version: 66.06
glider: 139
mission: 7
dive: 170
start: 5 1 110 18 12 15
data:
$ID,139
$MISSION,7
$DIVE,170
$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,-2124292.5
$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
$GPS1,175924,2107.786,-15801.045,22,2.0,39,9.8
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.7
$GPS2,181124,2107.897,-15801.199,42,2.0,42,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,0.021
$KALMAN_X,-29421.4,-228.6,-508.6,33951.6,-5903.0
$KALMAN_Y,2058.1,-6.1,334.9,-2159.4,232.2
$MHEAD_RNG_PITCHd_Wd,73.6,31822,-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,-77.9,0.0,0.0,0,78,0.00,0.00,-59.10,0.000,6,0.000,0.000,428,1886,3368,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.7,-5.6,11,98,10.90,2.42,0.00,0.000,4,0.146,0.026,2408,3323,3369,0,0,0,0,0,0
$GC,330,-1.43,-77.9,47.9,-12.0,52,334,0.00,2.42,0.00,0.000,6,0.000,0.032,2408,1890,3371,0,0,0,0,0,0
$GC,591,-1.38,-77.9,85.7,-14.2,76,595,0.00,2.38,0.00,0.000,4,0.000,0.045,2408,494,3372,0,0,0,0,0,0
$GC,662,-1.28,-77.9,96.5,-14.9,83,667,0.12,2.33,0.00,0.000,6,0.107,0.020,2433,1929,3371,0,0,0,0,0,0
$GC,923,-1.28,-77.9,128.5,-10.9,107,927,0.00,2.45,0.00,0.000,4,0.000,0.044,2433,494,3371,0,0,0,0,0,0
$GC,941,-1.28,-77.9,130.8,-11.5,108,947,0.00,2.30,0.00,0.000,6,0.000,0.020,2433,1911,3371,0,0,0,0,0,0
$GC,1204,-1.31,-77.9,159.6,-9.4,133,1208,0.00,2.42,0.00,0.000,4,0.000,0.044,2432,484,3372,0,0,0,0,0,0
$GC,1236,-1.28,-77.9,163.4,-11.4,136,1243,0.00,2.30,0.00,0.000,6,0.000,0.021,2431,1895,3372,0,0,0,0,0,0
$GC,1499,-1.34,-77.9,186.3,-8.3,161,1503,0.00,2.28,0.00,0.000,4,0.000,0.026,2429,3292,3372,0,0,0,0,0,0
$GC,1526,-1.45,-77.9,188.7,-9.0,163,1532,0.15,2.35,0.00,0.000,6,0.059,0.030,2387,1890,3372,0,0,0,0,0,0
$GC,1784,-1.41,-77.9,218.7,-12.1,181,1788,0.00,2.40,0.00,0.000,4,0.000,0.045,2386,488,3372,0,0,0,0,0,0
$GC,1849,-1.32,-77.9,228.7,-15.1,184,1854,0.20,2.28,0.00,0.000,6,0.091,0.021,2426,1900,3372,0,0,0,0,0,0
$GC,2180,-1.38,-77.9,262.6,-8.0,200,2184,0.00,2.42,0.00,0.000,4,0.000,0.045,2426,494,3372,0,0,0,0,0,0
$GC,2225,-1.38,-77.9,266.1,-6.9,202,2229,0.00,2.25,0.00,0.000,6,0.000,0.021,2425,1902,3372,0,0,0,0,0,0
$GC,2554,-1.47,-77.9,290.3,-8.5,218,2559,0.15,2.42,0.00,0.000,4,0.059,0.046,2383,495,3371,0,0,0,0,0,0
$GC,2592,-1.42,-77.9,294.1,-10.0,219,2598,0.10,2.28,0.00,0.000,6,0.112,0.023,2401,1901,3371,0,0,0,0,0,0
$GC,2924,-1.46,-77.9,321.0,-7.8,230,2926,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1907,3370,0,0,0,0,0,0
$GC,3250,-1.52,-77.9,349.9,-8.9,238,3254,0.00,2.42,0.00,0.000,4,0.000,0.050,2402,498,3369,0,0,0,0,0,0
$GC,3338,-1.52,-77.9,358.6,-9.2,240,3342,0.00,2.28,0.00,0.000,6,0.000,0.026,2404,1894,3368,0,0,0,0,0,0
$GC,3670,-1.57,-77.9,389.4,-9.6,248,3675,0.15,2.45,0.00,0.000,4,0.063,0.053,2362,498,3366,0,0,0,0,0,0
$GC,3740,-1.49,-77.9,398.0,-12.4,249,3745,0.12,2.30,0.00,0.000,6,0.107,0.027,2388,1901,3365,0,0,0,0,0,0
$GC,4080,-1.49,-77.9,431.2,-9.7,258,4084,0.00,2.47,0.00,0.000,4,0.000,0.054,2388,498,3363,0,0,0,0,0,0
$GC,4139,-1.49,-77.9,437.1,-10.2,259,4144,0.00,2.33,0.00,0.000,6,0.000,0.028,2387,1899,3362,0,0,0,0,0,0
$STATE,4324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4324,begin apogee
$GC,4328,-0.31,0.0,453.4,8.7,264,4395,1.20,0.00,63.33,0.882,6,0.077,0.000,2642,2059,3049,0,0,0,0,0,0
$STATE,4396,end apogee,CONTROL_FINISHED_OK
$STATE,4396,begin climb
$GC,4398,1.40,77.9,454.4,0.0,265,4473,1.65,2.45,64.32,0.859,4,0.034,0.045,3025,3406,2732,0,0,0,0,0,0
$GC,4692,1.21,110.0,447.0,5.8,271,4725,0.03,2.38,27.38,0.841,6,0.193,0.038,3029,2025,2601,0,0,0,0,0,0
