version: 66.06
glider: 139
mission: 7
dive: 187
start: 5 3 110 16 6 30
data:
$ID,139
$MISSION,7
$DIVE,187
$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,-2125635.8
$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
$GPS1,160106,2109.267,-15756.808,83,1.4,88,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-70.8
$GPS2,160538,2109.311,-15756.871,14,2.0,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.169,-0.072
$KALMAN_X,-55309.6,-398.5,426.1,66543.4,-2596.1
$KALMAN_Y,7356.0,-252.4,-157.6,-4095.6,990.5
$MHEAD_RNG_PITCHd_Wd,103.1,24963,-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,-58.65,0.000,6,0.000,0.000,428,1892,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,4.2,-8.2,11,98,10.75,2.42,0.00,0.000,4,0.140,0.035,2408,483,3371,0,0,0,0,0,0
$GC,177,-1.28,-77.9,29.3,-15.6,32,184,0.10,2.38,0.00,0.000,6,0.084,0.021,2430,1929,3373,0,0,0,0,0,0
$GC,375,-1.28,-77.9,56.2,-13.1,51,379,0.00,2.47,0.00,0.000,4,0.000,0.044,2432,494,3373,0,0,0,0,0,0
$GC,400,-1.20,-77.9,59.8,-15.8,53,404,0.00,2.28,0.00,0.000,6,0.000,0.020,2431,1916,3373,0,0,0,0,0,0
$GC,661,-1.20,-77.9,95.7,-14.6,77,665,0.00,2.47,0.00,0.000,4,0.000,0.044,2428,490,3374,0,0,0,0,0,0
$GC,713,-1.17,-77.9,103.4,-14.8,82,718,0.15,2.25,0.00,0.000,6,0.097,0.020,2461,1897,3374,0,0,0,0,0,0
$GC,973,-1.26,-77.9,134.3,-11.6,106,978,0.12,2.45,0.00,0.000,4,0.064,0.045,2419,494,3375,0,0,0,0,0,0
$GC,1037,-1.26,-77.9,143.5,-13.6,112,1043,0.00,2.28,0.00,0.000,6,0.000,0.021,2422,1893,3375,0,0,0,0,0,0
$GC,1299,-1.26,-77.9,172.9,-10.2,137,1303,0.00,2.42,0.00,0.000,4,0.000,0.044,2420,490,3376,0,0,0,0,0,0
$GC,1371,-1.26,-77.9,180.7,-10.5,144,1378,0.00,2.30,0.00,0.000,6,0.000,0.021,2421,1900,3376,0,0,0,0,0,0
$GC,1631,-1.30,-77.9,206.4,-10.2,166,1635,0.00,2.42,0.00,0.000,4,0.000,0.045,2422,485,3376,0,0,0,0,0,0
$GC,1653,-1.30,-77.9,209.2,-11.7,167,1657,0.00,2.28,0.00,0.000,6,0.000,0.021,2418,1908,3377,0,0,0,0,0,0
$GC,1978,-1.36,-77.9,239.6,-8.3,183,1985,0.00,2.42,0.00,0.000,4,0.000,0.046,2421,485,3377,0,0,0,0,0,0
$GC,1999,-1.39,-77.9,241.7,-9.0,183,2005,0.00,2.30,0.00,0.000,6,0.000,0.022,2419,1904,3377,0,0,0,0,0,0
$GC,2317,-1.46,-77.9,272.6,-10.4,199,2322,0.12,2.47,0.00,0.000,4,0.067,0.048,2383,492,3377,0,0,0,0,0,0
$GC,2429,-1.38,-77.9,287.9,-13.4,204,2434,0.15,2.28,0.00,0.000,6,0.096,0.024,2412,1903,3377,0,0,0,0,0,0
$GC,2757,-1.45,-77.9,320.9,-9.6,215,2762,0.00,2.47,0.00,0.000,4,0.000,0.050,2415,487,3376,0,0,0,0,0,0
