version: 66.06
glider: 139
mission: 7
dive: 201
start: 5 5 110 9 3 4
data:
$ID,139
$MISSION,7
$DIVE,201
$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,-2126029.8
$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
$GPS1,084559,2108.005,-15755.498,47,3.1,66,9.8
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-69.2
$GPS2,090213,2108.154,-15755.673,27,1.6,33,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.177,-0.050
$KALMAN_X,-80487.2,724.5,-200.3,93292.5,-2256.7
$KALMAN_Y,14409.7,79.6,52.0,-13838.4,618.9
$MHEAD_RNG_PITCHd_Wd,96.1,22461,-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,-55.05,0.000,2,0.000,0.000,425,1928,3277,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.3,-5.5,10,93,10.65,0.00,-1.83,0.000,6,0.137,0.000,2403,1929,3369,0,0,0,0,0,0
$GC,293,-1.31,-77.9,45.2,-15.5,41,295,0.12,0.00,0.00,0.000,6,0.110,0.000,2428,1930,3371,0,0,0,0,0,0
$GC,548,-1.31,-77.9,78.5,-11.9,65,552,0.00,2.47,0.00,0.000,4,0.000,0.045,2427,489,3371,0,0,0,0,0,0
$GC,609,-1.24,-77.9,86.5,-12.4,71,613,0.00,2.35,0.00,0.000,6,0.000,0.021,2426,1934,3371,0,0,0,0,0,0
$GC,872,-1.24,-77.9,116.9,-10.5,95,876,0.00,2.22,0.00,0.000,4,0.000,0.027,2428,3303,3372,0,0,0,0,0,0
$GC,886,-1.24,-77.9,118.5,-9.8,96,890,0.00,2.35,0.00,0.000,6,0.000,0.028,2427,1897,3372,0,0,0,0,0,0
$GC,1146,-1.24,-77.9,146.8,-12.6,120,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,1896,3372,0,0,0,0,0,0
$GC,1402,-1.28,-77.9,174.5,-9.7,144,1406,0.00,2.40,0.00,0.000,4,0.000,0.044,2427,495,3373,0,0,0,0,0,0
$GC,1545,-1.28,-77.9,191.4,-10.9,159,1550,0.00,2.25,0.00,0.000,6,0.000,0.021,2427,1906,3373,0,0,0,0,0,0
$GC,1815,-1.35,-77.9,220.1,-10.9,175,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1911,3373,0,0,0,0,0,0
$GC,2120,-1.43,-77.9,250.3,-10.2,190,2125,0.12,2.45,0.00,0.000,4,0.064,0.046,2386,498,3373,0,0,0,0,0,0
$GC,2249,-1.40,-77.9,265.2,-11.6,195,2255,0.10,2.25,0.00,0.000,6,0.110,0.022,2407,1897,3373,0,0,0,0,0,0
$GC,2566,-1.44,-77.9,297.9,-10.7,211,2571,0.00,2.40,0.00,0.000,4,0.000,0.047,2405,498,3373,0,0,0,0,0,0
$GC,2621,-1.44,-77.9,304.4,-10.8,213,2626,0.00,2.30,0.00,0.000,6,0.000,0.024,2405,1904,3372,0,0,0,0,0,0
$GC,2935,-1.49,-77.9,330.2,-7.7,221,2939,0.00,2.45,0.00,0.000,4,0.000,0.049,2406,496,3371,0,0,0,0,0,0
$GC,3014,-1.53,-77.9,336.0,-7.0,222,3019,0.12,2.30,0.00,0.000,6,0.067,0.025,2367,1897,3371,0,0,0,0,0,0
$GC,3350,-1.53,-77.9,362.8,-8.4,231,3354,0.00,2.45,0.00,0.000,4,0.000,0.051,2369,498,3369,0,0,0,0,0,0
$GC,3405,-1.48,-77.9,368.3,-10.0,232,3410,0.10,2.33,0.00,0.000,6,0.113,0.027,2388,1902,3369,0,0,0,0,0,0
$GC,3723,-1.48,-77.9,396.7,-9.2,240,3728,0.00,2.47,0.00,0.000,4,0.000,0.052,2388,493,3367,0,0,0,0,0,0
$GC,3773,-1.48,-77.9,401.9,-10.3,241,3777,0.00,2.35,0.00,0.000,6,0.000,0.028,2387,1908,3366,0,0,0,0,0,0
$GC,4091,-1.51,-77.9,432.5,-9.7,249,4095,0.00,2.50,0.00,0.000,4,0.000,0.054,2387,491,3364,0,0,0,0,0,0
$GC,4160,-1.51,-77.9,439.6,-10.3,250,4164,0.00,2.35,0.00,0.000,6,0.000,0.028,2388,1905,3363,0,0,0,0,0,0
$STATE,4294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4294,begin apogee
$GC,4299,-0.31,0.0,452.5,9.5,254,4367,1.20,0.00,64.07,0.879,6,0.076,0.000,2645,2055,3050,0,0,0,0,0,0
$STATE,4367,end apogee,CONTROL_FINISHED_OK
$STATE,4367,begin climb
$GC,4370,1.40,77.9,453.6,0.0,255,4445,1.65,2.47,64.90,0.858,4,0.035,0.044,3025,3412,2731,0,0,0,0,0,0
$GC,4503,1.23,129.3,452.2,4.5,258,4553,0.17,2.38,44.03,0.848,6,0.117,0.037,2986,2032,2522,0,0,0,0,0,0
$GC,4876,1.10,129.3,413.0,11.1,268,4881,0.17,2.38,0.00,0.000,4,0.112,0.042,2962,3408,2514,0,0,0,0,0,0
