version: 66.06
glider: 139
mission: 7
dive: 37
start: 4 16 110 6 1 28
data:
$ID,139
$MISSION,7
$DIVE,37
$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,-2120020.2
$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,1940
$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
$GPS1,055236,2102.396,-15753.662,48,1.1,48,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-67.9
$GPS2,060037,2102.380,-15753.697,36,0.8,36,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,SOUTH
$TGT_LATLONG,2057.918,-15744.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.168,-0.075
$KALMAN_X,-3385.7,332.6,-642.7,17488.2,-364.9
$KALMAN_Y,889.4,-227.0,-144.8,-13024.6,18.7
$MHEAD_RNG_PITCHd_Wd,104.3,17374,-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,-55.22,0.000,2,0.000,0.000,427,1937,3246,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.0,-4.9,10,94,10.77,2.42,-2.50,0.000,4,0.141,0.052,2402,530,3369,0,0,0,0,0,0
$GC,177,-1.40,-77.9,27.5,-17.4,32,184,0.00,2.35,0.00,0.000,6,0.000,0.022,2402,1952,3370,0,0,0,0,0,0
$GC,381,-1.40,-77.9,59.7,-14.8,52,386,0.00,2.45,0.00,0.000,4,0.000,0.046,2403,532,3371,0,0,0,0,0,0
$GC,416,-1.40,-77.9,66.1,-17.8,55,423,0.00,2.33,0.00,0.000,6,0.000,0.021,2402,1949,3371,0,0,0,0,0,0
$GC,676,-1.40,-77.9,102.7,-11.3,80,681,0.00,2.45,0.00,0.000,4,0.000,0.045,2402,524,3372,0,0,0,0,0,0
$GC,699,-1.40,-77.9,105.8,-13.4,82,704,0.00,2.28,0.00,0.000,6,0.000,0.021,2403,1943,3372,0,0,0,0,0,0
$GC,959,-1.40,-77.9,137.7,-12.0,106,964,0.00,2.45,0.00,0.000,4,0.000,0.044,2403,525,3373,0,0,0,0,0,0
$GC,1012,-1.40,-77.9,144.0,-12.4,111,1016,0.00,2.28,0.00,0.000,6,0.000,0.022,2402,1941,3373,0,0,0,0,0,0
$GC,1274,-1.40,-77.9,174.7,-12.3,135,1278,0.00,2.45,0.00,0.000,4,0.000,0.047,2402,528,3374,0,0,0,0,0,0
$GC,1301,-1.40,-77.9,178.7,-14.3,137,1307,0.00,2.28,0.00,0.000,6,0.000,0.022,2402,1943,3374,0,0,0,0,0,0
$GC,1559,-1.40,-77.9,210.2,-12.4,158,1563,0.00,2.42,0.00,0.000,4,0.000,0.046,2402,528,3374,0,0,0,0,0,0
$GC,1602,-1.40,-77.9,215.2,-11.6,160,1606,0.00,2.30,0.00,0.000,6,0.000,0.023,2402,1940,3374,0,0,0,0,0,0
$GC,1930,-1.40,-77.9,248.8,-10.2,176,1934,0.00,2.45,0.00,0.000,4,0.000,0.048,2402,526,3374,0,0,0,0,0,0
$GC,1980,-1.40,-77.9,254.5,-11.5,178,1984,0.00,2.30,0.00,0.000,6,0.000,0.024,2402,1940,3374,0,0,0,0,0,0
$GC,2299,-1.40,-77.9,292.7,-11.1,194,2303,0.00,2.45,0.00,0.000,4,0.000,0.049,2402,528,3374,0,0,0,0,0,0
$GC,2334,-1.40,-77.9,296.8,-10.9,195,2338,0.00,2.30,0.00,0.000,6,0.000,0.025,2402,1942,3374,0,0,0,0,0,0
$GC,2665,-1.40,-77.9,334.6,-11.9,204,2669,0.00,2.47,0.00,0.000,4,0.000,0.052,2402,529,3373,0,0,0,0,0,0
$GC,2715,-1.40,-77.9,340.8,-11.9,205,2719,0.00,2.33,0.00,0.000,6,0.000,0.027,2402,1942,3373,0,0,0,0,0,0
$GC,3032,-1.40,-77.9,370.2,-8.6,213,3037,0.00,2.47,0.00,0.000,4,0.000,0.054,2402,535,3372,0,0,0,0,0,0
$GC,3101,-1.40,-77.9,376.9,-9.3,214,3105,0.00,2.33,0.00,0.000,6,0.000,0.028,2402,1940,3371,0,0,0,0,0,0
$GC,3441,-1.40,-77.9,405.6,-8.3,223,3445,0.00,2.50,0.00,0.000,4,0.000,0.057,2402,528,3369,0,0,0,0,0,0
$GC,3505,-1.40,-77.9,412.1,-10.2,224,3509,0.00,2.33,0.00,0.000,6,0.000,0.030,2402,1938,3369,0,0,0,0,0,0
$GC,3849,-1.40,-77.9,441.2,-8.1,233,3853,0.00,2.50,0.00,0.000,4,0.000,0.059,2402,532,3366,0,0,0,0,0,0
$GC,3880,-1.40,-77.9,444.2,-8.7,233,3885,0.00,2.33,0.00,0.000,6,0.000,0.031,2402,1937,3367,0,0,0,0,0,0
$STATE,3965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3965,begin apogee
