version: 66.06
glider: 139
mission: 7
dive: 204
start: 5 5 110 17 39 8
data:
$ID,139
$MISSION,7
$DIVE,204
$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,-2126155.2
$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
$GPS1,172556,2108.443,-15754.917,115,2.7,134,9.8
$_CALLS,4
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-68.2
$GPS2,173816,2108.504,-15755.008,11,2.3,30,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.170,-0.071
$KALMAN_X,-84719.3,-259.0,143.0,99315.4,-2355.8
$KALMAN_Y,16480.6,14.6,-212.9,-14929.0,899.9
$MHEAD_RNG_PITCHd_Wd,102.8,21475,-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,-58.62,0.000,6,0.000,0.000,429,1888,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,3.7,-6.3,11,97,10.68,2.42,0.00,0.000,4,0.137,0.038,2406,484,3371,0,0,0,0,0,0
$GC,147,-1.18,-77.9,25.3,-22.3,25,154,0.20,2.35,0.00,0.000,6,0.075,0.021,2452,1921,3371,0,0,0,0,0,0
$GC,354,-1.22,-77.9,49.9,-11.0,47,358,0.00,2.47,0.00,0.000,4,0.000,0.044,2452,490,3372,0,0,0,0,0,0
$GC,423,-1.22,-77.9,58.4,-12.0,54,427,0.00,2.25,0.00,0.000,6,0.000,0.020,2452,1905,3372,0,0,0,0,0,0
$GC,685,-1.27,-77.9,88.3,-11.6,78,689,0.00,2.45,0.00,0.000,4,0.000,0.044,2451,486,3373,0,0,0,0,0,0
$GC,738,-1.27,-77.9,95.5,-12.6,83,744,0.00,2.25,0.00,0.000,6,0.000,0.020,2452,1903,3374,0,0,0,0,0,0
$GC,1000,-1.34,-77.9,122.7,-9.9,108,1005,0.15,2.45,0.00,0.000,4,0.058,0.044,2405,492,3374,0,0,0,0,0,0
$GC,1035,-1.27,-77.9,126.4,-10.9,111,1040,0.15,2.28,0.00,0.000,6,0.095,0.020,2436,1908,3374,0,0,0,0,0,0
$GC,1297,-1.33,-77.9,153.3,-10.2,135,1302,0.00,2.42,0.00,0.000,4,0.000,0.044,2435,485,3375,0,0,0,0,0,0
$GC,1333,-1.33,-77.9,157.6,-11.6,138,1340,0.00,2.30,0.00,0.000,6,0.000,0.021,2436,1901,3375,0,0,0,0,0,0
$GC,1596,-1.41,-77.9,185.1,-10.8,163,1601,0.12,2.45,0.00,0.000,4,0.065,0.045,2393,490,3375,0,0,0,0,0,0
$GC,1696,-1.37,-77.9,198.5,-13.5,173,1701,0.10,2.28,0.00,0.000,6,0.110,0.021,2415,1905,3375,0,0,0,0,0,0
$GC,1962,-1.41,-77.9,225.2,-8.3,186,1966,0.00,2.42,0.00,0.000,4,0.000,0.044,2415,493,3375,0,0,0,0,0,0
$GC,2016,-1.41,-77.9,230.7,-9.8,188,2021,0.00,2.25,0.00,0.000,6,0.000,0.021,2414,1902,3376,0,0,0,0,0,0
$GC,2333,-1.48,-77.9,256.7,-8.6,203,2338,0.10,2.42,0.00,0.000,4,0.077,0.048,2381,495,3375,0,0,0,0,0,0
$GC,2402,-1.48,-77.9,265.3,-12.2,206,2406,0.00,2.28,0.00,0.000,6,0.000,0.023,2381,1896,3375,0,0,0,0,0,0
$GC,2727,-1.48,-77.9,301.5,-11.3,222,2731,0.00,2.45,0.00,0.000,4,0.000,0.050,2381,494,3374,0,0,0,0,0,0
