version: 66.06
glider: 139
mission: 7
dive: 47
start: 4 17 110 9 26 57
data:
$ID,139
$MISSION,7
$DIVE,47
$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,2
$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,-2120265.8
$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
$GPS1,092106,2059.751,-15748.769,47,1.6,57,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-58.9
$GPS2,092638,2059.725,-15748.805,14,1.4,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,SOUTH
$TGT_LATLONG,2057.918,-15744.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.177,0.048
$KALMAN_X,-10622.7,142.5,584.3,29179.9,-1774.9
$KALMAN_Y,-1714.3,205.2,435.2,-12797.6,-689.5
$MHEAD_RNG_PITCHd_Wd,106.3,7599,-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,-77.9,0.0,0.0,0,126,0.00,0.00,-108.53,0.000,6,0.000,0.000,429,1925,3369,0,0,0,0,0,0
$GC,130,-1.40,-77.9,3.4,-6.0,20,148,10.73,2.42,0.00,0.000,4,0.139,0.036,2401,528,3370,0,0,0,0,0,0
$GC,205,-1.40,-77.9,26.6,-22.4,36,212,0.00,2.38,0.00,0.000,6,0.000,0.021,2402,1974,3370,0,0,0,0,0,0
$GC,410,-1.40,-77.9,62.8,-17.5,57,414,0.00,2.50,0.00,0.000,4,0.000,0.045,2402,526,3371,0,0,0,0,0,0
$GC,445,-1.40,-77.9,69.3,-18.3,60,452,0.00,2.30,0.00,0.000,6,0.000,0.021,2402,1926,3371,0,0,0,0,0,0
$GC,707,-1.40,-77.9,109.0,-11.8,85,711,0.00,2.33,0.00,0.000,4,0.000,0.028,2401,3336,3371,0,0,0,0,0,0
$GC,739,-1.40,-77.9,113.0,-11.6,88,743,0.00,2.33,0.00,0.000,6,0.000,0.031,2401,1938,3371,0,0,0,0,0,0
$GC,1000,-1.40,-77.9,144.8,-11.0,112,1004,0.00,2.40,0.00,0.000,4,0.000,0.045,2402,528,3372,0,0,0,0,0,0
$GC,1060,-1.40,-77.9,151.9,-12.4,118,1065,0.00,2.28,0.00,0.000,6,0.000,0.021,2402,1947,3373,0,0,0,0,0,0
$GC,1321,-1.40,-77.9,181.3,-10.8,142,1326,0.00,2.45,0.00,0.000,4,0.000,0.045,2401,531,3373,0,0,0,0,0,0
$GC,1373,-1.40,-77.9,187.3,-12.4,147,1377,0.00,2.28,0.00,0.000,6,0.000,0.022,2401,1936,3373,0,0,0,0,0,0
$GC,1641,-1.40,-77.9,213.7,-9.1,165,1645,0.00,2.40,0.00,0.000,4,0.000,0.047,2401,533,3373,0,0,0,0,0,0
$GC,1672,-1.40,-77.9,217.2,-10.8,166,1676,0.00,2.28,0.00,0.000,6,0.000,0.023,2402,1947,3373,0,0,0,0,0,0
$GC,1988,-1.40,-77.9,254.2,-12.7,181,1992,0.00,2.42,0.00,0.000,4,0.000,0.048,2401,535,3373,0,0,0,0,0,0
$GC,2130,-1.40,-77.9,272.3,-10.8,187,2135,0.00,2.28,0.00,0.000,6,0.000,0.025,2402,1943,3373,0,0,0,0,0,0
$GC,2451,-1.40,-77.9,301.3,-10.2,203,2455,0.00,2.45,0.00,0.000,4,0.000,0.051,2402,536,3372,0,0,0,0,0,0
$GC,2506,-1.40,-77.9,308.0,-11.5,204,2510,0.00,2.30,0.00,0.000,6,0.000,0.026,2401,1938,3371,0,0,0,0,0,0
$GC,2823,-1.40,-77.9,338.5,-9.2,212,2827,0.00,2.47,0.00,0.000,4,0.000,0.053,2402,529,3370,0,0,0,0,0,0
$GC,2840,-1.40,-77.9,340.2,-9.3,212,2845,0.00,2.30,0.00,0.000,6,0.000,0.028,2401,1938,3370,0,0,0,0,0,0
$GC,3184,-1.40,-77.9,369.0,-8.2,221,3189,0.00,2.47,0.00,0.000,4,0.000,0.056,2401,537,3368,0,0,0,0,0,0
$GC,3276,-1.40,-77.9,378.7,-11.7,223,3280,0.00,2.33,0.00,0.000,6,0.000,0.029,2401,1938,3367,0,0,0,0,0,0
$GC,3598,-1.40,-77.9,411.6,-10.5,231,3602,0.00,2.47,0.00,0.000,4,0.000,0.058,2401,538,3365,0,0,0,0,0,0
$GC,3662,-1.40,-77.9,418.7,-11.6,232,3666,0.00,2.33,0.00,0.000,6,0.000,0.031,2401,1945,3365,0,0,0,0,0,0
$GC,4006,-1.40,-77.9,448.8,-8.1,241,4010,0.00,2.50,0.00,0.000,4,0.000,0.059,2401,538,3362,0,0,0,0,0,0
$STATE,4018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4018,begin apogee
$GC,4025,-0.31,0.0,450.1,8.2,241,4093,1.10,0.00,63.95,0.887,6,0.083,0.000,2636,2031,3050,0,0,0,0,0,0
