version: 66.06
glider: 139
mission: 7
dive: 245
start: 5 10 110 19 9 40
data:
$ID,139
$MISSION,7
$DIVE,245
$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,-2127700
$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
$GPS1,190337,2100.808,-15753.727,57,1.9,57,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-71.5
$GPS2,190849,2100.841,-15753.710,16,1.9,33,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.141,0.118
$KALMAN_X,-93771.0,-138.5,198.2,110440.5,245.9
$KALMAN_Y,44537.6,-59.6,333.8,-57652.3,-33.6
$MHEAD_RNG_PITCHd_Wd,300.0,20021,-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,-77.9,0.0,0.0,0,72,0.00,0.00,-54.42,0.000,2,0.000,0.000,426,1884,3237,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.1,-4.4,10,93,10.68,2.40,-2.58,0.000,4,0.137,0.037,2403,3330,3369,0,0,0,0,0,0
$GC,291,-1.40,-77.9,46.9,-16.0,47,298,0.10,2.45,0.00,0.000,6,0.075,0.034,2424,1903,3372,0,0,0,0,0,0
$GC,553,-1.40,-77.9,84.9,-14.0,72,557,0.00,2.40,0.00,0.000,4,0.000,0.043,2429,488,3372,0,0,0,0,0,0
$GC,623,-1.33,-77.9,93.8,-12.3,79,627,0.00,2.33,0.00,0.000,6,0.000,0.020,2429,1931,3373,0,0,0,0,0,0
$GC,887,-1.33,-77.9,125.4,-12.6,103,891,0.00,2.50,0.00,0.000,4,0.000,0.044,2428,485,3373,0,0,0,0,0,0
$GC,955,-1.33,-77.9,135.2,-12.6,110,959,0.00,2.28,0.00,0.000,6,0.000,0.020,2429,1899,3374,0,0,0,0,0,0
$GC,1217,-1.36,-77.9,164.1,-10.8,134,1221,0.00,2.42,0.00,0.000,4,0.000,0.044,2428,491,3375,0,0,0,0,0,0
$GC,1269,-1.36,-77.9,170.1,-12.0,139,1273,0.00,2.28,0.00,0.000,6,0.000,0.020,2428,1904,3375,0,0,0,0,0,0
$GC,1532,-1.41,-77.9,198.1,-10.3,163,1536,0.00,2.42,0.00,0.000,4,0.000,0.044,2427,492,3375,0,0,0,0,0,0
$GC,1614,-1.41,-77.9,207.0,-9.4,167,1619,0.00,2.28,0.00,0.000,6,0.000,0.021,2429,1906,3376,0,0,0,0,0,0
$GC,1930,-1.47,-77.9,236.0,-9.2,183,1935,0.15,2.45,0.00,0.000,4,0.057,0.046,2382,494,3376,0,0,0,0,0,0
$GC,2005,-1.39,-77.9,244.6,-11.9,186,2010,0.12,2.28,0.00,0.000,6,0.100,0.022,2408,1898,3376,0,0,0,0,0,0
$GC,2326,-1.43,-77.9,274.9,-9.3,202,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,1902,3376,0,0,0,0,0,0
$GC,2655,-1.47,-77.9,305.0,-9.0,217,2659,0.00,2.45,0.00,0.000,4,0.000,0.048,2407,487,3375,0,0,0,0,0,0
$GC,2724,-1.47,-77.9,312.1,-10.1,218,2728,0.00,2.30,0.00,0.000,6,0.000,0.025,2408,1895,3375,0,0,0,0,0,0
$GC,3065,-1.52,-77.9,343.1,-9.0,227,3067,0.12,0.00,0.00,0.000,6,0.068,0.000,2372,1899,3373,0,0,0,0,0,0
$GC,3388,-1.52,-77.9,372.2,-9.1,235,3392,0.00,2.47,0.00,0.000,4,0.000,0.052,2370,496,3372,0,0,0,0,0,0
$GC,3505,-1.46,-77.9,385.1,-11.0,237,3510,0.12,2.33,0.00,0.000,6,0.104,0.027,2396,1902,3371,0,0,0,0,0,0
$GC,3845,-1.51,-77.9,412.9,-8.1,246,3850,0.00,2.47,0.00,0.000,4,0.000,0.054,2394,497,3369,0,0,0,0,0,0
$GC,3942,-1.51,-77.9,421.6,-8.8,248,3946,0.00,2.33,0.00,0.000,6,0.000,0.028,2396,1898,3368,0,0,0,0,0,0
$GC,4261,-1.57,-77.9,448.4,-9.2,256,4266,0.12,2.50,0.00,0.000,4,0.071,0.055,2360,494,3366,0,0,0,0,0,0
$STATE,4274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4274,begin apogee
$GC,4281,-0.31,0.0,450.0,9.4,256,4349,1.30,0.00,64.25,0.880,6,0.081,0.000,2639,2040,3050,0,0,0,0,0,0
$STATE,4350,end apogee,CONTROL_FINISHED_OK
$STATE,4350,begin climb
$GC,4352,1.40,77.9,452.3,0.0,258,4426,1.65,2.53,64.72,0.858,4,0.034,0.046,3022,3430,2732,0,0,0,0,0,0
$GC,4681,1.25,141.4,443.1,3.7,265,4743,0.17,2.42,54.28,0.856,6,0.121,0.038,2989,2031,2472,0,0,0,0,0,0
$GC,5080,1.14,141.4,402.7,11.5,275,5085,0.15,2.47,0.00,0.000,4,0.117,0.054,2962,632,2464,0,0,0,0,0,0
