version: 66.06
glider: 139
mission: 7
dive: 175
start: 5 2 110 7 11 30
data:
$ID,139
$MISSION,7
$DIVE,175
$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,-2125332.2
$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
$GPS1,070637,2108.510,-15800.240,40,1.2,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.0
$GPS2,071038,2108.514,-15800.257,15,1.3,15,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,0.016
$KALMAN_X,-38806.2,1243.9,-670.9,43655.8,-5887.0
$KALMAN_Y,2838.4,-45.2,402.9,-1829.7,464.1
$MHEAD_RNG_PITCHd_Wd,75.3,30374,-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,-55.45,0.000,2,0.000,0.000,425,1915,3259,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.1,-4.3,10,94,10.70,2.33,-2.17,0.000,4,0.137,0.036,2408,3322,3368,0,0,0,0,0,0
$GC,245,-1.40,-77.9,36.2,-13.6,44,250,0.00,2.40,0.00,0.000,6,0.000,0.032,2409,1893,3369,0,0,0,0,0,0
$GC,508,-1.31,-77.9,73.2,-14.1,68,512,0.00,2.38,0.00,0.000,4,0.000,0.044,2406,494,3369,0,0,0,0,0,0
$GC,542,-1.15,-77.9,78.6,-15.8,71,547,0.28,2.33,0.00,0.000,6,0.088,0.020,2464,1930,3370,0,0,0,0,0,0
$GC,805,-1.23,-77.9,105.3,-9.4,95,810,0.00,2.47,0.00,0.000,4,0.000,0.044,2463,493,3370,0,0,0,0,0,0
$GC,896,-1.27,-77.9,115.5,-11.2,104,903,0.10,2.30,0.00,0.000,6,0.035,0.020,2422,1904,3371,0,0,0,0,0,0
$GC,1159,-1.27,-77.9,148.6,-12.1,129,1163,0.00,2.42,0.00,0.000,4,0.000,0.044,2423,484,3371,0,0,0,0,0,0
$GC,1240,-1.27,-77.9,158.9,-11.6,137,1246,0.00,2.28,0.00,0.000,6,0.000,0.021,2414,1901,3371,0,0,0,0,0,0
$GC,1503,-1.30,-77.9,184.0,-10.0,162,1507,0.00,2.40,0.00,0.000,4,0.000,0.045,2421,494,3371,0,0,0,0,0,0
$GC,1593,-1.30,-77.9,195.5,-11.4,171,1599,0.00,2.25,0.00,0.000,6,0.000,0.021,2422,1908,3372,0,0,0,0,0,0
$GC,1848,-1.35,-77.9,225.5,-11.6,186,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1914,3371,0,0,0,0,0,0
$GC,2159,-1.41,-77.9,255.2,-7.7,201,2163,0.00,2.42,0.00,0.000,4,0.000,0.046,2423,492,3371,0,0,0,0,0,0
$GC,2237,-1.46,-77.9,262.1,-8.2,204,2242,0.12,2.25,0.00,0.000,6,0.066,0.022,2383,1900,3371,0,0,0,0,0,0
$GC,2554,-1.46,-77.9,290.1,-9.9,219,2558,0.00,2.42,0.00,0.000,4,0.000,0.047,2383,487,3371,0,0,0,0,0,0
$GC,2604,-1.40,-77.9,295.5,-10.4,221,2609,0.12,2.30,0.00,0.000,6,0.102,0.024,2408,1900,3371,0,0,0,0,0,0
$GC,2921,-1.45,-77.9,320.0,-7.7,231,2926,0.00,2.45,0.00,0.000,4,0.000,0.049,2410,485,3369,0,0,0,0,0,0
$GC,2940,-1.45,-77.9,321.5,-7.7,231,2944,0.00,2.28,0.00,0.000,6,0.000,0.025,2410,1900,3369,0,0,0,0,0,0
$GC,3289,-1.51,-77.9,349.4,-8.2,240,3294,0.10,2.47,0.00,0.000,4,0.079,0.051,2378,495,3367,0,0,0,0,0,0
$GC,3354,-1.45,-77.9,357.1,-13.1,241,3358,0.00,2.30,0.00,0.000,6,0.000,0.027,2378,1904,3367,0,0,0,0,0,0
$GC,3703,-1.45,-77.9,394.5,-10.1,250,3707,0.00,2.47,0.00,0.000,4,0.000,0.053,2378,497,3364,0,0,0,0,0,0
$GC,3749,-1.40,-77.9,398.9,-8.9,251,3754,0.15,2.30,0.00,0.000,6,0.098,0.028,2409,1899,3364,0,0,0,0,0,0
$GC,4075,-1.46,-77.9,420.8,-6.7,259,4079,0.00,2.45,0.00,0.000,4,0.000,0.054,2408,496,3362,0,0,0,0,0,0
$GC,4144,-1.50,-77.9,426.6,-8.0,260,4149,0.00,2.30,0.00,0.000,6,0.000,0.029,2409,1899,3361,0,0,0,0,0,0
$STATE,4482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4482,begin apogee
$GC,4487,-0.31,0.0,452.8,8.2,269,4554,1.10,0.00,63.08,0.885,6,0.074,0.000,2644,2057,3050,0,0,0,0,0,0
$STATE,4554,end apogee,CONTROL_FINISHED_OK
$STATE,4555,begin climb
$GC,4556,1.40,77.9,453.9,0.0,270,4631,1.62,2.45,64.57,0.862,4,0.034,0.046,3022,3404,2731,0,0,0,0,0,0
$GC,4808,1.25,122.3,450.9,5.0,275,4853,0.17,2.40,37.58,0.855,6,0.119,0.040,2988,2030,2550,0,0,0,0,0,0
