version: 66.06
glider: 139
mission: 7
dive: 172
start: 5 1 110 23 55 18
data:
$ID,139
$MISSION,7
$DIVE,172
$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,-2124337.5
$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
$GPS1,234943,2107.922,-15759.854,50,1.2,62,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.9
$GPS2,235427,2107.943,-15759.857,10,2.6,29,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,-0.006
$KALMAN_X,-32059.0,-516.5,1141.4,37532.7,-2643.1
$KALMAN_Y,2003.6,210.5,-329.0,-1570.2,140.1
$MHEAD_RNG_PITCHd_Wd,81.9,29533,-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,-77.9,0.0,0.0,0,77,0.00,0.00,-59.17,0.000,6,0.000,0.000,430,1858,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,3.6,-6.2,11,97,10.75,2.47,0.00,0.000,4,0.140,0.028,2404,3319,3371,0,0,0,0,0,0
$GC,210,-1.40,-77.9,30.4,-13.9,40,216,0.00,2.42,0.00,0.000,6,0.000,0.032,2407,1904,3372,0,0,0,0,0,0
$GC,471,-1.31,-77.9,70.0,-13.6,65,475,0.00,2.42,0.00,0.000,4,0.000,0.045,2405,494,3372,0,0,0,0,0,0
$GC,489,-1.16,-77.9,73.0,-14.4,66,497,0.20,2.35,0.00,0.000,6,0.080,0.020,2452,1936,3373,0,0,0,0,0,0
$GC,753,-1.22,-77.9,96.0,-7.4,91,757,0.00,2.47,0.00,0.000,4,0.000,0.044,2452,491,3373,0,0,0,0,0,0
$GC,869,-1.26,-77.9,106.8,-9.2,103,873,0.00,2.22,0.00,0.000,6,0.000,0.020,2452,1891,3374,0,0,0,0,0,0
$GC,1131,-1.33,-77.9,136.7,-12.2,127,1136,0.12,2.40,0.00,0.000,4,0.064,0.044,2411,494,3375,0,0,0,0,0,0
$GC,1184,-1.28,-77.9,144.8,-15.7,132,1189,0.12,2.25,0.00,0.000,6,0.100,0.021,2437,1898,3375,0,0,0,0,0,0
$GC,1444,-1.35,-77.9,178.0,-10.4,156,1449,0.00,2.42,0.00,0.000,4,0.000,0.044,2437,493,3376,0,0,0,0,0,0
$GC,1485,-1.35,-77.9,182.1,-10.3,160,1490,0.00,2.25,0.00,0.000,6,0.000,0.021,2437,1903,3376,0,0,0,0,0,0
$GC,1759,-1.42,-77.9,201.9,-6.4,184,1764,0.15,2.45,0.00,0.000,4,0.058,0.047,2390,494,3376,0,0,0,0,0,0
$GC,1796,-1.33,-77.9,205.7,-10.8,185,1802,0.17,2.25,0.00,0.000,6,0.091,0.021,2424,1897,3377,0,0,0,0,0,0
$GC,2113,-1.39,-77.9,231.7,-8.8,201,2117,0.00,2.40,0.00,0.000,4,0.000,0.046,2427,494,3376,0,0,0,0,0,0
$GC,2208,-1.39,-77.9,243.4,-12.6,205,2212,0.00,2.28,0.00,0.000,6,0.000,0.022,2426,1906,3377,0,0,0,0,0,0
$GC,2534,-1.47,-77.9,282.6,-11.7,221,2536,0.15,0.00,0.00,0.000,6,0.061,0.000,2382,1912,3376,0,0,0,0,0,0
$GC,2859,-1.47,-77.9,316.1,-9.0,233,2863,0.00,2.47,0.00,0.000,4,0.000,0.049,2383,487,3376,0,0,0,0,0,0
$GC,2914,-1.42,-77.9,321.3,-8.8,234,2919,0.10,2.33,0.00,0.000,6,0.114,0.025,2402,1910,3375,0,0,0,0,0,0
$GC,3228,-1.46,-77.9,344.5,-7.4,242,3232,0.00,2.47,0.00,0.000,4,0.000,0.051,2402,495,3374,0,0,0,0,0,0
$GC,3334,-1.46,-77.9,353.3,-7.5,244,3338,0.00,2.28,0.00,0.000,6,0.000,0.026,2402,1898,3374,0,0,0,0,0,0
$GC,3686,-1.51,-77.9,381.3,-8.3,253,3690,0.00,2.45,0.00,0.000,4,0.000,0.054,2403,494,3372,0,0,0,0,0,0
$GC,3741,-1.51,-77.9,385.9,-8.0,254,3745,0.00,2.30,0.00,0.000,6,0.000,0.028,2402,1902,3372,0,0,0,0,0,0
$GC,4054,-1.57,-77.9,409.0,-7.6,262,4059,0.15,2.50,0.00,0.000,4,0.064,0.056,2361,497,3370,0,0,0,0,0,0
$GC,4117,-1.51,-77.9,415.3,-10.4,263,4122,0.10,2.30,0.00,0.000,6,0.118,0.029,2382,1897,3369,0,0,0,0,0,0
$STATE,4465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4465,begin apogee
$GC,4471,-0.31,0.0,451.5,11.1,272,4539,1.23,0.00,64.82,0.892,6,0.076,0.000,2643,2057,3050,0,0,0,0,0,0
$STATE,4540,end apogee,CONTROL_FINISHED_OK
$STATE,4540,begin climb
$GC,4542,1.40,77.9,453.5,0.0,273,4616,1.65,2.45,64.80,0.869,4,0.034,0.048,3025,3404,2731,0,0,0,0,0,0