$GC,5099,1.01,141.4,400.4,11.0,275,5104,0.15,2.40,0.00,0.000,6,0.120,0.031,2937,2043,2463,0,0,0,0,0,0
$GC,5444,1.02,148.0,373.7,7.6,284,5456,0.00,2.53,5.28,0.628,4,0.000,0.052,2938,625,2445,0,0,0,0,0,0
$GC,5554,0.96,148.0,364.4,9.0,286,5558,0.00,2.40,0.00,0.000,6,0.000,0.031,2938,2038,2443,0,0,0,0,0,0
$GC,5903,0.96,154.6,337.8,7.6,295,5915,0.00,2.55,6.70,0.679,4,0.000,0.054,2937,635,2419,0,0,0,0,0,0
$GC,6063,0.92,154.6,322.2,9.0,298,6068,0.12,2.35,0.00,0.000,6,0.124,0.031,2916,2036,2416,0,0,0,0,0,0
$GC,6409,1.05,201.8,305.2,4.8,307,6458,0.12,2.60,42.38,0.803,4,0.076,0.053,2946,628,2226,0,0,0,0,0,0
$GC,6583,1.02,201.8,287.7,12.9,312,6590,0.00,2.40,0.00,0.000,6,0.000,0.030,2946,2031,2220,0,0,0,0,0,0
$GC,6898,1.06,201.8,254.9,10.0,328,6902,0.00,2.47,0.00,0.000,4,0.000,0.051,2946,629,2218,0,0,0,0,0,0
$GC,6921,1.06,201.8,252.1,11.7,329,6925,0.00,2.38,0.00,0.000,6,0.000,0.029,2946,2041,2216,0,0,0,0,0,0
$GC,7247,1.12,201.8,222.7,9.0,345,7251,0.00,2.47,0.00,0.000,4,0.000,0.051,2946,622,2216,0,0,0,0,0,0
$GC,7429,1.12,201.8,206.7,8.5,353,7434,0.00,2.38,0.00,0.000,6,0.000,0.028,2945,2044,2213,0,0,0,0,0,0
$GC,7756,1.20,209.0,182.4,7.5,379,7768,0.12,2.42,5.35,0.538,4,0.074,0.046,2980,630,2197,0,0,0,0,0,0
$GC,7806,1.14,209.0,177.5,10.4,384,7810,0.00,2.35,0.00,0.000,6,0.000,0.026,2979,2044,2196,0,0,0,0,0,0
$GC,8067,1.14,209.0,152.3,9.9,408,8071,0.00,2.45,0.00,0.000,4,0.000,0.046,2979,622,2196,0,0,0,0,0,0
$GC,8183,1.09,209.0,139.4,10.5,420,8188,0.15,2.33,0.00,0.000,6,0.113,0.025,2952,2043,2195,0,0,0,0,0,0
$GC,8444,1.17,221.2,117.9,7.2,444,8463,0.00,2.53,12.25,0.591,4,0.000,0.044,2952,625,2147,0,0,0,0,0,0
$GC,8565,1.17,221.2,107.3,9.1,457,8569,0.00,2.33,0.00,0.000,6,0.000,0.023,2951,2040,2145,0,0,0,0,0,0
$GC,8828,1.27,221.2,85.1,8.4,481,8833,0.17,2.45,0.00,0.000,4,0.058,0.045,2999,623,2144,0,0,0,0,0,0
$GC,8997,1.21,221.2,67.7,9.4,499,9004,0.10,2.33,0.00,0.000,6,0.084,0.022,2977,2036,2144,0,0,0,0,0,0
$GC,9261,1.31,242.2,48.5,6.6,524,9290,0.00,2.45,19.95,0.548,4,0.000,0.041,2976,626,2060,0,0,0,0,0,0
$GC,9366,1.36,245.5,41.0,7.8,535,9371,0.15,2.30,0.00,0.000,6,0.061,0.021,3021,2046,2057,0,0,0,0,0,0
$GC,9630,1.36,245.5,16.2,9.3,572,9636,0.00,2.47,0.00,0.000,4,0.000,0.043,3021,625,2056,0,0,0,0,0,0
$GC,9660,1.31,245.5,13.0,10.6,578,9668,0.08,2.33,0.00,0.000,6,0.087,0.021,3002,2044,2056,0,0,0,0,0,0
$STATE,9764,end climb,SURFACE_DEPTH_REACHED
$STATE,9765,begin surface coast
$FINISH,0.4,1.011454
$STATE,9797,end surface coast,CONTROL_FINISHED_OK
$STATE,9797,begin surface
$SM_CCo,9816,29.25,0.513,0,0,1826,300.00
$SM_GC,1.13,0.00,0.00,29.25,0.000,0.000,0.513,429,1878,1826,-10.51,-0.62,300.00
$IRIDIUM_FIX,2052.52,-15754.77,040899,161633
$TT8_MAMPS,0.028379
$HUMID,45.86
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,21.891
$10V_AH,10.0,20.981
$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,26.925,111.275,275.150,29.250,0.000,25.745,35.956,135.048,4.500,0.000,33.459,1195.202,6286.594,347.030,1973.418,357.583,33.373,1190.461,0.000,1923.804,0.000,29.240,0.000
$DEVICE_MAMPS,137.293,55.224,879.749,513.123,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.446,381.326,867.177,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,34894,603
$CAP_FILE_SIZE,114445,0
$CFSIZE,260165632,244592640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100510,215506,2101.740,-15754.306,35,1.9,45,9.8