$GC,2848,-1.43,-77.9,315.5,-10.6,224,2852,0.00,2.30,0.00,0.000,6,0.000,0.025,2381,1903,3373,0,0,0,0,0,0
$GC,3187,-1.43,-77.9,350.8,-10.8,233,3191,0.00,2.42,0.00,0.000,4,0.000,0.050,2382,496,3372,0,0,0,0,0,0
$GC,3224,-1.43,-77.9,355.1,-11.5,233,3229,0.00,2.28,0.00,0.000,6,0.000,0.027,2381,1897,3372,0,0,0,0,0,0
$GC,3554,-1.43,-77.9,385.5,-8.7,242,3558,0.00,2.42,0.00,0.000,4,0.000,0.052,2381,497,3369,0,0,0,0,0,0
$GC,3577,-1.39,-77.9,387.6,-9.6,242,3582,0.15,2.30,0.00,0.000,6,0.098,0.028,2413,1900,3369,0,0,0,0,0,0
$GC,3918,-1.47,-77.9,412.9,-7.6,251,3922,0.00,2.47,0.00,0.000,4,0.000,0.054,2412,494,3367,0,0,0,0,0,0
$GC,3960,-1.53,-77.9,416.6,-8.8,252,3965,0.15,2.33,0.00,0.000,6,0.063,0.028,2370,1899,3367,0,0,0,0,0,0
$GC,4289,-1.53,-77.9,448.7,-9.8,260,4294,0.00,2.45,0.00,0.000,4,0.000,0.055,2369,497,3365,0,0,0,0,0,0
$STATE,4301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4301,begin apogee
$GC,4308,-0.31,0.0,450.3,9.7,260,4376,1.27,0.00,64.18,0.884,6,0.083,0.000,2641,2032,3050,0,0,0,0,0,0
$STATE,4377,end apogee,CONTROL_FINISHED_OK
$STATE,4377,begin climb
$GC,4379,1.40,77.9,452.0,0.0,262,4454,1.65,2.53,64.97,0.862,4,0.035,0.047,3022,3431,2732,0,0,0,0,0,0
$GC,4653,1.24,127.4,446.0,4.6,268,4702,0.15,2.42,42.47,0.856,6,0.122,0.038,2990,2027,2529,0,0,0,0,0,0
$GC,5020,1.11,127.4,412.2,10.4,277,5025,0.17,2.47,0.00,0.000,4,0.116,0.054,2964,625,2522,0,0,0,0,0,0
$GC,5068,0.99,127.4,406.1,11.9,278,5073,0.17,2.40,0.00,0.000,6,0.121,0.031,2933,2042,2520,0,0,0,0,0,0
$GC,5391,0.99,128.9,378.4,7.9,286,5395,0.00,2.50,0.00,0.000,4,0.000,0.054,2933,622,2519,0,0,0,0,0,0
$GC,5456,0.93,128.9,373.1,8.2,287,5460,0.00,2.38,0.00,0.000,6,0.000,0.031,2933,2043,2518,0,0,0,0,0,0
$GC,5800,0.95,147.3,349.7,6.8,296,5818,0.00,0.00,16.17,0.799,6,0.000,0.000,2933,2047,2449,0,0,0,0,0,0
$GC,6125,0.95,147.3,323.5,8.1,304,6129,0.00,2.50,0.00,0.000,4,0.000,0.053,2933,629,2445,0,0,0,0,0,0
$GC,6162,0.91,147.3,320.2,8.8,304,6167,0.00,2.35,0.00,0.000,6,0.000,0.031,2933,2039,2444,0,0,0,0,0,0
$GC,6492,0.98,174.6,298.7,6.1,313,6522,0.00,2.58,24.15,0.792,4,0.000,0.053,2933,621,2337,0,0,0,0,0,0
$GC,6650,0.98,174.6,285.0,9.2,320,6654,0.00,2.38,0.00,0.000,6,0.000,0.029,2933,2045,2332,0,0,0,0,0,0
$GC,6974,1.05,180.5,259.0,7.6,336,6986,0.00,2.55,5.70,0.607,4,0.000,0.052,2933,635,2314,0,0,0,0,0,0
