version: 66.06
glider: 139
mission: 7
dive: 95
start: 4 22 110 23 18 9
data:
$ID,139
$MISSION,7
$DIVE,95
$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,-2121909
$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,2712
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$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
$GPS1,230355,2104.865,-15744.733,38,2.0,39,9.8
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-69.3
$GPS2,231719,2104.874,-15744.853,14,1.8,22,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.051,0.177
$KALMAN_X,-11512.6,67.9,-241.6,13320.0,-2041.4
$KALMAN_Y,-7208.5,45.4,-12.1,8693.2,-1417.3
$MHEAD_RNG_PITCHd_Wd,334.0,30414,-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,-55.10,0.000,2,0.000,0.000,426,1872,3268,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.1,-5.6,10,94,10.70,2.42,-2.00,0.000,4,0.137,0.038,2404,3322,3368,0,0,0,0,0,0
$GC,181,-1.40,-77.9,24.5,-14.9,33,188,0.00,2.45,0.00,0.000,6,0.000,0.033,2405,1897,3369,0,0,0,0,0,0
$GC,381,-1.30,-77.9,56.5,-14.9,55,385,0.10,2.42,0.00,0.000,4,0.120,0.047,2424,494,3370,0,0,0,0,0,0
$GC,460,-1.22,-77.9,67.7,-12.9,63,465,0.10,2.30,0.00,0.000,6,0.117,0.021,2443,1926,3370,0,0,0,0,0,0
$GC,722,-1.22,-77.9,96.2,-12.3,87,727,0.00,2.47,0.00,0.000,4,0.000,0.044,2443,493,3370,0,0,0,0,0,0
$GC,803,-1.22,-77.9,109.0,-16.0,95,809,0.00,2.25,0.00,0.000,6,0.000,0.020,2443,1906,3371,0,0,0,0,0,0
$GC,1065,-1.27,-77.9,136.0,-8.2,120,1069,0.00,2.45,0.00,0.000,4,0.000,0.045,2443,488,3372,0,0,0,0,0,0
$GC,1110,-1.27,-77.9,140.3,-9.8,124,1116,0.00,2.30,0.00,0.000,6,0.000,0.021,2442,1898,3372,0,0,0,0,0,0
$GC,1373,-1.34,-77.9,164.8,-11.9,149,1377,0.00,2.42,0.00,0.000,4,0.000,0.044,2443,492,3372,0,0,0,0,0,0
$GC,1425,-1.38,-77.9,171.9,-12.4,154,1430,0.15,2.25,0.00,0.000,6,0.059,0.021,2396,1899,3372,0,0,0,0,0,0
$GC,1687,-1.38,-77.9,202.5,-10.9,177,1691,0.00,2.28,0.00,0.000,4,0.000,0.029,2396,3290,3373,0,0,0,0,0,0
$GC,1742,-1.43,-77.9,208.5,-10.3,179,1746,0.00,2.35,0.00,0.000,6,0.000,0.031,2395,1890,3372,0,0,0,0,0,0
$GC,2056,-1.43,-77.9,241.4,-10.6,194,2060,0.00,2.40,0.00,0.000,4,0.000,0.045,2394,488,3373,0,0,0,0,0,0
$GC,2076,-1.43,-77.9,243.5,-10.7,195,2081,0.00,2.30,0.00,0.000,6,0.000,0.022,2396,1908,3372,0,0,0,0,0,0
$GC,2406,-1.43,-77.9,277.1,-10.0,211,2410,0.00,2.45,0.00,0.000,4,0.000,0.048,2394,494,3372,0,0,0,0,0,0
$GC,2443,-1.38,-77.9,280.9,-11.0,212,2450,0.00,2.30,0.00,0.000,6,0.000,0.024,2395,1890,3372,0,0,0,0,0,0
