version: 66.06
glider: 139
mission: 7
dive: 183
start: 5 3 110 4 30 19
data:
$ID,139
$MISSION,7
$DIVE,183
$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,-2125557.2
$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
$GPS1,042428,2109.188,-15757.827,32,3.8,51,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-71.2
$GPS2,042928,2109.178,-15757.887,15,2.6,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.176,-0.054
$KALMAN_X,-50398.0,897.7,360.4,58636.6,-3464.6
$KALMAN_Y,5025.2,226.8,-179.3,-2465.7,967.1
$MHEAD_RNG_PITCHd_Wd,97.3,26604,-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,12,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,-58.65,0.000,6,0.000,0.000,428,1868,3368,0,0,0,0,0,0
$GC,79,-1.40,-77.9,4.1,-7.5,11,97,10.70,2.45,0.00,0.000,4,0.138,0.025,2405,3322,3371,0,0,0,0,0,0
$GC,278,-1.40,-77.9,43.0,-13.9,46,284,0.00,2.42,0.00,0.000,6,0.000,0.031,2405,1898,3372,0,0,0,0,0,0
$GC,540,-1.31,-77.9,83.4,-16.0,71,545,0.10,2.42,0.00,0.000,4,0.117,0.046,2422,490,3373,0,0,0,0,0,0
$GC,578,-1.20,-77.9,89.7,-15.8,74,585,0.10,2.35,0.00,0.000,6,0.080,0.021,2449,1929,3373,0,0,0,0,0,0
$GC,839,-1.25,-77.9,119.9,-10.6,99,846,0.00,2.47,0.00,0.000,4,0.000,0.044,2446,489,3374,0,0,0,0,0,0
$GC,873,-1.25,-77.9,124.3,-12.1,102,880,0.00,2.30,0.00,0.000,6,0.000,0.021,2449,1899,3374,0,0,0,0,0,0
$GC,1136,-1.31,-77.9,148.8,-9.0,127,1140,0.00,2.42,0.00,0.000,4,0.000,0.044,2447,495,3375,0,0,0,0,0,0
$GC,1199,-1.35,-77.9,155.4,-9.9,133,1205,0.12,2.28,0.00,0.000,6,0.064,0.021,2408,1907,3376,0,0,0,0,0,0
$GC,1460,-1.35,-77.9,184.6,-10.8,158,1464,0.00,2.45,0.00,0.000,4,0.000,0.044,2406,488,3376,0,0,0,0,0,0
$GC,1479,-1.30,-77.9,186.7,-11.0,159,1485,0.10,2.25,0.00,0.000,6,0.110,0.021,2428,1901,3376,0,0,0,0,0,0
$GC,1749,-1.35,-77.9,212.5,-10.1,179,1753,0.00,2.42,0.00,0.000,4,0.000,0.044,2428,495,3376,0,0,0,0,0,0
$GC,1793,-1.35,-77.9,217.3,-11.0,181,1797,0.00,2.28,0.00,0.000,6,0.000,0.021,2427,1899,3376,0,0,0,0,0,0
$GC,2123,-1.43,-77.9,250.4,-10.5,197,2128,0.12,2.45,0.00,0.000,4,0.065,0.046,2388,494,3377,0,0,0,0,0,0
$GC,2204,-1.37,-77.9,260.3,-11.9,200,2209,0.15,2.28,0.00,0.000,6,0.095,0.022,2418,1898,3377,0,0,0,0,0,0
$GC,2521,-1.42,-77.9,286.9,-8.3,215,2525,0.00,2.42,0.00,0.000,4,0.000,0.048,2418,490,3377,0,0,0,0,0,0
$GC,2535,-1.45,-77.9,288.2,-7.8,215,2541,0.00,2.30,0.00,0.000,6,0.000,0.024,2417,1902,3377,0,0,0,0,0,0