$GC,7065,1.05,180.5,251.3,9.2,340,7069,0.00,2.33,0.00,0.000,6,0.000,0.029,2933,2038,2311,0,0,0,0,0,0
$GC,7394,1.11,180.5,224.5,8.5,356,7399,0.10,2.47,0.00,0.000,4,0.086,0.050,2958,628,2311,0,0,0,0,0,0
$GC,7644,1.07,180.5,203.8,9.6,367,7648,0.00,2.33,0.00,0.000,6,0.000,0.027,2958,2039,2309,0,0,0,0,0,0
$GC,7976,1.15,219.6,180.7,5.3,395,8017,0.00,2.53,35.10,0.702,4,0.000,0.047,2958,628,2154,0,0,0,0,0,0
$GC,8051,1.15,219.6,175.4,9.0,402,8058,0.00,2.38,0.00,0.000,6,0.000,0.026,2958,2036,2150,0,0,0,0,0,0
$GC,8314,1.20,219.6,151.3,11.0,427,8318,0.00,2.47,0.00,0.000,4,0.000,0.048,2959,619,2149,0,0,0,0,0,0
$GC,8411,1.20,219.6,139.0,12.9,437,8416,0.00,2.33,0.00,0.000,6,0.000,0.025,2958,2040,2146,0,0,0,0,0,0
$GC,8674,1.25,219.6,112.4,8.8,461,8679,0.12,2.45,0.00,0.000,4,0.071,0.045,2993,626,2146,0,0,0,0,0,0
$GC,8718,1.18,219.6,107.6,12.4,465,8722,0.00,2.33,0.00,0.000,6,0.000,0.024,2992,2043,2145,0,0,0,0,0,0
$GC,8981,1.18,219.6,85.2,8.8,489,8982,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2047,2145,0,0,0,0,0,0
$GC,9234,1.18,219.6,62.7,9.3,513,9238,0.00,2.42,0.00,0.000,4,0.000,0.044,2992,622,2145,0,0,0,0,0,0
$GC,9294,1.13,219.6,56.1,11.9,519,9299,0.15,2.30,0.00,0.000,6,0.105,0.022,2960,2045,2146,0,0,0,0,0,0
$GC,9561,1.21,219.6,29.7,9.4,544,9568,0.00,2.47,0.00,0.000,4,0.000,0.044,2964,622,2145,0,0,0,0,0,0
$GC,9685,1.24,219.6,17.0,10.2,572,9692,0.00,2.33,0.00,0.000,6,0.000,0.021,2963,2042,2145,0,0,0,0,0,0
$STATE,9874,end climb,SURFACE_DEPTH_REACHED
$STATE,9874,begin surface coast
$FINISH,0.5,1.021763
$STATE,9918,end surface coast,CONTROL_FINISHED_OK
$STATE,9918,begin surface
$SM_CCo,9937,39.85,0.525,0,0,1827,300.00
$SM_GC,1.63,0.00,0.00,39.85,0.000,0.000,0.525,428,1897,1827,-10.52,-0.08,300.00
$IRIDIUM_FIX,2101.76,-15756.04,300799,141428
$TT8_MAMPS,0.029146
$HUMID,45.07
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.4,18.438
$10V_AH,10.0,17.513
$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,26.550,120.200,252.750,39.850,0.000,126.352,126.213,191.351,4.500,0.000,31.771,1200.289,6637.804,352.417,1913.245,615.874,33.367,1169.059,0.000,1876.939,0.000,29.246,0.000
$DEVICE_MAMPS,137.293,59.826,884.351,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.405,396.483,895.246,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,34930,615
$CAP_FILE_SIZE,117520,0
$CFSIZE,260165632,246960128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050510,202736,2108.572,-15754.864,96,2.0,96,9.8