version: 66.06
glider: 139
mission: 7
dive: 181
start: 5 2 110 22 38 22
data:
$ID,139
$MISSION,7
$DIVE,181
$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,-2125491
$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
$GPS1,223228,2109.056,-15758.796,22,2.7,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-71.3
$GPS2,223731,2109.063,-15758.802,41,1.2,41,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.018
$KALMAN_X,-48028.5,637.1,409.1,54908.4,-2521.7
$KALMAN_Y,4027.1,-140.3,114.4,-1616.5,303.1
$MHEAD_RNG_PITCHd_Wd,85.8,28096,-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,-58.65,0.000,6,0.000,0.000,428,1865,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,3.9,-7.2,11,97,10.68,2.45,0.00,0.000,4,0.137,0.025,2406,3319,3371,0,0,0,0,0,0
$GC,267,-1.40,-77.9,37.6,-13.7,47,271,0.00,2.42,0.00,0.000,6,0.000,0.033,2406,1893,3372,0,0,0,0,0,0
$GC,529,-1.28,-77.9,77.6,-15.9,71,534,0.12,2.40,0.00,0.000,4,0.108,0.046,2431,491,3372,0,0,0,0,0,0
$GC,585,-1.18,-77.9,86.4,-14.1,76,591,0.08,2.33,0.00,0.000,6,0.082,0.020,2451,1926,3372,0,0,0,0,0,0
$GC,846,-1.24,-77.9,115.6,-9.1,101,850,0.00,2.45,0.00,0.000,4,0.000,0.043,2451,491,3373,0,0,0,0,0,0
$GC,907,-1.24,-77.9,121.5,-9.8,107,911,0.00,2.28,0.00,0.000,6,0.000,0.020,2452,1909,3373,0,0,0,0,0,0
$GC,1172,-1.30,-77.9,143.8,-8.4,131,1176,0.00,2.42,0.00,0.000,4,0.000,0.044,2450,486,3374,0,0,0,0,0,0
$GC,1217,-1.34,-77.9,148.4,-9.0,135,1223,0.12,2.25,0.00,0.000,6,0.063,0.021,2410,1905,3374,0,0,0,0,0,0
$GC,1477,-1.34,-77.9,178.6,-11.2,160,1481,0.00,2.42,0.00,0.000,4,0.000,0.044,2408,491,3375,0,0,0,0,0,0
$GC,1519,-1.28,-77.9,183.8,-12.2,164,1524,0.12,2.25,0.00,0.000,6,0.100,0.021,2435,1905,3375,0,0,0,0,0,0
$GC,1778,-1.35,-77.9,207.5,-8.6,184,1782,0.00,2.45,0.00,0.000,4,0.000,0.045,2434,484,3376,0,0,0,0,0,0
$GC,1867,-1.40,-77.9,214.8,-7.5,188,1872,0.12,2.28,0.00,0.000,6,0.064,0.021,2392,1903,3376,0,0,0,0,0,0
$GC,2197,-1.40,-77.9,239.6,-6.7,204,2201,0.00,2.42,0.00,0.000,4,0.000,0.046,2394,488,3376,0,0,0,0,0,0
$GC,2234,-1.33,-77.9,242.8,-9.0,205,2239,0.15,2.28,0.00,0.000,6,0.095,0.022,2423,1901,3376,0,0,0,0,0,0
$GC,2550,-1.40,-77.9,269.4,-9.5,220,2555,0.00,2.42,0.00,0.000,4,0.000,0.048,2424,491,3375,0,0,0,0,0,0
$GC,2643,-1.46,-77.9,279.8,-10.4,224,2650,0.12,2.28,0.00,0.000,6,0.065,0.024,2381,1896,3375,0,0,0,0,0,0
