version: 66.06
glider: 139
mission: 7
dive: 173
start: 5 2 110 3 2 53
data:
$ID,139
$MISSION,7
$DIVE,173
$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,-2125297.2
$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
$GPS1,235427,2107.943,-15759.857,901,99.0,901,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-71.3
$GPS2,030202,2107.914,-15759.742,36,3.5,55,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.017
$KALMAN_X,-34201.3,164.7,776.3,39563.5,-3530.5
$KALMAN_Y,1948.0,195.2,-255.0,-1626.8,386.4
$MHEAD_RNG_PITCHd_Wd,85.5,29328,-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,-58.30,0.000,6,0.000,0.000,426,1877,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,3.8,-6.9,11,97,10.70,2.40,0.00,0.000,4,0.139,0.036,2404,485,3370,0,0,0,0,0,0
$GC,241,-1.26,-77.9,41.5,-17.0,40,246,0.17,2.33,0.00,0.000,6,0.100,0.021,2437,1929,3372,0,0,0,0,0,0
$GC,503,-1.26,-77.9,75.1,-12.4,64,507,0.00,2.47,0.00,0.000,4,0.000,0.044,2438,484,3372,0,0,0,0,0,0
$GC,562,-1.26,-77.9,82.5,-11.0,70,566,0.00,2.28,0.00,0.000,6,0.000,0.020,2438,1914,3372,0,0,0,0,0,0
$GC,823,-1.26,-77.9,111.1,-11.1,94,827,0.00,2.42,0.00,0.000,4,0.000,0.044,2438,494,3373,0,0,0,0,0,0
$GC,840,-1.26,-77.9,113.2,-11.1,95,846,0.00,2.25,0.00,0.000,6,0.000,0.020,2439,1916,3374,0,0,0,0,0,0
$GC,1102,-1.32,-77.9,136.3,-8.4,120,1106,0.00,2.42,0.00,0.000,4,0.000,0.044,2439,494,3374,0,0,0,0,0,0
$GC,1190,-1.32,-77.9,145.2,-9.9,129,1194,0.00,2.22,0.00,0.000,6,0.000,0.020,2436,1893,3374,0,0,0,0,0,0
$GC,1453,-1.38,-77.9,170.6,-9.8,153,1458,0.12,2.45,0.00,0.000,4,0.065,0.046,2398,486,3374,0,0,0,0,0,0
$GC,1499,-1.31,-77.9,177.0,-13.8,157,1506,0.15,2.25,0.00,0.000,6,0.096,0.021,2421,1897,3374,0,0,0,0,0,0
$GC,1759,-1.37,-77.9,204.6,-10.2,180,1763,0.00,2.40,0.00,0.000,4,0.000,0.045,2430,494,3374,0,0,0,0,0,0
$GC,1809,-1.37,-77.9,210.1,-10.8,182,1813,0.00,2.25,0.00,0.000,6,0.000,0.021,2431,1903,3374,0,0,0,0,0,0
$GC,2128,-1.45,-77.9,237.5,-7.8,198,2133,0.15,2.45,0.00,0.000,4,0.059,0.048,2384,485,3373,0,0,0,0,0,0
$GC,2266,-1.40,-77.9,251.4,-8.6,204,2271,0.12,2.30,0.00,0.000,6,0.100,0.022,2409,1898,3374,0,0,0,0,0,0
$GC,2593,-1.45,-77.9,280.0,-9.3,220,2597,0.00,2.42,0.00,0.000,4,0.000,0.048,2409,490,3373,0,0,0,0,0,0
$GC,2643,-1.45,-77.9,284.9,-8.9,222,2647,0.00,2.30,0.00,0.000,6,0.000,0.024,2410,1899,3373,0,0,0,0,0,0
