version: 66.06
glider: 139
mission: 7
dive: 225
start: 5 8 110 8 50 46
data:
$ID,139
$MISSION,7
$DIVE,225
$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,-2126884.2
$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
$GPS1,083052,2105.790,-15743.468,87,3.0,106,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-69.4
$GPS2,084955,2105.862,-15743.547,101,1.0,101,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.030,-0.181
$KALMAN_X,-102816.9,453.4,237.5,136407.5,-1103.8
$KALMAN_Y,33316.7,-105.1,-242.4,-36504.1,995.1
$MHEAD_RNG_PITCHd_Wd,160.9,18321,-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,-54.88,0.000,2,0.000,0.000,426,1939,3270,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.1,-4.5,10,94,10.62,2.47,-1.92,0.000,4,0.136,0.048,2403,484,3368,0,0,0,0,0,0
$GC,197,-1.22,-77.9,34.7,-17.5,34,204,0.17,2.35,0.00,0.000,6,0.082,0.020,2444,1930,3370,0,0,0,0,0,0
$GC,459,-1.22,-77.9,68.3,-12.5,59,460,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1935,3371,0,0,0,0,0,0
$GC,713,-1.22,-77.9,96.9,-10.5,83,717,0.00,2.47,0.00,0.000,4,0.000,0.044,2443,494,3371,0,0,0,0,0,0
$GC,746,-1.18,-77.9,100.6,-11.3,86,750,0.00,2.28,0.00,0.000,6,0.000,0.020,2444,1909,3371,0,0,0,0,0,0
$GC,1007,-1.22,-77.9,127.1,-10.2,110,1012,0.00,2.45,0.00,0.000,4,0.000,0.044,2442,485,3371,0,0,0,0,0,0
$GC,1104,-1.22,-77.9,137.6,-10.1,120,1109,0.00,2.28,0.00,0.000,6,0.000,0.020,2444,1905,3372,0,0,0,0,0,0
$GC,1366,-1.27,-77.9,163.3,-9.6,144,1371,0.00,2.42,0.00,0.000,4,0.000,0.044,2441,492,3372,0,0,0,0,0,0
$GC,1385,-1.27,-77.9,165.2,-9.1,145,1391,0.00,2.25,0.00,0.000,6,0.000,0.021,2443,1910,3372,0,0,0,0,0,0
$GC,1647,-1.35,-77.9,189.7,-10.5,170,1652,0.10,2.45,0.00,0.000,4,0.076,0.045,2404,485,3372,0,0,0,0,0,0
$GC,1726,-1.30,-77.9,199.8,-12.4,178,1732,0.10,2.28,0.00,0.000,6,0.110,0.021,2429,1903,3372,0,0,0,0,0,0
$GC,1987,-1.36,-77.9,227.5,-10.7,191,1991,0.00,2.40,0.00,0.000,4,0.000,0.044,2427,492,3372,0,0,0,0,0,0
$GC,2065,-1.40,-77.9,236.7,-11.0,194,2070,0.00,2.25,0.00,0.000,6,0.000,0.021,2429,1906,3372,0,0,0,0,0,0
$GC,2381,-1.47,-77.9,264.3,-8.6,209,2383,0.17,0.00,0.00,0.000,6,0.054,0.000,2378,1911,3372,0,0,0,0,0,0
$GC,2689,-1.47,-77.9,296.9,-10.7,224,2694,0.00,2.45,0.00,0.000,4,0.000,0.047,2375,488,3371,0,0,0,0,0,0
$GC,2762,-1.40,-77.9,304.5,-10.3,226,2767,0.15,2.28,0.00,0.000,6,0.098,0.024,2407,1900,3371,0,0,0,0,0,0
$GC,3098,-1.45,-77.9,333.0,-8.5,235,3102,0.00,2.45,0.00,0.000,4,0.000,0.048,2408,489,3370,0,0,0,0,0,0
$GC,3160,-1.49,-77.9,338.5,-9.6,236,3164,0.00,2.30,0.00,0.000,6,0.000,0.025,2407,1897,3370,0,0,0,0,0,0
$GC,3509,-1.55,-77.9,367.4,-8.1,245,3514,0.15,2.47,0.00,0.000,4,0.063,0.052,2366,492,3367,0,0,0,0,0,0
$GC,3584,-1.47,-77.9,375.4,-11.2,246,3589,0.12,2.30,0.00,0.000,6,0.105,0.027,2391,1901,3367,0,0,0,0,0,0
$GC,3921,-1.50,-77.9,401.8,-7.5,255,3925,0.00,2.47,0.00,0.000,4,0.000,0.053,2392,491,3364,0,0,0,0,0,0
$GC,4009,-1.50,-77.9,409.9,-9.8,257,4013,0.00,2.33,0.00,0.000,6,0.000,0.028,2392,1900,3364,0,0,0,0,0,0
$GC,4337,-1.54,-77.9,438.0,-9.1,265,4342,0.00,2.47,0.00,0.000,4,0.000,0.054,2391,495,3361,0,0,0,0,0,0
$GC,4422,-1.54,-77.9,446.8,-10.7,266,4427,0.00,2.33,0.00,0.000,6,0.000,0.029,2391,1897,3361,0,0,0,0,0,0
$STATE,4466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4466,begin apogee
$GC,4471,-0.31,0.0,451.4,9.8,268,4538,1.17,0.00,63.60,0.878,6,0.076,0.000,2643,2059,3050,0,0,0,0,0,0
$STATE,4539,end apogee,CONTROL_FINISHED_OK
$STATE,4539,begin climb
$GC,4541,1.40,77.9,452.8,0.0,269,4615,1.65,2.45,65.07,0.855,4,0.035,0.046,3027,3409,2732,0,0,0,0,0,0
