version: 66.06
glider: 139
mission: 7
dive: 227
start: 5 8 110 15 1 10
data:
$ID,139
$MISSION,7
$DIVE,227
$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,-2126931
$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
$GPS1,145150,2104.342,-15743.816,168,2.9,187,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-71.5
$GPS2,150019,2104.427,-15743.747,14,2.0,19,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.103,-0.152
$KALMAN_X,-102347.5,48.8,-50.2,136282.8,306.8
$KALMAN_Y,34433.3,-219.0,139.2,-40548.9,730.0
$MHEAD_RNG_PITCHd_Wd,204.4,16035,-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,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,73,0.00,0.00,-54.62,0.000,2,0.000,0.000,426,1876,3257,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.1,-5.1,10,94,10.65,2.38,-2.17,0.000,4,0.137,0.051,2403,483,3369,0,0,0,0,0,0
$GC,230,-1.25,-77.9,38.9,-16.8,39,235,0.17,2.33,0.00,0.000,6,0.101,0.021,2438,1927,3371,0,0,0,0,0,0
$GC,492,-1.25,-77.9,74.8,-13.9,63,496,0.00,2.47,0.00,0.000,4,0.000,0.044,2438,491,3371,0,0,0,0,0,0
$GC,519,-1.16,-77.9,78.8,-13.9,65,526,0.08,2.30,0.00,0.000,6,0.089,0.020,2457,1911,3371,0,0,0,0,0,0
$GC,780,-1.20,-77.9,109.1,-10.5,90,784,0.00,2.42,0.00,0.000,4,0.000,0.041,2457,485,3372,0,0,0,0,0,0
$GC,814,-1.20,-77.9,112.9,-11.1,93,818,0.00,2.28,0.00,0.000,6,0.000,0.020,2457,1902,3372,0,0,0,0,0,0
$GC,1077,-1.28,-77.9,138.9,-10.8,117,1081,0.00,2.40,0.00,0.000,4,0.000,0.044,2457,494,3373,0,0,0,0,0,0
$GC,1139,-1.34,-77.9,146.2,-11.2,123,1144,0.17,2.28,0.00,0.000,6,0.052,0.020,2404,1907,3373,0,0,0,0,0,0
$GC,1401,-1.31,-77.9,179.4,-12.2,147,1406,0.12,2.40,0.00,0.000,4,0.100,0.044,2430,498,3374,0,0,0,0,0,0
$GC,1434,-1.27,-77.9,184.0,-12.7,150,1441,0.00,2.28,0.00,0.000,6,0.000,0.021,2430,1898,3374,0,0,0,0,0,0
$GC,1704,-1.32,-77.9,211.2,-9.9,171,1708,0.00,2.42,0.00,0.000,4,0.000,0.044,2429,488,3374,0,0,0,0,0,0
$GC,1736,-1.32,-77.9,215.1,-11.9,172,1740,0.00,2.28,0.00,0.000,6,0.000,0.021,2430,1900,3374,0,0,0,0,0,0
$GC,2052,-1.39,-77.9,243.9,-8.4,187,2057,0.00,2.40,0.00,0.000,4,0.000,0.045,2427,493,3374,0,0,0,0,0,0
$GC,2159,-1.45,-77.9,254.1,-9.1,191,2165,0.15,2.25,0.00,0.000,6,0.058,0.021,2384,1898,3374,0,0,0,0,0,0
$GC,2475,-1.45,-77.9,285.9,-10.3,207,2479,0.00,2.42,0.00,0.000,4,0.000,0.045,2383,491,3374,0,0,0,0,0,0
$GC,2587,-1.41,-77.9,298.3,-10.3,212,2592,0.12,2.28,0.00,0.000,6,0.102,0.023,2407,1897,3374,0,0,0,0,0,0
$GC,2932,-1.46,-77.9,329.3,-9.0,221,2936,0.00,2.45,0.00,0.000,4,0.000,0.050,2409,488,3373,0,0,0,0,0,0
$GC,2950,-1.46,-77.9,331.4,-10.7,221,2954,0.00,2.30,0.00,0.000,6,0.000,0.025,2407,1902,3372,0,0,0,0,0,0
$GC,3300,-1.53,-77.9,360.7,-7.9,230,3305,0.12,2.45,0.00,0.000,4,0.069,0.051,2372,495,3371,0,0,0,0,0,0
$GC,3344,-1.47,-77.9,365.4,-11.1,231,3348,0.00,2.33,0.00,0.000,6,0.000,0.027,2372,1905,3371,0,0,0,0,0,0
$GC,3672,-1.47,-77.9,397.4,-9.8,239,3676,0.00,2.45,0.00,0.000,4,0.000,0.052,2372,495,3369,0,0,0,0,0,0
$GC,3701,-1.40,-77.9,400.5,-10.8,239,3706,0.17,2.33,0.00,0.000,6,0.097,0.028,2407,1906,3369,0,0,0,0,0,0
$GC,4038,-1.48,-77.9,426.6,-7.6,248,4042,0.00,2.50,0.00,0.000,4,0.000,0.054,2407,488,3366,0,0,0,0,0,0
$GC,4128,-1.53,-77.9,434.3,-8.4,250,4133,0.12,2.35,0.00,0.000,6,0.071,0.029,2372,1900,3365,0,0,0,0,0,0
$STATE,4333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4334,begin apogee
$GC,4339,-0.31,0.0,452.8,8.9,255,4407,1.27,0.00,64.18,0.882,6,0.077,0.000,2643,2058,3050,0,0,0,0,0,0
$STATE,4407,end apogee,CONTROL_FINISHED_OK
$STATE,4408,begin climb
$GC,4409,1.40,77.9,454.0,0.0,256,4484,1.65,2.45,64.97,0.859,4,0.035,0.046,3026,3407,2732,0,0,0,0,0,0
