version: 66.06
glider: 139
mission: 7
dive: 50
start: 4 17 110 17 24 26
data:
$ID,139
$MISSION,7
$DIVE,50
$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,-2120399
$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
$GPS1,171752,2057.887,-15747.477,38,2.4,57,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-67.4
$GPS2,172409,2057.903,-15747.521,72,1.8,73,9.8
$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,79.9,4603,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,78,0.00,0.00,-59.80,0.000,6,0.000,0.000,428,1930,3368,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.4,-5.0,11,99,10.73,2.45,0.00,0.000,4,0.140,0.040,2401,525,3370,0,0,0,0,0,0
$GC,147,-1.40,-77.9,23.0,-22.2,25,154,0.00,2.38,0.00,0.000,6,0.000,0.022,2401,1961,3371,0,0,0,0,0,0
$GC,352,-1.40,-77.9,62.0,-20.4,47,356,0.00,2.28,0.00,0.000,4,0.000,0.028,2401,3349,3371,0,0,0,0,0,0
$GC,377,-1.40,-77.9,66.5,-18.2,49,381,0.00,2.35,0.00,0.000,6,0.000,0.030,2401,1938,3371,0,0,0,0,0,0
$GC,639,-1.40,-77.9,108.2,-15.1,73,643,0.00,2.42,0.00,0.000,4,0.000,0.046,2401,529,3372,0,0,0,0,0,0
$GC,718,-1.40,-77.9,119.9,-13.7,81,722,0.00,2.30,0.00,0.000,6,0.000,0.021,2401,1955,3372,0,0,0,0,0,0
$GC,979,-1.40,-77.9,151.5,-11.8,105,983,0.00,2.45,0.00,0.000,4,0.000,0.044,2401,533,3374,0,0,0,0,0,0
$GC,1004,-1.40,-77.9,154.6,-12.1,107,1008,0.00,2.30,0.00,0.000,6,0.000,0.022,2401,1950,3374,0,0,0,0,0,0
$GC,1267,-1.40,-77.9,180.1,-10.4,131,1271,0.00,2.42,0.00,0.000,4,0.000,0.045,2401,533,3375,0,0,0,0,0,0
$GC,1346,-1.40,-77.9,190.0,-13.3,139,1350,0.00,2.28,0.00,0.000,6,0.000,0.022,2401,1947,3375,0,0,0,0,0,0
$GC,1613,-1.40,-77.9,225.3,-12.5,155,1617,0.00,2.30,0.00,0.000,4,0.000,0.031,2401,3337,3375,0,0,0,0,0,0
$GC,1639,-1.40,-77.9,228.5,-11.2,156,1644,0.00,2.33,0.00,0.000,6,0.000,0.031,2401,1939,3375,0,0,0,0,0,0
$GC,1959,-1.40,-77.9,256.3,-6.8,172,1963,0.00,2.45,0.00,0.000,4,0.000,0.048,2401,532,3375,0,0,0,0,0,0
$GC,1980,-1.40,-77.9,257.9,-7.9,173,1984,0.00,2.28,0.00,0.000,6,0.000,0.025,2401,1939,3375,0,0,0,0,0,0
$GC,2309,-1.40,-77.9,286.5,-10.0,189,2313,0.00,2.45,0.00,0.000,4,0.000,0.049,2401,530,3375,0,0,0,0,0,0
$GC,2345,-1.40,-77.9,290.9,-11.3,190,2352,0.00,2.33,0.00,0.000,6,0.000,0.026,2401,1934,3375,0,0,0,0,0,0
$GC,2657,-1.40,-77.9,319.9,-9.5,201,2661,0.00,2.42,0.00,0.000,4,0.000,0.052,2401,535,3374,0,0,0,0,0,0
$GC,2670,-1.40,-77.9,321.3,-9.1,201,2674,0.00,2.30,0.00,0.000,6,0.000,0.027,2400,1945,3374,0,0,0,0,0,0
$GC,3018,-1.40,-77.9,351.0,-8.8,210,3023,0.00,2.45,0.00,0.000,4,0.000,0.054,2401,537,3372,0,0,0,0,0,0
$GC,3083,-1.40,-77.9,357.6,-11.0,211,3087,0.00,2.30,0.00,0.000,6,0.000,0.028,2401,1941,3372,0,0,0,0,0,0
$GC,3427,-1.40,-77.9,390.4,-9.1,220,3431,0.00,2.45,0.00,0.000,4,0.000,0.055,2401,537,3370,0,0,0,0,0,0
$GC,3528,-1.40,-77.9,400.0,-10.1,222,3532,0.00,2.33,0.00,0.000,6,0.000,0.030,2401,1939,3369,0,0,0,0,0,0
$GC,3841,-1.40,-77.9,423.9,-7.6,230,3845,0.00,2.50,0.00,0.000,4,0.000,0.057,2401,529,3367,0,0,0,0,0,0
$GC,3938,-1.40,-77.9,432.3,-7.8,232,3942,0.00,2.33,0.00,0.000,6,0.000,0.031,2400,1939,3366,0,0,0,0,0,0
$STATE,4213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4213,begin apogee
$GC,4218,-0.31,0.0,451.1,6.5,239,4286,1.12,0.00,64.65,0.892,6,0.081,0.000,2639,2048,3049,0,0,0,0,0,0
$STATE,4287,end apogee,CONTROL_FINISHED_OK
$STATE,4287,begin climb
$GC,4289,1.40,77.9,451.5,0.0,240,4363,1.65,2.47,65.12,0.869,4,0.039,0.045,3016,3417,2732,0,0,0,0,0,0