$GC,2974,-1.46,-77.9,315.5,-12.2,237,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1900,3374,0,0,0,0,0,0
$GC,3300,-1.46,-77.9,354.4,-11.4,245,3304,0.00,2.47,0.00,0.000,4,0.000,0.052,2385,485,3372,0,0,0,0,0,0
$GC,3373,-1.42,-77.9,362.8,-10.7,246,3378,0.00,2.30,0.00,0.000,6,0.000,0.026,2385,1896,3372,0,0,0,0,0,0
$GC,3708,-1.42,-77.9,393.0,-8.8,255,3712,0.00,2.47,0.00,0.000,4,0.000,0.054,2385,491,3370,0,0,0,0,0,0
$GC,3783,-1.39,-77.9,400.1,-8.7,256,3788,0.12,2.30,0.00,0.000,6,0.104,0.028,2410,1898,3370,0,0,0,0,0,0
$GC,4119,-1.46,-77.9,423.7,-6.6,265,4123,0.00,2.47,0.00,0.000,4,0.000,0.055,2410,495,3367,0,0,0,0,0,0
$GC,4231,-1.50,-77.9,432.7,-8.1,267,4235,0.00,2.33,0.00,0.000,6,0.000,0.029,2410,1897,3367,0,0,0,0,0,0
$STATE,4492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4492,begin apogee
$GC,4497,-0.31,0.0,452.0,7.3,274,4565,1.10,0.00,64.35,0.889,6,0.074,0.000,2646,2055,3050,0,0,0,0,0,0
$STATE,4566,end apogee,CONTROL_FINISHED_OK
$STATE,4566,begin climb
$GC,4568,1.40,77.9,452.4,0.0,275,4642,1.62,2.45,64.85,0.868,4,0.031,0.045,3026,3406,2732,0,0,0,0,0,0
$GC,4823,1.20,103.5,442.8,6.3,280,4853,0.22,2.38,22.55,0.835,6,0.118,0.040,2982,2032,2626,0,0,0,0,0,0
$GC,5166,1.07,103.5,413.8,8.3,289,5171,0.17,2.50,0.00,0.000,4,0.118,0.056,2952,628,2621,0,0,0,0,0,0
$GC,5185,0.95,103.5,412.0,9.2,289,5191,0.17,2.35,0.00,0.000,6,0.120,0.030,2922,2016,2620,0,0,0,0,0,0
$GC,5531,0.99,138.0,389.5,5.7,298,5567,0.00,2.53,29.00,0.844,4,0.000,0.054,2921,625,2486,0,0,0,0,0,0
$GC,5746,1.00,143.2,374.6,7.7,302,5757,0.00,2.38,5.10,0.622,6,0.000,0.031,2921,2039,2466,0,0,0,0,0,0
$GC,6081,1.05,155.7,350.9,7.2,311,6100,0.00,2.55,12.27,0.781,4,0.000,0.054,2921,627,2414,0,0,0,0,0,0
$GC,6201,1.05,155.7,340.9,8.9,313,6205,0.00,2.40,0.00,0.000,6,0.000,0.031,2922,2041,2410,0,0,0,0,0,0
$GC,6541,1.11,160.9,314.5,7.7,322,6554,0.15,2.58,5.45,0.630,4,0.071,0.054,2957,629,2393,0,0,0,0,0,0
$GC,6646,1.02,160.9,304.1,10.9,324,6651,0.00,2.40,0.00,0.000,6,0.000,0.031,2957,2046,2390,0,0,0,0,0,0
$GC,6963,1.02,160.9,275.2,8.9,338,6967,0.00,2.38,0.00,0.000,4,0.000,0.041,2958,3432,2390,0,0,0,0,0,0
$GC,7031,1.02,160.9,268.7,9.6,341,7035,0.00,2.38,0.00,0.000,6,0.000,0.037,2958,2034,2389,0,0,0,0,0,0
$GC,7356,1.02,160.9,237.7,9.2,357,7360,0.00,2.47,0.00,0.000,4,0.000,0.052,2957,619,2388,0,0,0,0,0,0
$GC,7468,0.96,160.9,227.2,8.8,362,7473,0.17,2.35,0.00,0.000,6,0.115,0.028,2926,2037,2386,0,0,0,0,0,0
