version: 66.06
glider: 139
mission: 7
dive: 243
start: 5 10 110 13 20 25
data:
$ID,139
$MISSION,7
$DIVE,243
$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,-2127634.2
$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
$GPS1,131413,2059.174,-15752.033,57,1.8,64,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-72.8
$GPS2,131934,2059.219,-15752.026,29,6.1,48,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.160,0.091
$KALMAN_X,-94363.6,114.2,-227.5,114113.8,286.3
$KALMAN_Y,43827.3,153.7,-301.4,-59518.4,438.4
$MHEAD_RNG_PITCHd_Wd,290.0,24200,-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,-55.03,0.000,2,0.000,0.000,428,1901,3268,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.4,-6.0,10,94,10.85,2.35,-1.90,0.000,4,0.144,0.035,2407,3328,3368,0,0,0,0,0,0
$GC,292,-1.40,-77.9,45.4,-14.5,47,298,0.00,2.45,0.00,0.000,6,0.000,0.034,2406,1901,3371,0,0,0,0,0,0
$GC,553,-1.32,-77.9,83.3,-14.8,72,558,0.10,2.42,0.00,0.000,4,0.128,0.047,2424,492,3371,0,0,0,0,0,0
$GC,570,-1.22,-77.9,85.8,-15.0,73,575,0.12,2.33,0.00,0.000,6,0.124,0.020,2447,1946,3370,0,0,0,0,0,0
$GC,832,-1.25,-77.9,114.4,-10.1,97,837,0.00,2.50,0.00,0.000,4,0.000,0.043,2445,494,3371,0,0,0,0,0,0
$GC,920,-1.25,-77.9,124.4,-11.6,106,924,0.00,2.25,0.00,0.000,6,0.000,0.020,2447,1892,3372,0,0,0,0,0,0
$GC,1181,-1.32,-77.9,150.7,-9.5,130,1186,0.00,2.40,0.00,0.000,4,0.000,0.043,2442,493,3373,0,0,0,0,0,0
$GC,1260,-1.35,-77.9,158.7,-10.1,138,1264,0.12,2.28,0.00,0.000,6,0.063,0.020,2405,1907,3373,0,0,0,0,0,0
$GC,1520,-1.35,-77.9,186.9,-9.8,162,1524,0.00,2.42,0.00,0.000,4,0.000,0.044,2402,494,3374,0,0,0,0,0,0
$GC,1572,-1.29,-77.9,192.7,-11.1,167,1577,0.12,2.28,0.00,0.000,6,0.101,0.021,2430,1906,3374,0,0,0,0,0,0
$GC,1840,-1.36,-77.9,216.7,-8.5,183,1844,0.00,2.45,0.00,0.000,4,0.000,0.045,2429,485,3374,0,0,0,0,0,0
$GC,1922,-1.36,-77.9,225.2,-9.8,186,1929,0.00,2.30,0.00,0.000,6,0.000,0.021,2429,1894,3374,0,0,0,0,0,0
$GC,2237,-1.44,-77.9,252.7,-8.3,202,2242,0.12,2.42,0.00,0.000,4,0.066,0.048,2388,492,3374,0,0,0,0,0,0
$GC,2353,-1.40,-77.9,265.6,-11.0,207,2357,0.00,2.28,0.00,0.000,6,0.000,0.023,2389,1901,3374,0,0,0,0,0,0
$GC,2678,-1.40,-77.9,297.5,-10.4,223,2682,0.00,2.45,0.00,0.000,4,0.000,0.047,2390,487,3373,0,0,0,0,0,0
$GC,2722,-1.35,-77.9,302.3,-11.7,225,2727,0.15,2.30,0.00,0.000,6,0.096,0.025,2419,1903,3373,0,0,0,0,0,0
