version: 66.06
glider: 139
mission: 7
dive: 194
start: 5 4 110 12 27 49
data:
$ID,139
$MISSION,7
$DIVE,194
$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,-2125785.8
$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
$GPS1,121527,2108.663,-15755.246,55,2.6,74,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.6
$GPS2,122658,2108.689,-15755.365,15,2.3,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.179,-0.041
$KALMAN_X,-65864.0,-56.5,243.1,79547.2,-2037.9
$KALMAN_Y,11898.1,-226.1,112.2,-10086.5,461.8
$MHEAD_RNG_PITCHd_Wd,93.0,22157,-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,-58.83,0.000,6,0.000,0.000,426,1889,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,3.6,-6.1,11,92,10.68,0.00,0.00,0.000,6,0.137,0.000,2404,1889,3371,0,0,0,0,0,0
$GC,286,-1.32,-77.9,42.8,-14.6,41,288,0.10,0.00,0.00,0.000,6,0.116,0.000,2424,1890,3372,0,0,0,0,0,0
$GC,540,-1.28,-77.9,77.2,-13.9,65,544,0.00,2.40,0.00,0.000,4,0.000,0.046,2423,490,3373,0,0,0,0,0,0
$GC,565,-1.19,-77.9,80.9,-14.5,67,570,0.15,2.30,0.00,0.000,6,0.100,0.021,2453,1936,3372,0,0,0,0,0,0
$GC,827,-1.25,-77.9,110.7,-11.4,91,831,0.00,2.47,0.00,0.000,4,0.000,0.045,2453,493,3373,0,0,0,0,0,0
$GC,841,-1.29,-77.9,112.7,-11.6,92,846,0.00,2.25,0.00,0.000,6,0.000,0.020,2453,1908,3373,0,0,0,0,0,0
$GC,1105,-1.37,-77.9,141.6,-11.3,116,1110,0.17,2.45,0.00,0.000,4,0.051,0.044,2398,485,3374,0,0,0,0,0,0
$GC,1213,-1.31,-77.9,159.2,-16.7,127,1218,0.15,2.25,0.00,0.000,6,0.094,0.021,2431,1895,3375,0,0,0,0,0,0
$GC,1479,-1.35,-77.9,188.1,-8.8,152,1483,0.00,2.40,0.00,0.000,4,0.000,0.044,2430,486,3374,0,0,0,0,0,0
$GC,1538,-1.38,-77.9,193.7,-8.8,158,1543,0.00,2.30,0.00,0.000,6,0.000,0.021,2431,1909,3375,0,0,0,0,0,0
$GC,1796,-1.45,-77.9,215.3,-7.9,173,1801,0.15,2.45,0.00,0.000,4,0.058,0.045,2382,487,3375,0,0,0,0,0,0
$GC,1865,-1.36,-77.9,223.1,-11.4,176,1870,0.15,2.25,0.00,0.000,6,0.094,0.021,2415,1897,3375,0,0,0,0,0,0
$GC,2191,-1.42,-77.9,255.5,-9.9,192,2195,0.00,2.42,0.00,0.000,4,0.000,0.047,2415,494,3375,0,0,0,0,0,0
$GC,2251,-1.42,-77.9,262.1,-10.5,194,2258,0.00,2.30,0.00,0.000,6,0.000,0.023,2403,1895,3375,0,0,0,0,0,0
$GC,2566,-1.48,-77.9,292.7,-9.5,210,2568,0.10,0.00,0.00,0.000,6,0.076,0.000,2381,1898,3375,0,0,0,0,0,0
$GC,2892,-1.48,-77.9,324.7,-9.8,220,2896,0.00,2.45,0.00,0.000,4,0.000,0.049,2381,488,3374,0,0,0,0,0,0
$GC,2960,-1.48,-77.9,332.4,-11.6,221,2965,0.00,2.30,0.00,0.000,6,0.000,0.025,2381,1902,3373,0,0,0,0,0,0
$GC,3300,-1.48,-77.9,370.2,-11.3,230,3304,0.00,2.47,0.00,0.000,4,0.000,0.051,2382,491,3371,0,0,0,0,0,0
$GC,3355,-1.45,-77.9,377.5,-13.6,231,3360,0.00,2.30,0.00,0.000,6,0.000,0.027,2382,1898,3371,0,0,0,0,0,0
$GC,3670,-1.45,-77.9,411.6,-10.4,239,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1903,3369,0,0,0,0,0,0
$GC,3993,-1.45,-77.9,437.7,-7.6,247,3997,0.00,2.45,0.00,0.000,4,0.000,0.054,2374,498,3367,0,0,0,0,0,0
$GC,4071,-1.45,-77.9,443.9,-8.0,248,4075,0.00,2.33,0.00,0.000,6,0.000,0.029,2381,1905,3367,0,0,0,0,0,0
$STATE,4160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4160,begin apogee
$GC,4165,-0.31,0.0,450.4,7.3,251,4234,1.23,0.00,64.65,0.884,6,0.077,0.000,2642,2066,3050,0,0,0,0,0,0
$STATE,4234,end apogee,CONTROL_FINISHED_OK
$STATE,4235,begin climb
$GC,4236,1.40,77.9,450.8,0.0,252,4311,1.65,2.42,64.80,0.863,4,0.034,0.045,3026,3402,2731,0,0,0,0,0,0
$GC,4501,1.20,97.3,439.4,6.7,257,4525,0.22,2.40,17.05,0.815,6,0.112,0.039,2979,2027,2653,0,0,0,0,0,0
$GC,4836,1.09,108.9,415.4,7.2,266,4853,0.15,2.55,10.57,0.772,4,0.119,0.055,2958,634,2605,0,0,0,0,0,0
