version: 66.06
glider: 139
mission: 7
dive: 250
start: 5 11 110 10 7 8
data:
$ID,139
$MISSION,7
$DIVE,250
$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,-2128909.8
$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
$GPS1,064830,2104.013,-15757.513,901,99.0,901,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-70.6
$GPS2,100616,2104.951,-15758.799,127,2.4,146,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.123,0.137
$KALMAN_X,-93375.4,-59.7,115.6,101263.5,-394.1
$KALMAN_Y,48329.2,155.2,59.9,-53772.3,431.4
$MHEAD_RNG_PITCHd_Wd,308.3,8430,-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,-55.20,0.000,2,0.000,0.000,425,1878,3292,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.3,-5.0,10,94,10.62,2.40,-1.48,0.000,4,0.137,0.037,2404,3329,3369,0,0,0,0,0,0
$GC,310,-1.40,-77.9,47.6,-14.8,49,316,0.00,2.45,0.00,0.000,6,0.000,0.031,2401,1894,3371,0,0,0,0,0,0
$GC,571,-1.32,-77.9,85.2,-12.9,74,576,0.12,2.42,0.00,0.000,4,0.109,0.044,2426,490,3371,0,0,0,0,0,0
$GC,590,-1.23,-77.9,87.4,-12.7,75,594,0.00,2.33,0.00,0.000,6,0.000,0.019,2427,1943,3370,0,0,0,0,0,0
$GC,852,-1.23,-77.9,119.0,-12.0,99,857,0.00,2.50,0.00,0.000,4,0.000,0.044,2428,492,3371,0,0,0,0,0,0
$GC,925,-1.19,-77.9,128.2,-11.0,106,933,0.08,2.25,0.00,0.000,6,0.082,0.020,2449,1891,3371,0,0,0,0,0,0
$GC,1187,-1.27,-77.9,149.9,-8.1,131,1191,0.00,2.40,0.00,0.000,4,0.000,0.044,2448,492,3372,0,0,0,0,0,0
$GC,1250,-1.34,-77.9,156.1,-9.3,137,1257,0.12,2.25,0.00,0.000,6,0.064,0.020,2407,1903,3372,0,0,0,0,0,0
$GC,1510,-1.34,-77.9,186.2,-11.2,162,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,1909,3372,0,0,0,0,0,0
$GC,1775,-1.34,-77.9,212.9,-9.9,181,1779,0.00,2.42,0.00,0.000,4,0.000,0.045,2406,494,3372,0,0,0,0,0,0
$GC,1844,-1.34,-77.9,220.9,-10.7,184,1848,0.00,2.25,0.00,0.000,6,0.000,0.021,2406,1897,3372,0,0,0,0,0,0
$GC,2168,-1.34,-77.9,252.3,-10.0,200,2172,0.00,2.40,0.00,0.000,4,0.000,0.046,2406,492,3372,0,0,0,0,0,0
$GC,2227,-1.29,-77.9,259.6,-12.1,202,2236,0.08,2.30,0.00,0.000,6,0.077,0.022,2427,1903,3371,0,0,0,0,0,0
$GC,2543,-1.38,-77.9,289.8,-9.1,218,2547,0.00,2.42,0.00,0.000,4,0.000,0.047,2427,495,3370,0,0,0,0,0,0
$GC,2617,-1.45,-77.9,296.8,-8.6,221,2621,0.12,2.28,0.00,0.000,6,0.065,0.023,2388,1896,3370,0,0,0,0,0,0
$GC,2957,-1.45,-77.9,328.0,-9.4,231,2961,0.00,2.45,0.00,0.000,4,0.000,0.049,2386,488,3369,0,0,0,0,0,0
$GC,3046,-1.42,-77.9,337.5,-10.5,233,3050,0.00,2.30,0.00,0.000,6,0.000,0.025,2387,1896,3369,0,0,0,0,0,0