$GC,2850,-1.49,-77.9,330.8,-10.7,217,2855,0.12,2.33,0.00,0.000,6,0.067,0.025,2377,1902,3376,0,0,0,0,0,0
$GC,3175,-1.49,-77.9,363.5,-10.1,225,3179,0.00,2.45,0.00,0.000,4,0.000,0.051,2377,494,3374,0,0,0,0,0,0
$GC,3198,-1.43,-77.9,366.0,-9.8,225,3203,0.12,2.30,0.00,0.000,6,0.104,0.027,2402,1899,3374,0,0,0,0,0,0
$GC,3539,-1.48,-77.9,393.4,-7.8,234,3542,0.00,2.45,0.00,0.000,4,0.000,0.053,2401,497,3372,0,0,0,0,0,0
$GC,3627,-1.48,-77.9,400.3,-7.1,235,3632,0.00,2.30,0.00,0.000,6,0.000,0.028,2402,1900,3372,0,0,0,0,0,0
$GC,3958,-1.53,-77.9,422.7,-6.7,244,3962,0.00,2.47,0.00,0.000,4,0.000,0.055,2401,489,3370,0,0,0,0,0,0
$GC,4019,-1.53,-77.9,427.2,-7.4,245,4023,0.00,2.35,0.00,0.000,6,0.000,0.029,2403,1899,3369,0,0,0,0,0,0
$GC,4368,-1.59,-77.9,449.9,-6.5,254,4373,0.15,1.98,0.00,0.000,3,0.064,0.054,2362,786,3367,0,0,0,0,0,0
$STATE,4374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4374,begin apogee
$GC,4381,-0.31,0.0,450.3,6.4,254,4449,1.33,0.00,64.45,0.894,6,0.083,0.000,2643,2041,3050,0,0,0,0,0,0
$STATE,4450,end apogee,CONTROL_FINISHED_OK
$STATE,4450,begin climb
$GC,4452,1.40,77.9,450.9,0.0,255,4526,1.65,2.50,64.78,0.870,4,0.035,0.047,3025,3422,2732,0,0,0,0,0,0
$GC,4790,1.21,104.5,433.6,6.2,262,4819,0.22,2.42,22.95,0.840,6,0.114,0.038,2977,2026,2624,0,0,0,0,0,0
$GC,5142,1.13,136.9,411.4,5.8,271,5177,0.00,2.47,28.38,0.845,4,0.000,0.041,2983,3425,2490,0,0,0,0,0,0
$GC,5232,1.05,152.0,405.9,7.0,273,5253,0.22,2.42,14.35,0.798,6,0.112,0.039,2943,2038,2429,0,0,0,0,0,0
$GC,5563,1.08,174.2,383.6,6.5,281,5588,0.00,2.58,19.90,0.821,4,0.000,0.055,2942,621,2338,0,0,0,0,0,0
$GC,5667,1.02,174.2,374.1,9.9,283,5671,0.00,2.38,0.00,0.000,6,0.000,0.030,2942,2029,2334,0,0,0,0,0,0
$GC,6015,1.02,174.2,342.0,9.1,292,6020,0.00,2.50,0.00,0.000,4,0.000,0.054,2942,629,2332,0,0,0,0,0,0
$GC,6043,0.96,174.2,339.0,10.7,292,6047,0.00,2.38,0.00,0.000,6,0.000,0.031,2942,2035,2330,0,0,0,0,0,0
$GC,6378,0.96,174.2,306.2,9.6,301,6382,0.00,2.50,0.00,0.000,4,0.000,0.054,2942,628,2329,0,0,0,0,0,0
$GC,6510,0.94,181.2,295.0,7.5,304,6523,0.10,2.40,5.55,0.624,6,0.099,0.030,2921,2037,2311,0,0,0,0,0,0
$GC,6849,1.04,201.3,273.4,6.6,321,6873,0.00,2.55,19.27,0.765,4,0.000,0.052,2920,629,2229,0,0,0,0,0,0
$GC,7057,1.08,201.3,256.0,8.1,330,7062,0.12,2.35,0.00,0.000,6,0.073,0.028,2953,2038,2223,0,0,0,0,0,0