$GC,4977,0.96,108.9,402.7,8.6,269,4982,0.17,2.35,0.00,0.000,6,0.120,0.031,2927,2024,2603,0,0,0,0,0,0
$GC,5300,0.98,122.1,379.8,7.1,277,5317,0.00,2.47,11.93,0.784,4,0.000,0.044,2928,3430,2552,0,0,0,0,0,0
$GC,5383,1.01,148.9,374.3,6.2,278,5412,0.00,2.40,24.30,0.828,6,0.000,0.037,2928,2032,2443,0,0,0,0,0,0
$GC,5754,1.05,158.4,348.7,7.4,288,5770,0.00,2.50,9.05,0.739,4,0.000,0.052,2927,627,2403,0,0,0,0,0,0
$GC,5835,1.05,158.4,342.2,8.2,289,5839,0.00,2.38,0.00,0.000,6,0.000,0.031,2927,2038,2400,0,0,0,0,0,0
$GC,6165,1.10,158.4,315.5,8.4,297,6170,0.12,2.53,0.00,0.000,4,0.077,0.054,2958,626,2399,0,0,0,0,0,0
$GC,6249,1.01,158.4,307.6,9.7,298,6255,0.12,2.38,0.00,0.000,6,0.125,0.031,2936,2034,2397,0,0,0,0,0,0
$GC,6563,1.03,170.8,286.2,7.2,311,6580,0.00,2.55,11.20,0.743,4,0.000,0.053,2935,626,2353,0,0,0,0,0,0
$GC,6680,1.03,170.8,274.2,10.7,316,6685,0.00,2.40,0.00,0.000,6,0.000,0.030,2936,2045,2350,0,0,0,0,0,0
$GC,7005,1.09,170.8,245.2,9.0,332,7009,0.00,2.50,0.00,0.000,4,0.000,0.051,2936,629,2350,0,0,0,0,0,0
$GC,7077,1.09,170.8,238.1,9.7,335,7081,0.00,2.38,0.00,0.000,6,0.000,0.028,2936,2043,2348,0,0,0,0,0,0
$GC,7399,1.16,180.5,213.2,7.4,351,7415,0.12,2.58,9.32,0.671,4,0.074,0.049,2967,615,2312,0,0,0,0,0,0
$GC,7495,1.11,190.8,205.8,7.3,355,7513,0.00,2.38,10.52,0.673,6,0.000,0.028,2968,2043,2271,0,0,0,0,0,0
$GC,7830,1.11,190.8,178.9,8.9,383,7834,0.00,2.47,0.00,0.000,4,0.000,0.048,2968,625,2269,0,0,0,0,0,0
$GC,7940,1.06,190.8,168.8,9.4,394,7947,0.10,2.35,0.00,0.000,6,0.097,0.025,2946,2026,2266,0,0,0,0,0,0
$GC,8202,1.12,190.8,145.2,9.8,419,8203,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2030,2266,0,0,0,0,0,0
$GC,8458,1.22,224.7,127.8,5.7,443,8496,0.15,2.47,30.35,0.650,4,0.066,0.045,2986,629,2132,0,0,0,0,0,0
$GC,8583,1.18,224.7,116.5,9.9,456,8589,0.00,2.35,0.00,0.000,6,0.000,0.023,2985,2041,2129,0,0,0,0,0,0
$GC,8845,1.18,224.7,96.0,8.7,481,8846,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2046,2128,0,0,0,0,0,0
$GC,9099,1.18,224.7,71.6,9.7,505,9103,0.00,2.45,0.00,0.000,4,0.000,0.044,2986,626,2127,0,0,0,0,0,0
$GC,9151,1.14,224.7,66.0,10.6,510,9156,0.12,2.30,0.00,0.000,6,0.112,0.022,2963,2049,2126,0,0,0,0,0,0
$GC,9414,1.22,224.7,42.6,8.6,534,9418,0.00,2.45,0.00,0.000,4,0.000,0.043,2963,628,2126,0,0,0,0,0,0
$GC,9518,1.22,226.6,33.2,7.9,545,9522,0.00,2.30,0.00,0.000,6,0.000,0.021,2963,2047,2126,0,0,0,0,0,0
$GC,9786,1.33,231.0,11.8,7.7,591,9799,0.17,2.47,6.38,0.446,4,0.056,0.043,3011,618,2107,0,0,0,0,0,0
$STATE,9873,end climb,SURFACE_DEPTH_REACHED
$STATE,9873,begin surface coast
$FINISH,0.4,1.010485
$STATE,9896,end surface coast,CONTROL_FINISHED_OK
$STATE,9896,begin surface
$SM_CCo,9916,36.50,0.526,0,0,1825,300.00
$SM_GC,1.39,0.00,0.00,36.50,0.000,0.000,0.526,426,1908,1825,-10.52,0.23,300.00
$IRIDIUM_FIX,2101.76,-15758.18,290799,121235
$TT8_MAMPS,0.029913
$HUMID,44.80
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,17.614
$10V_AH,10.0,16.686
$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,27.100,105.625,270.125,36.500,0.000,76.166,97.340,259.652,4.500,0.000,35.155,1204.896,6568.392,354.382,1904.676,613.548,33.357,1162.348,0.000,1864.734,0.000,29.253,0.000
$DEVICE_MAMPS,137.293,55.224,884.351,526.162,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.730,400.196,889.973,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,35015,615
$CAP_FILE_SIZE,119513,0
$CFSIZE,260165632,247533568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040510,151527,2108.539,-15755.505,49,6.3,68,9.8