version: 66.06
glider: 139
mission: 7
dive: 42
start: 4 16 110 19 17 57
data:
$ID,139
$MISSION,7
$DIVE,42
$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,-2120168.2
$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
$GPS1,191127,2101.570,-15751.510,87,3.2,106,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.5
$GPS2,191706,2101.570,-15751.520,42,1.1,46,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,SOUTH
$TGT_LATLONG,2057.918,-15744.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.182,-0.026
$KALMAN_X,-9181.3,1.1,-430.5,27162.7,-781.0
$KALMAN_Y,-1794.2,147.8,93.4,-12459.8,-448.7
$MHEAD_RNG_PITCHd_Wd,88.3,13356,-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,-77.9,0.0,0.0,0,77,0.00,0.00,-58.75,0.000,6,0.000,0.000,425,1932,3368,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.8,-6.8,11,98,10.77,2.42,0.00,0.000,4,0.140,0.039,2402,533,3370,0,0,0,0,0,0
$GC,151,-1.40,-77.9,25.7,-20.7,26,158,0.00,2.35,0.00,0.000,6,0.000,0.021,2402,1963,3371,0,0,0,0,0,0
$GC,356,-1.40,-77.9,62.2,-15.8,47,361,0.00,2.50,0.00,0.000,4,0.000,0.047,2402,528,3372,0,0,0,0,0,0
$GC,390,-1.40,-77.9,68.3,-20.0,50,394,0.00,2.28,0.00,0.000,6,0.000,0.021,2402,1943,3371,0,0,0,0,0,0
$GC,656,-1.40,-77.9,106.2,-14.1,75,660,0.00,2.45,0.00,0.000,4,0.000,0.044,2402,523,3372,0,0,0,0,0,0
$GC,688,-1.40,-77.9,111.2,-14.9,78,692,0.00,2.30,0.00,0.000,6,0.000,0.021,2402,1946,3373,0,0,0,0,0,0
$GC,948,-1.40,-77.9,143.1,-12.8,102,953,0.00,2.45,0.00,0.000,4,0.000,0.046,2402,530,3373,0,0,0,0,0,0
$GC,1012,-1.40,-77.9,150.8,-11.2,108,1018,0.00,2.30,0.00,0.000,6,0.000,0.021,2402,1941,3374,0,0,0,0,0,0
$GC,1274,-1.40,-77.9,178.4,-9.4,133,1278,0.00,2.42,0.00,0.000,4,0.000,0.045,2402,523,3374,0,0,0,0,0,0
$GC,1292,-1.40,-77.9,180.3,-9.4,134,1298,0.00,2.33,0.00,0.000,6,0.000,0.022,2402,1945,3374,0,0,0,0,0,0
$GC,1561,-1.40,-77.9,204.5,-10.2,158,1566,0.00,2.42,0.00,0.000,4,0.000,0.047,2402,531,3375,0,0,0,0,0,0
$GC,1629,-1.40,-77.9,212.3,-10.7,161,1633,0.00,2.25,0.00,0.000,6,0.000,0.023,2402,1938,3375,0,0,0,0,0,0
$GC,1954,-1.40,-77.9,244.0,-9.9,177,1958,0.00,2.45,0.00,0.000,4,0.000,0.049,2402,528,3375,0,0,0,0,0,0
$GC,2027,-1.40,-77.9,252.7,-10.9,180,2031,0.00,2.28,0.00,0.000,6,0.000,0.025,2402,1940,3375,0,0,0,0,0,0
$GC,2346,-1.40,-77.9,282.2,-9.6,196,2350,0.00,2.45,0.00,0.000,4,0.000,0.050,2402,532,3374,0,0,0,0,0,0
$GC,2366,-1.40,-77.9,284.0,-9.9,197,2370,0.00,2.30,0.00,0.000,6,0.000,0.025,2402,1942,3374,0,0,0,0,0,0
$GC,2714,-1.40,-77.9,314.6,-8.8,210,2718,0.00,2.45,0.00,0.000,4,0.000,0.052,2402,529,3373,0,0,0,0,0,0
$GC,2834,-1.40,-77.9,326.1,-9.4,212,2838,0.00,2.30,0.00,0.000,6,0.000,0.027,2402,1938,3373,0,0,0,0,0,0
$GC,3169,-1.40,-77.9,354.3,-8.0,221,3173,0.00,2.47,0.00,0.000,4,0.000,0.054,2402,529,3371,0,0,0,0,0,0
$GC,3224,-1.40,-77.9,359.4,-9.1,222,3228,0.00,2.33,0.00,0.000,6,0.000,0.028,2402,1948,3371,0,0,0,0,0,0
$GC,3537,-1.40,-77.9,385.5,-8.8,230,3541,0.00,2.50,0.00,0.000,4,0.000,0.055,2402,531,3369,0,0,0,0,0,0
$GC,3579,-1.40,-77.9,389.9,-10.5,231,3583,0.00,2.35,0.00,0.000,6,0.000,0.029,2402,1946,3369,0,0,0,0,0,0
$GC,3907,-1.40,-77.9,418.8,-8.2,239,3911,0.00,2.47,0.00,0.000,4,0.000,0.057,2402,535,3367,0,0,0,0,0,0
$GC,3952,-1.40,-77.9,422.7,-8.9,240,3957,0.00,2.35,0.00,0.000,6,0.000,0.030,2402,1944,3366,0,0,0,0,0,0
$GC,4274,-1.40,-77.9,446.6,-7.1,248,4279,0.00,2.47,0.00,0.000,4,0.000,0.058,2402,536,3364,0,0,0,0,0,0
$STATE,4318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4319,begin apogee