$GC,4968,1.06,129.3,404.4,9.4,270,4972,0.00,2.40,0.00,0.000,6,0.000,0.040,2958,2031,2514,0,0,0,0,0,0
$GC,5295,1.02,143.9,380.0,7.0,278,5313,0.12,2.53,11.85,0.774,4,0.123,0.055,2940,622,2463,0,0,0,0,0,0
$GC,5346,0.95,143.9,375.8,8.8,279,5350,0.00,2.35,0.00,0.000,6,0.000,0.030,2939,2018,2461,0,0,0,0,0,0
$GC,5663,0.95,143.9,348.7,8.7,287,5668,0.00,2.47,0.00,0.000,4,0.000,0.054,2939,626,2459,0,0,0,0,0,0
$GC,5760,0.89,143.9,340.6,8.4,289,5765,0.15,2.35,0.00,0.000,6,0.117,0.031,2912,2035,2457,0,0,0,0,0,0
$GC,6079,1.01,180.2,321.1,5.5,297,6121,0.10,2.58,32.12,0.811,4,0.087,0.051,2937,619,2312,0,0,0,0,0,0
$GC,6209,1.01,180.2,311.1,8.4,299,6214,0.00,2.38,0.00,0.000,6,0.000,0.030,2937,2035,2308,0,0,0,0,0,0
$GC,6522,1.05,180.2,281.8,9.8,311,6527,0.00,2.50,0.00,0.000,4,0.000,0.052,2937,627,2307,0,0,0,0,0,0
$GC,6545,1.05,180.2,279.2,10.1,312,6549,0.00,2.38,0.00,0.000,6,0.000,0.029,2937,2035,2305,0,0,0,0,0,0
$GC,6870,1.10,185.4,250.1,7.7,328,6879,0.00,2.53,3.95,0.498,4,0.000,0.051,2937,621,2294,0,0,0,0,0,0
$GC,7031,1.10,185.4,235.7,9.4,335,7035,0.00,2.35,0.00,0.000,6,0.000,0.028,2938,2038,2292,0,0,0,0,0,0
$GC,7356,1.17,185.4,208.1,8.5,351,7361,0.15,2.47,0.00,0.000,4,0.070,0.049,2976,626,2292,0,0,0,0,0,0
$GC,7476,1.11,185.4,196.1,10.2,358,7483,0.08,2.38,0.00,0.000,6,0.100,0.027,2959,2034,2292,0,0,0,0,0,0
$GC,7738,1.12,195.2,175.4,7.3,383,7750,0.00,0.00,9.93,0.636,6,0.000,0.000,2959,2039,2254,0,0,0,0,0,0
$GC,8002,1.20,226.9,157.2,5.8,408,8039,0.00,2.55,29.12,0.672,4,0.000,0.047,2959,627,2123,0,0,0,0,0,0
$GC,8179,1.20,226.9,141.7,9.6,427,8185,0.00,2.35,0.00,0.000,6,0.000,0.025,2958,2040,2117,0,0,0,0,0,0
$GC,8441,1.27,226.9,120.4,9.7,452,8446,0.15,2.47,0.00,0.000,4,0.063,0.046,3000,616,2118,0,0,0,0,0,0
$GC,8457,1.27,226.9,118.7,10.3,453,8461,0.00,2.35,0.00,0.000,6,0.000,0.023,2999,2047,2117,0,0,0,0,0,0
$GC,8720,1.27,226.9,86.5,13.3,477,8724,0.00,2.47,0.00,0.000,4,0.000,0.044,3000,618,2116,0,0,0,0,0,0
$GC,8763,1.21,226.9,80.2,14.0,481,8767,0.00,2.30,0.00,0.000,6,0.000,0.022,2996,2039,2116,0,0,0,0,0,0
$GC,9025,1.21,226.9,49.0,9.4,505,9030,0.12,2.42,0.00,0.000,4,0.105,0.042,2974,625,2116,0,0,0,0,0,0
$GC,9141,1.21,226.9,35.8,11.1,517,9145,0.00,2.28,0.00,0.000,6,0.000,0.021,2975,2039,2116,0,0,0,0,0,0
$GC,9405,1.29,226.9,11.4,8.5,560,9412,0.00,2.30,0.00,0.000,4,0.000,0.028,2975,3419,2116,0,0,0,0,0,0
$GC,9419,1.37,226.9,10.2,8.6,562,9426,0.12,2.35,0.00,0.000,6,0.035,0.026,3019,2021,2116,0,0,0,0,0,0
$STATE,9486,end climb,SURFACE_DEPTH_REACHED
$STATE,9486,begin surface coast
$FINISH,0.5,1.023640
$STATE,9516,end surface coast,CONTROL_FINISHED_OK
$STATE,9517,begin surface
$SM_CCo,9536,36.17,0.522,0,0,1827,300.00
$SM_GC,1.66,0.00,0.00,36.17,0.000,0.000,0.522,423,1890,1827,-10.54,-0.28,300.00
$IRIDIUM_FIX,2101.76,-15756.04,300799,090942
$TT8_MAMPS,0.029146
$HUMID,45.66
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.10
$XPDR_PINGS,0
$24V_AH,23.4,18.182
$10V_AH,10.1,17.264
$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,26.575,105.725,259.975,36.175,0.000,107.982,128.892,411.033,4.500,0.000,33.512,1143.671,6386.036,352.301,1821.504,843.285,33.363,1133.273,0.000,1785.491,0.000,29.249,0.000
$DEVICE_MAMPS,136.526,62.894,878.982,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,391.614,365.890,814.949,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,31761,579
$CAP_FILE_SIZE,122227,0
$CFSIZE,260165632,247132160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050510,114446,2108.252,-15755.357,75,9.9,94,9.8