version: 66.06
glider: 139
mission: 7
dive: 182
start: 5 3 110 1 32 58
data:
$ID,139
$MISSION,7
$DIVE,182
$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,-2125521.2
$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
$GPS1,012720,2109.241,-15757.983,45,1.5,45,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-71.6
$GPS2,013207,2109.247,-15758.033,12,2.0,29,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.174,-0.061
$KALMAN_X,-49702.0,899.3,1196.3,56854.4,-4039.7
$KALMAN_Y,4860.3,38.3,-339.0,-1831.1,1188.2
$MHEAD_RNG_PITCHd_Wd,99.4,26880,-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,-77.9,0.0,0.0,0,73,0.00,0.00,-55.42,0.000,2,0.000,0.000,427,1924,3262,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.2,-5.3,10,94,10.70,2.45,-2.08,0.000,4,0.138,0.049,2404,491,3368,0,0,0,0,0,0
$GC,205,-1.20,-77.9,34.7,-18.4,36,212,0.20,2.35,0.00,0.000,6,0.081,0.021,2457,1929,3370,0,0,0,0,0,0
$GC,468,-1.20,-77.9,66.5,-11.5,61,472,0.00,2.50,0.00,0.000,4,0.000,0.044,2456,488,3371,0,0,0,0,0,0
$GC,530,-1.20,-77.9,74.9,-13.1,67,537,0.00,2.30,0.00,0.000,6,0.000,0.020,2456,1899,3372,0,0,0,0,0,0
$GC,792,-1.26,-77.9,103.9,-9.8,92,796,0.00,2.42,0.00,0.000,4,0.000,0.044,2455,484,3373,0,0,0,0,0,0
$GC,844,-1.26,-77.9,109.3,-10.7,97,848,0.00,2.30,0.00,0.000,6,0.000,0.021,2454,1911,3373,0,0,0,0,0,0
$GC,1106,-1.34,-77.9,133.5,-8.9,121,1111,0.15,2.45,0.00,0.000,4,0.057,0.044,2407,490,3374,0,0,0,0,0,0
$GC,1181,-1.27,-77.9,143.9,-14.6,128,1187,0.10,2.30,0.00,0.000,6,0.074,0.021,2433,1898,3374,0,0,0,0,0,0
$GC,1443,-1.32,-77.9,172.8,-9.6,153,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1903,3375,0,0,0,0,0,0
$GC,1699,-1.37,-77.9,193.0,-7.6,177,1703,0.00,2.40,0.00,0.000,4,0.000,0.045,2433,494,3375,0,0,0,0,0,0
$GC,1789,-1.37,-77.9,200.6,-7.2,186,1793,0.00,2.25,0.00,0.000,6,0.000,0.021,2432,1902,3376,0,0,0,0,0,0
$GC,2116,-1.46,-77.9,221.8,-6.4,202,2121,0.17,2.42,0.00,0.000,4,0.053,0.046,2382,494,3376,0,0,0,0,0,0
$GC,2171,-1.39,-77.9,227.8,-11.4,204,2176,0.15,2.25,0.00,0.000,6,0.097,0.022,2411,1897,3376,0,0,0,0,0,0
$GC,2489,-1.42,-77.9,256.8,-9.8,219,2493,0.00,2.42,0.00,0.000,4,0.000,0.046,2410,495,3376,0,0,0,0,0,0
$GC,2532,-1.42,-77.9,262.2,-12.7,221,2537,0.00,2.30,0.00,0.000,6,0.000,0.024,2412,1905,3375,0,0,0,0,0,0
$GC,2864,-1.48,-77.9,293.2,-9.1,237,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1910,3375,0,0,0,0,0,0
