version: 66.06
glider: 139
mission: 7
dive: 185
start: 5 3 110 10 15 42
data:
$ID,139
$MISSION,7
$DIVE,185
$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,-2125585.5
$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
$GPS1,101007,2109.263,-15757.562,68,1.6,68,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-71.4
$GPS2,101450,2109.221,-15757.624,13,1.9,13,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.011
$KALMAN_X,-52953.0,443.1,-71.0,62545.5,-1786.7
$KALMAN_Y,5932.0,19.2,135.8,-3405.9,59.4
$MHEAD_RNG_PITCHd_Wd,83.7,26182,-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,-59.05,0.000,6,0.000,0.000,429,1902,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.9,-6.5,11,98,10.70,2.45,0.00,0.000,4,0.137,0.035,2407,487,3371,0,0,0,0,0,0
$GC,168,-1.20,-77.9,27.4,-18.3,30,175,0.17,2.38,0.00,0.000,6,0.087,0.021,2443,1937,3372,0,0,0,0,0,0
$GC,373,-1.20,-77.9,56.2,-12.4,50,377,0.00,2.50,0.00,0.000,4,0.000,0.044,2445,485,3373,0,0,0,0,0,0
$GC,407,-1.14,-77.9,61.0,-15.7,53,412,0.10,2.28,0.00,0.000,6,0.114,0.020,2464,1900,3373,0,0,0,0,0,0
$GC,670,-1.19,-77.9,89.5,-9.7,77,674,0.00,2.42,0.00,0.000,4,0.000,0.044,2460,488,3374,0,0,0,0,0,0
$GC,757,-1.19,-77.9,98.4,-9.1,86,761,0.00,2.28,0.00,0.000,6,0.000,0.020,2464,1901,3374,0,0,0,0,0,0
$GC,1018,-1.25,-77.9,119.9,-8.0,110,1026,0.12,2.42,0.00,0.000,4,0.065,0.045,2423,499,3375,0,0,0,0,0,0
$GC,1090,-1.20,-77.9,127.8,-10.8,117,1096,0.12,2.25,0.00,0.000,6,0.101,0.020,2449,1898,3375,0,0,0,0,0,0
$GC,1351,-1.28,-77.9,150.9,-8.8,142,1355,0.00,2.40,0.00,0.000,4,0.000,0.044,2448,493,3376,0,0,0,0,0,0
$GC,1484,-1.33,-77.9,163.8,-10.8,156,1488,0.12,2.28,0.00,0.000,6,0.064,0.020,2410,1908,3376,0,0,0,0,0,0
$GC,1751,-1.33,-77.9,197.5,-13.5,181,1755,0.00,2.42,0.00,0.000,4,0.000,0.044,2406,488,3377,0,0,0,0,0,0
$GC,1792,-1.33,-77.9,203.1,-12.5,184,1797,0.00,2.25,0.00,0.000,6,0.000,0.021,2406,1898,3377,0,0,0,0,0,0
$GC,2121,-1.33,-77.9,237.2,-9.6,200,2125,0.00,2.42,0.00,0.000,4,0.000,0.044,2405,491,3377,0,0,0,0,0,0
$GC,2143,-1.33,-77.9,239.4,-10.1,201,2147,0.00,2.25,0.00,0.000,6,0.000,0.022,2405,1896,3378,0,0,0,0,0,0
$GC,2470,-1.36,-77.9,267.0,-8.6,217,2474,0.00,2.42,0.00,0.000,4,0.000,0.047,2407,495,3377,0,0,0,0,0,0
$GC,2497,-1.36,-77.9,269.9,-10.2,218,2501,0.00,2.28,0.00,0.000,6,0.000,0.023,2403,1905,3377,0,0,0,0,0,0
$GC,2821,-1.40,-77.9,297.1,-7.7,234,2825,0.00,2.45,0.00,0.000,4,0.000,0.049,2408,494,3377,0,0,0,0,0,0
$GC,2932,-1.40,-77.9,305.4,-8.0,237,2936,0.00,2.30,0.00,0.000,6,0.000,0.025,2407,1900,3377,0,0,0,0,0,0
$GC,3276,-1.45,-77.9,334.8,-8.9,246,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,1905,3375,0,0,0,0,0,0
$GC,3601,-1.50,-77.9,367.9,-10.6,254,3605,0.00,2.45,0.00,0.000,4,0.000,0.052,2407,492,3373,0,0,0,0,0,0
$GC,3670,-1.50,-77.9,376.0,-11.6,255,3674,0.00,2.33,0.00,0.000,6,0.000,0.027,2408,1906,3373,0,0,0,0,0,0
$GC,4010,-1.56,-77.9,410.6,-10.1,264,4015,0.15,2.47,0.00,0.000,4,0.064,0.054,2366,497,3370,0,0,0,0,0,0
$GC,4101,-1.49,-77.9,420.7,-11.8,266,4105,0.12,2.30,0.00,0.000,6,0.108,0.028,2391,1899,3370,0,0,0,0,0,0
$STATE,4426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4426,begin apogee
$GC,4431,-0.31,0.0,452.0,9.2,274,4500,1.20,0.00,65.07,0.885,6,0.077,0.000,2646,2060,3050,0,0,0,0,0,0
$STATE,4501,end apogee,CONTROL_FINISHED_OK
$STATE,4501,begin climb
$GC,4503,1.40,77.9,453.0,0.0,275,4578,1.62,2.45,64.80,0.864,4,0.032,0.044,3026,3412,2732,0,0,0,0,0,0
