version: 66.06
glider: 139
mission: 7
dive: 240
start: 5 10 110 4 17 22
data:
$ID,139
$MISSION,7
$DIVE,240
$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,-2127526.5
$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
$GPS1,040827,2058.154,-15749.303,85,2.4,104,9.8
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-71.1
$GPS2,041631,2058.256,-15749.288,135,0.8,135,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.180,-0.038
$KALMAN_X,-95028.7,-132.8,-220.4,119752.2,1175.1
$KALMAN_Y,43612.7,-350.2,-48.1,-60839.4,1140.0
$MHEAD_RNG_PITCHd_Wd,248.2,28903,-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,-55.40,0.000,2,0.000,0.000,430,1867,3309,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.8,-7.2,10,94,10.70,2.40,-1.10,0.000,4,0.140,0.035,2403,3323,3368,0,0,0,0,0,0
$GC,282,-1.40,-77.9,45.4,-14.0,45,286,0.00,2.38,0.00,0.000,6,0.000,0.031,2404,1897,3370,0,0,0,0,0,0
$GC,545,-1.28,-77.9,86.3,-14.6,69,550,0.15,2.40,0.00,0.000,4,0.103,0.044,2433,495,3371,0,0,0,0,0,0
$GC,618,-1.22,-77.9,96.9,-12.1,76,625,0.00,2.33,0.00,0.000,6,0.000,0.020,2434,1929,3371,0,0,0,0,0,0
$GC,882,-1.22,-77.9,126.7,-11.4,101,886,0.00,2.45,0.00,0.000,4,0.000,0.044,2433,492,3371,0,0,0,0,0,0
$GC,954,-1.22,-77.9,135.6,-11.5,108,961,0.00,2.28,0.00,0.000,6,0.000,0.020,2434,1899,3372,0,0,0,0,0,0
$GC,1217,-1.25,-77.9,162.8,-10.1,133,1221,0.00,2.40,0.00,0.000,4,0.000,0.044,2433,495,3373,0,0,0,0,0,0
$GC,1289,-1.25,-77.9,170.7,-10.1,140,1296,0.00,2.28,0.00,0.000,6,0.000,0.020,2433,1901,3373,0,0,0,0,0,0
$GC,1552,-1.29,-77.9,195.1,-9.6,165,1556,0.00,2.40,0.00,0.000,4,0.000,0.043,2433,491,3373,0,0,0,0,0,0
$GC,1610,-1.29,-77.9,201.4,-10.6,170,1616,0.00,2.30,0.00,0.000,6,0.000,0.021,2434,1903,3373,0,0,0,0,0,0
$GC,1925,-1.36,-77.9,229.9,-8.4,186,1929,0.00,2.40,0.00,0.000,4,0.000,0.044,2433,495,3373,0,0,0,0,0,0
$GC,1993,-1.43,-77.9,235.9,-9.3,189,1998,0.15,2.28,0.00,0.000,6,0.058,0.021,2387,1908,3374,0,0,0,0,0,0
$GC,2321,-1.43,-77.9,271.5,-11.6,205,2325,0.00,2.25,0.00,0.000,4,0.000,0.030,2385,3290,3373,0,0,0,0,0,0
$GC,2344,-1.49,-77.9,274.4,-11.0,206,2348,0.00,2.35,0.00,0.000,6,0.000,0.031,2386,1893,3374,0,0,0,0,0,0
$GC,2667,-1.49,-77.9,304.2,-8.5,221,2671,0.00,2.40,0.00,0.000,4,0.000,0.047,2385,496,3373,0,0,0,0,0,0
$GC,2713,-1.45,-77.9,308.3,-8.9,222,2717,0.00,2.30,0.00,0.000,6,0.000,0.024,2386,1903,3373,0,0,0,0,0,0