$GC,2777,-1.38,-77.9,307.1,-7.7,227,2781,0.00,2.33,0.00,0.000,4,0.000,0.034,2394,3292,3371,0,0,0,0,0,0
$GC,2796,-1.43,-77.9,308.6,-7.9,227,2800,0.00,2.33,0.00,0.000,6,0.000,0.034,2396,1900,3371,0,0,0,0,0,0
$GC,3140,-1.47,-77.9,336.9,-8.4,236,3144,0.00,2.47,0.00,0.000,4,0.000,0.053,2393,494,3370,0,0,0,0,0,0
$GC,3269,-1.47,-77.9,350.3,-10.5,238,3275,0.00,2.30,0.00,0.000,6,0.000,0.026,2394,1894,3369,0,0,0,0,0,0
$GC,3600,-1.51,-77.9,381.3,-8.9,247,3604,0.00,2.47,0.00,0.000,4,0.000,0.054,2395,490,3367,0,0,0,0,0,0
$GC,3637,-1.51,-77.9,384.8,-9.4,247,3642,0.00,2.30,0.00,0.000,6,0.000,0.028,2392,1896,3367,0,0,0,0,0,0
$GC,3968,-1.56,-77.9,411.1,-7.5,256,3972,0.00,2.50,0.00,0.000,4,0.000,0.058,2395,493,3364,0,0,0,0,0,0
$GC,3985,-1.56,-77.9,412.7,-8.3,256,3990,0.00,2.33,0.00,0.000,6,0.000,0.028,2393,1907,3364,0,0,0,0,0,0
$GC,4330,-1.61,-77.9,439.2,-8.0,265,4335,0.15,2.53,0.00,0.000,4,0.067,0.059,2356,498,3362,0,0,0,0,0,0
$STATE,4426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4427,begin apogee
$GC,4433,-0.31,0.0,450.4,12.5,267,4501,1.35,0.00,63.78,0.891,6,0.087,0.000,2640,2036,3050,0,0,0,0,0,0
$STATE,4502,end apogee,CONTROL_FINISHED_OK
$STATE,4502,begin climb
$GC,4504,1.40,77.9,452.0,0.0,268,4578,1.65,2.53,65.32,0.866,4,0.038,0.048,3018,3442,2732,0,0,0,0,0,0
$GC,4616,1.25,142.8,451.2,3.6,271,4679,0.17,2.45,56.10,0.859,6,0.124,0.038,2987,2025,2467,0,0,0,0,0,0
$GC,5003,1.14,142.8,411.0,11.8,281,5008,0.15,2.50,0.00,0.000,4,0.122,0.059,2961,620,2458,0,0,0,0,0,0
$GC,5073,1.01,142.8,402.8,12.0,282,5079,0.15,2.40,0.00,0.000,6,0.127,0.031,2935,2037,2456,0,0,0,0,0,0
$GC,5414,1.03,158.7,376.0,6.9,291,5434,0.00,2.55,12.98,0.788,4,0.000,0.056,2935,630,2401,0,0,0,0,0,0
$GC,5462,0.99,167.4,372.4,7.4,292,5478,0.00,2.40,9.05,0.735,6,0.000,0.032,2934,2038,2367,0,0,0,0,0,0
$GC,5787,0.99,167.4,343.8,9.7,300,5791,0.00,2.50,0.00,0.000,4,0.000,0.056,2934,630,2363,0,0,0,0,0,0
$GC,5898,0.95,167.4,331.3,11.4,302,5902,0.00,2.40,0.00,0.000,6,0.000,0.031,2934,2044,2360,0,0,0,0,0,0
$GC,6243,0.98,167.4,299.3,8.6,311,6247,0.00,2.50,0.00,0.000,4,0.000,0.054,2934,630,2360,0,0,0,0,0,0
$GC,6372,0.98,167.4,287.9,9.9,316,6378,0.00,2.40,0.00,0.000,6,0.000,0.030,2934,2033,2358,0,0,0,0,0,0
$GC,6687,1.05,184.4,265.4,6.9,332,6710,0.00,2.58,14.73,0.752,4,0.000,0.053,2934,627,2297,0,0,0,0,0,0