$GC,4842,1.24,131.2,441.5,4.4,282,4895,0.17,2.40,45.47,0.861,6,0.121,0.038,2988,2031,2514,0,0,0,0,0,0
$GC,5230,1.12,131.2,402.2,11.6,292,5235,0.15,2.40,0.00,0.000,4,0.121,0.042,2967,3408,2507,0,0,0,0,0,0
$GC,5245,1.02,131.2,400.5,11.2,292,5250,0.17,2.38,0.00,0.000,6,0.112,0.039,2935,2035,2507,0,0,0,0,0,0
$GC,5595,1.03,136.5,371.7,7.7,301,5604,0.00,2.50,4.28,0.561,4,0.000,0.054,2935,625,2493,0,0,0,0,0,0
$GC,5627,0.96,136.5,369.1,9.0,301,5632,0.00,2.35,0.00,0.000,6,0.000,0.030,2935,2012,2491,0,0,0,0,0,0
$GC,5958,0.98,148.2,344.5,7.2,309,5974,0.00,2.53,11.45,0.767,4,0.000,0.054,2934,624,2445,0,0,0,0,0,0
$GC,6040,0.93,148.2,337.5,8.5,310,6046,0.00,2.40,0.00,0.000,6,0.000,0.031,2935,2038,2442,0,0,0,0,0,0
$GC,6371,0.95,165.2,312.8,6.9,319,6391,0.00,2.58,15.60,0.780,4,0.000,0.054,2935,622,2376,0,0,0,0,0,0
$GC,6434,0.91,166.7,308.1,7.9,320,6438,0.12,2.40,0.00,0.000,6,0.120,0.031,2913,2034,2373,0,0,0,0,0,0
$GC,6761,1.01,187.5,288.5,6.6,332,6788,0.00,2.60,20.45,0.777,4,0.000,0.054,2913,626,2284,0,0,0,0,0,0
$GC,6970,1.06,187.5,268.6,12.0,341,6975,0.15,2.40,0.00,0.000,6,0.067,0.030,2952,2043,2278,0,0,0,0,0,0
$GC,7301,1.06,187.5,232.3,10.4,357,7305,0.00,2.50,0.00,0.000,4,0.000,0.051,2951,628,2278,0,0,0,0,0,0
$GC,7407,1.02,187.5,221.0,10.3,361,7412,0.00,2.38,0.00,0.000,6,0.000,0.028,2951,2040,2276,0,0,0,0,0,0
$GC,7723,1.09,207.4,197.8,6.7,378,7745,0.00,2.53,17.62,0.709,4,0.000,0.050,2951,629,2203,0,0,0,0,0,0
$GC,7760,1.11,221.9,195.1,7.0,382,7780,0.00,2.40,14.20,0.683,6,0.000,0.028,2951,2050,2145,0,0,0,0,0,0
$GC,8034,1.17,221.9,170.7,9.2,408,8039,0.00,2.50,0.00,0.000,4,0.000,0.048,2952,626,2140,0,0,0,0,0,0
$GC,8135,1.17,221.9,160.2,10.2,418,8141,0.00,2.35,0.00,0.000,6,0.000,0.026,2951,2029,2138,0,0,0,0,0,0
$GC,8397,1.23,221.9,136.7,8.1,443,8402,0.15,2.47,0.00,0.000,4,0.065,0.047,2991,620,2138,0,0,0,0,0,0
$GC,8498,1.17,221.9,126.7,9.5,453,8505,0.12,2.33,0.00,0.000,6,0.115,0.025,2968,2046,2136,0,0,0,0,0,0
$GC,8760,1.21,221.9,104.8,9.2,478,8761,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2052,2136,0,0,0,0,0,0
$GC,9014,1.27,221.9,79.4,10.5,502,9019,0.10,2.42,0.00,0.000,4,0.080,0.044,2998,627,2136,0,0,0,0,0,0
$GC,9189,1.19,221.9,57.3,11.5,521,9194,0.12,2.30,0.00,0.000,6,0.114,0.022,2974,2050,2136,0,0,0,0,0,0
$GC,9451,1.24,221.9,31.5,9.7,545,9455,0.00,2.45,0.00,0.000,4,0.000,0.043,2975,625,2136,0,0,0,0,0,0
$GC,9585,1.24,221.9,17.8,10.1,574,9592,0.00,2.33,0.00,0.000,6,0.000,0.021,2975,2042,2136,0,0,0,0,0,0
$STATE,9747,end climb,SURFACE_DEPTH_REACHED
$STATE,9747,begin surface coast
$FINISH,0.4,1.010964
$STATE,9780,end surface coast,CONTROL_FINISHED_OK
$STATE,9781,begin surface
$SM_CCo,9800,39.15,0.531,0,0,1826,300.00
$SM_GC,1.76,0.00,0.00,39.15,0.000,0.000,0.531,424,1874,1826,-10.53,-0.74,300.00
$IRIDIUM_FIX,2104.07,-15755.17,280799,070721
$TT8_MAMPS,0.029146
$HUMID,45.47
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.4,16.890
$10V_AH,10.0,15.948
$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,26.625,110.775,258.950,39.150,0.000,30.759,31.362,124.678,4.500,0.000,13.914,1191.287,6353.770,358.227,1872.226,350.760,33.351,1159.220,0.000,1850.755,0.000,29.249,0.000
$DEVICE_MAMPS,137.293,54.457,885.118,530.764,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.065,389.013,870.233,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,35000,610
$CAP_FILE_SIZE,111745,0
$CFSIZE,260165632,248057856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030510,130127,2109.452,-15756.944,50,2.2,69,9.8