version: 66.06
glider: 139
mission: 7
dive: 186
start: 5 3 110 13 7 20
data:
$ID,139
$MISSION,7
$DIVE,186
$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,-2125620.2
$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
$GPS1,130127,2109.452,-15756.944,50,2.2,69,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.6
$GPS2,130629,2109.427,-15757.003,14,3.8,33,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.177,-0.050
$KALMAN_X,-54239.3,-18.6,710.6,64581.8,-2673.5
$KALMAN_Y,6891.3,-169.0,-117.8,-3545.2,749.8
$MHEAD_RNG_PITCHd_Wd,96.0,25239,-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,-58.85,0.000,6,0.000,0.000,424,1874,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,3.7,-6.5,11,98,10.77,2.45,0.00,0.000,4,0.140,0.028,2407,3316,3371,0,0,0,0,0,0
$GC,305,-1.47,-77.9,45.0,-12.4,49,311,0.00,2.42,0.00,0.000,6,0.000,0.032,2406,1898,3373,0,0,0,0,0,0
$GC,567,-1.41,-77.9,81.3,-13.7,74,571,0.00,2.40,0.00,0.000,4,0.000,0.044,2403,487,3373,0,0,0,0,0,0
$GC,626,-1.30,-77.9,90.0,-13.6,80,631,0.12,2.33,0.00,0.000,6,0.107,0.021,2430,1935,3374,0,0,0,0,0,0
$GC,889,-1.30,-77.9,120.6,-10.8,104,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,1940,3374,0,0,0,0,0,0
$GC,1142,-1.35,-77.9,145.3,-9.4,128,1146,0.00,2.47,0.00,0.000,4,0.000,0.044,2428,490,3376,0,0,0,0,0,0
$GC,1241,-1.35,-77.9,154.9,-10.0,138,1248,0.00,2.30,0.00,0.000,6,0.000,0.021,2432,1900,3376,0,0,0,0,0,0
$GC,1504,-1.40,-77.9,178.5,-9.8,163,1508,0.10,2.45,0.00,0.000,4,0.076,0.045,2393,492,3376,0,0,0,0,0,0
$GC,1585,-1.34,-77.9,187.7,-10.9,171,1590,0.12,2.28,0.00,0.000,6,0.101,0.021,2421,1903,3377,0,0,0,0,0,0
$GC,1845,-1.38,-77.9,209.9,-7.4,189,1850,0.00,2.45,0.00,0.000,4,0.000,0.045,2422,485,3377,0,0,0,0,0,0
$GC,1900,-1.38,-77.9,214.8,-7.7,191,1904,0.00,2.28,0.00,0.000,6,0.000,0.031,2422,1902,3377,0,0,0,0,0,0
$GC,2215,-1.45,-77.9,242.1,-8.3,206,2220,0.12,2.45,0.00,0.000,4,0.066,0.048,2382,487,3377,0,0,0,0,0,0
$GC,2248,-1.38,-77.9,245.8,-11.1,207,2253,0.15,2.30,0.00,0.000,6,0.095,0.023,2413,1903,3377,0,0,0,0,0,0
$GC,2564,-1.44,-77.9,277.3,-10.7,222,2568,0.00,2.45,0.00,0.000,4,0.000,0.048,2413,494,3377,0,0,0,0,0,0
$GC,2660,-1.44,-77.9,288.4,-10.9,226,2664,0.00,2.28,0.00,0.000,6,0.000,0.024,2413,1900,3377,0,0,0,0,0,0
$GC,2998,-1.51,-77.9,320.0,-9.3,238,3002,0.12,2.45,0.00,0.000,4,0.067,0.051,2376,497,3376,0,0,0,0,0,0
$GC,3101,-1.46,-77.9,332.7,-12.1,240,3105,0.00,2.28,0.00,0.000,6,0.000,0.025,2376,1898,3375,0,0,0,0,0,0
