version: 66.06
glider: 139
mission: 7
dive: 242
start: 5 10 110 10 20 19
data:
$ID,139
$MISSION,7
$DIVE,242
$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,-2127584
$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
$GPS1,101427,2058.554,-15751.021,44,2.8,63,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.0
$GPS2,101928,2058.607,-15751.027,11,2.4,30,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.145,0.112
$KALMAN_X,-94667.4,164.6,123.4,115745.7,-66.7
$KALMAN_Y,43846.3,98.7,-130.8,-60783.0,343.3
$MHEAD_RNG_PITCHd_Wd,297.9,26230,-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,-54.95,0.000,2,0.000,0.000,428,1882,3280,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.4,-5.7,10,94,10.65,2.38,-1.73,0.000,4,0.136,0.051,2406,491,3368,0,0,0,0,0,0
$GC,221,-1.19,-77.9,38.1,-18.2,38,226,0.22,2.33,0.00,0.000,6,0.097,0.020,2452,1927,3370,0,0,0,0,0,0
$GC,483,-1.19,-77.9,72.7,-12.0,62,488,0.00,2.47,0.00,0.000,4,0.000,0.044,2451,493,3371,0,0,0,0,0,0
$GC,560,-1.19,-77.9,83.0,-11.0,70,565,0.00,2.28,0.00,0.000,6,0.000,0.019,2452,1910,3371,0,0,0,0,0,0
$GC,822,-1.22,-77.9,112.4,-11.4,94,826,0.00,2.45,0.00,0.000,4,0.000,0.043,2448,487,3372,0,0,0,0,0,0
$GC,904,-1.22,-77.9,121.9,-10.8,102,911,0.00,2.28,0.00,0.000,6,0.000,0.020,2451,1895,3373,0,0,0,0,0,0
$GC,1167,-1.29,-77.9,147.9,-9.2,127,1171,0.00,2.45,0.00,0.000,4,0.000,0.044,2450,484,3373,0,0,0,0,0,0
$GC,1217,-1.29,-77.9,153.0,-9.8,132,1221,0.00,2.28,0.00,0.000,6,0.000,0.020,2452,1903,3373,0,0,0,0,0,0
$GC,1478,-1.37,-77.9,177.8,-9.3,156,1483,0.15,2.42,0.00,0.000,4,0.057,0.044,2402,490,3373,0,0,0,0,0,0
$GC,1503,-1.30,-77.9,180.7,-12.6,158,1508,0.12,2.28,0.00,0.000,6,0.103,0.021,2429,1909,3374,0,0,0,0,0,0
$GC,1774,-1.35,-77.9,209.1,-9.6,179,1778,0.00,2.42,0.00,0.000,4,0.000,0.044,2428,492,3374,0,0,0,0,0,0
$GC,1901,-1.35,-77.9,223.5,-11.8,184,1905,0.00,2.25,0.00,0.000,6,0.000,0.021,2429,1897,3374,0,0,0,0,0,0
$GC,2217,-1.41,-77.9,255.1,-9.4,199,2222,0.10,2.42,0.00,0.000,4,0.076,0.046,2394,490,3374,0,0,0,0,0,0
$GC,2310,-1.41,-77.9,265.1,-11.0,203,2314,0.00,2.25,0.00,0.000,6,0.000,0.022,2394,1894,3374,0,0,0,0,0,0
$GC,2640,-1.41,-77.9,296.5,-9.2,219,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1899,3374,0,0,0,0,0,0
$GC,2964,-1.41,-77.9,325.2,-9.0,228,2968,0.00,2.42,0.00,0.000,4,0.000,0.048,2392,495,3373,0,0,0,0,0,0
$GC,3001,-1.38,-77.9,329.1,-10.2,228,3007,0.00,2.30,0.00,0.000,6,0.000,0.025,2394,1905,3373,0,0,0,0,0,0