$GC,2982,-1.51,-77.9,314.9,-9.0,235,2987,0.12,2.45,0.00,0.000,4,0.067,0.051,2373,494,3371,0,0,0,0,0,0
$GC,3076,-1.45,-77.9,326.1,-11.5,237,3081,0.12,2.28,0.00,0.000,6,0.104,0.025,2398,1895,3370,0,0,0,0,0,0
$GC,3399,-1.49,-77.9,359.9,-9.8,245,3406,0.00,2.45,0.00,0.000,4,0.000,0.053,2398,491,3369,0,0,0,0,0,0
$GC,3485,-1.49,-77.9,368.1,-9.1,246,3489,0.00,2.30,0.00,0.000,6,0.000,0.027,2399,1898,3369,0,0,0,0,0,0
$GC,3816,-1.54,-77.9,394.0,-8.0,254,3820,0.00,2.45,0.00,0.000,4,0.000,0.054,2397,497,3366,0,0,0,0,0,0
$GC,3866,-1.54,-77.9,398.3,-8.5,255,3870,0.00,2.30,0.00,0.000,6,0.000,0.028,2398,1899,3366,0,0,0,0,0,0
$GC,4184,-1.59,-77.9,425.6,-9.6,263,4189,0.15,2.47,0.00,0.000,4,0.066,0.056,2358,495,3364,0,0,0,0,0,0
$GC,4265,-1.54,-77.9,435.2,-12.4,264,4270,0.10,2.33,0.00,0.000,6,0.120,0.029,2377,1897,3363,0,0,0,0,0,0
$STATE,4431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4431,begin apogee
$GC,4436,-0.31,0.0,452.4,10.1,268,4503,1.25,0.00,63.88,0.888,6,0.081,0.000,2643,2056,3050,0,0,0,0,0,0
$STATE,4504,end apogee,CONTROL_FINISHED_OK
$STATE,4504,begin climb
$GC,4506,1.40,77.9,454.1,0.0,269,4581,1.65,2.45,64.95,0.867,4,0.034,0.047,3024,3404,2732,0,0,0,0,0,0
$GC,4844,1.21,105.0,443.3,6.2,276,4873,0.25,2.38,23.35,0.841,6,0.117,0.040,2979,2029,2622,0,0,0,0,0,0
$GC,5191,1.09,105.0,416.6,8.4,285,5196,0.15,2.42,0.00,0.000,4,0.126,0.042,2953,3413,2617,0,0,0,0,0,0
$GC,5286,1.08,135.6,410.1,5.9,287,5318,0.00,2.40,26.50,0.844,6,0.000,0.040,2953,2032,2496,0,0,0,0,0,0
$GC,5650,1.10,186.1,391.4,4.5,296,5702,0.00,2.58,44.35,0.851,4,0.000,0.056,2953,625,2290,0,0,0,0,0,0
$GC,5763,1.04,191.2,384.4,7.7,298,5774,0.00,2.38,5.03,0.607,6,0.000,0.030,2951,2020,2270,0,0,0,0,0,0
$GC,6105,1.04,191.2,356.3,8.6,307,6109,0.00,2.50,0.00,0.000,4,0.000,0.055,2951,626,2266,0,0,0,0,0,0
$GC,6170,0.98,191.2,349.0,12.4,308,6175,0.15,2.38,0.00,0.000,6,0.125,0.031,2926,2036,2264,0,0,0,0,0,0
$GC,6515,1.03,191.2,315.7,9.8,317,6520,0.00,2.53,0.00,0.000,4,0.000,0.054,2926,621,2263,0,0,0,0,0,0
$GC,6641,1.03,191.2,299.1,13.2,319,6645,0.00,2.38,0.00,0.000,6,0.000,0.030,2926,2036,2260,0,0,0,0,0,0
$GC,6963,1.10,191.2,264.1,9.7,335,6968,0.12,2.50,0.00,0.000,4,0.078,0.053,2957,629,2261,0,0,0,0,0,0
$GC,7034,1.05,191.2,256.8,9.8,338,7038,0.00,2.38,0.00,0.000,6,0.000,0.029,2956,2040,2259,0,0,0,0,0,0
$GC,7358,1.05,191.2,225.9,9.3,354,7362,0.00,2.47,0.00,0.000,4,0.000,0.051,2956,623,2259,0,0,0,0,0,0