$GC,4713,1.23,129.3,452.1,4.5,272,4763,0.17,2.40,44.05,0.846,6,0.119,0.038,2987,2025,2522,0,0,0,0,0,0
$GC,5085,1.10,129.3,418.4,10.2,282,5090,0.17,2.45,0.00,0.000,4,0.116,0.055,2964,627,2514,0,0,0,0,0,0
$GC,5160,0.97,129.3,410.3,11.0,283,5165,0.17,2.33,0.00,0.000,6,0.117,0.031,2929,2014,2513,0,0,0,0,0,0
$GC,5496,0.97,129.3,381.6,8.3,292,5500,0.00,2.45,0.00,0.000,4,0.000,0.054,2931,623,2510,0,0,0,0,0,0
$GC,5588,0.92,129.3,373.7,8.3,294,5592,0.00,2.38,0.00,0.000,6,0.000,0.031,2930,2043,2509,0,0,0,0,0,0
$GC,5910,0.94,150.2,352.4,6.6,302,5934,0.00,2.55,16.75,0.792,4,0.000,0.052,2932,629,2436,0,0,0,0,0,0
$GC,5962,0.91,157.3,348.5,7.5,303,5975,0.00,2.38,7.55,0.690,6,0.000,0.031,2931,2044,2408,0,0,0,0,0,0
$GC,6320,0.94,157.3,319.3,8.5,312,6324,0.00,2.47,0.00,0.000,4,0.000,0.053,2932,629,2405,0,0,0,0,0,0
$GC,6457,0.94,157.3,306.9,9.2,315,6462,0.00,2.35,0.00,0.000,6,0.000,0.030,2931,2039,2402,0,0,0,0,0,0
$GC,6784,1.00,171.9,282.3,7.0,328,6807,0.00,2.53,13.23,0.741,4,0.000,0.051,2932,621,2347,0,0,0,0,0,0
$GC,6812,1.00,173.1,280.0,7.9,329,6816,0.00,2.40,0.00,0.000,6,0.000,0.030,2933,2037,2345,0,0,0,0,0,0
$GC,7138,1.06,173.1,251.8,8.9,345,7142,0.00,2.47,0.00,0.000,4,0.000,0.051,2933,629,2344,0,0,0,0,0,0
$GC,7341,1.07,177.6,233.8,7.7,354,7354,0.00,2.35,5.50,0.582,6,0.000,0.028,2932,2039,2326,0,0,0,0,0,0
$GC,7675,1.18,209.1,213.4,5.9,370,7708,0.17,0.00,29.83,0.720,6,0.065,0.000,2976,2042,2197,0,0,0,0,0,0
$GC,8008,1.18,209.1,184.1,9.8,393,8013,0.00,2.47,0.00,0.000,4,0.000,0.049,2976,628,2191,0,0,0,0,0,0
$GC,8178,1.15,209.1,163.2,12.8,411,8183,0.00,2.35,0.00,0.000,6,0.000,0.025,2976,2046,2188,0,0,0,0,0,0
$GC,8441,1.15,209.1,137.5,8.9,435,8445,0.00,2.47,0.00,0.000,4,0.000,0.045,2976,618,2188,0,0,0,0,0,0
$GC,8520,1.11,209.1,129.9,9.3,443,8525,0.00,2.35,0.00,0.000,6,0.000,0.024,2975,2050,2188,0,0,0,0,0,0
$GC,8784,1.15,209.1,108.0,9.0,467,8788,0.00,2.45,0.00,0.000,4,0.000,0.044,2976,618,2187,0,0,0,0,0,0
$GC,9009,1.15,209.1,86.7,9.4,491,9013,0.00,2.33,0.00,0.000,6,0.000,0.022,2974,2048,2187,0,0,0,0,0,0
$GC,9272,1.19,211.5,64.1,7.9,515,9276,0.00,2.42,0.00,0.000,4,0.000,0.042,2975,620,2187,0,0,0,0,0,0
$GC,9316,1.20,218.5,60.3,7.5,519,9333,0.00,2.33,8.38,0.505,6,0.000,0.021,2975,2047,2158,0,0,0,0,0,0
$GC,9587,1.26,218.5,36.8,9.3,545,9588,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2048,2158,0,0,0,0,0,0
$GC,9844,1.32,218.5,16.2,8.4,585,9851,0.12,2.47,0.00,0.000,4,0.069,0.044,3013,625,2158,0,0,0,0,0,0
$STATE,9967,end climb,SURFACE_DEPTH_REACHED
$STATE,9967,begin surface coast
$FINISH,0.3,1.004595
$STATE,9998,end surface coast,CONTROL_FINISHED_OK
$STATE,9998,begin surface
$SM_CCo,10019,44.45,0.518,0,0,1826,300.00
$SM_GC,1.77,0.00,0.00,44.45,0.000,0.000,0.518,430,1933,1826,-10.51,0.93,300.00
$IRIDIUM_FIX,2057.14,-15744.48,020899,080823
$TT8_MAMPS,0.029146
$HUMID,44.44
$INTERNAL_PRESSURE,9.68441
$TCM_TEMP,21.60
$XPDR_PINGS,2
$24V_AH,23.4,20.226
$10V_AH,10.1,19.300
$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,26.350,110.075,253.950,44.450,0.000,110.590,130.756,387.037,5.000,0.000,101.552,1228.339,6656.298,364.378,2022.822,937.547,33.375,1180.556,0.000,1910.736,0.000,29.256,0.000
$DEVICE_MAMPS,135.759,55.224,878.215,518.492,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,419.910,396.373,897.493,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,34937,620
$CAP_FILE_SIZE,124316,0
$CFSIZE,260165632,245731328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080510,114051,2104.920,-15743.678,86,2.6,105,9.8