$GC,3332,-1.38,-77.9,361.3,-9.8,237,3336,0.00,2.47,0.00,0.000,4,0.000,0.051,2394,488,3372,0,0,0,0,0,0
$GC,3387,-1.38,-77.9,367.2,-10.6,238,3391,0.00,2.30,0.00,0.000,6,0.000,0.026,2393,1896,3372,0,0,0,0,0,0
$GC,3705,-1.42,-77.9,396.6,-9.0,246,3709,0.00,2.47,0.00,0.000,4,0.000,0.054,2394,496,3370,0,0,0,0,0,0
$GC,3760,-1.42,-77.9,402.2,-9.8,247,3764,0.00,2.33,0.00,0.000,6,0.000,0.027,2393,1902,3370,0,0,0,0,0,0
$GC,4073,-1.46,-77.9,428.4,-8.2,255,4077,0.00,2.47,0.00,0.000,4,0.000,0.054,2392,497,3367,0,0,0,0,0,0
$GC,4142,-1.46,-77.9,434.6,-9.1,256,4146,0.00,2.33,0.00,0.000,6,0.000,0.029,2394,1898,3367,0,0,0,0,0,0
$STATE,4357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4357,begin apogee
$GC,4363,-0.31,0.0,451.9,7.9,262,4431,1.17,0.00,64.38,0.877,6,0.076,0.000,2645,2058,3050,0,0,0,0,0,0
$STATE,4432,end apogee,CONTROL_FINISHED_OK
$STATE,4432,begin climb
$GC,4433,1.40,77.9,452.5,0.0,263,4508,1.62,2.45,64.75,0.854,4,0.032,0.045,3025,3411,2732,0,0,0,0,0,0
$GC,4662,1.20,101.7,444.6,6.4,268,4691,0.22,2.38,20.77,0.818,6,0.111,0.038,2981,2029,2635,0,0,0,0,0,0
$GC,5028,1.09,109.6,417.7,7.5,277,5038,0.15,0.00,7.30,0.707,6,0.121,0.000,2955,2029,2603,0,0,0,0,0,0
$GC,5352,1.05,128.9,395.1,6.7,285,5376,0.00,2.58,17.48,0.813,4,0.000,0.054,2956,622,2522,0,0,0,0,0,0
$GC,5391,0.97,145.2,392.3,6.9,285,5413,0.17,2.35,15.48,0.792,6,0.119,0.031,2925,2017,2457,0,0,0,0,0,0
$GC,5727,0.98,159.5,367.6,7.0,294,5747,0.00,2.50,13.15,0.776,4,0.000,0.053,2925,624,2398,0,0,0,0,0,0
$GC,5848,0.98,159.5,356.6,8.8,296,5852,0.00,2.38,0.00,0.000,6,0.000,0.031,2924,2031,2394,0,0,0,0,0,0
$GC,6188,1.03,161.2,328.6,7.9,305,6192,0.00,2.47,0.00,0.000,4,0.000,0.053,2925,626,2393,0,0,0,0,0,0
$GC,6287,1.03,161.2,320.1,8.7,307,6291,0.00,2.38,0.00,0.000,6,0.000,0.031,2925,2036,2391,0,0,0,0,0,0
$GC,6605,1.09,161.2,294.8,8.0,316,6610,0.12,2.47,0.00,0.000,4,0.077,0.051,2956,630,2391,0,0,0,0,0,0
$GC,6779,1.02,161.2,277.0,10.3,323,6784,0.00,2.38,0.00,0.000,6,0.000,0.029,2956,2046,2389,0,0,0,0,0,0
$GC,7095,1.05,185.2,255.6,6.4,339,7119,0.00,0.00,22.00,0.752,6,0.000,0.000,2956,2050,2294,0,0,0,0,0,0
$GC,7450,1.05,185.2,226.3,9.1,356,7454,0.00,2.50,0.00,0.000,4,0.000,0.048,2955,621,2289,0,0,0,0,0,0
$GC,7472,1.02,185.2,223.9,10.5,357,7477,0.00,2.38,0.00,0.000,6,0.000,0.028,2956,2041,2288,0,0,0,0,0,0
$GC,7800,1.05,185.2,194.9,8.1,375,7804,0.00,2.45,0.00,0.000,4,0.000,0.048,2956,627,2287,0,0,0,0,0,0
