version: 66.06
glider: 139
mission: 7
dive: 180
start: 5 2 110 20 2 0
data:
$ID,139
$MISSION,7
$DIVE,180
$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,-2125448.5
$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
$GPS1,195636,2108.741,-15759.576,38,1.7,49,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.4
$GPS2,200108,2108.774,-15759.574,15,1.7,15,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,0.009
$KALMAN_X,-45803.9,170.6,-672.8,52897.2,-1757.9
$KALMAN_Y,3202.6,-149.3,491.3,-1693.5,-162.3
$MHEAD_RNG_PITCHd_Wd,77.3,29297,-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,-55.28,0.000,2,0.000,0.000,424,1872,3241,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.1,-4.6,10,94,10.73,2.38,-2.58,0.000,4,0.139,0.051,2402,485,3368,0,0,0,0,0,0
$GC,101,-0.10,-77.9,12.0,-25.6,14,109,1.35,2.38,0.00,0.000,6,0.091,0.021,2687,1938,3369,0,0,0,0,0,0
$GC,303,-0.75,-77.9,23.7,-7.2,51,310,0.60,2.50,0.00,0.000,4,0.043,0.040,2541,485,3370,0,0,0,0,0,0
$GC,351,-1.10,-77.9,26.9,-5.5,61,359,0.25,2.30,0.00,0.000,6,0.025,0.020,2458,1906,3370,0,0,0,0,0,0
$GC,557,-1.10,-77.9,45.5,-9.8,84,561,0.00,2.45,0.00,0.000,4,0.000,0.044,2458,485,3370,0,0,0,0,0,0
$GC,608,-1.06,-77.9,51.2,-11.6,89,613,0.12,2.25,0.00,0.000,6,0.100,0.020,2483,1894,3371,0,0,0,0,0,0
$GC,870,-1.16,-77.9,73.4,-8.8,113,874,0.00,2.40,0.00,0.000,4,0.000,0.044,2482,489,3372,0,0,0,0,0,0
$GC,925,-1.25,-77.9,78.9,-9.9,118,932,0.15,2.28,0.00,0.000,6,0.031,0.020,2427,1893,3372,0,0,0,0,0,0
$GC,1187,-1.25,-77.9,110.4,-13.6,143,1191,0.00,2.40,0.00,0.000,4,0.000,0.044,2418,484,3372,0,0,0,0,0,0
$GC,1232,-1.19,-77.9,117.4,-14.3,147,1238,0.12,2.28,0.00,0.000,6,0.098,0.020,2451,1898,3373,0,0,0,0,0,0
$GC,1493,-1.27,-77.9,146.6,-10.8,172,1497,0.00,2.42,0.00,0.000,4,0.000,0.044,2448,488,3373,0,0,0,0,0,0
$GC,1553,-1.31,-77.9,153.5,-11.1,178,1558,0.12,2.25,0.00,0.000,6,0.063,0.021,2411,1901,3374,0,0,0,0,0,0
$GC,1813,-1.31,-77.9,185.5,-11.7,202,1817,0.00,2.42,0.00,0.000,4,0.000,0.044,2405,492,3374,0,0,0,0,0,0
$GC,1923,-1.26,-77.9,198.7,-12.1,213,1929,0.15,2.25,0.00,0.000,6,0.094,0.021,2436,1908,3374,0,0,0,0,0,0
$GC,2189,-1.35,-77.9,220.8,-7.5,227,2194,0.00,2.45,0.00,0.000,4,0.000,0.045,2439,487,3374,0,0,0,0,0,0
$GC,2204,-1.41,-77.9,222.3,-7.7,227,2210,0.15,2.28,0.00,0.000,6,0.056,0.021,2393,1910,3374,0,0,0,0,0,0