$GC,7390,0.99,191.2,222.9,9.6,355,7395,0.15,2.38,0.00,0.000,6,0.123,0.028,2931,2044,2258,0,0,0,0,0,0
$GC,7709,1.07,191.2,193.7,8.7,373,7714,0.00,2.50,0.00,0.000,4,0.000,0.051,2930,621,2258,0,0,0,0,0,0
$GC,7973,1.13,214.8,172.6,6.4,401,7999,0.15,2.35,19.95,0.687,6,0.070,0.026,2967,2043,2174,0,0,0,0,0,0
$GC,8261,1.13,214.8,148.6,9.5,429,8266,0.00,2.45,0.00,0.000,4,0.000,0.048,2967,628,2170,0,0,0,0,0,0
$GC,8380,1.09,214.8,136.0,9.9,441,8385,0.00,2.30,0.00,0.000,6,0.000,0.025,2967,2034,2168,0,0,0,0,0,0
$GC,8641,1.14,222.2,115.6,7.5,466,8651,0.00,0.00,7.05,0.545,6,0.000,0.000,2967,2039,2144,0,0,0,0,0,0
$GC,8907,1.19,222.2,94.2,8.4,491,8912,0.00,2.45,0.00,0.000,4,0.000,0.044,2967,622,2144,0,0,0,0,0,0
$GC,8922,1.19,222.2,92.7,8.8,492,8926,0.00,2.33,0.00,0.000,6,0.000,0.023,2966,2038,2142,0,0,0,0,0,0
$GC,9185,1.25,222.2,68.7,9.5,516,9190,0.10,2.45,0.00,0.000,4,0.081,0.044,2997,621,2142,0,0,0,0,0,0
$GC,9351,1.19,222.2,51.4,8.9,534,9356,0.12,2.30,0.00,0.000,6,0.113,0.021,2973,2047,2142,0,0,0,0,0,0
$GC,9613,1.28,252.2,36.5,6.0,558,9646,0.00,2.50,27.55,0.558,4,0.000,0.043,2974,619,2020,0,0,0,0,0,0
$GC,9671,1.28,252.2,31.8,9.3,564,9675,0.00,2.30,0.00,0.000,6,0.000,0.021,2974,2034,2018,0,0,0,0,0,0
$GC,9935,1.35,252.2,7.2,9.3,610,9942,0.15,2.47,0.00,0.000,4,0.061,0.044,3017,629,2017,0,0,0,0,0,0
$STATE,9972,end climb,SURFACE_DEPTH_REACHED
$STATE,9973,begin surface coast
$FINISH,0.4,1.007199
$STATE,9995,end surface coast,CONTROL_FINISHED_OK
$STATE,9995,begin surface
$SM_CCo,10016,25.40,0.518,0,0,1827,300.00
$SM_GC,1.08,0.00,0.00,25.40,0.000,0.000,0.518,432,1914,1827,-10.50,0.40,300.00
$IRIDIUM_FIX,2059.45,-15759.05,270799,000055
$TT8_MAMPS,0.029146
$HUMID,44.88
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,15.994
$10V_AH,10.1,15.021
$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,27.400,119.450,282.600,25.400,0.000,27.356,25.954,114.049,4.500,0.000,55.991,1242.476,6367.924,356.319,2038.200,343.198,33.353,1220.241,0.000,1979.406,0.000,30.231,0.000
$DEVICE_MAMPS,138.827,55.991,888.186,518.492,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,422.130,406.844,902.731,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,35010,623
$CAP_FILE_SIZE,118575,0
$CFSIZE,260165632,248700928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020510,055119,2108.189,-15759.997,12,1.7,29,9.8