$GC,3037,-1.45,-77.9,341.0,-10.6,230,3041,0.00,2.42,0.00,0.000,4,0.000,0.051,2385,498,3371,0,0,0,0,0,0
$GC,3126,-1.45,-77.9,352.4,-12.2,232,3130,0.00,2.30,0.00,0.000,6,0.000,0.026,2383,1900,3371,0,0,0,0,0,0
$GC,3456,-1.45,-77.9,387.1,-10.2,240,3461,0.00,2.45,0.00,0.000,4,0.000,0.052,2386,500,3369,0,0,0,0,0,0
$GC,3530,-1.45,-77.9,395.7,-11.5,241,3535,0.00,2.33,0.00,0.000,6,0.000,0.028,2383,1904,3369,0,0,0,0,0,0
$GC,3865,-1.45,-77.9,425.3,-8.5,250,3869,0.00,2.47,0.00,0.000,4,0.000,0.054,2384,498,3366,0,0,0,0,0,0
$GC,3911,-1.45,-77.9,429.4,-8.7,251,3915,0.00,2.33,0.00,0.000,6,0.000,0.029,2386,1898,3365,0,0,0,0,0,0
$STATE,4190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4191,begin apogee
$GC,4195,-0.31,0.0,451.6,7.8,258,4263,1.23,0.00,64.28,0.877,6,0.078,0.000,2645,2058,3050,0,0,0,0,0,0
$STATE,4264,end apogee,CONTROL_FINISHED_OK
$STATE,4264,begin climb
$GC,4266,1.40,77.9,452.2,0.0,259,4341,1.62,2.45,64.75,0.855,4,0.033,0.046,3026,3406,2732,0,0,0,0,0,0
$GC,4604,1.22,115.5,438.4,5.4,266,4642,0.22,2.35,31.92,0.841,6,0.111,0.038,2983,2034,2579,0,0,0,0,0,0
$GC,4951,1.11,119.2,411.9,7.8,275,4961,0.15,2.42,3.90,0.525,4,0.118,0.041,2958,3412,2564,0,0,0,0,0,0
$GC,4980,1.07,133.8,409.7,7.0,275,5001,0.00,2.38,14.32,0.792,6,0.000,0.036,2958,2035,2503,0,0,0,0,0,0
$GC,5327,1.04,145.5,384.3,7.2,284,5343,0.00,2.53,11.07,0.766,4,0.000,0.053,2957,631,2455,0,0,0,0,0,0
$GC,5367,0.93,146.9,380.9,7.9,284,5373,0.20,2.35,0.00,0.000,6,0.116,0.031,2921,2015,2453,0,0,0,0,0,0
$GC,5698,1.01,169.7,359.7,6.5,293,5726,0.00,2.55,21.60,0.811,4,0.000,0.054,2922,632,2357,0,0,0,0,0,0
$GC,5768,1.01,169.7,354.0,8.5,294,5772,0.00,2.40,0.00,0.000,6,0.000,0.031,2922,2043,2354,0,0,0,0,0,0
$GC,6107,1.06,169.7,325.2,8.7,303,6112,0.10,2.53,0.00,0.000,4,0.086,0.053,2947,630,2352,0,0,0,0,0,0
$GC,6192,1.01,169.7,315.6,13.1,304,6197,0.00,2.38,0.00,0.000,6,0.000,0.031,2947,2036,2350,0,0,0,0,0,0
$GC,6504,1.01,169.7,286.0,8.9,316,6508,0.00,2.47,0.00,0.000,4,0.000,0.051,2946,630,2349,0,0,0,0,0,0
$GC,6596,0.97,169.7,277.4,8.9,320,6600,0.00,2.38,0.00,0.000,6,0.000,0.029,2947,2046,2347,0,0,0,0,0,0
$GC,6919,0.97,169.7,251.9,8.2,336,6924,0.00,2.50,0.00,0.000,4,0.000,0.050,2946,622,2347,0,0,0,0,0,0
$GC,6970,0.94,169.7,247.5,8.6,338,6975,0.15,2.38,0.00,0.000,6,0.114,0.028,2920,2041,2346,0,0,0,0,0,0
$GC,7291,1.09,204.5,227.8,5.6,354,7329,0.15,2.55,30.00,0.736,4,0.070,0.048,2956,625,2215,0,0,0,0,0,0
