version: 66.06
glider: 139
mission: 7
dive: 96
start: 4 23 110 2 9 4
data:
$ID,139
$MISSION,7
$DIVE,96
$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,-2121932
$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
$GPS1,020301,2105.352,-15745.940,88,1.2,88,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-70.1
$GPS2,020813,2105.349,-15745.974,11,1.9,22,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.063,0.173
$KALMAN_X,-13198.6,-20.0,191.3,12716.5,-2139.1
$KALMAN_Y,-8262.5,-60.0,57.7,10660.4,-1373.6
$MHEAD_RNG_PITCHd_Wd,330.3,28340,-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,-58.70,0.000,6,0.000,0.000,426,1873,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,4.1,-7.7,11,98,10.75,2.45,0.00,0.000,4,0.140,0.029,2403,3315,3370,0,0,0,0,0,0
$GC,181,-1.34,-77.9,28.4,-16.4,33,187,0.00,2.42,0.00,0.000,6,0.000,0.033,2397,1901,3372,0,0,0,0,0,0
$GC,386,-1.24,-77.9,62.1,-16.0,53,391,0.20,2.45,0.00,0.000,4,0.098,0.044,2443,487,3372,0,0,0,0,0,0
$GC,464,-1.20,-77.9,74.4,-14.9,61,468,0.00,2.33,0.00,0.000,6,0.000,0.020,2442,1929,3372,0,0,0,0,0,0
$GC,729,-1.20,-77.9,108.1,-11.3,86,733,0.00,2.50,0.00,0.000,4,0.000,0.044,2444,484,3374,0,0,0,0,0,0
$GC,800,-1.20,-77.9,116.5,-11.2,93,806,0.00,2.30,0.00,0.000,6,0.000,0.021,2442,1904,3373,0,0,0,0,0,0
$GC,1061,-1.25,-77.9,143.8,-10.3,118,1066,0.00,2.42,0.00,0.000,4,0.000,0.044,2443,492,3375,0,0,0,0,0,0
$GC,1095,-1.25,-77.9,147.4,-11.1,121,1099,0.00,2.25,0.00,0.000,6,0.000,0.020,2442,1904,3375,0,0,0,0,0,0
$GC,1358,-1.32,-77.9,171.0,-9.5,145,1362,0.00,2.45,0.00,0.000,4,0.000,0.044,2443,485,3375,0,0,0,0,0,0
$GC,1437,-1.36,-77.9,180.2,-12.4,153,1442,0.12,2.25,0.00,0.000,6,0.064,0.021,2401,1898,3376,0,0,0,0,0,0
$GC,1695,-1.36,-77.9,213.0,-12.2,172,1699,0.00,2.40,0.00,0.000,4,0.000,0.044,2402,494,3376,0,0,0,0,0,0
$GC,1742,-1.33,-77.9,219.2,-13.1,174,1746,0.00,2.28,0.00,0.000,6,0.000,0.021,2400,1900,3376,0,0,0,0,0,0
$GC,2070,-1.33,-77.9,255.6,-10.4,190,2072,0.10,0.00,0.00,0.000,6,0.111,0.000,2420,1906,3376,0,0,0,0,0,0
$GC,2381,-1.40,-77.9,286.0,-9.9,205,2385,0.00,2.45,0.00,0.000,4,0.000,0.048,2422,488,3376,0,0,0,0,0,0
$GC,2408,-1.40,-77.9,289.1,-10.4,206,2412,0.00,2.30,0.00,0.000,6,0.000,0.024,2422,1904,3376,0,0,0,0,0,0
$GC,2751,-1.48,-77.9,316.9,-8.0,218,2756,0.15,2.45,0.00,0.000,4,0.062,0.050,2378,495,3375,0,0,0,0,0,0
$GC,2802,-1.43,-77.9,322.1,-10.0,219,2806,0.00,2.30,0.00,0.000,6,0.000,0.025,2379,1903,3375,0,0,0,0,0,0
$GC,3119,-1.43,-77.9,352.7,-9.6,227,3124,0.00,2.47,0.00,0.000,4,0.000,0.051,2369,489,3374,0,0,0,0,0,0
$GC,3162,-1.40,-77.9,356.8,-10.0,228,3167,0.12,2.30,0.00,0.000,6,0.107,0.026,2405,1902,3374,0,0,0,0,0,0
$GC,3490,-1.46,-77.9,386.0,-9.2,236,3494,0.00,2.45,0.00,0.000,4,0.000,0.054,2406,497,3372,0,0,0,0,0,0
$GC,3541,-1.49,-77.9,391.8,-11.1,237,3545,0.00,2.30,0.00,0.000,6,0.000,0.028,2405,1901,3372,0,0,0,0,0,0
$GC,3858,-1.57,-77.9,419.4,-8.3,245,3863,0.15,2.50,0.00,0.000,4,0.066,0.057,2365,497,3370,0,0,0,0,0,0
$GC,3910,-1.52,-77.9,425.1,-10.2,246,3914,0.00,2.33,0.00,0.000,6,0.000,0.028,2364,1895,3370,0,0,0,0,0,0
$STATE,4185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4185,begin apogee
$GC,4190,-0.31,0.0,451.1,9.5,253,4259,1.33,0.00,65.45,0.884,6,0.079,0.000,2644,2058,3050,0,0,0,0,0,0
$STATE,4260,end apogee,CONTROL_FINISHED_OK
$STATE,4260,begin climb
$GC,4261,1.40,77.9,452.1,0.0,254,4336,1.62,2.45,65.22,0.863,4,0.034,0.046,3022,3408,2731,0,0,0,0,0,0
$GC,4461,1.22,117.3,448.3,5.3,258,4502,0.25,2.38,34.22,0.849,6,0.115,0.038,2979,2035,2570,0,0,0,0,0,0
