1897,3374,0,0,0,0,0,0
$GC,3562,-1.46,-77.9,366.3,-7.8,248,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1901,3373,0,0,0,0,0,0
$GC,3887,-1.52,-77.9,386.7,-6.3,256,3891,0.00,2.47,0.00,0.000,4,0.000,0.052,2403,488,3371,0,0,0,0,0,0
$GC,3961,-1.52,-77.9,391.8,-6.3,257,3965,0.00,2.33,0.00,0.000,6,0.000,0.028,2401,1898,3371,0,0,0,0,0,0
$GC,4296,-1.58,-77.9,412.6,-6.4,266,4301,0.15,2.50,0.00,0.000,4,0.064,0.054,2361,489,3369,0,0,0,0,0,0
$GC,4382,-1.51,-77.9,420.9,-10.7,267,4388,0.12,2.35,0.00,0.000,6,0.106,0.028,2386,1908,3368,0,0,0,0,0,0
$GC,4712,-1.51,-77.9,449.0,-8.9,276,4716,0.00,2.50,0.00,0.000,4,0.000,0.057,2385,495,3365,0,0,0,0,0,0
$STATE,4724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4724,begin apogee
$GC,4731,-0.31,0.0,450.4,9.3,276,4799,1.23,0.00,64.40,0.881,6,0.089,0.000,2642,2041,3050,0,0,0,0,0,0
$STATE,4800,end apogee,CONTROL_FINISHED_OK
$STATE,4800,begin climb
$GC,4802,1.40,77.9,452.0,0.0,278,4877,1.67,2.53,65.00,0.859,4,0.041,0.047,3021,3433,2732,0,0,0,0,0,0
$GC,4947,1.22,115.2,449.0,5.5,281,4985,0.17,2.42,32.22,0.840,6,0.123,0.038,2988,2032,2580,0,0,0,0,0,0
$GC,5303,1.09,115.2,417.8,9.6,290,5308,0.20,2.45,0.00,0.000,4,0.118,0.042,2955,3433,2574,0,0,0,0,0,0
$GC,5341,1.04,117.2,414.6,7.9,290,5347,0.00,2.42,0.00,0.000,6,0.000,0.038,2955,2029,2574,0,0,0,0,0,0
$GC,5672,0.99,117.2,387.7,8.3,299,5674,0.12,0.00,0.00,0.000,6,0.130,0.000,2933,2029,2571,0,0,0,0,0,0
$GC,5997,1.02,135.9,365.2,6.7,307,6021,0.00,2.50,16.88,0.804,4,0.000,0.054,2932,632,2495,0,0,0,0,0,0
$GC,6122,0.97,135.9,356.0,8.1,309,6126,0.00,2.38,0.00,0.000,6,0.000,0.031,2933,2044,2493,0,0,0,0,0,0
$GC,6457,1.02,178.2,337.3,5.1,318,6498,0.00,0.00,37.55,0.819,6,0.000,0.000,2932,2047,2323,0,0,0,0,0,0
$GC,6825,1.07,178.2,307.3,8.9,327,6829,0.00,2.53,0.00,0.000,4,0.000,0.053,2933,625,2316,0,0,0,0,0,0
$GC,7032,1.07,178.2,282.6,11.9,334,7036,0.00,2.40,0.00,0.000,6,0.000,0.030,2933,2045,2313,0,0,0,0,0,0
$GC,7356,1.13,189.9,256.0,7.2,350,7373,0.12,2.58,10.05,0.696,4,0.076,0.051,2965,629,2274,0,0,0,0,0,0
$GC,7528,1.07,189.9,240.2,9.5,357,7533,0.00,2.35,0.00,0.000,6,0.000,0.028,2964,2046,2271,0,0,0,0,0,0
$GC,7843,1.08,193.4,217.2,7.8,372,7852,0.00,2.50,4.03,0.479,4,0.000,0.049,2964,626,2261,0,0,0,0,0,0
$GC,7960,1.04,193.4,204.1,12.5,377,7965,0.12,2.35,0.00,0.000,6,0.124,0.027,2942,2046,2259,0,0,0,0,0,0
$GC,8293,1.11,193.4,172.7,8.3,406,8297,0.00,2.45,0.00,0.000,4,0.000,0.047,2942,629,2258,0,0,0,0,0,0
$GC,8327,1.11,193.4,169.8,9.4,409,8332,0.00,2.35,0.00,0.000,6,0.000,0.025,2941,2046,2258,0,0,0,0,0,0
$GC,8591,1.20,210.4,151.0,6.9,433,8613,0.15,2.40,16.30,0.642,4,0.064,0.032,2982,3431,2192,0,0,0,0,0,0
$GC,8630,1.20,210.5,147.7,8.0,437,8634,0.00,2.40,0.00,0.000,6,0.000,0.031,2982,2026,2192,0,0,0,0,0,0
$GC,8893,1.20,210.5,123.6,9.4,461,8897,0.00,2.40,0.00,0.000,4,0.000,0.046,2981,624,2190,0,0,0,0,0,0
$GC,9017,1.15,210.5,110.0,11.3,474,9022,0.00,2.33,0.00,0.000,6,0.000,0.023,2980,2040,2188,0,0,0,0,0,0
$GC,9279,1.15,210.5,84.5,9.7,498,9283,0.00,2.45,0.00,0.000,4,0.000,0.044,2981,625,2187,0,0,0,0,0,0
$GC,9402,1.12,210.5,72.3,10.0,511,9407,0.12,2.33,0.00,0.000,6,0.118,0.022,2960,2048,2188,0,0,0,0,0,0
$GC,9664,1.20,215.5,50.6,7.7,535,9675,0.00,2.45,5.97,0.460,4,0.000,0.041,2959,629,2170,0,0,0,0,0,0
$GC,9776,1.24,215.5,40.2,9.6,547,9781,0.10,2.28,0.00,0.000,6,0.078,0.021,2991,2038,2168,0,0,0,0,0,0
$GC,10039,1.32,233.6,17.4,6.8,586,10063,0.00,2.45,17.23,0.522,4,0.000,0.041,2991,629,2096,0,0,0,0,0,0
$GC,10087,1.32,237.5,13.8,7.8,595,10100,0.00,2.33,4.68,0.387,6,0.000,0.021,2991,2045,2080,0,0,0,0,0,0
$STATE,10217,end climb,SURFACE_DEPTH_REACHED
$STATE,10218,begin surface coast
$FINISH,0.4,1.023295
$STATE,10251,end surface coast,CONTROL_FINISHED_OK
$STATE,10251,begin surface
$SM_CCo,10270,36.30,0.519,0,0,1826,300.00
$SM_GC,1.62,0.00,0.00,36.30,0.000,0.000,0.519,427,1885,1826,-10.52,-0.42,300.00
$IRIDIUM_FIX,2059.45,-15759.05,050899,131324
$TT8_MAMPS,0.029146
$HUMID,45.94
$INTERNAL_PRESSURE,9.68441
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.4,22.441
$10V_AH,10.1,21.585
$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,27.450,120.350,274.300,36.300,0.000,25.407,27.677,123.528,4.500,0.000,37.253,1224.415,6740.036,359.085,1938.092,343.767,33.382,1195.079,0.000,1889.825,0.000,29.240,0.000
$DEVICE_MAMPS,138.060,56.758,881.283,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,422.169,401.356,900.273,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,34905,625
$CAP_FILE_SIZE,119304,0
$CFSIZE,260165632,244178944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110510,185206,2107.539,-15800.997,56,1.7,60,9.8