version: 66.06
glider: 139
mission: 7
dive: 285
start: 5 15 110 18 50 34
data:
$ID,139
$MISSION,7
$DIVE,285
$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,-2131133.8
$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,1875
$C_ROLL_CLIMB,2010
$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
$GPS1,184024,2059.888,-15748.950,94,1.8,94,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-68.7
$GPS2,184943,2059.946,-15748.897,16,1.3,33,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.150,-0.107
$KALMAN_X,8125.6,-499.8,-585.8,3389.8,1772.7
$KALMAN_Y,11146.2,-436.6,-283.5,-23320.4,1405.1
$MHEAD_RNG_PITCHd_Wd,224.7,4108,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-53.42,0.000,2,0.000,0.000,428,1852,3209,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.0,-3.8,10,96,10.68,2.40,-3.20,0.000,4,0.137,0.052,2402,472,3370,0,0,0,0,0,0
$GC,242,-1.20,-77.9,40.1,-16.9,40,247,0.22,2.33,0.00,0.000,6,0.097,0.020,2448,1908,3372,0,0,0,0,0,0
$GC,506,-1.20,-77.9,76.1,-12.7,64,512,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1911,3372,0,0,0,0,0,0
$GC,768,-1.20,-77.9,109.9,-12.5,89,772,0.00,2.47,0.00,0.000,4,0.000,0.044,2447,463,3374,0,0,0,0,0,0
$GC,847,-1.20,-77.9,119.8,-12.4,97,852,0.00,2.28,0.00,0.000,6,0.000,0.020,2446,1878,3373,0,0,0,0,0,0
$GC,1113,-1.26,-77.9,149.2,-11.1,122,1117,0.00,2.40,0.00,0.000,4,0.000,0.044,2444,470,3375,0,0,0,0,0,0
$GC,1159,-1.29,-77.9,154.7,-11.8,126,1165,0.00,2.28,0.00,0.000,6,0.000,0.020,2438,1876,3374,0,0,0,0,0,0
$GC,1422,-1.37,-77.9,175.5,-7.3,151,1427,0.12,2.42,0.00,0.000,4,0.064,0.044,2404,464,3375,0,0,0,0,0,0
$GC,1498,-1.32,-77.9,183.2,-9.6,158,1505,0.00,2.28,0.00,0.000,6,0.000,0.020,2404,1873,3375,0,0,0,0,0,0
$GC,1769,-1.32,-77.9,211.3,-11.0,179,1773,0.00,2.40,0.00,0.000,4,0.000,0.044,2405,464,3375,0,0,0,0,0,0
$GC,1792,-1.27,-77.9,214.0,-10.2,180,1797,0.15,2.28,0.00,0.000,6,0.095,0.021,2434,1886,3375,0,0,0,0,0,0
$GC,2119,-1.36,-77.9,242.5,-9.8,196,2124,0.00,2.45,0.00,0.000,4,0.000,0.045,2436,467,3375,0,0,0,0,0,0
$GC,2208,-1.43,-77.9,252.0,-10.5,200,2212,0.15,2.28,0.00,0.000,6,0.057,0.022,2390,1882,3375,0,0,0,0,0,0
$GC,2539,-1.43,-77.9,287.4,-10.0,216,2544,0.00,2.42,0.00,0.000,4,0.000,0.048,2390,470,3375,0,0,0,0,0,0
$GC,2613,-1.39,-77.9,295.6,-10.5,219,2618,0.10,2.28,0.00,0.000,6,0.111,0.023,2410,1875,3375,0,0,0,0,0,0
$GC,2930,-1.44,-77.9,324.7,-9.8,229,2934,0.00,2.42,0.00,0.000,4,0.000,0.050,2410,469,3374,0,0,0,0,0,0
$GC,2966,-1.44,-77.9,328.8,-10.8,229,2972,0.00,2.30,0.00,0.000,6,0.000,0.025,2411,1879,3374,0,0,0,0,0,0
$GC,3298,-1.51,-77.9,364.2,-10.5,238,3302,0.12,2.47,0.00,0.000,4,0.067,0.051,2374,471,3372,0,0,0,0,0,0
$GC,3382,-1.45,-77.9,374.1,-10.9,239,3388,0.12,2.30,0.00,0.000,6,0.104,0.026,2399,1873,3372,0,0,0,0,0,0
$GC,3713,-1.50,-77.9,406.4,-9.7,248,3717,0.00,2.47,0.00,0.000,4,0.000,0.053,2399,464,3369,0,0,0,0,0,0
$GC,3809,-1.50,-77.9,417.2,-10.6,250,3813,0.00,2.33,0.00,0.000,6,0.000,0.028,2399,1871,3368,0,0,0,0,0,0
$GC,4127,-1.55,-77.9,447.5,-9.1,258,4131,0.00,2.47,0.00,0.000,4,0.000,0.055,2399,470,3366,0,0,0,0,0,0
$STATE,4153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4153,begin apogee
$GC,4160,-0.31,0.0,450.2,10.0,258,4228,1.12,0.00,64.68,0.867,6,0.081,0.000,2640,2006,3050,0,0,0,0,0,0
$STATE,4229,end apogee,CONTROL_FINISHED_OK
$STATE,4229,begin climb
$GC,4231,1.40,77.9,451.8,0.0,260,4306,1.65,2.53,64.85,0.848,4,0.033,0.044,3024,3406,2732,0,0,0,0,0,0
$GC,4375,1.24,134.0,450.2,4.2,263,4432,0.20,2.42,48.30,0.840,6,0.117,0.037,2987,2010,2502,0,0,0,0,0,0
