version: 66.06
glider: 139
mission: 7
dive: 41
start: 4 16 110 16 30 12
data:
$ID,139
$MISSION,7
$DIVE,41
$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,-2120121
$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
$GPS1,162457,2101.512,-15751.880,58,4.6,77,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.1
$GPS2,162920,2101.510,-15751.897,14,1.4,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,SOUTH
$TGT_LATLONG,2057.918,-15744.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,0.004
$KALMAN_X,-7350.6,-149.0,-686.7,25083.6,-1070.0
$KALMAN_Y,-1530.9,105.8,-224.3,-12469.9,-585.9
$MHEAD_RNG_PITCHd_Wd,79.0,13870,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.40,-77.9,0.0,0.0,0,77,0.00,0.00,-59.03,0.000,6,0.000,0.000,431,1958,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,3.7,-6.4,11,97,10.70,2.50,0.00,0.000,4,0.140,0.039,2400,524,3370,0,0,0,0,0,0
$GC,134,-1.40,-77.9,22.1,-24.6,22,140,0.00,2.38,0.00,0.000,6,0.000,0.022,2400,1967,3371,0,0,0,0,0,0
$GC,339,-1.40,-77.9,59.3,-20.0,45,340,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1972,3372,0,0,0,0,0,0
$GC,594,-1.40,-77.9,104.1,-15.0,69,598,0.00,2.47,0.00,0.000,4,0.000,0.044,2400,532,3373,0,0,0,0,0,0
$GC,636,-1.40,-77.9,111.0,-15.9,73,641,0.00,2.30,0.00,0.000,6,0.000,0.021,2400,1949,3373,0,0,0,0,0,0
$GC,898,-1.40,-77.9,145.5,-11.3,97,902,0.00,2.45,0.00,0.000,4,0.000,0.047,2400,525,3374,0,0,0,0,0,0
$GC,930,-1.40,-77.9,149.4,-11.8,100,934,0.00,2.28,0.00,0.000,6,0.000,0.021,2400,1946,3374,0,0,0,0,0,0
$GC,1196,-1.40,-77.9,175.6,-9.0,125,1201,0.00,2.45,0.00,0.000,4,0.000,0.045,2400,525,3375,0,0,0,0,0,0
$GC,1234,-1.40,-77.9,179.4,-9.7,128,1240,0.00,2.30,0.00,0.000,6,0.000,0.022,2400,1933,3375,0,0,0,0,0,0
$GC,1492,-1.40,-77.9,208.4,-12.0,150,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1937,3376,0,0,0,0,0,0
$GC,1803,-1.40,-77.9,248.2,-12.0,165,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1937,3376,0,0,0,0,0,0
$GC,2110,-1.40,-77.9,278.4,-8.6,180,2115,0.00,2.42,0.00,0.000,4,0.000,0.048,2400,532,3376,0,0,0,0,0,0
$GC,2170,-1.40,-77.9,283.8,-8.8,182,2176,0.00,2.30,0.00,0.000,6,0.000,0.025,2400,1932,3376,0,0,0,0,0,0
$GC,2503,-1.40,-77.9,313.1,-9.6,196,2507,0.00,2.42,0.00,0.000,4,0.000,0.051,2400,528,3376,0,0,0,0,0,0
$GC,2581,-1.40,-77.9,321.7,-10.3,197,2585,0.00,2.33,0.00,0.000,6,0.000,0.026,2400,1940,3376,0,0,0,0,0,0
$GC,2911,-1.40,-77.9,353.1,-9.7,205,2915,0.00,2.45,0.00,0.000,4,0.000,0.054,2400,532,3373,0,0,0,0,0,0
$GC,3012,-1.40,-77.9,364.1,-10.9,207,3016,0.00,2.30,0.00,0.000,6,0.000,0.028,2400,1940,3373,0,0,0,0,0,0
$GC,3324,-1.40,-77.9,392.8,-9.3,215,3329,0.00,2.47,0.00,0.000,4,0.000,0.056,2400,536,3372,0,0,0,0,0,0
$GC,3388,-1.40,-77.9,399.1,-10.1,216,3393,0.00,2.30,0.00,0.000,6,0.000,0.029,2400,1937,3371,0,0,0,0,0,0
$GC,3732,-1.40,-77.9,428.4,-8.6,225,3737,0.00,2.47,0.00,0.000,4,0.000,0.059,2400,529,3369,0,0,0,0,0,0
$GC,3787,-1.40,-77.9,433.4,-9.3,226,3791,0.00,2.35,0.00,0.000,6,0.000,0.030,2400,1943,3369,0,0,0,0,0,0
$STATE,4021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4021,begin apogee
$GC,4026,-0.31,0.0,452.4,8.0,232,4095,1.12,0.00,64.95,0.889,6,0.080,0.000,2639,2050,3050,0,0,0,0,0,0
$STATE,4096,end apogee,CONTROL_FINISHED_OK
$STATE,4096,begin climb
$GC,4097,1.40,77.9,453.4,0.0,233,4172,1.65,2.47,64.80,0.866,4,0.038,0.046,3018,3414,2732,0,0,0,0,0,0
$GC,4436,1.45,120.1,439.9,5.1,241,4477,0.00,2.40,35.72,0.855,6,0.000,0.040,3018,2031,2560,0,0,0,0,0,0