$GC,4626,1.42,98.3,435.6,6.6,247,4651,0.00,2.42,17.90,0.824,6,0.000,0.041,3016,2029,2648,0,0,0,0,0,0
$GC,4979,1.45,117.3,411.3,6.7,256,5003,0.00,2.45,16.90,0.818,4,0.000,0.042,3016,3417,2571,0,0,0,0,0,0
$GC,5045,1.45,117.3,406.0,8.3,257,5049,0.00,2.40,0.00,0.000,6,0.000,0.041,3016,2032,2570,0,0,0,0,0,0
$GC,5389,1.45,120.5,379.2,7.8,266,5393,0.00,2.50,0.00,0.000,4,0.000,0.058,3015,619,2566,0,0,0,0,0,0
$GC,5540,1.45,120.5,364.3,9.5,269,5544,0.00,2.38,0.00,0.000,6,0.000,0.032,3015,2031,2564,0,0,0,0,0,0
$GC,5889,1.47,138.3,338.3,6.8,278,5913,0.00,2.60,17.92,0.803,4,0.000,0.055,3016,625,2485,0,0,0,0,0,0
$GC,5918,1.49,150.3,336.3,7.2,278,5936,0.00,2.42,11.93,0.755,6,0.000,0.032,3016,2042,2437,0,0,0,0,0,0
$GC,6259,1.49,150.3,301.0,11.1,287,6260,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2045,2432,0,0,0,0,0,0
$GC,6568,1.49,150.3,273.1,8.2,301,6572,0.00,2.53,0.00,0.000,4,0.000,0.054,3016,622,2431,0,0,0,0,0,0
$GC,6587,1.49,150.3,271.2,9.6,302,6591,0.00,2.40,0.00,0.000,6,0.000,0.031,3016,2041,2430,0,0,0,0,0,0
$GC,6915,1.49,150.3,235.7,11.2,318,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2045,2429,0,0,0,0,0,0
$GC,7227,1.49,150.3,205.5,8.2,333,7231,0.00,2.38,0.00,0.000,4,0.000,0.040,3015,3434,2429,0,0,0,0,0,0
$GC,7305,1.51,167.3,199.6,6.9,336,7325,0.00,2.40,14.70,0.700,6,0.000,0.036,3016,2030,2367,0,0,0,0,0,0
$GC,7579,1.51,167.3,177.2,8.6,362,7583,0.10,2.45,0.00,0.000,4,0.085,0.051,3042,629,2364,0,0,0,0,0,0
$GC,7595,1.51,167.3,175.7,9.4,363,7599,0.00,2.35,0.00,0.000,6,0.000,0.027,3042,2039,2362,0,0,0,0,0,0
$GC,7857,1.51,167.3,150.2,8.6,387,7862,0.00,2.45,0.00,0.000,4,0.000,0.048,3042,626,2362,0,0,0,0,0,0
$GC,7882,1.51,167.3,147.7,9.5,389,7887,0.00,2.35,0.00,0.000,6,0.000,0.026,3043,2045,2362,0,0,0,0,0,0
$GC,8145,1.51,167.3,124.2,9.5,413,8149,0.00,2.33,0.00,0.000,4,0.000,0.035,3042,3427,2362,0,0,0,0,0,0
$GC,8254,1.51,167.3,114.0,8.4,424,8260,0.00,2.38,0.00,0.000,6,0.000,0.032,3042,2035,2362,0,0,0,0,0,0
$GC,8516,1.60,241.6,99.1,2.9,449,8588,0.00,2.53,64.20,0.630,4,0.000,0.047,3042,628,2063,0,0,0,0,0,0
$GC,8736,1.60,241.6,72.7,16.8,473,8740,0.00,2.33,0.00,0.000,6,0.000,0.023,3042,2044,2055,0,0,0,0,0,0
$GC,8999,1.60,241.6,37.7,14.0,497,9001,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2049,2054,0,0,0,0,0,0
$STATE,9247,end climb,SURFACE_DEPTH_REACHED
$STATE,9247,begin surface coast
$FINISH,0.5,1.024189
$STATE,9270,end surface coast,CONTROL_FINISHED_OK
$STATE,9270,begin surface
$SM_CCo,9289,30.10,0.532,0,0,1826,300.00
$SM_GC,1.05,0.00,0.00,30.10,0.000,0.000,0.532,422,1926,1826,-10.53,-0.40,300.00
$IRIDIUM_FIX,2052.52,-15336.42,120799,141443
$TT8_MAMPS,0.029146
$HUMID,44.25
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,20.70
$XPDR_PINGS,0
$24V_AH,23.3,5.962
$10V_AH,9.9,5.360
$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,24.825,105.625,273.325,30.100,0.000,30.078,41.440,150.967,0.000,0.000,74.050,1044.491,6233.167,346.593,1705.745,371.148,0.000,1090.070,0.000,1644.183,0.000,0.538,0.000
$DEVICE_MAMPS,139.594,72.098,892.021,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,366.431,339.945,725.236,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,28652,542
$CAP_FILE_SIZE,98086,0
$CFSIZE,260165632,255463424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170410,200130,2057.880,-15746.721,61,2.0,70,9.8