$GC,3970,-0.31,0.0,451.2,8.2,235,4038,1.12,0.00,64.62,0.884,6,0.081,0.000,2641,2060,3050,0,0,0,0,0,0
$STATE,4039,end apogee,CONTROL_FINISHED_OK
$STATE,4039,begin climb
$GC,4041,1.40,77.9,452.1,0.0,236,4115,1.65,2.45,64.65,0.864,4,0.036,0.046,3021,3411,2732,0,0,0,0,0,0
$GC,4379,1.41,84.9,436.5,7.5,243,4391,0.00,2.38,7.12,0.707,6,0.000,0.041,3021,2033,2703,0,0,0,0,0,0
$GC,4726,1.42,100.6,410.9,6.9,252,4746,0.00,2.50,14.00,0.805,4,0.000,0.043,3021,3420,2638,0,0,0,0,0,0
$GC,4909,1.42,100.6,395.5,8.0,256,4913,0.00,2.40,0.00,0.000,6,0.000,0.041,3021,2034,2638,0,0,0,0,0,0
$GC,5236,1.49,151.4,376.2,4.5,264,5287,0.00,2.58,44.20,0.845,4,0.000,0.058,3021,630,2430,0,0,0,0,0,0
$GC,5310,1.51,169.5,372.6,6.8,265,5334,0.00,2.38,16.83,0.792,6,0.000,0.032,3021,2030,2359,0,0,0,0,0,0
$GC,5647,1.51,169.5,333.9,12.2,274,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2030,2351,0,0,0,0,0,0
$GC,5952,1.51,169.5,296.8,12.2,282,5953,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2030,2349,0,0,0,0,0,0
$GC,6262,1.51,169.5,259.0,11.1,297,6263,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2030,2347,0,0,0,0,0,0
$GC,6570,1.51,169.5,225.9,9.4,312,6574,0.00,2.47,0.00,0.000,4,0.000,0.053,3021,626,2346,0,0,0,0,0,0
$GC,6620,1.51,169.5,220.7,10.1,314,6624,0.00,2.38,0.00,0.000,6,0.000,0.030,3021,2039,2344,0,0,0,0,0,0
$GC,6942,1.51,169.5,192.7,9.3,333,6946,0.00,2.47,0.00,0.000,4,0.000,0.051,3021,629,2344,0,0,0,0,0,0
$GC,6956,1.51,169.5,191.1,9.6,334,6960,0.00,2.35,0.00,0.000,6,0.000,0.028,3021,2048,2343,0,0,0,0,0,0
$GC,7217,1.51,169.5,163.0,10.9,358,7221,0.00,2.50,0.00,0.000,4,0.000,0.050,3021,622,2344,0,0,0,0,0,0
$GC,7244,1.51,169.5,159.7,11.7,360,7251,0.00,2.38,0.00,0.000,6,0.000,0.027,3021,2037,2343,0,0,0,0,0,0
$GC,7505,1.51,169.5,132.1,10.0,385,7509,0.00,2.47,0.00,0.000,4,0.000,0.048,3021,618,2343,0,0,0,0,0,0
$GC,7548,1.51,169.5,128.0,9.3,389,7552,0.00,2.35,0.00,0.000,6,0.000,0.026,3021,2038,2343,0,0,0,0,0,0
$GC,7810,1.55,202.9,109.0,5.7,413,7840,0.12,0.00,27.45,0.636,6,0.074,0.000,3055,2044,2222,0,0,0,0,0,0
$GC,8094,1.55,202.9,75.1,11.9,440,8095,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2044,2218,0,0,0,0,0,0
$GC,8349,1.55,202.9,42.6,12.8,464,8350,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2044,2217,0,0,0,0,0,0
$GC,8606,1.57,216.9,15.5,7.1,501,8624,0.00,0.00,13.10,0.525,6,0.000,0.000,3055,2044,2164,0,0,0,0,0,0
$STATE,8725,end climb,SURFACE_DEPTH_REACHED
$STATE,8725,begin surface coast
$FINISH,0.6,1.023762
$STATE,8749,end surface coast,CONTROL_FINISHED_OK
$STATE,8749,begin surface
$SM_CCo,8768,46.67,0.543,0,0,1826,300.00
$SM_GC,1.35,0.00,0.00,46.67,0.000,0.000,0.543,431,1926,1826,-10.48,-0.40,300.00
$IRIDIUM_FIX,2054.83,-15756.91,110799,060640
$TT8_MAMPS,0.029913
$HUMID,43.89
$INTERNAL_PRESSURE,9.64535
$TCM_TEMP,20.30
$XPDR_PINGS,0
$24V_AH,23.3,4.895
$10V_AH,9.9,4.399
$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,25.100,91.575,251.975,46.675,0.000,58.128,57.855,192.068,0.000,0.000,36.588,998.589,5957.919,359.783,1548.552,438.644,33.369,1021.973,0.000,1518.519,0.000,0.537,0.000
$DEVICE_MAMPS,141.128,66.729,884.351,543.036,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,356.821,332.836,747.308,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,28601,527
$CAP_FILE_SIZE,92750,0
$CFSIZE,260165632,256094208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160410,082931,2101.900,-15752.782,28,1.5,33,9.8