$GC,7799,1.06,179.8,205.1,6.7,378,7823,0.00,2.53,17.10,0.712,4,0.000,0.049,2925,626,2315,0,0,0,0,0,0
$GC,7872,1.10,181.6,199.7,7.9,381,7878,0.12,2.35,0.00,0.000,6,0.074,0.027,2958,2040,2311,0,0,0,0,0,0
$GC,8133,1.14,218.2,183.1,5.5,406,8173,0.00,2.55,34.15,0.706,4,0.000,0.049,2957,625,2159,0,0,0,0,0,0
$GC,8252,1.14,218.2,172.9,10.8,419,8257,0.00,2.35,0.00,0.000,6,0.000,0.025,2957,2041,2154,0,0,0,0,0,0
$GC,8515,1.19,218.2,148.4,10.1,443,8520,0.00,2.47,0.00,0.000,4,0.000,0.048,2958,629,2154,0,0,0,0,0,0
$GC,8553,1.19,218.2,143.5,12.9,446,8559,0.00,2.35,0.00,0.000,6,0.000,0.025,2956,2032,2151,0,0,0,0,0,0
$GC,8815,1.25,218.2,116.6,9.4,471,8820,0.12,2.45,0.00,0.000,4,0.071,0.046,2992,627,2151,0,0,0,0,0,0
$GC,8935,1.16,218.2,102.2,11.8,483,8941,0.12,2.30,0.00,0.000,6,0.114,0.023,2968,2041,2150,0,0,0,0,0,0
$GC,9199,1.22,224.9,79.1,7.6,508,9210,0.00,2.47,6.05,0.491,4,0.000,0.044,2970,619,2132,0,0,0,0,0,0
$GC,9361,1.22,224.9,62.5,10.9,526,9365,0.00,2.33,0.00,0.000,6,0.000,0.022,2968,2044,2130,0,0,0,0,0,0
$GC,9624,1.28,224.9,37.3,9.3,550,9629,0.10,2.47,0.00,0.000,4,0.078,0.044,2999,620,2130,0,0,0,0,0,0
$GC,9729,1.21,224.9,25.0,12.2,565,9736,0.08,2.33,0.00,0.000,6,0.087,0.021,2982,2037,2130,0,0,0,0,0,0
$GC,9933,1.27,224.9,5.8,9.4,602,9940,0.00,2.45,0.00,0.000,4,0.000,0.044,2981,628,2129,0,0,0,0,0,0
$STATE,9962,end climb,SURFACE_DEPTH_REACHED
$STATE,9962,begin surface coast
$FINISH,0.4,1.010354
$STATE,9997,end surface coast,CONTROL_FINISHED_OK
$STATE,9997,begin surface
$SM_CCo,10018,38.83,0.530,0,0,1827,300.00
$SM_GC,1.68,0.00,0.00,38.83,0.000,0.000,0.530,428,1924,1827,-10.52,0.68,300.00
$IRIDIUM_FIX,2101.76,-15758.18,270799,202048
$TT8_MAMPS,0.029146
$HUMID,45.27
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,20.90
$XPDR_PINGS,0
$24V_AH,23.4,16.577
$10V_AH,10.0,15.626
$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,26.725,119.925,260.875,38.825,0.000,24.359,27.128,128.375,4.500,0.000,41.786,1221.213,6443.030,362.733,1978.434,356.504,33.354,1206.074,0.000,1934.252,0.000,29.264,0.000
$DEVICE_MAMPS,137.293,55.991,888.953,529.997,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,417.050,396.956,882.434,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,34933,616
$CAP_FILE_SIZE,117097,0
$CFSIZE,260165632,248283136
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030510,012720,2109.241,-15757.983,45,1.5,45,9.8