version: 66.06
glider: 139
mission: 7
dive: 191
start: 5 4 110 3 38 54
data:
$ID,139
$MISSION,7
$DIVE,191
$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,-2125714.2
$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
$GPS1,033327,2108.788,-15755.440,74,4.4,93,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-70.4
$GPS2,033802,2108.737,-15755.477,10,2.0,10,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.174,-0.060
$KALMAN_X,-61152.5,547.8,532.1,73746.3,-2651.6
$KALMAN_Y,9877.0,181.8,-253.8,-8015.5,843.3
$MHEAD_RNG_PITCHd_Wd,99.1,22364,-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,-55.30,0.000,2,0.000,0.000,431,1920,3266,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.3,-5.3,10,93,10.68,2.35,-2.08,0.000,4,0.138,0.041,2405,3324,3370,0,0,0,0,0,0
$GC,342,-1.40,-77.9,48.7,-13.2,55,346,0.00,2.40,0.00,0.000,6,0.000,0.030,2403,1892,3372,0,0,0,0,0,0
$GC,604,-1.33,-77.9,86.4,-13.7,79,609,0.00,2.40,0.00,0.000,4,0.000,0.045,2402,485,3372,0,0,0,0,0,0
$GC,630,-1.21,-77.9,90.3,-15.0,81,635,0.22,2.33,0.00,0.000,6,0.089,0.020,2450,1937,3373,0,0,0,0,0,0
$GC,892,-1.28,-77.9,117.9,-8.1,105,896,0.00,2.50,0.00,0.000,4,0.000,0.044,2449,492,3374,0,0,0,0,0,0
$GC,1003,-1.32,-77.9,130.3,-11.0,116,1010,0.08,2.30,0.00,0.000,6,0.038,0.020,2416,1900,3374,0,0,0,0,0,0
$GC,1265,-1.32,-77.9,160.4,-10.5,141,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1906,3375,0,0,0,0,0,0
$GC,1519,-1.32,-77.9,188.2,-11.1,165,1523,0.00,2.40,0.00,0.000,4,0.000,0.044,2413,494,3375,0,0,0,0,0,0
$GC,1562,-1.32,-77.9,193.3,-11.4,169,1566,0.00,2.28,0.00,0.000,6,0.000,0.021,2414,1898,3375,0,0,0,0,0,0
$GC,1817,-1.36,-77.9,217.3,-8.0,184,1821,0.00,2.42,0.00,0.000,4,0.000,0.044,2414,492,3376,0,0,0,0,0,0
$GC,1877,-1.36,-77.9,223.2,-10.3,186,1884,0.00,2.30,0.00,0.000,6,0.000,0.021,2415,1897,3376,0,0,0,0,0,0
$GC,2192,-1.43,-77.9,252.7,-9.6,202,2196,0.00,2.42,0.00,0.000,4,0.000,0.046,2415,495,3376,0,0,0,0,0,0
$GC,2235,-1.46,-77.9,256.8,-9.8,204,2239,0.00,2.30,0.00,0.000,6,0.000,0.023,2415,1905,3376,0,0,0,0,0,0
$GC,2565,-1.53,-77.9,286.2,-9.2,220,2570,0.15,2.45,0.00,0.000,4,0.060,0.049,2371,496,3376,0,0,0,0,0,0
$GC,2602,-1.45,-77.9,290.6,-11.7,221,2608,0.12,2.30,0.00,0.000,6,0.102,0.025,2395,1897,3376,0,0,0,0,0,0
$GC,2916,-1.45,-77.9,321.2,-9.7,232,2920,0.00,2.45,0.00,0.000,4,0.000,0.051,2396,496,3375,0,0,0,0,0,0
$GC,3012,-1.45,-77.9,330.7,-9.3,234,3016,0.00,2.30,0.00,0.000,6,0.000,0.026,2396,1905,3374,0,0,0,0,0,0
$GC,3330,-1.49,-77.9,357.7,-8.6,242,3334,0.00,2.45,0.00,0.000,4,0.000,0.053,2396,497,3373,0,0,0,0,0,0
$GC,3421,-1.49,-77.9,366.7,-9.9,244,3425,0.00,2.33,0.00,0.000,6,0.000,0.028,2396,1899,3372,0,0,0,0,0,0
$GC,3744,-1.53,-77.9,395.6,-8.9,252,3748,0.00,2.47,0.00,0.000,4,0.000,0.054,2396,490,3370,0,0,0,0,0,0
$GC,3791,-1.53,-77.9,400.3,-10.6,253,3795,0.00,2.33,0.00,0.000,6,0.000,0.028,2397,1906,3370,0,0,0,0,0,0
$GC,4113,-1.58,-77.9,427.3,-8.2,261,4118,0.12,2.50,0.00,0.000,4,0.071,0.056,2360,489,3368,0,0,0,0,0,0
$GC,4174,-1.52,-77.9,433.5,-11.1,262,4179,0.10,2.33,0.00,0.000,6,0.117,0.029,2380,1897,3367,0,0,0,0,0,0
$STATE,4400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4400,begin apogee
$GC,4405,-0.31,0.0,452.4,8.1,268,4474,1.23,0.00,64.80,0.892,6,0.075,0.000,2642,2058,3049,0,0,0,0,0,0
$STATE,4474,end apogee,CONTROL_FINISHED_OK
$STATE,4474,begin climb
$GC,4477,1.40,77.9,453.2,0.0,269,4551,1.65,2.45,64.95,0.869,4,0.035,0.046,3026,3407,2731,0,0,0,0,0,0