$STATE,4094,end apogee,CONTROL_FINISHED_OK
$STATE,4094,begin climb
$GC,4095,1.40,77.9,451.8,0.0,243,4170,1.67,2.53,65.03,0.864,4,0.039,0.047,3018,3426,2732,0,0,0,0,0,0
$GC,4411,1.42,100.5,439.2,6.5,250,4436,0.00,2.42,19.65,0.828,6,0.000,0.041,3019,2039,2640,0,0,0,0,0,0
$GC,4777,1.44,113.7,411.3,7.1,259,4794,0.00,2.58,11.90,0.787,4,0.000,0.059,3018,629,2586,0,0,0,0,0,0
$GC,4851,1.44,113.7,405.3,8.3,260,4855,0.00,2.40,0.00,0.000,6,0.000,0.033,3019,2037,2583,0,0,0,0,0,0
$GC,5186,1.47,135.0,380.4,6.6,269,5210,0.00,2.50,18.98,0.820,4,0.000,0.044,3018,3433,2499,0,0,0,0,0,0
$GC,5261,1.47,135.0,374.6,8.6,270,5265,0.00,2.45,0.00,0.000,6,0.000,0.040,3019,2030,2498,0,0,0,0,0,0
$GC,5596,1.47,135.0,345.7,8.6,279,5597,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2030,2495,0,0,0,0,0,0
$GC,5921,1.47,135.0,317.2,8.3,287,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2030,2493,0,0,0,0,0,0
$GC,6228,1.47,135.0,289.0,8.8,297,6233,0.00,2.47,0.00,0.000,4,0.000,0.055,3019,628,2491,0,0,0,0,0,0
$GC,6306,1.47,135.0,282.5,8.0,300,6310,0.00,2.38,0.00,0.000,6,0.000,0.031,3020,2038,2490,0,0,0,0,0,0
$GC,6621,1.47,135.0,259.3,8.5,315,6623,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2043,2489,0,0,0,0,0,0
$GC,6930,1.47,135.0,235.0,8.7,330,6934,0.00,2.47,0.00,0.000,4,0.000,0.052,3019,628,2489,0,0,0,0,0,0
$GC,6997,1.47,135.0,228.5,10.6,333,7001,0.00,2.38,0.00,0.000,6,0.000,0.029,3019,2046,2488,0,0,0,0,0,0
$GC,7327,1.52,177.7,207.6,5.1,349,7368,0.00,2.47,36.20,0.730,4,0.000,0.038,3019,3435,2324,0,0,0,0,0,0
$GC,7377,1.57,215.3,204.7,5.4,351,7419,0.15,2.40,34.05,0.710,6,0.067,0.034,3057,2030,2172,0,0,0,0,0,0
$GC,7744,1.57,215.3,154.9,16.1,383,7748,0.00,2.45,0.00,0.000,4,0.000,0.050,3057,631,2163,0,0,0,0,0,0
$GC,7768,1.57,215.3,150.6,17.2,385,7773,0.00,2.35,0.00,0.000,6,0.000,0.026,3057,2040,2161,0,0,0,0,0,0
$GC,8031,1.57,215.3,112.0,11.5,409,8035,0.00,2.47,0.00,0.000,4,0.000,0.049,3057,630,2161,0,0,0,0,0,0
$GC,8118,1.57,215.3,101.9,11.5,418,8122,0.00,2.30,0.00,0.000,6,0.000,0.025,3057,2037,2158,0,0,0,0,0,0
$GC,8380,1.57,215.3,71.8,13.1,442,8381,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2043,2158,0,0,0,0,0,0
$GC,8634,1.57,215.3,39.6,12.5,466,8638,0.00,2.33,0.00,0.000,4,0.000,0.032,3057,3430,2158,0,0,0,0,0,0
$GC,8811,1.57,215.3,19.0,11.5,496,8817,0.00,2.38,0.00,0.000,6,0.000,0.031,3057,2033,2158,0,0,0,0,0,0
$STATE,8946,end climb,SURFACE_DEPTH_REACHED
$STATE,8946,begin surface coast
$FINISH,0.7,1.023797
$STATE,8970,end surface coast,CONTROL_FINISHED_OK
$STATE,8970,begin surface
$SM_CCo,8989,41.62,0.536,0,0,1826,300.00
$SM_GC,1.82,0.00,0.00,41.62,0.000,0.000,0.536,427,1929,1826,-10.51,-0.31,300.00
$IRIDIUM_FIX,2052.52,-15749.62,120799,060636
$TT8_MAMPS,0.029146
$HUMID,44.01
$INTERNAL_PRESSURE,9.64535
$TCM_TEMP,20.50
$XPDR_PINGS,0
$24V_AH,23.3,5.720
$10V_AH,10.0,5.143
$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,24.925,101.075,249.750,41.625,0.000,29.834,28.655,182.933,0.000,0.000,14.778,1001.278,6053.129,365.834,1582.689,365.297,0.000,1083.085,0.000,1569.421,0.000,0.537,0.000
$DEVICE_MAMPS,138.827,74.399,886.652,536.133,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,354.825,325.089,740.202,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,28584,525
$CAP_FILE_SIZE,94074,0
$CFSIZE,260165632,255610880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170410,115921,2059.189,-15748.175,58,2.6,77,9.8