$GC,3188,-1.54,-77.9,321.9,-8.2,247,3193,0.15,2.47,0.00,0.000,4,0.061,0.051,2370,495,3373,0,0,0,0,0,0
$GC,3258,-1.46,-77.9,329.2,-11.0,248,3263,0.12,2.30,0.00,0.000,6,0.104,0.026,2394,1896,3373,0,0,0,0,0,0
$GC,3599,-1.50,-77.9,358.8,-8.3,257,3603,0.00,2.45,0.00,0.000,4,0.000,0.053,2394,490,3372,0,0,0,0,0,0
$GC,3724,-1.50,-77.9,371.2,-9.6,259,3728,0.00,2.33,0.00,0.000,6,0.000,0.028,2394,1896,3371,0,0,0,0,0,0
$GC,4055,-1.54,-77.9,400.0,-7.8,267,4059,0.00,2.47,0.00,0.000,4,0.000,0.055,2394,491,3369,0,0,0,0,0,0
$GC,4161,-1.54,-77.9,409.1,-8.3,269,4165,0.00,2.33,0.00,0.000,6,0.000,0.028,2394,1904,3368,0,0,0,0,0,0
$GC,4474,-1.57,-77.9,431.5,-7.4,277,4479,0.10,2.53,0.00,0.000,4,0.083,0.057,2364,490,3366,0,0,0,0,0,0
$GC,4540,-1.50,-77.9,437.6,-10.0,278,4545,0.10,2.35,0.00,0.000,6,0.118,0.030,2384,1897,3365,0,0,0,0,0,0
$STATE,4720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4720,begin apogee
$GC,4725,-0.31,0.0,451.6,7.7,283,4794,1.23,0.00,64.43,0.894,6,0.078,0.000,2645,2056,3050,0,0,0,0,0,0
$STATE,4794,end apogee,CONTROL_FINISHED_OK
$STATE,4794,begin climb
$GC,4796,1.40,77.9,452.3,0.0,284,4871,1.65,2.45,65.05,0.871,4,0.034,0.045,3027,3404,2732,0,0,0,0,0,0
$GC,5020,1.21,118.2,447.6,5.3,289,5063,0.25,2.40,34.78,0.857,6,0.116,0.040,2980,2033,2567,0,0,0,0,0,0
$GC,5387,1.10,118.2,416.9,9.0,298,5392,0.15,2.53,0.00,0.000,4,0.123,0.057,2953,629,2561,0,0,0,0,0,0
$GC,5449,0.98,118.2,411.0,8.7,299,5454,0.15,2.33,0.00,0.000,6,0.123,0.031,2930,2016,2559,0,0,0,0,0,0
$GC,5799,0.98,118.2,382.5,8.6,308,5803,0.00,2.47,0.00,0.000,4,0.000,0.055,2929,629,2558,0,0,0,0,0,0
$GC,5888,0.91,118.2,374.6,8.5,310,5892,0.00,2.38,0.00,0.000,6,0.000,0.031,2929,2042,2557,0,0,0,0,0,0
$GC,6215,0.94,142.2,353.1,6.4,318,6240,0.00,2.58,19.62,0.821,4,0.000,0.055,2929,621,2469,0,0,0,0,0,0
$GC,6341,0.90,142.2,343.7,8.2,320,6347,0.00,2.40,0.00,0.000,6,0.000,0.031,2929,2032,2466,0,0,0,0,0,0
$GC,6672,0.93,142.2,317.6,8.8,329,6676,0.00,2.50,0.00,0.000,4,0.000,0.054,2929,626,2464,0,0,0,0,0,0
$GC,6779,0.90,142.2,305.0,12.6,331,6783,0.00,2.40,0.00,0.000,6,0.000,0.031,2929,2043,2463,0,0,0,0,0,0
$GC,7113,0.97,172.4,276.3,5.9,346,7146,0.00,2.58,26.35,0.791,4,0.000,0.051,2929,628,2346,0,0,0,0,0,0
$GC,7169,1.01,208.3,273.4,5.6,348,7207,0.00,2.38,32.92,0.782,6,0.000,0.030,2929,2040,2200,0,0,0,0,0,0
$GC,7528,1.09,211.5,247.1,7.8,366,7532,0.00,2.50,0.00,0.000,4,0.000,0.052,2929,629,2192,0,0,0,0,0,0