$GC,3373,-1.42,-77.9,369.9,-9.9,241,3377,0.00,2.45,0.00,0.000,4,0.000,0.051,2386,493,3367,0,0,0,0,0,0
$GC,3406,-1.38,-77.9,373.6,-11.3,241,3411,0.12,2.30,0.00,0.000,6,0.103,0.026,2411,1904,3366,0,0,0,0,0,0
$GC,3737,-1.46,-77.9,404.2,-8.0,249,3742,0.00,2.47,0.00,0.000,4,0.000,0.053,2412,495,3364,0,0,0,0,0,0
$GC,3821,-1.51,-77.9,410.2,-6.5,250,3827,0.00,2.33,0.00,0.000,6,0.000,0.028,2406,1906,3363,0,0,0,0,0,0
$GC,4154,-1.59,-77.9,429.9,-6.1,259,4159,0.20,2.50,0.00,0.000,4,0.055,0.054,2357,494,3361,0,0,0,0,0,0
$GC,4215,-1.52,-77.9,435.9,-9.8,260,4220,0.12,2.35,0.00,0.000,6,0.108,0.029,2382,1903,3360,0,0,0,0,0,0
$STATE,4400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4400,begin apogee
$GC,4405,-0.31,0.0,452.2,8.6,265,4472,1.23,0.00,63.35,0.879,6,0.077,0.000,2643,2060,3050,0,0,0,0,0,0
$STATE,4473,end apogee,CONTROL_FINISHED_OK
$STATE,4473,begin climb
$GC,4475,1.40,77.9,453.2,0.0,266,4549,1.65,2.45,64.90,0.857,4,0.033,0.046,3028,3409,2732,0,0,0,0,0,0
$GC,4656,1.19,101.0,449.4,6.4,270,4684,0.25,2.40,20.38,0.819,6,0.116,0.038,2979,2028,2637,0,0,0,0,0,0
$GC,5021,1.09,112.5,423.5,7.2,279,5034,0.15,0.00,10.35,0.765,6,0.124,0.000,2953,2028,2591,0,0,0,0,0,0
$GC,5346,1.05,128.5,400.9,6.9,287,5362,0.00,0.00,14.50,0.803,6,0.000,0.000,2953,2028,2526,0,0,0,0,0,0
$GC,5670,1.02,137.1,374.8,7.4,295,5686,0.00,2.50,8.62,0.737,4,0.000,0.053,2952,622,2490,0,0,0,0,0,0
$GC,5728,0.92,137.9,370.1,8.0,296,5733,0.20,2.38,0.00,0.000,6,0.117,0.031,2916,2018,2487,0,0,0,0,0,0
$GC,6042,0.99,157.7,348.5,6.7,304,6067,0.00,2.53,18.60,0.805,4,0.000,0.043,2919,3426,2407,0,0,0,0,0,0
$GC,6081,1.05,160.0,345.4,7.9,304,6091,0.12,2.42,3.90,0.512,6,0.076,0.038,2950,2035,2397,0,0,0,0,0,0
$GC,6414,1.05,160.0,314.2,9.5,313,6418,0.00,2.50,0.00,0.000,4,0.000,0.054,2949,620,2393,0,0,0,0,0,0
$GC,6505,0.98,160.0,305.0,10.2,315,6509,0.00,2.40,0.00,0.000,6,0.000,0.031,2949,2039,2391,0,0,0,0,0,0
$GC,6836,1.00,173.2,278.3,7.1,329,6853,0.00,2.55,11.95,0.735,4,0.000,0.053,2949,625,2343,0,0,0,0,0,0
$GC,6895,0.95,173.2,273.2,8.5,330,6903,0.10,2.42,0.00,0.000,6,0.098,0.030,2927,2038,2340,0,0,0,0,0,0
$GC,7211,1.06,191.1,251.1,6.8,346,7235,0.00,2.53,16.80,0.737,4,0.000,0.051,2927,630,2268,0,0,0,0,0,0
$GC,7296,1.09,191.1,243.7,9.7,349,7301,0.10,2.40,0.00,0.000,6,0.084,0.029,2953,2049,2265,0,0,0,0,0,0
$GC,7612,1.13,193.6,216.7,7.9,364,7616,0.00,2.47,0.00,0.000,4,0.000,0.049,2954,629,2265,0,0,0,0,0,0