$GC,3416,-1.46,-77.9,360.6,-8.7,248,3420,0.00,2.45,0.00,0.000,4,0.000,0.052,2376,493,3374,0,0,0,0,0,0
$GC,3494,-1.42,-77.9,367.8,-8.1,249,3499,0.12,2.30,0.00,0.000,6,0.104,0.027,2402,1896,3373,0,0,0,0,0,0
$GC,3825,-1.47,-77.9,388.2,-5.6,257,3829,0.00,2.50,0.00,0.000,4,0.000,0.054,2402,492,3372,0,0,0,0,0,0
$GC,3857,-1.47,-77.9,390.3,-6.0,257,3861,0.00,2.33,0.00,0.000,6,0.000,0.028,2402,1905,3372,0,0,0,0,0,0
$GC,4188,-1.52,-77.9,413.1,-6.5,265,4193,0.00,2.47,0.00,0.000,4,0.000,0.054,2401,491,3369,0,0,0,0,0,0
$GC,4296,-1.52,-77.9,420.2,-6.5,267,4300,0.00,2.35,0.00,0.000,6,0.000,0.029,2402,1904,3369,0,0,0,0,0,0
$GC,4648,-1.58,-77.9,441.3,-6.3,276,4653,0.15,2.53,0.00,0.000,4,0.065,0.058,2362,491,3366,0,0,0,0,0,0
$GC,4713,-1.50,-77.9,448.1,-10.2,277,4718,0.12,2.33,0.00,0.000,6,0.110,0.030,2386,1898,3366,0,0,0,0,0,0
$STATE,4772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4772,begin apogee
$GC,4777,-0.31,0.0,453.6,9.2,279,4845,1.23,0.00,64.75,0.897,6,0.078,0.000,2646,2058,3050,0,0,0,0,0,0
$STATE,4846,end apogee,CONTROL_FINISHED_OK
$STATE,4846,begin climb
$GC,4848,1.40,77.9,454.8,0.0,280,4922,1.62,2.45,64.95,0.876,4,0.034,0.045,3024,3408,2732,0,0,0,0,0,0
$GC,5135,1.25,138.9,450.7,3.8,286,5194,0.15,2.40,51.97,0.871,6,0.122,0.039,2991,2031,2483,0,0,0,0,0,0
$GC,5526,1.13,138.9,412.4,11.4,296,5531,0.15,2.53,0.00,0.000,4,0.121,0.057,2968,628,2476,0,0,0,0,0,0
$GC,5638,0.99,138.9,400.2,10.6,298,5644,0.20,2.33,0.00,0.000,6,0.118,0.031,2933,2016,2473,0,0,0,0,0,0
$GC,5984,1.00,148.3,374.2,7.4,307,5996,0.00,2.53,7.45,0.719,4,0.000,0.055,2933,622,2445,0,0,0,0,0,0
$GC,6067,0.96,148.3,366.2,9.8,308,6072,0.00,2.38,0.00,0.000,6,0.000,0.031,2933,2033,2443,0,0,0,0,0,0
$GC,6397,0.96,148.3,335.1,9.6,317,6401,0.00,2.50,0.00,0.000,4,0.000,0.054,2933,628,2441,0,0,0,0,0,0
$GC,6480,0.92,148.3,326.0,11.3,318,6485,0.00,2.38,0.00,0.000,6,0.000,0.031,2933,2043,2440,0,0,0,0,0,0
$GC,6810,0.93,158.7,298.2,7.3,327,6822,0.00,0.00,9.88,0.734,6,0.000,0.000,2933,2047,2402,0,0,0,0,0,0
$GC,7120,1.01,193.0,278.3,5.7,342,7158,0.00,2.60,31.17,0.792,4,0.000,0.053,2933,635,2262,0,0,0,0,0,0
$GC,7281,1.01,193.0,263.3,12.1,349,7285,0.00,2.38,0.00,0.000,6,0.000,0.031,2934,2045,2256,0,0,0,0,0,0
$GC,7610,1.08,193.0,227.5,10.4,365,7615,0.00,2.50,0.00,0.000,4,0.000,0.052,2933,624,2255,0,0,0,0,0,0
$GC,7777,1.09,199.5,212.5,7.6,372,7792,0.00,2.35,5.62,0.584,6,0.000,0.028,2933,2044,2236,0,0,0,0,0,0
