version: 66.06
glider: 139
mission: 7
dive: 33
start: 4 15 110 19 45 24
data:
$ID,139
$MISSION,7
$DIVE,33
$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,180
$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,-2119899.5
$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,2710
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,1960
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$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
$GPS1,194003,2105.197,-15756.033,42,5.5,61,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-70.6
$GPS2,194432,2105.169,-15755.984,12,1.3,12,9.8
$SPEED_LIMITS,0.144,0.186
$TGT_NAME,SOUTH
$TGT_LATLONG,2057.918,-15744.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.116,-0.145
$KALMAN_X,-630.0,-445.8,61.0,10848.6,325.7
$KALMAN_Y,1642.9,-74.2,-52.0,-8856.8,462.4
$MHEAD_RNG_PITCHd_Wd,131.5,23462,-21.5,-8.333
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.44,-77.9,0.0,0.0,0,77,0.00,0.00,-59.10,0.000,6,0.000,0.000,427,1939,3369,0,0,0,0,0,0
$GC,79,-1.44,-77.9,3.6,-6.2,11,97,10.77,2.42,0.00,0.000,4,0.143,0.040,2392,552,3370,0,0,0,0,0,0
$GC,245,-1.44,-77.9,47.0,-20.8,39,252,0.00,2.35,0.00,0.000,6,0.000,0.022,2392,1977,3371,0,0,0,0,0,0
$GC,505,-1.44,-77.9,92.6,-16.4,64,509,0.00,2.47,0.00,0.000,4,0.000,0.047,2392,542,3372,0,0,0,0,0,0
$GC,559,-1.44,-77.9,101.4,-16.0,69,564,0.00,2.30,0.00,0.000,6,0.000,0.021,2391,1961,3372,0,0,0,0,0,0
$GC,819,-1.44,-77.9,135.6,-13.0,94,823,0.00,2.42,0.00,0.000,4,0.000,0.045,2392,548,3373,0,0,0,0,0,0
$GC,918,-1.44,-77.9,148.8,-12.9,104,924,0.00,2.33,0.00,0.000,6,0.000,0.022,2392,1965,3374,0,0,0,0,0,0
$GC,1179,-1.44,-77.9,180.4,-11.5,129,1183,0.00,2.42,0.00,0.000,4,0.000,0.044,2392,546,3375,0,0,0,0,0,0
$GC,1233,-1.44,-77.9,187.4,-13.0,134,1240,0.00,2.33,0.00,0.000,6,0.000,0.022,2392,1961,3375,0,0,0,0,0,0
$GC,1488,-1.44,-77.9,217.0,-11.7,152,1493,0.00,2.42,0.00,0.000,4,0.000,0.047,2392,548,3375,0,0,0,0,0,0
$GC,1524,-1.44,-77.9,221.2,-11.4,153,1530,0.00,2.30,0.00,0.000,6,0.000,0.023,2392,1959,3375,0,0,0,0,0,0
$GC,1840,-1.44,-77.9,254.6,-12.1,169,1844,0.00,2.45,0.00,0.000,4,0.000,0.048,2392,550,3376,0,0,0,0,0,0
$GC,1883,-1.44,-77.9,260.1,-12.7,171,1888,0.00,2.30,0.00,0.000,6,0.000,0.025,2392,1958,3376,0,0,0,0,0,0
$GC,2213,-1.44,-77.9,299.4,-12.1,187,2218,0.00,2.42,0.00,0.000,4,0.000,0.049,2392,551,3376,0,0,0,0,0,0
$GC,2236,-1.44,-77.9,302.3,-11.7,188,2240,0.00,2.30,0.00,0.000,6,0.000,0.025,2392,1970,3375,0,0,0,0,0,0
$GC,2575,-1.44,-77.9,338.7,-10.5,197,2579,0.00,2.47,0.00,0.000,4,0.000,0.051,2392,555,3375,0,0,0,0,0,0
$GC,2620,-1.44,-77.9,343.9,-10.9,198,2625,0.00,2.33,0.00,0.000,6,0.000,0.027,2392,1964,3375,0,0,0,0,0,0
$GC,2943,-1.44,-77.9,370.4,-7.8,206,2947,0.00,2.47,0.00,0.000,4,0.000,0.054,2392,551,3373,0,0,0,0,0,0
$GC,2985,-1.44,-77.9,373.9,-8.5,207,2989,0.00,2.35,0.00,0.000,6,0.000,0.028,2392,1963,3373,0,0,0,0,0,0
$GC,3316,-1.44,-77.9,402.2,-8.6,215,3320,0.00,2.47,0.00,0.000,4,0.000,0.055,2391,550,3372,0,0,0,0,0,0
$GC,3370,-1.44,-77.9,407.5,-9.4,216,3374,0.00,2.33,0.00,0.000,6,0.000,0.030,2392,1959,3371,0,0,0,0,0,0
$GC,3683,-1.44,-77.9,433.5,-7.8,224,3687,0.00,2.50,0.00,0.000,4,0.000,0.058,2392,549,3369,0,0,0,0,0,0
$GC,3738,-1.44,-77.9,439.3,-9.9,225,3742,0.00,2.35,0.00,0.000,6,0.000,0.031,2392,1960,3369,0,0,0,0,0,0
$STATE,3891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3891,begin apogee
$GC,3896,-0.31,0.0,453.6,9.3,229,3964,1.17,0.00,64.53,0.885,6,0.083,0.000,2639,2052,3050,0,0,0,0,0,0
$STATE,3965,end apogee,CONTROL_FINISHED_OK
$STATE,3965,begin climb
