version: 66.06
glider: 139
mission: 7
dive: 190
start: 5 4 110 0 49 7
data:
$ID,139
$MISSION,7
$DIVE,190
$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,-2125703
$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
$GPS1,004321,2109.077,-15755.975,63,3.0,82,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.4
$GPS2,004816,2109.049,-15755.938,15,2.8,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.167,-0.077
$KALMAN_X,-59733.4,282.7,444.4,71883.7,-1522.3
$KALMAN_Y,9467.0,111.7,-58.4,-7156.2,775.3
$MHEAD_RNG_PITCHd_Wd,105.1,23282,-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,12,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,77,0.00,0.00,-58.85,0.000,6,0.000,0.000,425,1889,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,3.7,-6.7,11,97,10.75,2.42,0.00,0.000,4,0.140,0.031,2404,3311,3370,0,0,0,0,0,0
$GC,302,-1.40,-77.9,44.0,-13.2,50,306,0.00,2.38,0.00,0.000,6,0.000,0.031,2403,1897,3372,0,0,0,0,0,0
$GC,565,-1.31,-77.9,79.1,-13.7,74,570,0.12,2.45,0.00,0.000,4,0.111,0.045,2422,484,3373,0,0,0,0,0,0
$GC,589,-1.20,-77.9,83.2,-14.6,76,594,0.10,2.35,0.00,0.000,6,0.116,0.020,2449,1936,3373,0,0,0,0,0,0
$GC,850,-1.26,-77.9,112.2,-11.0,100,854,0.00,2.47,0.00,0.000,4,0.000,0.044,2448,492,3373,0,0,0,0,0,0
$GC,902,-1.26,-77.9,118.2,-12.1,105,906,0.00,2.25,0.00,0.000,6,0.000,0.020,2449,1898,3374,0,0,0,0,0,0
$GC,1163,-1.31,-77.9,144.1,-9.1,129,1167,0.00,2.42,0.00,0.000,4,0.000,0.044,2448,494,3374,0,0,0,0,0,0
$GC,1261,-1.35,-77.9,153.0,-8.8,139,1266,0.12,2.25,0.00,0.000,6,0.064,0.020,2408,1901,3375,0,0,0,0,0,0
$GC,1523,-1.35,-77.9,180.3,-11.4,163,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,1908,3375,0,0,0,0,0,0
$GC,1786,-1.35,-77.9,214.2,-13.4,183,1790,0.00,2.42,0.00,0.000,4,0.000,0.045,2407,485,3376,0,0,0,0,0,0
$GC,1824,-1.29,-77.9,219.6,-13.9,184,1832,0.08,2.30,0.00,0.000,6,0.081,0.021,2428,1895,3376,0,0,0,0,0,0
$GC,2141,-1.37,-77.9,246.5,-5.6,200,2145,0.00,2.42,0.00,0.000,4,0.000,0.046,2428,490,3376,0,0,0,0,0,0
$GC,2196,-1.43,-77.9,249.9,-6.0,202,2201,0.12,2.28,0.00,0.000,6,0.064,0.022,2387,1897,3376,0,0,0,0,0,0
$GC,2512,-1.43,-77.9,275.0,-8.9,217,2516,0.00,2.42,0.00,0.000,4,0.000,0.047,2387,487,3376,0,0,0,0,0,0
$GC,2532,-1.39,-77.9,276.9,-9.1,218,2537,0.15,2.28,0.00,0.000,6,0.096,0.024,2410,1898,3376,0,0,0,0,0,0
$GC,2861,-1.47,-77.9,308.1,-9.4,232,2866,0.10,2.47,0.00,0.000,4,0.077,0.051,2385,487,3375,0,0,0,0,0,0
$GC,2986,-1.44,-77.9,322.5,-11.8,234,2990,0.00,2.33,0.00,0.000,6,0.000,0.025,2386,1901,3375,0,0,0,0,0,0
$GC,3317,-1.44,-77.9,353.9,-8.6,242,3321,0.00,2.47,0.00,0.000,4,0.000,0.051,2386,491,3373,0,0,0,0,0,0
$GC,3395,-1.44,-77.9,361.3,-9.3,243,3399,0.00,2.30,0.00,0.000,6,0.000,0.027,2386,1898,3372,0,0,0,0,0,0
$GC,3725,-1.44,-77.9,392.0,-10.2,251,3729,0.00,2.45,0.00,0.000,4,0.000,0.053,2385,494,3370,0,0,0,0,0,0
$GC,3795,-1.44,-77.9,399.8,-11.2,252,3800,0.00,2.33,0.00,0.000,6,0.000,0.028,2386,1898,3370,0,0,0,0,0,0
$GC,4140,-1.44,-77.9,433.4,-9.2,261,4144,0.00,2.45,0.00,0.000,4,0.000,0.055,2385,498,3367,0,0,0,0,0,0
$GC,4182,-1.44,-77.9,437.4,-9.8,262,4186,0.00,2.35,0.00,0.000,6,0.000,0.030,2386,1906,3367,0,0,0,0,0,0
$STATE,4344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4344,begin apogee
$GC,4349,-0.31,0.0,452.3,9.1,266,4417,1.23,0.00,64.72,0.890,6,0.079,0.000,2644,2054,3050,0,0,0,0,0,0
$STATE,4418,end apogee,CONTROL_FINISHED_OK
$STATE,4418,begin climb
$GC,4420,1.40,77.9,453.4,0.0,267,4495,1.65,2.45,64.95,0.870,4,0.035,0.045,3027,3404,2731,0,0,0,0,0,0