$GC,7991,1.05,185.2,179.5,8.6,395,7997,0.00,2.33,0.00,0.000,6,0.000,0.025,2956,2037,2285,0,0,0,0,0,0
$GC,8253,1.10,185.2,159.4,8.1,420,8257,0.00,2.45,0.00,0.000,4,0.000,0.046,2956,626,2285,0,0,0,0,0,0
$GC,8318,1.10,185.2,153.6,9.1,427,8323,0.00,2.33,0.00,0.000,6,0.000,0.025,2956,2039,2285,0,0,0,0,0,0
$GC,8582,1.15,186.8,132.6,7.9,451,8586,0.00,2.45,0.00,0.000,4,0.000,0.045,2956,621,2285,0,0,0,0,0,0
$GC,8615,1.15,186.8,129.7,8.4,454,8619,0.00,2.33,0.00,0.000,6,0.000,0.024,2955,2041,2285,0,0,0,0,0,0
$GC,8877,1.23,202.4,112.4,6.9,478,8900,0.12,2.53,15.23,0.595,4,0.071,0.044,2991,625,2224,0,0,0,0,0,0
$GC,8962,1.17,202.4,104.1,10.1,487,8967,0.12,2.30,0.00,0.000,6,0.112,0.022,2969,2041,2220,0,0,0,0,0,0
$GC,9226,1.24,213.2,84.1,7.3,511,9246,0.00,2.50,10.52,0.545,4,0.000,0.043,2968,628,2178,0,0,0,0,0,0
$GC,9399,1.24,213.2,69.1,9.0,530,9403,0.00,2.30,0.00,0.000,6,0.000,0.021,2968,2043,2177,0,0,0,0,0,0
$GC,9667,1.32,213.2,47.3,8.2,555,9672,0.15,2.30,0.00,0.000,4,0.059,0.028,3013,3423,2176,0,0,0,0,0,0
$GC,9745,1.32,213.2,40.4,9.5,563,9749,0.00,2.33,0.00,0.000,6,0.000,0.028,3013,2028,2177,0,0,0,0,0,0
$GC,10008,1.36,244.1,25.0,5.9,595,10042,0.00,0.00,27.73,0.532,6,0.000,0.000,3013,2028,2053,0,0,0,0,0,0
$GC,10237,1.40,244.1,4.1,9.2,637,10244,0.00,2.40,0.00,0.000,4,0.000,0.042,3013,637,2050,0,0,0,0,0,0
$STATE,10249,end climb,SURFACE_DEPTH_REACHED
$STATE,10249,begin surface coast
$FINISH,0.4,1.001660
$STATE,10284,end surface coast,CONTROL_FINISHED_OK
$STATE,10284,begin surface
$SM_CCo,10306,28.65,0.507,0,0,1826,300.00
$SM_GC,1.00,0.00,0.00,28.65,0.000,0.000,0.507,428,1901,1826,-10.52,0.03,300.00
$IRIDIUM_FIX,2052.52,-15754.77,040899,070723
$TT8_MAMPS,0.029146
$HUMID,44.80
$INTERNAL_PRESSURE,9.71371
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.4,21.657
$10V_AH,10.1,20.735
$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,26.175,114.500,278.775,28.650,0.000,24.824,30.995,128.158,4.500,0.000,31.708,1249.636,6667.165,357.085,1994.195,368.401,33.350,1205.616,0.000,1962.466,0.000,29.245,0.000
$DEVICE_MAMPS,135.759,54.457,876.681,506.987,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.118,420.066,942.794,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,35017,647
$CAP_FILE_SIZE,116387,0
$CFSIZE,260165632,244760576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100510,131413,2059.174,-15752.033,57,1.8,64,9.8