$GC,2868,-1.53,-77.9,310.1,-5.7,228,2873,0.17,2.47,0.00,0.000,4,0.054,0.051,2370,497,3376,0,0,0,0,0,0
$GC,2943,-1.46,-77.9,316.6,-9.4,229,2948,0.12,2.30,0.00,0.000,6,0.103,0.025,2394,1896,3376,0,0,0,0,0,0
$GC,3279,-1.46,-77.9,344.3,-9.1,238,3283,0.00,2.45,0.00,0.000,4,0.000,0.051,2395,497,3374,0,0,0,0,0,0
$GC,3338,-1.46,-77.9,350.6,-10.6,239,3342,0.00,2.30,0.00,0.000,6,0.000,0.027,2395,1903,3374,0,0,0,0,0,0
$GC,3687,-1.49,-77.9,386.7,-10.4,248,3692,0.00,2.45,0.00,0.000,4,0.000,0.054,2395,498,3372,0,0,0,0,0,0
$GC,3779,-1.49,-77.9,396.9,-10.3,250,3783,0.00,2.33,0.00,0.000,6,0.000,0.028,2395,1898,3371,0,0,0,0,0,0
$GC,4102,-1.53,-77.9,428.7,-9.9,258,4106,0.00,2.47,0.00,0.000,4,0.000,0.055,2393,498,3369,0,0,0,0,0,0
$GC,4166,-1.53,-77.9,435.6,-10.5,259,4170,0.00,2.35,0.00,0.000,6,0.000,0.030,2395,1908,3369,0,0,0,0,0,0
$STATE,4346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4346,begin apogee
$GC,4351,-0.31,0.0,452.1,9.1,264,4419,1.17,0.00,65.15,0.890,6,0.076,0.000,2646,2054,3050,0,0,0,0,0,0
$STATE,4420,end apogee,CONTROL_FINISHED_OK
$STATE,4420,begin climb
$GC,4422,1.40,77.9,452.7,0.0,265,4497,1.62,2.45,64.88,0.867,4,0.033,0.045,3025,3407,2732,0,0,0,0,0,0
$GC,4590,1.20,101.4,449.8,6.4,268,4618,0.17,2.40,20.90,0.831,6,0.120,0.038,2987,2032,2636,0,0,0,0,0,0
$GC,4928,1.05,101.4,422.1,8.1,277,4930,0.25,0.00,0.00,0.000,6,0.110,0.000,2943,2032,2631,0,0,0,0,0,0
$GC,5253,1.04,129.9,400.7,6.1,285,5279,0.00,0.00,24.25,0.842,6,0.000,0.000,2943,2032,2520,0,0,0,0,0,0
$GC,5577,1.02,153.1,379.4,6.4,293,5606,0.00,2.53,21.20,0.828,4,0.000,0.055,2947,632,2424,0,0,0,0,0,0
$GC,5708,0.94,153.1,369.4,8.5,295,5714,0.15,2.38,0.00,0.000,6,0.122,0.031,2922,2023,2420,0,0,0,0,0,0
$GC,6038,0.98,153.7,344.1,8.0,304,6043,0.00,2.47,0.00,0.000,4,0.000,0.054,2921,624,2418,0,0,0,0,0,0
$GC,6107,0.98,153.7,337.4,9.5,305,6111,0.00,2.40,0.00,0.000,6,0.000,0.031,2921,2038,2417,0,0,0,0,0,0
$GC,6447,1.04,162.9,311.6,7.4,314,6459,0.00,0.00,8.60,0.726,6,0.000,0.000,2921,2043,2384,0,0,0,0,0,0
$GC,6781,1.13,193.4,290.8,5.9,325,6815,0.17,2.55,27.88,0.798,4,0.067,0.053,2963,629,2261,0,0,0,0,0,0
$GC,6824,1.10,199.1,287.7,7.6,327,6836,0.00,2.40,6.60,0.641,6,0.000,0.031,2963,2047,2238,0,0,0,0,0,0
$GC,7158,1.10,199.1,254.2,10.2,343,7162,0.00,2.50,0.00,0.000,4,0.000,0.052,2962,625,2233,0,0,0,0,0,0
$GC,7425,1.05,199.1,226.2,10.0,354,7432,0.00,2.40,0.00,0.000,6,0.000,0.029,2963,2034,2229,0,0,0,0,0,0