$GC,4532,1.25,145.9,453.4,3.3,269,4599,0.20,2.38,58.08,0.863,6,0.118,0.038,2988,2031,2455,0,0,0,0,0,0
$GC,4923,1.14,145.9,415.0,10.8,279,4928,0.12,2.53,0.00,0.000,4,0.129,0.057,2969,629,2447,0,0,0,0,0,0
$GC,4961,1.00,145.9,410.7,11.2,279,4967,0.20,2.35,0.00,0.000,6,0.120,0.031,2934,2013,2444,0,0,0,0,0,0
$GC,5291,1.00,145.9,383.3,8.1,288,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2015,2443,0,0,0,0,0,0
$GC,5616,1.00,145.9,356.4,8.5,296,5620,0.00,2.47,0.00,0.000,4,0.000,0.056,2933,629,2440,0,0,0,0,0,0
$GC,5743,0.96,145.9,345.4,8.7,298,5748,0.00,2.38,0.00,0.000,6,0.000,0.031,2934,2043,2439,0,0,0,0,0,0
$GC,6074,0.99,174.8,324.2,6.0,306,6102,0.00,2.55,23.15,0.811,4,0.000,0.054,2933,631,2336,0,0,0,0,0,0
$GC,6282,0.99,174.8,305.0,10.2,310,6287,0.00,2.35,0.00,0.000,6,0.000,0.031,2934,2036,2331,0,0,0,0,0,0
$GC,6605,1.03,177.3,279.7,7.9,324,6610,0.00,2.50,0.00,0.000,4,0.000,0.052,2934,626,2330,0,0,0,0,0,0
$GC,6687,1.03,177.3,271.6,10.5,327,6693,0.00,2.40,0.00,0.000,6,0.000,0.030,2934,2046,2329,0,0,0,0,0,0
$GC,7004,1.08,177.3,242.7,9.4,343,7008,0.00,2.47,0.00,0.000,4,0.000,0.051,2934,630,2329,0,0,0,0,0,0
$GC,7128,1.08,177.3,229.7,9.5,348,7132,0.00,2.35,0.00,0.000,6,0.000,0.029,2934,2042,2326,0,0,0,0,0,0
$GC,7444,1.19,208.1,206.8,5.9,363,7482,0.17,2.53,29.12,0.735,4,0.065,0.049,2977,630,2199,0,0,0,0,0,0
$GC,7600,1.14,208.1,191.1,12.1,374,7607,0.00,2.38,0.00,0.000,6,0.000,0.028,2977,2030,2193,0,0,0,0,0,0
$GC,7862,1.14,208.1,165.6,9.5,399,7866,0.00,2.47,0.00,0.000,4,0.000,0.049,2977,625,2193,0,0,0,0,0,0
$GC,7900,1.08,208.1,161.4,11.3,402,7907,0.10,2.38,0.00,0.000,6,0.100,0.026,2955,2035,2191,0,0,0,0,0,0
$GC,8162,1.13,208.1,139.7,8.1,427,8166,0.00,2.45,0.00,0.000,4,0.000,0.046,2955,629,2191,0,0,0,0,0,0
$GC,8177,1.13,208.1,137.9,9.7,428,8181,0.00,2.33,0.00,0.000,6,0.000,0.025,2954,2049,2191,0,0,0,0,0,0
$GC,8438,1.18,208.1,114.3,9.0,452,8439,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2054,2191,0,0,0,0,0,0
$GC,8693,1.27,221.8,92.8,7.1,476,8713,0.17,2.53,12.00,0.578,4,0.060,0.044,3001,632,2144,0,0,0,0,0,0
$GC,8886,1.20,221.8,73.2,11.1,497,8891,0.12,2.28,0.00,0.000,6,0.110,0.022,2977,2040,2142,0,0,0,0,0,0
$GC,9147,1.24,221.8,49.2,9.2,521,9151,0.00,2.45,0.00,0.000,4,0.000,0.044,2977,623,2141,0,0,0,0,0,0
$GC,9245,1.24,221.8,38.8,10.7,531,9252,0.00,2.33,0.00,0.000,6,0.000,0.021,2978,2033,2141,0,0,0,0,0,0
$GC,9507,1.29,224.7,16.5,7.8,571,9514,0.00,2.45,0.00,0.000,4,0.000,0.043,2976,624,2141,0,0,0,0,0,0
$STATE,9654,end climb,SURFACE_DEPTH_REACHED
$STATE,9655,begin surface coast
$FINISH,2.4,1.023601
$STATE,9661,end surface coast,CONTROL_FINISHED_OK
$STATE,9661,begin surface
$SM_CCo,9681,48.92,0.536,0,0,1826,300.00
$SM_GC,1.90,0.00,0.00,48.92,0.000,0.000,0.536,432,1919,1826,-10.50,0.54,300.00
$IRIDIUM_FIX,2059.45,-15803.33,280799,222236
$TT8_MAMPS,0.029146
$HUMID,45.23
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,20.90
$XPDR_PINGS,0
$24V_AH,23.4,17.279
$10V_AH,10.0,16.356
$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,26.800,110.275,252.025,48.925,0.000,23.879,27.116,129.002,4.500,0.000,35.174,1184.332,6254.882,361.917,1890.340,336.453,33.356,1157.801,0.000,1847.115,0.000,30.131,0.000
$DEVICE_MAMPS,139.594,57.525,890.487,536.133,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,410.631,392.245,889.879,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,34927,606
$CAP_FILE_SIZE,110137,0
$CFSIZE,260165632,247775232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040510,033327,2108.788,-15755.440,74,4.4,93,9.8