$GC,3050,-1.43,-77.9,330.9,-8.2,233,3055,0.00,2.45,0.00,0.000,4,0.000,0.050,2418,495,3372,0,0,0,0,0,0
$GC,3106,-1.47,-77.9,335.9,-8.1,234,3110,0.12,2.28,0.00,0.000,6,0.066,0.025,2381,1900,3372,0,0,0,0,0,0
$GC,3423,-1.47,-77.9,365.6,-9.3,242,3428,0.00,2.45,0.00,0.000,4,0.000,0.051,2381,487,3370,0,0,0,0,0,0
$GC,3466,-1.44,-77.9,370.4,-11.7,243,3471,0.00,2.33,0.00,0.000,6,0.000,0.027,2380,1897,3370,0,0,0,0,0,0
$GC,3794,-1.44,-77.9,403.6,-10.0,251,3798,0.00,2.47,0.00,0.000,4,0.000,0.053,2378,488,3368,0,0,0,0,0,0
$GC,3831,-1.44,-77.9,407.5,-10.5,251,3836,0.00,2.35,0.00,0.000,6,0.000,0.028,2380,1907,3368,0,0,0,0,0,0
$GC,4161,-1.44,-77.9,438.4,-9.4,260,4165,0.00,2.50,0.00,0.000,4,0.000,0.056,2379,494,3365,0,0,0,0,0,0
$GC,4240,-1.44,-77.9,446.7,-10.4,261,4245,0.00,2.35,0.00,0.000,6,0.000,0.029,2381,1903,3365,0,0,0,0,0,0
$STATE,4284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4284,begin apogee
$GC,4290,-0.31,0.0,451.3,9.9,262,4357,1.25,0.00,64.20,0.877,6,0.086,0.000,2641,2066,3050,0,0,0,0,0,0
$STATE,4358,end apogee,CONTROL_FINISHED_OK
$STATE,4358,begin climb
$GC,4360,1.40,77.9,452.4,0.0,263,4434,1.67,2.42,64.72,0.855,4,0.042,0.045,3019,3402,2731,0,0,0,0,0,0
$GC,4532,1.24,128.4,451.4,4.5,266,4582,0.17,2.38,43.22,0.848,6,0.120,0.038,2987,2032,2525,0,0,0,0,0,0
$GC,4910,1.12,128.4,419.7,9.1,276,4912,0.15,0.00,0.00,0.000,6,0.125,0.000,2961,2032,2518,0,0,0,0,0,0
$GC,5234,1.06,128.4,391.9,9.0,284,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2032,2515,0,0,0,0,0,0
$GC,5559,1.01,128.4,364.4,8.2,292,5561,0.15,0.00,0.00,0.000,6,0.125,0.000,2935,2032,2513,0,0,0,0,0,0
$GC,5885,1.04,152.5,343.3,6.4,300,5909,0.00,2.55,19.23,0.803,4,0.000,0.054,2933,627,2427,0,0,0,0,0,0
$GC,5971,1.00,156.9,337.1,7.7,301,5982,0.00,2.35,4.80,0.584,6,0.000,0.031,2935,2014,2410,0,0,0,0,0,0
$GC,6307,1.01,162.9,312.4,7.6,310,6319,0.00,2.50,6.55,0.662,4,0.000,0.052,2935,637,2386,0,0,0,0,0,0
$GC,6361,0.97,162.9,307.3,8.7,311,6365,0.00,2.35,0.00,0.000,6,0.000,0.031,2935,2036,2384,0,0,0,0,0,0
$GC,6682,1.01,171.8,282.0,7.4,324,6698,0.00,2.50,9.25,0.706,4,0.000,0.051,2935,630,2348,0,0,0,0,0,0
$GC,6888,1.02,175.9,265.1,7.7,333,6899,0.00,2.35,4.68,0.555,6,0.000,0.030,2936,2036,2332,0,0,0,0,0,0
$GC,7223,1.08,186.2,241.5,7.3,349,7239,0.00,2.45,10.62,0.691,4,0.000,0.038,2936,3434,2290,0,0,0,0,0,0
$GC,7253,1.15,186.2,238.9,8.2,350,7258,0.12,2.42,0.00,0.000,6,0.072,0.035,2969,2028,2290,0,0,0,0,0,0