$GC,7758,1.13,193.6,204.4,8.2,370,7763,0.00,2.35,0.00,0.000,6,0.000,0.026,2954,2038,2262,0,0,0,0,0,0
$GC,8083,1.17,195.0,179.0,7.9,397,8087,0.00,2.47,0.00,0.000,4,0.000,0.048,2954,620,2262,0,0,0,0,0,0
$GC,8162,1.17,195.0,171.6,9.5,405,8167,0.00,2.35,0.00,0.000,6,0.000,0.025,2953,2038,2262,0,0,0,0,0,0
$GC,8425,1.23,205.6,152.2,7.3,429,8446,0.12,2.55,13.07,0.627,4,0.072,0.046,2988,626,2211,0,0,0,0,0,0
$GC,8480,1.15,205.6,146.5,11.0,435,8485,0.00,2.35,0.00,0.000,6,0.000,0.025,2985,2043,2208,0,0,0,0,0,0
$GC,8743,1.15,205.6,119.1,9.7,459,8748,0.12,2.47,0.00,0.000,4,0.110,0.046,2964,617,2208,0,0,0,0,0,0
$GC,8841,1.15,205.6,109.5,8.5,469,8845,0.00,2.33,0.00,0.000,6,0.000,0.023,2963,2037,2207,0,0,0,0,0,0
$GC,9104,1.21,205.6,86.9,9.0,493,9108,0.00,2.45,0.00,0.000,4,0.000,0.044,2964,618,2207,0,0,0,0,0,0
$GC,9240,1.21,205.6,72.6,10.4,507,9246,0.00,2.33,0.00,0.000,6,0.000,0.022,2964,2030,2207,0,0,0,0,0,0
$GC,9503,1.29,210.0,54.0,7.7,532,9514,0.12,2.42,5.30,0.443,4,0.069,0.041,3000,623,2192,0,0,0,0,0,0
$GC,9580,1.23,210.0,47.3,9.2,540,9584,0.00,2.30,0.00,0.000,6,0.000,0.021,3000,2040,2191,0,0,0,0,0,0
$GC,9843,1.28,255.1,29.5,4.9,565,9888,0.00,0.00,40.03,0.546,6,0.000,0.000,3001,2044,2008,0,0,0,0,0,0
$GC,10084,1.33,255.1,12.5,9.3,609,10091,0.00,2.45,0.00,0.000,4,0.000,0.041,3001,629,2004,0,0,0,0,0,0
$GC,10157,1.33,255.1,4.9,11.2,625,10163,0.00,2.30,0.00,0.000,6,0.000,0.020,3001,2033,2002,0,0,0,0,0,0
$STATE,10174,end climb,SURFACE_DEPTH_REACHED
$STATE,10174,begin surface coast
$FINISH,0.4,1.023290
$STATE,10202,end surface coast,CONTROL_FINISHED_OK
$STATE,10202,begin surface
$SM_CCo,10222,22.52,0.505,0,0,1827,300.00
$SM_GC,0.97,0.00,0.00,22.52,0.000,0.000,0.505,428,1886,1827,-10.52,-0.40,300.00
$IRIDIUM_FIX,2054.83,-15812.34,050899,060629
$TT8_MAMPS,0.028379
$HUMID,45.35
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,22.286
$10V_AH,10.1,21.422
$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,26.800,115.725,291.750,22.525,0.000,56.375,106.413,130.363,4.500,0.000,147.537,1233.986,6724.889,371.305,2043.598,456.769,33.367,1198.492,0.000,1889.038,0.000,29.264,0.000
$DEVICE_MAMPS,136.526,54.457,878.982,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,427.154,407.935,926.436,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34962,633
$CAP_FILE_SIZE,119270,0
$CFSIZE,260165632,244293632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110510,125906,2106.228,-15800.261,37,1.5,38,9.8