$GC,5043,0.99,110.0,417.1,9.2,280,5050,0.47,2.42,0.00,0.000,4,0.106,0.042,2944,3412,2596,0,0,0,0,0,0
$GC,5060,0.88,110.4,415.6,8.0,280,5065,0.17,2.38,0.00,0.000,6,0.111,0.039,2909,2031,2596,0,0,0,0,0,0
$GC,5410,0.93,116.8,391.5,7.6,289,5422,0.00,2.55,5.88,0.663,4,0.000,0.055,2909,628,2573,0,0,0,0,0,0
$GC,5479,0.93,116.8,384.9,9.6,290,5484,0.00,2.35,0.00,0.000,6,0.000,0.030,2909,2019,2571,0,0,0,0,0,0
$GC,5824,0.98,116.8,355.8,8.2,299,5828,0.00,2.45,0.00,0.000,4,0.000,0.054,2908,626,2570,0,0,0,0,0,0
$GC,5925,0.98,120.9,347.5,7.7,301,5936,0.00,2.38,4.47,0.577,6,0.000,0.030,2910,2037,2557,0,0,0,0,0,0
$GC,6281,1.10,172.9,328.4,4.4,310,6334,0.20,2.60,45.60,0.824,4,0.064,0.053,2955,629,2344,0,0,0,0,0,0
$GC,6390,1.02,172.9,320.2,9.3,312,6395,0.12,2.38,0.00,0.000,6,0.127,0.031,2935,2037,2339,0,0,0,0,0,0
$GC,6717,1.08,195.0,298.2,6.5,321,6742,0.00,2.58,19.52,0.773,4,0.000,0.054,2934,626,2255,0,0,0,0,0,0
$GC,6856,1.08,195.0,284.7,10.9,327,6860,0.00,2.38,0.00,0.000,6,0.000,0.029,2935,2043,2249,0,0,0,0,0,0
$GC,7177,1.14,195.0,250.1,11.0,343,7182,0.12,2.53,0.00,0.000,4,0.077,0.052,2966,630,2249,0,0,0,0,0,0
$GC,7279,1.09,195.0,237.9,12.8,347,7284,0.00,2.35,0.00,0.000,6,0.000,0.028,2966,2037,2245,0,0,0,0,0,0
$GC,7594,1.09,195.0,207.6,8.7,362,7598,0.00,2.45,0.00,0.000,4,0.000,0.050,2966,629,2245,0,0,0,0,0,0
$GC,7653,1.03,195.0,202.0,9.6,364,7660,0.12,2.38,0.00,0.000,6,0.100,0.028,2940,2037,2245,0,0,0,0,0,0
$GC,7977,1.12,214.5,178.6,6.7,394,7999,0.00,2.50,16.92,0.677,4,0.000,0.048,2939,628,2175,0,0,0,0,0,0
$GC,8259,1.12,214.5,151.0,10.1,425,8263,0.00,2.35,0.00,0.000,6,0.000,0.025,2940,2042,2169,0,0,0,0,0,0
$GC,8522,1.23,229.3,129.4,7.0,449,8542,0.20,2.50,13.85,0.616,4,0.057,0.045,2992,625,2114,0,0,0,0,0,0
$GC,8612,1.15,229.3,121.4,9.5,458,8619,0.10,2.35,0.00,0.000,6,0.091,0.024,2970,2037,2111,0,0,0,0,0,0
$GC,8874,1.20,229.3,99.0,9.3,483,8879,0.00,2.42,0.00,0.000,4,0.000,0.045,2970,629,2111,0,0,0,0,0,0
$GC,8918,1.20,229.3,94.3,11.2,487,8922,0.00,2.33,0.00,0.000,6,0.000,0.022,2970,2045,2110,0,0,0,0,0,0
$GC,9180,1.26,229.3,71.1,9.6,511,9184,0.00,2.45,0.00,0.000,4,0.000,0.043,2970,626,2110,0,0,0,0,0,0
$GC,9313,1.26,229.3,58.1,9.4,525,9320,0.00,2.33,0.00,0.000,6,0.000,0.021,2970,2041,2110,0,0,0,0,0,0
$GC,9576,1.33,229.3,36.5,9.2,550,9578,0.15,0.00,0.00,0.000,6,0.061,0.000,3013,2046,2110,0,0,0,0,0,0
$GC,9830,1.33,229.3,8.4,10.8,592,9837,0.00,2.30,0.00,0.000,4,0.000,0.028,3012,3420,2110,0,0,0,0,0,0
$STATE,9885,end climb,SURFACE_DEPTH_REACHED
$STATE,9885,begin surface coast
$FINISH,0.4,1.023557
$STATE,9912,end surface coast,CONTROL_FINISHED_OK
$STATE,9912,begin surface
$SM_CCo,9933,37.95,0.526,0,0,1826,300.00
$SM_GC,1.77,0.00,0.00,37.95,0.000,0.000,0.526,427,1883,1826,-10.52,-0.48,300.00
$IRIDIUM_FIX,2101.76,-15800.33,260799,181815
$TT8_MAMPS,0.029146
$HUMID,45.35
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.4,15.758
$10V_AH,10.0,14.761
$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,27.550,115.225,261.275,37.950,0.000,124.267,174.637,126.185,4.500,0.000,42.440,1201.833,6627.048,360.060,1941.354,572.560,33.345,1187.361,0.000,1883.263,0.000,29.265,0.000
$DEVICE_MAMPS,193.284,55.224,882.050,526.162,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.812,388.156,867.172,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,34957,610
$CAP_FILE_SIZE,115991,0
$CFSIZE,260165632,248872960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010510,205957,2107.922,-15800.701,35,2.1,54,9.8