$GC,8103,1.16,199.5,192.5,8.1,392,8108,0.15,2.50,0.00,0.000,4,0.069,0.050,2971,627,2235,0,0,0,0,0,0
$GC,8174,1.10,199.5,184.7,12.1,399,8178,0.00,2.35,0.00,0.000,6,0.000,0.027,2971,2036,2233,0,0,0,0,0,0
$GC,8437,1.10,199.5,156.1,10.2,423,8438,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2040,2233,0,0,0,0,0,0
$GC,8691,1.10,199.5,132.3,8.8,447,8695,0.00,2.42,0.00,0.000,4,0.000,0.047,2971,628,2233,0,0,0,0,0,0
$GC,8826,1.06,199.5,118.3,10.5,461,8832,0.12,2.30,0.00,0.000,6,0.120,0.025,2948,2041,2232,0,0,0,0,0,0
$GC,9088,1.14,199.5,95.9,9.0,486,9092,0.00,2.42,0.00,0.000,4,0.000,0.045,2949,626,2232,0,0,0,0,0,0
$GC,9176,1.14,199.5,87.1,10.9,495,9180,0.00,2.33,0.00,0.000,6,0.000,0.023,2947,2044,2232,0,0,0,0,0,0
$GC,9439,1.23,206.2,66.1,7.6,519,9454,0.15,2.53,7.30,0.514,4,0.064,0.044,2990,624,2209,0,0,0,0,0,0
$GC,9548,1.18,206.2,55.4,10.5,531,9553,0.00,2.30,0.00,0.000,6,0.000,0.022,2989,2043,2207,0,0,0,0,0,0
$GC,9811,1.18,208.7,33.5,7.8,555,9823,0.00,2.47,3.85,0.370,4,0.000,0.043,2990,630,2199,0,0,0,0,0,0
$GC,9904,1.14,208.7,25.3,9.1,571,9911,0.10,2.33,0.00,0.000,6,0.089,0.021,2966,2040,2197,0,0,0,0,0,0
$GC,10106,1.23,225.0,10.6,6.9,608,10130,0.00,2.38,15.82,0.525,4,0.000,0.030,2966,3430,2132,0,0,0,0,0,0
$GC,10193,1.34,225.0,3.9,8.2,626,10200,0.15,2.38,0.00,0.000,6,0.035,0.029,3014,2032,2132,0,0,0,0,0,0
$STATE,10205,end climb,SURFACE_DEPTH_REACHED
$STATE,10205,begin surface coast
$FINISH,0.3,1.010297
$STATE,10239,end surface coast,CONTROL_FINISHED_OK
$STATE,10240,begin surface
$SM_CCo,10259,43.55,0.533,0,0,1827,300.00
$SM_GC,1.76,0.00,0.00,43.55,0.000,0.000,0.533,429,1893,1827,-10.52,-0.20,300.00
$IRIDIUM_FIX,2104.07,-15758.18,280799,101024
$TT8_MAMPS,0.029146
$HUMID,44.68
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.30
$XPDR_PINGS,1
$24V_AH,23.4,16.968
$10V_AH,10.0,16.032
$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,27.100,115.675,262.775,43.550,0.000,30.117,27.951,129.237,4.750,0.000,33.999,1251.919,6612.411,370.679,2025.251,347.565,33.354,1228.842,0.000,1983.235,0.000,29.237,0.000
$DEVICE_MAMPS,140.361,57.525,897.390,533.065,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,429.264,408.835,932.723,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34978,634
$CAP_FILE_SIZE,119521,0
$CFSIZE,260165632,247992320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030510,160106,2109.267,-15756.808,83,1.4,88,9.8