$GC,4785,1.45,120.1,409.3,9.3,250,4789,0.00,2.40,0.00,0.000,4,0.000,0.043,3018,3419,2555,0,0,0,0,0,0
$GC,4890,1.45,120.1,399.7,8.1,252,4895,0.00,2.40,0.00,0.000,6,0.000,0.042,3018,2033,2554,0,0,0,0,0,0
$GC,5239,1.45,120.1,373.0,8.1,261,5243,0.00,2.40,0.00,0.000,4,0.000,0.043,3019,3419,2551,0,0,0,0,0,0
$GC,5335,1.45,120.1,364.3,8.4,263,5339,0.00,2.40,0.00,0.000,6,0.000,0.041,3018,2032,2552,0,0,0,0,0,0
$GC,5657,1.46,133.1,340.1,7.1,271,5669,0.00,0.00,10.40,0.763,6,0.000,0.000,3018,2032,2507,0,0,0,0,0,0
$GC,5982,1.46,133.1,311.5,9.5,279,5986,0.00,2.50,0.00,0.000,4,0.000,0.056,3018,622,2505,0,0,0,0,0,0
$GC,6032,1.46,133.1,306.6,9.8,280,6036,0.00,2.35,0.00,0.000,6,0.000,0.031,3018,2033,2504,0,0,0,0,0,0
$GC,6354,1.50,161.2,282.1,6.1,293,6386,0.00,2.55,25.38,0.787,4,0.000,0.054,3018,622,2390,0,0,0,0,0,0
$GC,6583,1.52,176.3,262.2,7.0,303,6604,0.10,2.38,13.52,0.732,6,0.086,0.031,3044,2044,2331,0,0,0,0,0,0
$GC,6933,1.52,176.3,231.2,10.6,320,6937,0.00,2.47,0.00,0.000,4,0.000,0.051,3044,629,2327,0,0,0,0,0,0
$GC,6946,1.52,176.3,229.6,11.4,320,6953,0.00,2.38,0.00,0.000,6,0.000,0.030,3044,2026,2326,0,0,0,0,0,0
$GC,7262,1.52,176.3,195.4,12.0,337,7267,0.00,2.47,0.00,0.000,4,0.000,0.050,3044,619,2325,0,0,0,0,0,0
$GC,7353,1.52,176.3,183.9,11.9,346,7359,0.00,2.38,0.00,0.000,6,0.000,0.028,3044,2031,2324,0,0,0,0,0,0
$GC,7615,1.52,176.3,155.3,10.3,371,7619,0.00,2.38,0.00,0.000,4,0.000,0.035,3044,3438,2324,0,0,0,0,0,0
$GC,7659,1.52,176.3,150.6,9.7,375,7665,0.00,2.38,0.00,0.000,6,0.000,0.032,3044,2029,2324,0,0,0,0,0,0
$GC,7921,1.52,178.8,128.6,7.9,400,7925,0.00,2.38,0.00,0.000,4,0.000,0.034,3044,3436,2324,0,0,0,0,0,0
$GC,7965,1.52,178.8,125.0,8.1,404,7972,0.00,2.40,0.00,0.000,6,0.000,0.031,3044,2030,2324,0,0,0,0,0,0
$GC,8228,1.53,182.7,104.2,7.8,429,8236,0.00,0.00,5.80,0.503,6,0.000,0.000,3044,2029,2305,0,0,0,0,0,0
$GC,8491,1.53,182.7,82.4,9.4,454,8495,0.00,2.40,0.00,0.000,4,0.000,0.045,3044,630,2305,0,0,0,0,0,0
$GC,8603,1.53,182.7,69.9,12.0,466,8607,0.00,2.30,0.00,0.000,6,0.000,0.023,3044,2044,2304,0,0,0,0,0,0
$GC,8870,1.53,182.7,46.0,8.9,491,8874,0.00,2.42,0.00,0.000,4,0.000,0.042,3044,630,2304,0,0,0,0,0,0
$GC,9053,1.53,182.7,30.3,8.1,511,9057,0.00,2.28,0.00,0.000,6,0.000,0.021,3044,2046,2304,0,0,0,0,0,0
$GC,9316,1.53,186.6,11.0,7.8,559,9328,0.00,0.00,5.75,0.436,6,0.000,0.000,3044,2052,2288,0,0,0,0,0,0
$STATE,9415,end climb,SURFACE_DEPTH_REACHED
$STATE,9415,begin surface coast
$FINISH,0.5,1.006580
$STATE,9449,end surface coast,CONTROL_FINISHED_OK
$STATE,9449,begin surface
$SM_CCo,9468,64.60,0.538,0,0,1827,300.00
$SM_GC,1.09,0.00,0.00,64.60,0.000,0.000,0.538,425,1933,1827,-10.51,-0.17,300.00
$IRIDIUM_FIX,2054.83,-15753.90,110799,131333
$TT8_MAMPS,0.029146
$HUMID,41.80
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.60
$XPDR_PINGS,2
$24V_AH,23.3,5.201
$10V_AH,9.9,4.692
$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,24.850,96.125,226.325,64.600,0.000,22.334,27.037,126.473,0.500,0.000,14.767,1109.779,6231.740,357.894,1801.911,300.852,33.341,1123.175,0.000,1784.858,0.000,0.539,0.000
$DEVICE_MAMPS,139.594,69.797,888.953,537.667,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,394.493,367.598,845.264,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,31714,583
$CAP_FILE_SIZE,97881,0
$CFSIZE,260165632,255897600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160410,191127,2101.570,-15751.510,87,3.2,106,9.8