$GC,7573,1.15,186.2,209.5,9.3,366,7577,0.00,2.42,0.00,0.000,4,0.000,0.049,2967,629,2288,0,0,0,0,0,0
$GC,7807,1.10,186.2,188.3,10.2,385,7811,0.00,2.33,0.00,0.000,6,0.000,0.026,2968,2040,2285,0,0,0,0,0,0
$GC,8069,1.10,186.2,163.9,8.4,409,8074,0.00,2.45,0.00,0.000,4,0.000,0.047,2969,622,2285,0,0,0,0,0,0
$GC,8142,1.05,186.2,156.5,10.1,416,8150,0.10,2.35,0.00,0.000,6,0.099,0.026,2946,2033,2285,0,0,0,0,0,0
$GC,8405,1.15,210.1,137.4,6.4,441,8433,0.00,2.47,21.73,0.643,4,0.000,0.044,2947,628,2192,0,0,0,0,0,0
$GC,8555,1.15,210.1,125.5,8.2,457,8560,0.00,2.33,0.00,0.000,6,0.000,0.024,2946,2049,2187,0,0,0,0,0,0
$GC,8817,1.24,210.1,105.4,8.5,482,8822,0.17,2.47,0.00,0.000,4,0.059,0.044,2993,618,2187,0,0,0,0,0,0
$GC,9034,1.19,210.1,81.4,9.9,505,9040,0.00,2.30,0.00,0.000,6,0.000,0.023,2993,2037,2186,0,0,0,0,0,0
$GC,9297,1.22,233.8,62.5,6.4,530,9328,0.00,2.50,21.30,0.567,4,0.000,0.043,2993,634,2095,0,0,0,0,0,0
$GC,9339,1.22,233.8,59.2,8.3,534,9343,0.00,2.33,0.00,0.000,6,0.000,0.022,2994,2043,2093,0,0,0,0,0,0
$GC,9602,1.27,233.8,36.4,8.2,558,9606,0.00,2.42,0.00,0.000,4,0.000,0.042,2993,622,2093,0,0,0,0,0,0
$GC,9757,1.27,233.8,21.5,9.4,585,9763,0.00,2.33,0.00,0.000,6,0.000,0.021,2993,2039,2091,0,0,0,0,0,0
$GC,9958,1.33,233.8,3.0,8.7,622,9965,0.00,2.45,0.00,0.000,4,0.000,0.042,2994,626,2091,0,0,0,0,0,0
$STATE,9970,end climb,SURFACE_DEPTH_REACHED
$STATE,9970,begin surface coast
$FINISH,0.4,1.009693
$STATE,10005,end surface coast,CONTROL_FINISHED_OK
$STATE,10006,begin surface
$SM_CCo,10027,33.60,0.515,0,0,1827,300.00
$SM_GC,1.42,0.00,0.00,33.60,0.000,0.000,0.515,424,1914,1827,-10.53,0.40,300.00
$IRIDIUM_FIX,2047.91,-15750.49,040899,101043
$TT8_MAMPS,0.029146
$HUMID,44.88
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,21.734
$10V_AH,10.0,20.818
$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,26.600,114.775,270.300,33.600,0.000,30.458,30.115,128.627,4.500,0.000,49.447,1235.275,6417.587,361.542,2007.651,360.662,33.368,1202.177,0.000,1954.297,0.000,29.247,0.000
$DEVICE_MAMPS,144.196,55.991,876.681,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,427.089,410.461,924.385,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,34882,632
$CAP_FILE_SIZE,116068,0
$CFSIZE,260165632,244703232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100510,161015,2100.036,-15752.939,74,2.1,93,9.8