$GC,4747,1.24,129.9,443.9,4.4,263,4797,0.20,2.38,44.03,0.856,6,0.117,0.038,2987,2025,2520,0,0,0,0,0,0
$GC,5133,1.12,133.1,415.0,7.8,273,5138,0.15,2.42,0.00,0.000,4,0.123,0.044,2964,3408,2513,0,0,0,0,0,0
$GC,5157,1.08,152.8,413.3,6.7,273,5182,0.00,2.40,20.05,0.825,6,0.000,0.040,2963,2029,2427,0,0,0,0,0,0
$GC,5502,1.04,152.8,386.1,8.4,282,5503,0.12,0.00,0.00,0.000,6,0.127,0.000,2941,2029,2421,0,0,0,0,0,0
$GC,5825,1.04,155.9,360.7,7.8,290,5829,0.00,2.47,0.00,0.000,4,0.000,0.055,2939,629,2419,0,0,0,0,0,0
$GC,5904,0.99,155.9,353.8,9.2,291,5908,0.00,2.33,0.00,0.000,6,0.000,0.031,2939,2016,2416,0,0,0,0,0,0
$GC,6234,0.99,155.9,328.3,8.1,299,6235,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2020,2416,0,0,0,0,0,0
$GC,6559,1.01,175.6,304.3,6.7,307,6583,0.00,2.55,18.95,0.788,4,0.000,0.054,2940,630,2333,0,0,0,0,0,0
$GC,6625,1.01,175.6,298.8,9.3,308,6629,0.00,2.38,0.00,0.000,6,0.000,0.030,2940,2043,2331,0,0,0,0,0,0
$GC,6954,1.05,177.6,271.9,7.9,324,6958,0.00,2.47,0.00,0.000,4,0.000,0.051,2940,628,2329,0,0,0,0,0,0
$GC,7151,1.05,177.6,254.5,9.7,332,7158,0.00,2.40,0.00,0.000,6,0.000,0.029,2941,2041,2326,0,0,0,0,0,0
$GC,7467,1.15,214.8,235.1,5.5,348,7509,0.10,2.58,35.10,0.746,4,0.087,0.051,2966,621,2173,0,0,0,0,0,0
$GC,7535,1.10,214.8,230.0,9.4,351,7540,0.00,2.40,0.00,0.000,6,0.000,0.028,2966,2040,2170,0,0,0,0,0,0
$GC,7865,1.10,214.8,198.8,9.8,367,7869,0.00,2.47,0.00,0.000,4,0.000,0.048,2966,627,2168,0,0,0,0,0,0
$GC,8018,1.10,214.8,181.8,11.4,383,8022,0.00,2.33,0.00,0.000,6,0.000,0.025,2966,2039,2164,0,0,0,0,0,0
$GC,8281,1.13,214.8,156.8,9.7,407,8285,0.00,2.47,0.00,0.000,4,0.000,0.048,2966,619,2164,0,0,0,0,0,0
$GC,8363,1.13,214.8,146.7,12.5,415,8369,0.00,2.33,0.00,0.000,6,0.000,0.024,2967,2038,2163,0,0,0,0,0,0
$GC,8624,1.19,214.8,121.7,9.1,440,8629,0.00,2.45,0.00,0.000,4,0.000,0.045,2967,625,2163,0,0,0,0,0,0
$GC,8695,1.19,214.8,114.6,11.1,447,8699,0.00,2.30,0.00,0.000,6,0.000,0.023,2966,2041,2163,0,0,0,0,0,0
$GC,8958,1.25,214.8,91.2,9.1,471,8962,0.00,2.42,0.00,0.000,4,0.000,0.044,2967,622,2163,0,0,0,0,0,0
$GC,9067,1.25,214.8,80.4,9.5,482,9074,0.00,2.33,0.00,0.000,6,0.000,0.022,2965,2037,2163,0,0,0,0,0,0
$GC,9330,1.36,233.3,61.6,6.8,507,9352,0.20,2.53,16.38,0.550,4,0.054,0.043,3020,621,2097,0,0,0,0,0,0
$GC,9573,1.29,233.3,31.6,13.3,534,9578,0.12,2.30,0.00,0.000,6,0.107,0.021,2996,2039,2094,0,0,0,0,0,0
$GC,9837,1.33,233.3,8.5,8.6,581,9843,0.00,2.45,0.00,0.000,4,0.000,0.042,2995,625,2094,0,0,0,0,0,0
$STATE,9890,end climb,SURFACE_DEPTH_REACHED
$STATE,9890,begin surface coast
$FINISH,0.3,1.023507
$STATE,9922,end surface coast,CONTROL_FINISHED_OK
$STATE,9923,begin surface
$SM_CCo,9944,33.72,0.513,0,0,1826,300.00
$SM_GC,1.61,0.00,0.00,33.72,0.000,0.000,0.513,432,1914,1826,-10.50,0.40,300.00
$IRIDIUM_FIX,2054.83,-15739.33,020899,151505
$TT8_MAMPS,0.029146
$HUMID,44.64
$INTERNAL_PRESSURE,9.69418
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,20.408
$10V_AH,10.0,19.472
$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,26.750,114.625,263.650,33.725,0.000,53.565,57.953,227.275,4.500,0.000,19.196,1188.943,6542.846,355.723,1883.329,517.551,33.373,1162.349,0.000,1857.833,0.000,29.260,0.000
$DEVICE_MAMPS,136.526,55.224,882.050,513.123,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.964,381.900,860.257,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,31774,600
$CAP_FILE_SIZE,117852,0
$CFSIZE,260165632,245624832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080510,175006,2103.975,-15743.943,123,1.1,123,9.8