$GC,7430,1.09,204.5,214.3,11.4,360,7434,0.00,2.38,0.00,0.000,6,0.000,0.027,2957,2043,2210,0,0,0,0,0,0
$GC,7761,1.13,204.5,184.2,9.4,384,7765,0.00,2.45,0.00,0.000,4,0.000,0.048,2957,630,2209,0,0,0,0,0,0
$GC,7958,1.13,204.5,163.2,10.3,405,7962,0.00,2.33,0.00,0.000,6,0.000,0.025,2956,2040,2207,0,0,0,0,0,0
$GC,8221,1.21,216.7,143.4,7.2,429,8241,0.00,2.53,10.88,0.602,4,0.000,0.045,2956,626,2165,0,0,0,0,0,0
$GC,8255,1.21,216.7,140.2,8.6,432,8262,0.00,2.35,0.00,0.000,6,0.000,0.024,2956,2028,2164,0,0,0,0,0,0
$GC,8518,1.28,216.7,118.1,9.0,457,8523,0.17,2.45,0.00,0.000,4,0.058,0.045,3004,627,2164,0,0,0,0,0,0
$GC,8745,1.20,216.7,95.1,9.7,481,8750,0.12,2.33,0.00,0.000,6,0.108,0.022,2978,2049,2162,0,0,0,0,0,0
$GC,9007,1.26,216.7,73.1,9.1,505,9011,0.00,2.45,0.00,0.000,4,0.000,0.043,2979,623,2162,0,0,0,0,0,0
$GC,9163,1.26,216.7,57.7,11.1,522,9167,0.00,2.30,0.00,0.000,6,0.000,0.021,2980,2041,2162,0,0,0,0,0,0
$GC,9431,1.36,232.8,38.2,6.9,547,9453,0.12,2.45,15.52,0.528,4,0.066,0.041,3018,627,2099,0,0,0,0,0,0
$GC,9512,1.30,232.8,30.7,9.7,555,9519,0.08,2.30,0.00,0.000,6,0.081,0.021,3001,2031,2097,0,0,0,0,0,0
$GC,9776,1.31,240.0,9.4,7.5,603,9789,0.00,2.42,7.60,0.453,4,0.000,0.041,3000,628,2070,0,0,0,0,0,0
$GC,9842,1.31,240.0,3.6,10.0,617,9849,0.00,2.30,0.00,0.000,6,0.000,0.021,3000,2023,2068,0,0,0,0,0,0
$STATE,9854,end climb,SURFACE_DEPTH_REACHED
$STATE,9854,begin surface coast
$FINISH,0.4,1.021919
$STATE,9882,end surface coast,CONTROL_FINISHED_OK
$STATE,9882,begin surface
$SM_CCo,9901,32.65,0.512,0,0,1826,300.00
$SM_GC,1.38,0.00,0.00,32.65,0.000,0.000,0.512,426,1875,1826,-10.52,-0.68,300.00
$IRIDIUM_FIX,2050.21,-15747.49,040899,010135
$TT8_MAMPS,0.029146
$HUMID,45.43
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,22.10
$XPDR_PINGS,1
$24V_AH,23.4,21.480
$10V_AH,10.0,20.562
$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,26.375,119.925,275.850,32.650,0.000,29.793,31.985,204.166,4.750,0.000,135.559,1229.992,6288.985,363.483,2102.995,433.247,33.360,1222.376,0.000,1958.971,0.000,29.250,0.000
$DEVICE_MAMPS,139.594,53.690,876.681,511.589,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,421.373,406.063,905.316,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,35043,624
$CAP_FILE_SIZE,118741,0
$CFSIZE,260165632,244879360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100510,070413,2058.251,-15750.081,35,1.5,41,9.8