$GC,7628,1.09,211.5,237.1,10.6,370,7632,0.00,2.35,0.00,0.000,6,0.000,0.029,2929,2033,2189,0,0,0,0,0,0
$GC,7946,1.18,211.5,209.3,9.5,385,7951,0.17,2.53,0.00,0.000,4,0.064,0.052,2972,619,2189,0,0,0,0,0,0
$GC,8162,1.12,211.5,183.4,12.8,403,8166,0.00,2.35,0.00,0.000,6,0.000,0.028,2973,2036,2186,0,0,0,0,0,0
$GC,8424,1.12,211.5,157.6,10.3,427,8429,0.00,2.47,0.00,0.000,4,0.000,0.048,2973,625,2186,0,0,0,0,0,0
$GC,8498,1.07,211.5,148.9,11.2,434,8505,0.10,2.38,0.00,0.000,6,0.103,0.026,2952,2040,2185,0,0,0,0,0,0
$GC,8760,1.15,219.8,127.1,7.5,459,8779,0.00,2.47,9.07,0.593,4,0.000,0.045,2951,626,2152,0,0,0,0,0,0
$GC,8867,1.15,219.8,117.3,9.3,470,8873,0.00,2.35,0.00,0.000,6,0.000,0.025,2951,2035,2150,0,0,0,0,0,0
$GC,9129,1.24,227.9,97.1,7.5,495,9149,0.15,2.45,8.68,0.556,4,0.064,0.044,2993,626,2119,0,0,0,0,0,0
$GC,9233,1.19,227.9,85.8,11.8,506,9237,0.00,2.33,0.00,0.000,6,0.000,0.023,2992,2039,2117,0,0,0,0,0,0
$GC,9495,1.19,227.9,58.4,10.8,530,9499,0.00,2.42,0.00,0.000,4,0.000,0.044,2993,623,2117,0,0,0,0,0,0
$GC,9575,1.14,227.9,48.9,12.3,538,9583,0.12,2.33,0.00,0.000,6,0.085,0.022,2965,2031,2116,0,0,0,0,0,0
$GC,9838,1.21,227.9,24.9,9.1,568,9845,0.00,2.45,0.00,0.000,4,0.000,0.043,2965,623,2116,0,0,0,0,0,0
$GC,9944,1.21,227.9,14.9,9.4,592,9950,0.00,2.33,0.00,0.000,6,0.000,0.021,2965,2039,2116,0,0,0,0,0,0
$STATE,10096,end climb,SURFACE_DEPTH_REACHED
$STATE,10096,begin surface coast
$FINISH,0.4,1.023511
$STATE,10146,end surface coast,CONTROL_FINISHED_OK
$STATE,10146,begin surface
$SM_CCo,10165,38.03,0.532,0,0,1826,300.00
$SM_GC,1.54,0.00,0.00,38.03,0.000,0.000,0.532,428,1867,1826,-10.52,-0.90,300.00
$IRIDIUM_FIX,2059.45,-15801.19,270799,222239
$TT8_MAMPS,0.029146
$HUMID,45.62
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.00
$XPDR_PINGS,0
$24V_AH,23.4,16.655
$10V_AH,10.0,15.708
$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,26.800,115.875,260.900,38.025,0.000,30.971,26.791,120.800,4.500,0.000,29.466,1243.354,6568.550,363.460,1982.485,334.670,33.349,1210.418,0.000,1942.053,0.000,29.242,0.000
$DEVICE_MAMPS,138.060,56.758,894.322,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.081,408.712,909.618,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,34852,629
$CAP_FILE_SIZE,117659,0
$CFSIZE,260165632,248225792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030510,042428,2109.188,-15757.827,32,3.8,51,9.8