$GC,4772,1.13,134.0,415.7,9.3,273,4777,0.15,2.50,0.00,0.000,4,0.121,0.054,2960,604,2494,0,0,0,0,0,0
$GC,4810,1.00,134.0,412.1,9.9,273,4816,0.12,2.35,0.00,0.000,6,0.104,0.029,2926,2008,2493,0,0,0,0,0,0
$GC,5140,1.00,134.0,384.1,8.8,282,5144,0.00,2.50,0.00,0.000,4,0.000,0.052,2926,599,2491,0,0,0,0,0,0
$GC,5172,0.96,134.0,381.0,9.1,282,5176,0.00,2.40,0.00,0.000,6,0.000,0.031,2926,2017,2490,0,0,0,0,0,0
$GC,5503,0.96,138.6,355.3,7.7,290,5507,0.00,2.50,0.00,0.000,4,0.000,0.052,2926,605,2488,0,0,0,0,0,0
$GC,5641,0.96,138.6,344.1,8.9,293,5645,0.00,2.35,0.00,0.000,6,0.000,0.030,2926,2019,2487,0,0,0,0,0,0
$GC,5963,1.02,157.1,322.5,6.8,301,5987,0.00,2.60,18.02,0.784,4,0.000,0.052,2926,600,2408,0,0,0,0,0,0
$GC,6067,1.02,157.1,314.0,8.7,303,6071,0.00,2.40,0.00,0.000,6,0.000,0.030,2926,2019,2405,0,0,0,0,0,0
$GC,6383,1.10,177.7,292.5,6.6,313,6405,0.12,0.00,18.77,0.765,6,0.076,0.000,2957,2024,2325,0,0,0,0,0,0
$GC,6716,1.10,177.7,261.1,9.4,329,6721,0.00,2.50,0.00,0.000,4,0.000,0.051,2956,604,2321,0,0,0,0,0,0
$GC,6883,1.05,177.7,244.7,9.3,336,6887,0.00,2.38,0.00,0.000,6,0.000,0.028,2957,2022,2317,0,0,0,0,0,0
$GC,7202,1.05,177.7,218.0,8.6,352,7206,0.00,2.50,0.00,0.000,4,0.000,0.050,2957,598,2317,0,0,0,0,0,0
$GC,7257,1.02,177.7,211.8,12.0,354,7261,0.00,2.38,0.00,0.000,6,0.000,0.028,2957,2019,2317,0,0,0,0,0,0
$GC,7579,1.02,177.7,182.0,8.3,378,7583,0.00,2.35,0.00,0.000,4,0.000,0.035,2958,3416,2316,0,0,0,0,0,0
$GC,7715,1.09,179.7,170.9,7.9,392,7722,0.00,2.42,0.00,0.000,6,0.000,0.033,2957,2003,2316,0,0,0,0,0,0
$GC,7979,1.13,190.0,153.0,7.3,417,7998,0.00,2.47,10.65,0.614,4,0.000,0.048,2955,611,2274,0,0,0,0,0,0
$GC,8157,1.13,190.0,135.9,9.3,436,8164,0.00,2.35,0.00,0.000,6,0.000,0.024,2957,2020,2272,0,0,0,0,0,0
$GC,8420,1.22,221.4,117.3,5.9,461,8458,0.10,2.55,28.45,0.624,4,0.082,0.045,2986,606,2146,0,0,0,0,0,0
$GC,8581,1.19,221.4,103.2,10.6,478,8587,0.00,2.35,0.00,0.000,6,0.000,0.022,2985,2020,2141,0,0,0,0,0,0
$GC,8844,1.19,221.4,79.2,8.6,503,8848,0.00,2.42,0.00,0.000,4,0.000,0.043,2986,602,2141,0,0,0,0,0,0
$GC,8922,1.19,221.4,70.9,10.4,511,8929,0.00,2.33,0.00,0.000,6,0.000,0.022,2985,2017,2140,0,0,0,0,0,0
$GC,9186,1.27,248.4,51.9,6.2,536,9217,0.00,2.47,24.20,0.555,4,0.000,0.042,2986,603,2035,0,0,0,0,0,0
$GC,9282,1.27,248.4,43.6,11.1,546,9286,0.00,2.28,0.00,0.000,6,0.000,0.021,2986,2015,2032,0,0,0,0,0,0
$GC,9544,1.35,248.4,23.0,8.6,578,9552,0.10,2.47,0.00,0.000,4,0.076,0.043,3018,607,2032,0,0,0,0,0,0
$GC,9663,1.31,248.4,10.2,10.8,603,9669,0.00,2.28,0.00,0.000,6,0.000,0.020,3018,2029,2030,0,0,0,0,0,0
$STATE,9744,end climb,SURFACE_DEPTH_REACHED
$STATE,9745,begin surface coast
$FINISH,0.4,1.021886
$STATE,9780,end surface coast,CONTROL_FINISHED_OK
$STATE,9781,begin surface
$SM_CCo,9800,28.15,0.510,0,0,1826,300.00
$SM_GC,0.90,0.00,0.00,28.15,0.000,0.000,0.510,427,1851,1826,-10.52,-0.68,300.00
$IRIDIUM_FIX,2052.52,-15744.48,090899,181850
$TT8_MAMPS,0.029913
$HUMID,46.33
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.4,25.180
$10V_AH,10.0,24.254
$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,26.400,115.650,277.925,28.150,0.000,54.984,71.178,243.037,4.500,0.000,34.095,1205.850,6384.087,370.057,1881.662,547.614,33.364,1196.134,0.000,1835.607,0.000,29.259,0.000
$DEVICE_MAMPS,137.293,55.224,867.477,510.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,420.272,397.163,790.331,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,34945,624
$CAP_FILE_SIZE,118058,0
$CFSIZE,260165632,242257920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150510,213526,2059.824,-15749.230,23,1.9,28,9.8