$GC,7740,1.06,206.9,202.8,7.5,370,7752,0.00,2.50,7.05,0.617,4,0.000,0.049,2963,629,2206,0,0,0,0,0,0
$GC,7798,1.01,206.9,197.5,9.6,373,7804,0.15,2.38,0.00,0.000,6,0.117,0.027,2936,2052,2204,0,0,0,0,0,0
$GC,8059,1.09,206.9,175.5,8.1,398,8064,0.00,2.50,0.00,0.000,4,0.000,0.047,2936,622,2204,0,0,0,0,0,0
$GC,8149,1.09,206.9,166.7,9.3,407,8155,0.00,2.35,0.00,0.000,6,0.000,0.025,2935,2043,2202,0,0,0,0,0,0
$GC,8411,1.18,206.9,146.5,8.1,432,8416,0.15,2.47,0.00,0.000,4,0.066,0.046,2976,629,2202,0,0,0,0,0,0
$GC,8474,1.12,206.9,140.1,9.8,438,8478,0.00,2.30,0.00,0.000,6,0.000,0.024,2976,2038,2201,0,0,0,0,0,0
$GC,8735,1.12,206.9,115.3,10.5,462,8739,0.00,2.42,0.00,0.000,4,0.000,0.044,2976,625,2202,0,0,0,0,0,0
$GC,8805,1.07,206.9,107.4,11.1,469,8810,0.15,2.33,0.00,0.000,6,0.116,0.023,2948,2043,2201,0,0,0,0,0,0
$GC,9067,1.15,206.9,85.0,8.3,493,9072,0.00,2.45,0.00,0.000,4,0.000,0.044,2949,621,2202,0,0,0,0,0,0
$GC,9104,1.18,206.9,81.8,8.0,496,9111,0.08,2.33,0.00,0.000,6,0.048,0.023,2973,2032,2202,0,0,0,0,0,0
$GC,9367,1.19,212.2,61.4,7.7,521,9378,0.00,2.42,6.03,0.475,4,0.000,0.042,2976,625,2184,0,0,0,0,0,0
$GC,9521,1.19,212.2,46.7,10.7,538,9525,0.00,2.30,0.00,0.000,6,0.000,0.021,2975,2048,2183,0,0,0,0,0,0
$GC,9789,1.24,216.3,24.1,7.7,570,9802,0.00,2.50,5.47,0.433,4,0.000,0.043,2976,624,2167,0,0,0,0,0,0
$STATE,10035,end climb,SURFACE_DEPTH_REACHED
$STATE,10035,begin surface coast
$FINISH,0.3,1.010466
$STATE,10076,end surface coast,CONTROL_FINISHED_OK
$STATE,10076,begin surface
$SM_CCo,10097,43.20,0.528,0,0,1826,300.00
$SM_GC,1.54,0.00,0.00,43.20,0.000,0.000,0.528,426,1930,1826,-10.53,0.85,300.00
$IRIDIUM_FIX,2104.07,-15758.18,280799,010137
$TT8_MAMPS,0.029146
$HUMID,44.09
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,16.732
$10V_AH,10.0,15.790
$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,26.700,115.100,258.000,43.200,0.000,30.767,27.779,126.722,4.500,0.000,35.161,1227.913,6556.937,378.941,1928.398,350.749,33.353,1186.754,0.000,1889.087,0.000,30.212,0.000
$DEVICE_MAMPS,138.060,56.758,889.720,527.696,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.482,409.910,932.450,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34925,636
$CAP_FILE_SIZE,114737,0
$CFSIZE,260165632,248168448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030510,072106,2109.281,-15757.853,66,1.5,71,9.8