$GC,3966,1.44,77.9,454.7,0.0,230,4041,1.70,2.47,64.45,0.862,4,0.038,0.045,3029,3419,2732,0,0,0,0,0,0
$GC,4213,1.49,116.7,449.5,5.6,235,4253,0.00,2.42,32.97,0.849,6,0.000,0.040,3029,2031,2574,0,0,0,0,0,0
$GC,4561,1.49,116.7,417.8,9.2,244,4566,0.00,2.40,0.00,0.000,4,0.000,0.043,3029,3419,2569,0,0,0,0,0,0
$GC,4673,1.49,123.4,409.4,7.9,246,4685,0.00,2.42,6.47,0.683,6,0.000,0.041,3029,2032,2545,0,0,0,0,0,0
$GC,5020,1.50,123.7,380.5,8.3,255,5024,0.00,2.40,0.00,0.000,4,0.000,0.043,3029,3423,2542,0,0,0,0,0,0
$GC,5141,1.50,123.7,369.7,9.2,257,5145,0.00,2.42,0.00,0.000,6,0.000,0.041,3029,2029,2542,0,0,0,0,0,0
$GC,5476,1.50,123.7,337.3,9.9,266,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2029,2540,0,0,0,0,0,0
$GC,5801,1.52,144.3,311.7,6.9,274,5825,0.00,2.47,17.80,0.783,4,0.000,0.041,3029,3413,2461,0,0,0,0,0,0
$GC,5883,1.53,153.5,305.9,7.7,275,5899,0.00,2.38,9.43,0.712,6,0.000,0.038,3029,2034,2424,0,0,0,0,0,0
$GC,6225,1.53,153.5,276.7,8.4,290,6226,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2034,2420,0,0,0,0,0,0
$GC,6536,1.53,153.5,250.5,8.7,305,6540,0.00,2.45,0.00,0.000,4,0.000,0.054,3028,629,2418,0,0,0,0,0,0
$GC,6555,1.53,153.5,248.6,9.3,306,6559,0.00,2.35,0.00,0.000,6,0.000,0.031,3028,2026,2417,0,0,0,0,0,0
$GC,6883,1.53,153.5,219.9,8.7,322,6887,0.00,2.45,0.00,0.000,4,0.000,0.051,3028,625,2418,0,0,0,0,0,0
$GC,6956,1.53,153.5,212.1,10.5,325,6960,0.00,2.38,0.00,0.000,6,0.000,0.029,3028,2041,2416,0,0,0,0,0,0
$GC,7282,1.53,153.5,186.0,8.4,349,7286,0.00,2.35,0.00,0.000,4,0.000,0.038,3028,3440,2415,0,0,0,0,0,0
$GC,7362,1.54,160.4,179.5,7.8,357,7374,0.00,2.40,6.38,0.582,6,0.000,0.035,3029,2028,2394,0,0,0,0,0,0
$GC,7636,1.54,160.4,159.3,8.5,383,7640,0.00,2.40,0.00,0.000,4,0.000,0.048,3028,631,2393,0,0,0,0,0,0
$GC,7754,1.55,169.6,149.2,7.7,395,7770,0.00,2.30,8.95,0.605,6,0.000,0.026,3028,2044,2358,0,0,0,0,0,0
$GC,8025,1.58,196.2,127.6,6.4,421,8056,0.12,2.55,24.50,0.640,4,0.073,0.047,3063,627,2248,0,0,0,0,0,0
$GC,8071,1.60,205.2,124.4,7.7,426,8085,0.00,2.35,9.12,0.568,6,0.000,0.025,3063,2038,2213,0,0,0,0,0,0
$GC,8345,1.60,205.2,93.0,14.1,452,8350,0.00,2.45,0.00,0.000,4,0.000,0.046,3063,630,2210,0,0,0,0,0,0
$GC,8569,1.60,205.2,59.9,14.2,476,8573,0.00,2.30,0.00,0.000,6,0.000,0.023,3063,2034,2207,0,0,0,0,0,0
$GC,8831,1.60,205.2,29.5,11.5,500,8837,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2040,2207,0,0,0,0,0,0
$GC,9032,1.60,205.2,8.5,10.5,537,9038,0.00,2.33,0.00,0.000,4,0.000,0.030,3063,3423,2207,0,0,0,0,0,0
$GC,9047,1.60,205.2,7.0,10.6,539,9053,0.00,2.35,0.00,0.000,6,0.000,0.031,3064,2038,2207,0,0,0,0,0,0
$STATE,9084,end climb,SURFACE_DEPTH_REACHED
$STATE,9084,begin surface coast
$FINISH,0.5,1.023500
$STATE,9113,end surface coast,CONTROL_FINISHED_OK
$STATE,9113,begin surface
$SM_CCo,9132,50.47,0.539,0,0,1826,300.00
$SM_GC,1.39,0.00,0.00,50.47,0.000,0.000,0.539,425,1941,1826,-10.52,-0.54,300.00
$IRIDIUM_FIX,2059.45,-15701.13,100799,171720
$TT8_MAMPS,0.029913
$HUMID,43.30
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,20.60
$XPDR_PINGS,2
$24V_AH,23.3,4.593
$10V_AH,10.0,4.123
$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,25.125,105.550,244.600,50.475,0.000,25.132,33.520,125.519,0.500,0.000,12.864,1062.839,6031.299,356.307,1689.971,318.608,33.344,1107.801,0.000,1683.411,0.000,0.537,0.000
$DEVICE_MAMPS,143.429,85.904,885.118,539.201,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,372.292,345.105,760.223,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,31703,551
$CAP_FILE_SIZE,98332,0
$CFSIZE,260165632,256270336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150410,222015,2104.483,-15754.927,53,5.7,72,9.8