$GC,6834,1.05,184.4,251.0,9.6,338,6839,0.00,2.35,0.00,0.000,6,0.000,0.028,2934,2039,2293,0,0,0,0,0,0
$GC,7154,1.11,184.4,221.8,8.0,354,7155,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2042,2293,0,0,0,0,0,0
$GC,7465,1.20,205.8,199.1,6.6,369,7487,0.17,0.00,19.75,0.709,6,0.067,0.000,2976,2043,2211,0,0,0,0,0,0
$GC,7738,1.20,205.8,173.1,10.0,395,7743,0.00,2.47,0.00,0.000,4,0.000,0.049,2977,619,2207,0,0,0,0,0,0
$GC,7764,1.14,205.8,170.2,12.2,397,7768,0.00,2.38,0.00,0.000,6,0.000,0.026,2977,2044,2205,0,0,0,0,0,0
$GC,8026,1.14,205.8,145.1,9.5,421,8031,0.00,2.45,0.00,0.000,4,0.000,0.048,2977,628,2205,0,0,0,0,0,0
$GC,8095,1.09,205.8,137.3,11.2,428,8100,0.15,2.33,0.00,0.000,6,0.117,0.025,2950,2038,2204,0,0,0,0,0,0
$GC,8356,1.17,211.3,115.6,7.6,452,8367,0.00,2.47,5.57,0.507,4,0.000,0.045,2950,619,2187,0,0,0,0,0,0
$GC,8562,1.21,211.3,97.6,8.2,474,8569,0.08,2.35,0.00,0.000,6,0.051,0.023,2976,2039,2185,0,0,0,0,0,0
$GC,8826,1.24,211.3,76.6,8.2,499,8830,0.00,2.42,0.00,0.000,4,0.000,0.044,2976,623,2185,0,0,0,0,0,0
$GC,9016,1.24,211.3,58.6,9.1,520,9020,0.00,2.30,0.00,0.000,6,0.000,0.021,2976,2044,2185,0,0,0,0,0,0
$GC,9283,1.29,211.3,37.1,8.5,545,9287,0.00,2.42,0.00,0.000,4,0.000,0.043,2976,619,2185,0,0,0,0,0,0
$GC,9407,1.29,211.3,25.6,9.1,564,9414,0.00,2.33,0.00,0.000,6,0.000,0.022,2976,2026,2185,0,0,0,0,0,0
$GC,9608,1.34,211.3,9.4,10.2,601,9614,0.12,0.00,0.00,0.000,6,0.069,0.000,3013,2031,2185,0,0,0,0,0,0
$STATE,9674,end climb,SURFACE_DEPTH_REACHED
$STATE,9674,begin surface coast
$FINISH,0.3,1.023774
$STATE,9702,end surface coast,CONTROL_FINISHED_OK
$STATE,9702,begin surface
$SM_CCo,9721,47.47,0.532,0,0,1827,300.00
$SM_GC,1.76,0.00,0.00,47.47,0.000,0.000,0.532,426,1871,1827,-10.52,-0.79,300.00
$IRIDIUM_FIX,2057.14,-15746.61,170799,232348
$TT8_MAMPS,0.029146
$HUMID,42.75
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,9.673
$10V_AH,10.0,8.859
$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,26.250,115.700,247.275,47.475,0.000,85.406,95.825,384.516,0.000,0.000,22.330,1182.957,6434.979,358.496,1867.524,729.989,33.345,1157.957,0.000,1847.163,0.000,0.539,0.000
$DEVICE_MAMPS,137.293,59.059,891.254,531.531,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.197,398.556,908.954,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,34926,618
$CAP_FILE_SIZE,118937,0
$CFSIZE,260165632,253005824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230410,020301,2105.352,-15745.940,88,1.2,88,9.8