version: 66.06
glider: 139
mission: 7
dive: 199
start: 5 5 110 3 3 43
data:
$ID,139
$MISSION,7
$DIVE,199
$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,-2125980.8
$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
$GPS1,025737,2107.909,-15755.651,93,1.8,93,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.3
$GPS2,030250,2107.909,-15755.696,14,1.7,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.017
$KALMAN_X,-76957.3,478.0,493.4,89279.7,-2999.0
$KALMAN_Y,13449.4,14.7,-64.8,-13148.5,359.8
$MHEAD_RNG_PITCHd_Wd,85.6,22417,-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,-58.83,0.000,6,0.000,0.000,431,1915,3368,0,0,0,0,0,0
$GC,80,-1.40,-77.9,4.0,-7.3,11,93,10.62,0.00,0.00,0.000,6,0.136,0.000,2404,1916,3369,0,0,0,0,0,0
$GC,286,-1.30,-77.9,46.6,-17.5,40,288,0.12,0.00,0.00,0.000,6,0.107,0.000,2429,1917,3371,0,0,0,0,0,0
$GC,538,-1.30,-77.9,85.0,-15.3,64,543,0.00,2.45,0.00,0.000,4,0.000,0.045,2428,488,3372,0,0,0,0,0,0
$GC,620,-1.25,-77.9,98.0,-14.5,72,626,0.00,2.35,0.00,0.000,6,0.000,0.021,2427,1929,3372,0,0,0,0,0,0
$GC,882,-1.25,-77.9,130.6,-12.4,97,886,0.00,2.47,0.00,0.000,4,0.000,0.044,2426,485,3373,0,0,0,0,0,0
$GC,944,-1.22,-77.9,138.9,-13.2,103,948,0.00,2.30,0.00,0.000,6,0.000,0.020,2429,1909,3373,0,0,0,0,0,0
$GC,1207,-1.25,-77.9,170.4,-10.6,127,1211,0.00,2.25,0.00,0.000,4,0.000,0.027,2429,3292,3374,0,0,0,0,0,0
$GC,1239,-1.34,-77.9,173.9,-9.9,130,1243,0.00,2.35,0.00,0.000,6,0.000,0.029,2428,1889,3374,0,0,0,0,0,0
$GC,1500,-1.40,-77.9,198.7,-8.9,154,1505,0.00,2.38,0.00,0.000,4,0.000,0.044,2426,489,3375,0,0,0,0,0,0
$GC,1520,-1.40,-77.9,200.6,-8.7,156,1524,0.00,2.25,0.00,0.000,6,0.000,0.021,2427,1908,3375,0,0,0,0,0,0
$GC,1850,-1.48,-77.9,225.1,-6.8,172,1855,0.17,2.45,0.00,0.000,4,0.053,0.045,2375,496,3376,0,0,0,0,0,0
$GC,1895,-1.41,-77.9,229.3,-10.2,174,1900,0.15,2.28,0.00,0.000,6,0.094,0.021,2407,1900,3376,0,0,0,0,0,0
$GC,2225,-1.45,-77.9,259.8,-9.6,190,2230,0.00,2.42,0.00,0.000,4,0.000,0.046,2408,496,3376,0,0,0,0,0,0
$GC,2296,-1.45,-77.9,268.0,-11.0,193,2300,0.00,2.28,0.00,0.000,6,0.000,0.023,2406,1903,3376,0,0,0,0,0,0
$GC,2628,-1.51,-77.9,301.6,-9.6,209,2632,0.00,2.45,0.00,0.000,4,0.000,0.048,2408,497,3374,0,0,0,0,0,0
$GC,2702,-1.54,-77.9,309.8,-10.0,210,2707,0.12,2.30,0.00,0.000,6,0.066,0.025,2368,1903,3374,0,0,0,0,0,0
$GC,3038,-1.54,-77.9,342.7,-9.5,219,3042,0.00,2.47,0.00,0.000,4,0.000,0.051,2369,490,3373,0,0,0,0,0,0
$GC,3080,-1.46,-77.9,347.3,-11.8,220,3085,0.12,2.30,0.00,0.000,6,0.104,0.027,2394,1897,3373,0,0,0,0,0,0
$GC,3409,-1.50,-77.9,376.6,-9.2,228,3413,0.00,2.47,0.00,0.000,4,0.000,0.053,2394,491,3371,0,0,0,0,0,0
$GC,3473,-1.50,-77.9,383.0,-9.6,229,3477,0.00,2.35,0.00,0.000,6,0.000,0.028,2394,1906,3370,0,0,0,0,0,0
$GC,3818,-1.54,-77.9,415.6,-9.5,238,3822,0.00,2.47,0.00,0.000,4,0.000,0.054,2394,495,3368,0,0,0,0,0,0
$GC,3887,-1.54,-77.9,423.0,-10.8,239,3891,0.00,2.35,0.00,0.000,6,0.000,0.029,2394,1907,3367,0,0,0,0,0,0
$STATE,4184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4184,begin apogee
$GC,4189,-0.31,0.0,450.3,9.0,247,4258,1.17,0.00,64.62,0.889,6,0.076,0.000,2645,2055,3050,0,0,0,0,0,0
$STATE,4258,end apogee,CONTROL_FINISHED_OK
$STATE,4258,begin climb
$GC,4260,1.40,77.9,451.4,0.0,248,4335,1.62,2.45,64.93,0.866,4,0.033,0.044,3025,3408,2731,0,0,0,0,0,0
$GC,4414,1.23,121.3,450.2,5.0,251,4459,0.20,2.38,37.20,0.852,6,0.114,0.038,2986,2029,2554,0,0,0,0,0,0