$GC,5193,1.12,122.3,413.2,11.2,285,5198,0.15,2.42,0.00,0.000,4,0.119,0.043,2965,3415,2544,0,0,0,0,0,0
$GC,5268,1.06,122.3,405.4,10.0,286,5272,0.00,2.38,0.00,0.000,6,0.000,0.039,2964,2035,2544,0,0,0,0,0,0
$GC,5603,1.00,122.3,373.9,9.2,295,5608,0.17,2.53,0.00,0.000,4,0.117,0.056,2930,622,2542,0,0,0,0,0,0
$GC,5650,0.94,129.4,370.2,7.5,296,5663,0.00,2.35,5.68,0.650,6,0.000,0.033,2931,2029,2522,0,0,0,0,0,0
$GC,5976,0.96,138.4,346.8,7.4,304,5992,0.00,2.53,9.18,0.739,4,0.000,0.053,2932,625,2484,0,0,0,0,0,0
$GC,6076,0.90,138.4,337.7,9.6,306,6081,0.10,2.38,0.00,0.000,6,0.133,0.030,2915,2032,2482,0,0,0,0,0,0
$GC,6395,0.99,165.0,316.1,6.2,314,6424,0.00,2.58,23.75,0.802,4,0.000,0.054,2913,625,2377,0,0,0,0,0,0
$GC,6527,0.99,165.0,305.1,9.8,317,6531,0.00,2.40,0.00,0.000,6,0.000,0.030,2914,2037,2372,0,0,0,0,0,0
$GC,6859,1.07,165.0,276.7,8.4,331,6861,0.15,0.00,0.00,0.000,6,0.070,0.000,2950,2041,2371,0,0,0,0,0,0
$GC,7167,1.08,175.8,252.2,7.3,346,7183,0.00,2.58,9.68,0.698,4,0.000,0.053,2949,629,2332,0,0,0,0,0,0
$GC,7248,1.05,175.8,244.6,10.1,349,7252,0.00,2.38,0.00,0.000,6,0.000,0.029,2951,2043,2330,0,0,0,0,0,0
$GC,7568,1.05,175.8,217.0,9.8,365,7572,0.00,2.47,0.00,0.000,4,0.000,0.051,2950,627,2329,0,0,0,0,0,0
$GC,7834,1.05,175.8,189.9,8.3,382,7841,0.00,2.38,0.00,0.000,6,0.000,0.028,2951,2033,2327,0,0,0,0,0,0
$GC,8098,1.08,176.2,171.1,8.0,407,8102,0.00,2.45,0.00,0.000,4,0.000,0.048,2950,628,2327,0,0,0,0,0,0
$GC,8315,1.08,176.2,149.7,10.5,430,8322,0.00,2.35,0.00,0.000,6,0.000,0.025,2951,2034,2327,0,0,0,0,0,0
$GC,8578,1.14,183.3,128.2,7.5,455,8590,0.00,2.50,7.28,0.562,4,0.000,0.047,2951,630,2301,0,0,0,0,0,0
$GC,8719,1.16,198.0,117.0,7.0,470,8743,0.00,2.35,14.40,0.614,6,0.000,0.024,2950,2048,2242,0,0,0,0,0,0
$GC,8998,1.23,199.5,96.9,7.9,497,9003,0.15,2.47,0.00,0.000,4,0.064,0.044,2991,625,2240,0,0,0,0,0,0
$GC,9080,1.15,199.5,88.2,11.3,505,9086,0.12,2.28,0.00,0.000,6,0.112,0.023,2968,2035,2238,0,0,0,0,0,0
$GC,9344,1.19,199.5,61.0,10.0,530,9348,0.00,2.45,0.00,0.000,4,0.000,0.044,2969,617,2238,0,0,0,0,0,0
$GC,9476,1.19,200.2,48.8,8.0,544,9483,0.00,2.33,0.00,0.000,6,0.000,0.022,2966,2028,2238,0,0,0,0,0,0
$GC,9739,1.25,200.2,27.0,8.4,572,9746,0.00,2.35,0.00,0.000,4,0.000,0.029,2968,3433,2238,0,0,0,0,0,0
$GC,9766,1.33,205.3,25.0,7.7,577,9780,0.12,2.38,7.93,0.487,6,0.037,0.028,3009,2025,2211,0,0,0,0,0,0
$GC,9975,1.33,207.4,8.2,7.9,615,9981,0.00,2.40,0.00,0.000,4,0.000,0.042,3010,632,2211,0,0,0,0,0,0
$STATE,10028,end climb,SURFACE_DEPTH_REACHED
$STATE,10028,begin surface coast
$FINISH,0.4,0.999364
$STATE,10065,end surface coast,CONTROL_FINISHED_OK
$STATE,10065,begin surface
$SM_CCo,10086,50.15,0.532,0,0,1826,300.00
$SM_GC,1.36,0.00,0.00,50.15,0.000,0.000,0.532,426,1921,1826,-10.53,0.59,300.00
$IRIDIUM_FIX,2101.76,-15803.33,270799,060630
$TT8_MAMPS,0.029146
$HUMID,44.88
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.30
$XPDR_PINGS,1
$24V_AH,23.4,16.127
$10V_AH,10.0,15.160
$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,26.625,114.775,243.100,50.150,0.000,28.885,25.688,100.194,5.000,0.000,15.079,1249.116,6481.231,362.401,1991.221,303.813,33.348,1205.745,0.000,1961.647,0.000,32.082,0.000
$DEVICE_MAMPS,137.293,55.991,885.118,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,429.988,407.747,916.536,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,34878,635
$CAP_FILE_SIZE,115966,0
$CFSIZE,260165632,248602624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020510,100200,2108.600,-15759.730,54,2.0,59,9.8