$GC,7382,1.12,201.3,223.9,10.1,346,7387,0.00,2.35,0.00,0.000,4,0.000,0.037,2954,3432,2222,0,0,0,0,0,0
$GC,7484,1.18,201.3,212.8,10.7,350,7488,0.00,2.40,0.00,0.000,6,0.000,0.035,2952,2024,2222,0,0,0,0,0,0
$GC,7806,1.24,209.8,184.4,7.4,373,7817,0.15,0.00,8.02,0.615,6,0.067,0.000,2992,2024,2194,0,0,0,0,0,0
$GC,8068,1.20,209.8,160.8,9.6,398,8072,0.00,2.42,0.00,0.000,4,0.000,0.047,2992,624,2192,0,0,0,0,0,0
$GC,8092,1.10,209.8,158.2,10.9,400,8097,0.20,2.35,0.00,0.000,6,0.104,0.025,2955,2043,2191,0,0,0,0,0,0
$GC,8352,1.14,209.8,135.0,8.7,424,8356,0.00,2.47,0.00,0.000,4,0.000,0.046,2955,619,2191,0,0,0,0,0,0
$GC,8502,1.14,209.8,121.5,9.7,440,8506,0.00,2.30,0.00,0.000,6,0.000,0.024,2954,2036,2190,0,0,0,0,0,0
$GC,8764,1.21,209.8,99.8,9.4,464,8765,0.10,0.00,0.00,0.000,6,0.082,0.000,2983,2041,2190,0,0,0,0,0,0
$GC,9019,1.21,209.8,74.4,9.8,488,9023,0.00,2.42,0.00,0.000,4,0.000,0.044,2984,628,2190,0,0,0,0,0,0
$GC,9070,1.17,209.8,68.8,12.0,493,9074,0.00,2.30,0.00,0.000,6,0.000,0.022,2983,2042,2190,0,0,0,0,0,0
$GC,9337,1.17,212.3,46.6,7.9,518,9341,0.00,2.45,0.00,0.000,4,0.000,0.044,2983,617,2191,0,0,0,0,0,0
$GC,9441,1.14,212.3,38.3,8.1,529,9446,0.10,2.30,0.00,0.000,6,0.120,0.021,2965,2042,2190,0,0,0,0,0,0
$GC,9709,1.25,237.8,23.0,6.3,565,9744,0.00,2.38,25.42,0.547,4,0.000,0.029,2965,3427,2080,0,0,0,0,0,0
$GC,9798,1.37,237.8,15.9,8.6,583,9805,0.17,2.38,0.00,0.000,6,0.032,0.029,3019,2033,2080,0,0,0,0,0,0
$STATE,9924,end climb,SURFACE_DEPTH_REACHED
$STATE,9924,begin surface coast
$FINISH,0.4,0.999659
$STATE,9951,end surface coast,CONTROL_FINISHED_OK
$STATE,9951,begin surface
$SM_CCo,9970,34.20,0.527,0,0,1827,300.00
$SM_GC,1.71,0.00,0.00,34.20,0.000,0.000,0.527,429,1884,1827,-10.52,-0.45,300.00
$IRIDIUM_FIX,2059.45,-15753.90,280799,131342
$TT8_MAMPS,0.029146
$HUMID,45.15
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.4,17.047
$10V_AH,10.1,16.113
$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,27.350,119.300,273.075,34.200,0.000,27.117,27.035,122.418,4.500,0.000,14.674,1212.724,6435.508,352.634,1937.573,341.004,33.355,1200.744,0.000,1912.588,0.000,29.245,0.000
$DEVICE_MAMPS,139.594,55.224,893.555,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.806,391.302,889.728,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,34868,611
$CAP_FILE_SIZE,117988,0
$CFSIZE,260165632,247939072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030510,185501,2109.380,-15756.962,71,1.4,71,9.8