$GC,4811,1.11,117.3,417.0,9.7,267,4812,0.12,0.00,0.00,0.000,6,0.129,0.000,2958,2035,2564,0,0,0,0,0,0
$GC,5136,1.07,122.8,392.0,7.6,275,5147,0.00,2.50,4.72,0.599,4,0.000,0.056,2957,630,2548,0,0,0,0,0,0
$GC,5166,0.95,122.8,389.2,8.7,275,5171,0.20,2.35,0.00,0.000,6,0.123,0.030,2922,2014,2547,0,0,0,0,0,0
$GC,5503,1.00,133.8,365.2,7.3,284,5519,0.00,2.55,10.43,0.765,4,0.000,0.056,2922,627,2503,0,0,0,0,0,0
$GC,5548,0.96,133.8,361.3,8.9,285,5552,0.00,2.40,0.00,0.000,6,0.000,0.031,2922,2036,2502,0,0,0,0,0,0
$GC,5875,1.02,149.4,336.2,6.9,293,5895,0.00,2.58,14.62,0.788,4,0.000,0.054,2922,634,2439,0,0,0,0,0,0
$GC,6001,1.05,169.0,328.0,6.7,295,6026,0.00,2.38,18.42,0.792,6,0.000,0.031,2922,2043,2360,0,0,0,0,0,0
$GC,6340,1.11,169.0,301.1,8.9,304,6345,0.15,2.53,0.00,0.000,4,0.074,0.054,2958,622,2355,0,0,0,0,0,0
$GC,6477,1.04,169.0,285.5,10.3,309,6481,0.00,2.38,0.00,0.000,6,0.000,0.030,2958,2032,2351,0,0,0,0,0,0
$GC,6807,1.04,169.0,256.4,8.5,325,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2037,2352,0,0,0,0,0,0
$GC,7115,1.04,169.0,228.9,9.3,340,7119,0.00,2.47,0.00,0.000,4,0.000,0.051,2957,626,2350,0,0,0,0,0,0
$GC,7188,0.98,169.0,221.4,10.0,343,7193,0.17,2.38,0.00,0.000,6,0.117,0.028,2926,2047,2349,0,0,0,0,0,0
$GC,7511,1.13,215.3,205.5,4.8,359,7557,0.15,2.60,39.78,0.727,4,0.071,0.049,2962,625,2172,0,0,0,0,0,0
$GC,7728,1.13,215.3,181.6,12.4,379,7733,0.00,2.35,0.00,0.000,6,0.000,0.025,2962,2040,2164,0,0,0,0,0,0
$GC,7991,1.16,215.3,155.9,9.6,403,7995,0.00,2.47,0.00,0.000,4,0.000,0.048,2962,627,2164,0,0,0,0,0,0
$GC,8155,1.16,215.3,138.2,10.8,420,8161,0.00,2.35,0.00,0.000,6,0.000,0.024,2962,2035,2162,0,0,0,0,0,0
$GC,8418,1.22,215.3,116.3,8.4,445,8422,0.00,2.42,0.00,0.000,4,0.000,0.045,2962,626,2162,0,0,0,0,0,0
$GC,8444,1.22,215.3,113.4,10.1,447,8450,0.00,2.30,0.00,0.000,6,0.000,0.023,2962,2040,2161,0,0,0,0,0,0
$GC,8706,1.29,215.3,89.7,9.2,472,8711,0.12,2.42,0.00,0.000,4,0.070,0.045,2996,625,2161,0,0,0,0,0,0
$GC,8875,1.23,215.3,71.4,11.1,490,8879,0.00,2.30,0.00,0.000,6,0.000,0.021,2998,2044,2161,0,0,0,0,0,0
$GC,9142,1.23,218.4,47.7,7.8,515,9146,0.00,2.42,0.00,0.000,4,0.000,0.043,2997,620,2161,0,0,0,0,0,0
$GC,9219,1.20,218.4,39.0,9.6,523,9224,0.12,2.30,0.00,0.000,6,0.114,0.021,2976,2039,2161,0,0,0,0,0,0
$GC,9484,1.29,250.8,15.9,5.8,562,9524,0.00,2.53,30.70,0.538,4,0.000,0.042,2975,622,2025,0,0,0,0,0,0
$GC,9552,1.29,250.8,11.1,8.6,575,9559,0.00,2.33,0.00,0.000,6,0.000,0.020,2975,2032,2022,0,0,0,0,0,0
$STATE,9622,end climb,SURFACE_DEPTH_REACHED
$STATE,9622,begin surface coast
$FINISH,0.5,1.023214
$STATE,9650,end surface coast,CONTROL_FINISHED_OK
$STATE,9651,begin surface
$SM_CCo,9670,28.02,0.518,0,0,1826,300.00
$SM_GC,1.41,0.00,0.00,28.02,0.000,0.000,0.518,428,1879,1826,-10.51,-0.59,300.00
$IRIDIUM_FIX,2057.14,-15743.60,170799,232304
$TT8_MAMPS,0.029146
$HUMID,42.95
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,9.753
$10V_AH,10.0,8.937
$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,26.800,110.900,283.575,28.025,0.000,24.903,28.133,159.799,0.000,0.000,22.196,1148.616,6337.777,354.934,1812.999,358.927,33.339,1152.667,0.000,1795.834,0.000,0.537,0.000
$DEVICE_MAMPS,139.594,56.758,883.584,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,400.933,378.116,845.261,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,31792,593
$CAP_FILE_SIZE,110232,0
$CFSIZE,260165632,252964864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230410,045225,2105.812,-15746.953,67,1.8,67,9.8