$GC,2520,-1.41,-77.9,259.1,-11.1,243,2524,0.00,2.45,0.00,0.000,4,0.000,0.048,2393,496,3374,0,0,0,0,0,0
$GC,2539,-1.38,-77.9,261.8,-13.4,244,2544,0.10,2.25,0.00,0.000,6,0.113,0.022,2411,1900,3374,0,0,0,0,0,0
$GC,2874,-1.42,-77.9,293.9,-9.6,260,2878,0.00,2.45,0.00,0.000,4,0.000,0.048,2414,490,3374,0,0,0,0,0,0
$GC,2956,-1.46,-77.9,302.2,-8.7,263,2962,0.00,2.28,0.00,0.000,6,0.000,0.024,2414,1894,3374,0,0,0,0,0,0
$GC,3287,-1.52,-77.9,325.8,-7.0,272,3292,0.15,2.42,0.00,0.000,4,0.059,0.050,2369,495,3373,0,0,0,0,0,0
$GC,3386,-1.44,-77.9,335.6,-10.2,274,3391,0.15,2.28,0.00,0.000,6,0.095,0.025,2400,1896,3373,0,0,0,0,0,0
$GC,3708,-1.48,-77.9,361.7,-8.6,282,3709,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1900,3371,0,0,0,0,0,0
$GC,4029,-1.51,-77.9,390.8,-9.0,290,4033,0.00,2.47,0.00,0.000,4,0.000,0.055,2400,494,3369,0,0,0,0,0,0
$GC,4065,-1.51,-77.9,394.6,-10.1,290,4071,0.00,2.30,0.00,0.000,6,0.000,0.028,2400,1896,3368,0,0,0,0,0,0
$STATE,4110,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4110,begin apogee
$GC,4115,-0.31,0.0,398.4,8.8,292,4183,1.15,0.00,64.28,0.835,6,0.074,0.000,2646,2059,3050,0,0,0,0,0,0
$STATE,4184,end apogee,CONTROL_FINISHED_OK
$STATE,4184,begin climb
$GC,4185,1.40,77.9,399.4,0.0,293,4260,1.62,2.42,64.07,0.815,4,0.030,0.041,3031,3407,2731,0,0,0,0,0,0
$GC,4334,1.26,154.6,399.9,2.7,296,4409,0.22,2.35,64.68,0.812,6,0.111,0.036,2988,2031,2418,0,0,0,0,0,0
$GC,4732,1.16,154.6,360.3,11.9,306,4737,0.12,2.38,0.00,0.000,4,0.123,0.038,2967,3408,2409,0,0,0,0,0,0
$GC,4783,1.11,154.6,354.1,12.0,307,4788,0.00,2.38,0.00,0.000,6,0.000,0.038,2964,2038,2409,0,0,0,0,0,0
$GC,5101,1.08,154.6,317.1,10.9,315,5106,0.00,2.50,0.00,0.000,4,0.000,0.054,2965,624,2407,0,0,0,0,0,0
$GC,5184,0.94,154.6,307.4,11.8,316,5191,0.25,2.35,0.00,0.000,6,0.109,0.028,2920,2022,2404,0,0,0,0,0,0
$GC,5499,1.02,170.7,286.1,6.9,329,5520,0.00,2.50,12.35,0.724,4,0.000,0.051,2919,629,2353,0,0,0,0,0,0
$GC,5584,1.02,170.7,278.1,11.0,332,5591,0.00,2.40,0.00,0.000,6,0.000,0.029,2920,2034,2350,0,0,0,0,0,0
$GC,5899,1.09,170.7,249.2,10.2,348,5904,0.15,2.50,0.00,0.000,4,0.068,0.051,2957,628,2349,0,0,0,0,0,0
$GC,6143,1.05,170.7,218.1,11.5,358,6149,0.00,2.40,0.00,0.000,6,0.000,0.028,2957,2044,2347,0,0,0,0,0,0
$GC,6460,1.08,192.7,194.0,6.5,378,6481,0.00,0.00,19.25,0.698,6,0.000,0.000,2957,2049,2264,0,0,0,0,0,0
$GC,6736,1.08,192.7,173.0,8.6,404,6740,0.00,2.50,0.00,0.000,4,0.000,0.048,2957,619,2261,0,0,0,0,0,0