$GC,4756,1.22,116.6,449.9,5.4,277,4797,0.22,2.38,33.22,0.852,6,0.118,0.038,2982,2028,2573,0,0,0,0,0,0
$GC,5133,1.10,116.6,420.1,8.4,287,5137,0.15,2.42,0.00,0.000,4,0.122,0.041,2957,3412,2567,0,0,0,0,0,0
$GC,5240,1.04,116.6,411.3,8.2,289,5245,0.00,2.38,0.00,0.000,6,0.000,0.039,2958,2035,2567,0,0,0,0,0,0
$GC,5589,0.99,116.6,379.7,9.2,298,5591,0.15,0.00,0.00,0.000,6,0.123,0.000,2932,2035,2564,0,0,0,0,0,0
$GC,5914,1.03,152.9,359.4,5.5,306,5951,0.00,2.58,30.23,0.838,4,0.000,0.054,2931,633,2425,0,0,0,0,0,0
$GC,6136,1.00,154.5,344.7,7.9,310,6142,0.00,2.35,0.00,0.000,6,0.000,0.030,2931,2018,2419,0,0,0,0,0,0
$GC,6466,1.02,173.1,322.9,6.7,319,6491,0.00,2.55,17.83,0.795,4,0.000,0.054,2931,633,2342,0,0,0,0,0,0
$GC,6519,0.98,173.1,318.7,8.9,320,6523,0.00,2.40,0.00,0.000,6,0.000,0.031,2931,2037,2340,0,0,0,0,0,0
$GC,6840,1.03,173.1,284.5,10.0,331,6844,0.00,2.50,0.00,0.000,4,0.000,0.054,2931,629,2338,0,0,0,0,0,0
$GC,6954,1.03,173.1,272.0,11.2,336,6959,0.00,2.38,0.00,0.000,6,0.000,0.030,2932,2044,2336,0,0,0,0,0,0
$GC,7279,1.09,186.6,245.2,7.1,352,7297,0.00,2.53,12.25,0.723,4,0.000,0.051,2931,629,2288,0,0,0,0,0,0
$GC,7429,1.09,186.6,231.6,9.2,357,7435,0.00,2.35,0.00,0.000,6,0.000,0.028,2932,2038,2283,0,0,0,0,0,0
$GC,7746,1.18,200.1,209.1,7.1,373,7768,0.17,2.53,12.85,0.694,4,0.066,0.048,2974,628,2233,0,0,0,0,0,0
$GC,7993,1.11,200.1,178.5,11.9,394,7997,0.00,2.35,0.00,0.000,6,0.000,0.026,2974,2046,2228,0,0,0,0,0,0
$GC,8254,1.14,218.3,157.2,6.8,418,8273,0.00,0.00,16.85,0.664,6,0.000,0.000,2974,2051,2160,0,0,0,0,0,0
$GC,8529,1.14,218.3,135.1,10.4,444,8533,0.00,2.47,0.00,0.000,4,0.000,0.047,2974,616,2158,0,0,0,0,0,0
$GC,8618,1.09,218.3,123.3,15.6,453,8623,0.12,2.33,0.00,0.000,6,0.119,0.025,2953,2039,2155,0,0,0,0,0,0
$GC,8879,1.16,218.3,91.4,10.1,477,8884,0.00,2.45,0.00,0.000,4,0.000,0.045,2952,616,2155,0,0,0,0,0,0
$GC,8904,1.16,218.3,88.9,9.4,479,8909,0.00,2.33,0.00,0.000,6,0.000,0.024,2952,2042,2154,0,0,0,0,0,0
$GC,9168,1.26,229.7,68.5,7.2,503,9189,0.17,2.53,11.00,0.556,4,0.059,0.045,2999,628,2112,0,0,0,0,0,0
$GC,9333,1.18,229.7,52.0,11.9,521,9338,0.12,2.30,0.00,0.000,6,0.112,0.021,2975,2044,2110,0,0,0,0,0,0
$GC,9595,1.24,229.7,26.6,9.3,548,9601,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2050,2110,0,0,0,0,0,0
$GC,9796,1.30,229.7,9.3,8.7,585,9802,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2050,2110,0,0,0,0,0,0
$STATE,9872,end climb,SURFACE_DEPTH_REACHED
$STATE,9872,begin surface coast
$FINISH,0.4,1.009705
$STATE,9910,end surface coast,CONTROL_FINISHED_OK
$STATE,9910,begin surface
$SM_CCo,9930,37.92,0.535,0,0,1826,300.00
$SM_GC,1.60,0.00,0.00,37.92,0.000,0.000,0.535,427,1877,1826,-10.52,-0.65,300.00
$IRIDIUM_FIX,2059.45,-15759.05,260799,212113
$TT8_MAMPS,0.029146
$HUMID,45.31
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,21.00
$XPDR_PINGS,0
$24V_AH,23.4,15.915
$10V_AH,10.0,14.917
$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,27.050,101.150,263.850,37.925,0.000,27.909,26.238,120.952,4.500,0.000,30.010,1195.792,6454.204,361.563,1916.492,327.084,33.351,1175.213,0.000,1876.430,0.000,29.238,0.000
$DEVICE_MAMPS,140.361,55.991,892.021,535.366,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,410.520,383.872,875.208,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,34893,606
$CAP_FILE_SIZE,112006,0
$CFSIZE,260165632,248762368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010510,235427,2107.943,-15759.857,901,99.0,901,9.8