$GC,4804,1.11,121.3,414.3,10.0,261,4809,0.15,2.42,0.00,0.000,4,0.120,0.042,2962,3412,2548,0,0,0,0,0,0
$GC,4879,1.06,121.3,407.7,8.5,262,4883,0.00,2.40,0.00,0.000,6,0.000,0.040,2960,2028,2548,0,0,0,0,0,0
$GC,5214,1.01,133.2,382.5,7.2,271,5231,0.15,2.55,9.88,0.760,4,0.120,0.056,2935,633,2505,0,0,0,0,0,0
$GC,5246,1.01,166.7,380.5,5.7,271,5283,0.00,2.35,30.40,0.829,6,0.000,0.031,2935,2031,2370,0,0,0,0,0,0
$GC,5627,1.04,192.4,354.9,6.3,281,5655,0.00,2.58,22.88,0.811,4,0.000,0.055,2935,626,2265,0,0,0,0,0,0
$GC,5882,1.04,192.4,331.4,10.0,286,5886,0.00,2.40,0.00,0.000,6,0.000,0.030,2935,2038,2257,0,0,0,0,0,0
$GC,6222,1.09,192.4,299.2,10.1,295,6226,0.00,2.53,0.00,0.000,4,0.000,0.054,2935,623,2256,0,0,0,0,0,0
$GC,6311,1.09,192.4,288.9,12.3,299,6315,0.00,2.40,0.00,0.000,6,0.000,0.030,2935,2043,2254,0,0,0,0,0,0
$GC,6642,1.14,192.4,257.0,9.3,315,6647,0.12,2.50,0.00,0.000,4,0.077,0.053,2965,623,2254,0,0,0,0,0,0
$GC,6830,1.08,192.4,234.3,12.0,323,6834,0.00,2.38,0.00,0.000,6,0.000,0.029,2965,2037,2252,0,0,0,0,0,0
$GC,7151,1.10,213.1,206.0,6.6,339,7174,0.00,2.55,17.50,0.717,4,0.000,0.049,2965,618,2180,0,0,0,0,0,0
$GC,7230,1.08,227.2,200.2,7.1,342,7249,0.00,2.40,13.65,0.685,6,0.000,0.028,2966,2048,2123,0,0,0,0,0,0
$GC,7506,1.08,227.2,175.7,10.6,367,7510,0.00,2.50,0.00,0.000,4,0.000,0.050,2965,626,2120,0,0,0,0,0,0
$GC,7578,1.08,227.2,166.3,12.9,374,7585,0.00,2.38,0.00,0.000,6,0.000,0.026,2965,2036,2117,0,0,0,0,0,0
$GC,7841,1.11,227.2,139.7,8.8,399,7845,0.00,2.47,0.00,0.000,4,0.000,0.047,2965,619,2117,0,0,0,0,0,0
$GC,7859,1.11,227.2,137.7,9.4,400,7865,0.00,2.38,0.00,0.000,6,0.000,0.025,2965,2039,2116,0,0,0,0,0,0
$GC,8122,1.16,227.2,113.4,9.5,425,8126,0.00,2.47,0.00,0.000,4,0.000,0.047,2965,619,2116,0,0,0,0,0,0
$GC,8339,1.16,227.2,88.1,10.5,448,8344,0.00,2.33,0.00,0.000,6,0.000,0.023,2965,2049,2115,0,0,0,0,0,0
$GC,8603,1.23,227.2,64.4,8.4,472,8607,0.00,2.47,0.00,0.000,4,0.000,0.044,2965,616,2115,0,0,0,0,0,0
$GC,8627,1.23,227.2,62.2,9.6,474,8631,0.00,2.30,0.00,0.000,6,0.000,0.022,2964,2041,2115,0,0,0,0,0,0
$GC,8890,1.31,237.0,42.4,7.3,498,8905,0.15,2.47,9.25,0.516,4,0.061,0.044,3006,626,2083,0,0,0,0,0,0
$GC,9007,1.24,237.0,29.7,10.7,510,9014,0.10,2.33,0.00,0.000,6,0.081,0.021,2984,2040,2081,0,0,0,0,0,0
$GC,9274,1.31,237.0,4.4,11.0,559,9281,0.00,2.47,0.00,0.000,4,0.000,0.047,2982,628,2081,0,0,0,0,0,0
$STATE,9286,end climb,SURFACE_DEPTH_REACHED
$STATE,9287,begin surface coast
$FINISH,0.3,1.023771
$STATE,9317,end surface coast,CONTROL_FINISHED_OK
$STATE,9318,begin surface
$SM_CCo,9339,32.03,0.527,0,0,1827,300.00
$SM_GC,1.63,0.00,0.00,32.03,0.000,0.000,0.527,426,1925,1827,-10.52,0.74,300.00
$IRIDIUM_FIX,2059.45,-15753.90,300799,000004
$TT8_MAMPS,0.029913
$HUMID,45.74
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.4,18.002
$10V_AH,10.0,17.093
$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,25.925,110.525,270.300,32.025,0.000,24.234,40.172,152.939,4.500,0.000,14.672,1129.853,6039.516,350.265,1792.675,376.200,33.391,1133.861,0.000,1774.664,0.000,29.244,0.000
$DEVICE_MAMPS,135.759,56.758,888.953,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,385.063,365.877,817.734,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,31746,568
$CAP_FILE_SIZE,109188,0
$CFSIZE,260165632,247263232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050510,054136,2107.945,-15755.534,67,1.4,67,9.8