$GC,6817,1.08,192.7,165.2,9.6,412,6824,0.00,2.38,0.00,0.000,6,0.000,0.026,2956,2030,2258,0,0,0,0,0,0
$GC,7080,1.12,192.7,146.3,8.3,437,7084,0.00,2.42,0.00,0.000,4,0.000,0.047,2957,626,2258,0,0,0,0,0,0
$GC,7178,1.12,192.7,137.8,8.8,447,7182,0.00,2.33,0.00,0.000,6,0.000,0.025,2956,2047,2257,0,0,0,0,0,0
$GC,7441,1.17,196.2,117.8,7.8,471,7445,0.00,2.47,0.00,0.000,4,0.000,0.044,2957,617,2257,0,0,0,0,0,0
$GC,7576,1.17,196.2,106.8,8.1,485,7581,0.00,2.30,0.00,0.000,6,0.000,0.023,2951,2040,2257,0,0,0,0,0,0
$GC,7840,1.27,221.3,89.9,6.3,509,7871,0.15,2.50,25.25,0.597,4,0.062,0.044,2998,618,2147,0,0,0,0,0,0
$GC,7922,1.20,221.3,82.7,9.9,517,7928,0.12,2.35,0.00,0.000,6,0.108,0.022,2976,2045,2142,0,0,0,0,0,0
$GC,8185,1.26,225.0,62.9,7.8,542,8196,0.00,2.50,4.12,0.389,4,0.000,0.041,2976,619,2132,0,0,0,0,0,0
$GC,8260,1.26,225.0,55.9,10.0,550,8264,0.00,2.30,0.00,0.000,6,0.000,0.021,2976,2046,2129,0,0,0,0,0,0
$GC,8523,1.31,225.0,34.3,8.1,574,8528,0.10,2.47,0.00,0.000,4,0.076,0.042,3006,618,2130,0,0,0,0,0,0
$GC,8600,1.23,225.0,26.6,9.6,586,8607,0.10,2.33,0.00,0.000,6,0.079,0.021,2983,2041,2130,0,0,0,0,0,0
$GC,8803,1.27,225.0,9.1,9.4,623,8809,0.00,2.45,0.00,0.000,4,0.000,0.041,2984,626,2130,0,0,0,0,0,0
$GC,8841,1.22,225.0,5.2,10.4,631,8848,0.00,2.30,0.00,0.000,6,0.000,0.021,2974,2037,2130,0,0,0,0,0,0
$STATE,8864,end climb,SURFACE_DEPTH_REACHED
$STATE,8864,begin surface coast
$FINISH,0.4,1.012647
$STATE,8892,end surface coast,CONTROL_FINISHED_OK
$STATE,8892,begin surface
$SM_CCo,8912,38.08,0.520,0,0,1827,300.00
$SM_GC,1.56,0.00,0.00,38.08,0.000,0.000,0.520,428,1864,1827,-10.52,-1.05,300.00
$IRIDIUM_FIX,2101.76,-15800.33,270799,171721
$TT8_MAMPS,0.029146
$HUMID,44.09
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,361.7,64.8
$24V_AH,23.5,16.500
$10V_AH,10.0,15.545
$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,29.125,114.775,254.000,38.075,0.000,27.645,26.424,123.026,3.750,0.000,15.881,1208.258,5398.669,369.561,1903.259,346.864,33.350,1163.739,0.000,1894.892,0.000,26.849,0.000
$DEVICE_MAMPS,138.827,55.224,835.263,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,431.690,436.543,1029.632,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34872,640
$CAP_FILE_SIZE,113000,0
$CFSIZE,260165632,248344576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020510,223228,2109.056,-15758.796,22,2.7,41,9.8