$GC,4326,-0.31,0.0,450.1,7.7,249,4393,1.10,0.00,63.92,0.886,6,0.082,0.000,2638,2034,3050,0,0,0,0,0,0
$STATE,4394,end apogee,CONTROL_FINISHED_OK
$STATE,4394,begin climb
$GC,4396,1.40,77.9,450.2,0.0,250,4470,1.65,2.53,64.82,0.862,4,0.038,0.046,3016,3435,2732,0,0,0,0,0,0
$GC,4554,1.42,96.0,443.6,6.8,253,4577,0.00,2.45,16.48,0.808,6,0.000,0.039,3016,2028,2658,0,0,0,0,0,0
$GC,4900,1.45,119.9,417.8,6.4,262,4923,0.00,0.00,20.92,0.827,6,0.000,0.000,3016,2028,2561,0,0,0,0,0,0
$GC,5224,1.45,119.9,390.4,8.7,270,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2028,2556,0,0,0,0,0,0
$GC,5549,1.45,122.6,362.4,7.8,278,5551,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2028,2554,0,0,0,0,0,0
$GC,5874,1.47,141.5,340.9,6.7,286,5895,0.00,0.00,18.88,0.805,6,0.000,0.000,3016,2028,2471,0,0,0,0,0,0
$GC,6199,1.47,141.5,308.8,10.6,294,6200,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2028,2468,0,0,0,0,0,0
$GC,6507,1.47,141.5,280.3,8.4,306,6511,0.00,2.47,0.00,0.000,4,0.000,0.055,3016,629,2467,0,0,0,0,0,0
$GC,6557,1.47,141.5,275.3,11.0,308,6561,0.00,2.38,0.00,0.000,6,0.000,0.031,3016,2048,2465,0,0,0,0,0,0
$GC,6876,1.47,141.5,245.9,9.1,324,6880,0.00,2.38,0.00,0.000,4,0.000,0.040,3016,3437,2465,0,0,0,0,0,0
$GC,6930,1.47,141.5,241.0,8.1,326,6935,0.00,2.38,0.00,0.000,6,0.000,0.037,3016,2032,2465,0,0,0,0,0,0
$GC,7247,1.53,182.4,221.3,5.2,341,7287,0.12,0.00,35.40,0.746,6,0.077,0.000,3048,2032,2305,0,0,0,0,0,0
$GC,7600,1.53,182.4,187.3,11.4,363,7604,0.00,2.47,0.00,0.000,4,0.000,0.051,3047,623,2299,0,0,0,0,0,0
$GC,7697,1.53,182.4,173.9,14.3,373,7701,0.00,2.35,0.00,0.000,6,0.000,0.028,3048,2041,2297,0,0,0,0,0,0
$GC,7959,1.53,182.4,141.6,11.9,397,7960,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2046,2297,0,0,0,0,0,0
$GC,8213,1.53,182.4,112.3,10.0,421,8217,0.00,2.47,0.00,0.000,4,0.000,0.047,3048,622,2297,0,0,0,0,0,0
$GC,8377,1.53,182.4,95.2,9.5,438,8384,0.00,2.35,0.00,0.000,6,0.000,0.024,3048,2042,2296,0,0,0,0,0,0
$GC,8639,1.53,182.4,75.4,8.8,463,8644,0.00,2.45,0.00,0.000,4,0.000,0.044,3048,624,2296,0,0,0,0,0,0
$GC,8798,1.53,182.4,59.9,9.1,480,8803,0.00,2.30,0.00,0.000,6,0.000,0.023,3048,2042,2296,0,0,0,0,0,0
$GC,9060,1.53,182.4,35.0,9.8,504,9064,0.00,2.30,0.00,0.000,4,0.000,0.031,3048,3431,2296,0,0,0,0,0,0
$GC,9179,1.54,194.0,25.8,7.2,524,9197,0.00,2.38,10.15,0.511,6,0.000,0.030,3048,2026,2258,0,0,0,0,0,0
$GC,9390,1.54,194.0,6.1,10.6,563,9396,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2026,2258,0,0,0,0,0,0
$STATE,9423,end climb,SURFACE_DEPTH_REACHED
$STATE,9423,begin surface coast
$FINISH,0.5,1.023001
$STATE,9458,end surface coast,CONTROL_FINISHED_OK
$STATE,9458,begin surface
$SM_CCo,9478,54.97,0.536,0,0,1826,300.00
$SM_GC,1.04,0.00,0.00,54.97,0.000,0.000,0.536,431,1924,1826,-10.49,-0.45,300.00
$IRIDIUM_FIX,2054.83,-15754.77,110799,161659
$TT8_MAMPS,0.029146
$HUMID,43.42
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,21.40
$XPDR_PINGS,1
$24V_AH,23.3,5.276
$10V_AH,9.9,4.767
$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,25.025,95.975,230.575,54.975,0.000,29.873,30.381,158.984,0.250,0.000,46.389,1075.740,6418.573,358.614,1675.515,348.033,33.380,1061.163,0.000,1637.553,0.000,0.538,0.000
$DEVICE_MAMPS,140.361,75.166,885.885,536.133,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,389.607,363.105,822.726,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,31766,575
$CAP_FILE_SIZE,94805,0
$CFSIZE,260165632,255848448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4
$GPS,160410,215813,2101.712,-15750.479,31,1.4,48,9.8