$GC,4718,1.24,136.7,450.0,4.0,274,4776,0.05,2.40,50.33,0.864,6,0.174,0.039,3002,2032,2491,0,0,0,0,0,0
$GC,5111,1.07,136.7,413.7,10.0,284,5113,0.28,0.00,0.00,0.000,6,0.109,0.000,2952,2032,2485,0,0,0,0,0,0
$GC,5437,1.01,136.7,384.7,9.4,292,5441,0.00,2.50,0.00,0.000,4,0.000,0.056,2966,626,2482,0,0,0,0,0,0
$GC,5450,0.93,136.7,383.2,10.1,292,5455,0.25,2.33,0.00,0.000,6,0.117,0.031,2920,2015,2481,0,0,0,0,0,0
$GC,5800,0.97,138.6,354.3,7.9,301,5805,0.00,2.47,0.00,0.000,4,0.000,0.054,2920,619,2480,0,0,0,0,0,0
$GC,5889,0.97,139.3,346.9,8.0,303,5893,0.00,2.40,0.00,0.000,6,0.000,0.031,2920,2037,2478,0,0,0,0,0,0
$GC,6216,1.03,155.9,323.9,6.9,311,6237,0.00,2.55,15.18,0.792,4,0.000,0.054,2920,623,2413,0,0,0,0,0,0
$GC,6472,1.05,167.7,302.9,7.2,316,6490,0.00,2.38,11.32,0.748,6,0.000,0.030,2921,2046,2366,0,0,0,0,0,0
$GC,6802,1.17,218.5,285.4,4.5,331,6856,0.22,2.55,46.17,0.799,4,0.060,0.052,2974,629,2157,0,0,0,0,0,0
$GC,7017,1.10,218.5,258.2,14.9,340,7021,0.00,2.35,0.00,0.000,6,0.000,0.030,2974,2034,2150,0,0,0,0,0,0
$GC,7333,1.10,218.5,217.9,12.5,355,7337,0.00,2.47,0.00,0.000,4,0.000,0.051,2974,627,2148,0,0,0,0,0,0
$GC,7457,1.06,218.5,202.8,12.3,360,7463,0.15,2.38,0.00,0.000,6,0.116,0.028,2948,2037,2145,0,0,0,0,0,0
$GC,7780,1.13,218.5,172.0,9.0,388,7785,0.00,2.47,0.00,0.000,4,0.000,0.049,2947,628,2144,0,0,0,0,0,0
$GC,7807,1.13,218.5,169.3,10.1,390,7814,0.00,2.38,0.00,0.000,6,0.000,0.027,2947,2038,2143,0,0,0,0,0,0
$GC,8070,1.20,218.5,144.9,9.1,415,8075,0.12,2.45,0.00,0.000,4,0.073,0.048,2981,628,2143,0,0,0,0,0,0
$GC,8160,1.15,218.5,134.8,10.8,424,8164,0.00,2.33,0.00,0.000,6,0.000,0.025,2980,2040,2142,0,0,0,0,0,0
$GC,8421,1.15,218.6,111.1,8.0,448,8425,0.00,2.47,0.00,0.000,4,0.000,0.047,2981,618,2142,0,0,0,0,0,0
$GC,8492,1.10,218.6,104.5,9.7,455,8497,0.15,2.33,0.00,0.000,6,0.114,0.023,2953,2041,2143,0,0,0,0,0,0
$GC,8754,1.20,230.9,86.2,7.2,479,8774,0.10,2.50,9.73,0.551,4,0.081,0.044,2983,629,2107,0,0,0,0,0,0
$GC,8832,1.20,230.9,79.1,10.3,487,8836,0.00,2.30,0.00,0.000,6,0.000,0.022,2982,2032,2105,0,0,0,0,0,0
$GC,9096,1.23,230.9,54.1,10.0,511,9100,0.00,2.42,0.00,0.000,4,0.000,0.044,2982,616,2105,0,0,0,0,0,0
$GC,9237,1.23,230.9,37.6,11.7,526,9243,0.00,2.33,0.00,0.000,6,0.000,0.021,2982,2039,2105,0,0,0,0,0,0
$GC,9499,1.28,230.9,11.8,9.2,568,9506,0.00,2.45,0.00,0.000,4,0.000,0.043,2980,628,2105,0,0,0,0,0,0
$STATE,9582,end climb,SURFACE_DEPTH_REACHED
$STATE,9582,begin surface coast
$FINISH,0.4,1.001439
$STATE,9606,end surface coast,CONTROL_FINISHED_OK
$STATE,9606,begin surface
$SM_CCo,9627,34.97,0.526,0,0,1827,300.00
$SM_GC,1.34,0.00,0.00,34.97,0.000,0.000,0.526,424,1926,1827,-10.53,0.74,300.00
$IRIDIUM_FIX,2101.76,-15758.18,290799,000031
$TT8_MAMPS,0.029146
$HUMID,45.11
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.4,17.358
$10V_AH,10.0,16.435
$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,26.675,110.250,262.475,34.975,0.000,24.205,29.310,130.079,4.750,0.000,10.396,1186.183,6174.668,354.332,1897.780,327.781,33.357,1171.589,0.000,1871.497,0.000,32.059,0.000
$DEVICE_MAMPS,174.109,55.991,892.021,526.162,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.332,379.265,851.821,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,31867,592
$CAP_FILE_SIZE,111902,0
$CFSIZE,260165632,247717888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040510,062137,2108.671,-15755.465,66,1.5,66,9.8