version: 66.06
glider: 139
mission: 7
dive: 97
start: 4 23 110 4 59 12
data:
$ID,139
$MISSION,7
$DIVE,97
$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,-2121967.5
$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
$GPS1,045225,2105.812,-15746.953,67,1.8,67,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-68.7
$GPS2,045822,2105.781,-15746.997,14,2.7,33,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.048,0.177
$KALMAN_X,-14573.4,9.3,498.5,11981.9,-2441.5
$KALMAN_Y,-9407.9,-84.6,96.1,12592.4,-1447.0
$MHEAD_RNG_PITCHd_Wd,334.9,26454,-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,-77.9,0.0,0.0,0,78,0.00,0.00,-59.12,0.000,6,0.000,0.000,429,1880,3368,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.7,-6.6,11,98,10.73,2.42,0.00,0.000,4,0.140,0.026,2404,3317,3370,0,0,0,0,0,0
$GC,233,-1.36,-77.9,35.4,-16.1,42,237,0.00,2.38,0.00,0.000,6,0.000,0.031,2403,1898,3371,0,0,0,0,0,0
$GC,495,-1.26,-77.9,75.6,-15.0,66,500,0.17,2.42,0.00,0.000,4,0.102,0.044,2438,485,3372,0,0,0,0,0,0
$GC,550,-1.20,-77.9,83.5,-12.6,71,556,0.00,2.33,0.00,0.000,6,0.000,0.020,2437,1931,3372,0,0,0,0,0,0
$GC,810,-1.20,-77.9,114.6,-12.9,96,815,0.00,2.50,0.00,0.000,4,0.000,0.044,2438,485,3373,0,0,0,0,0,0
$GC,851,-1.20,-77.9,119.4,-11.1,100,855,0.00,2.28,0.00,0.000,6,0.000,0.020,2438,1902,3374,0,0,0,0,0,0
$GC,1118,-1.24,-77.9,146.0,-8.9,125,1122,0.00,2.42,0.00,0.000,4,0.000,0.043,2438,492,3374,0,0,0,0,0,0
$GC,1143,-1.24,-77.9,148.6,-9.8,127,1147,0.00,2.25,0.00,0.000,6,0.000,0.020,2438,1903,3374,0,0,0,0,0,0
$GC,1406,-1.31,-77.9,172.6,-9.3,151,1410,0.00,2.45,0.00,0.000,4,0.000,0.046,2438,488,3375,0,0,0,0,0,0
$GC,1486,-1.35,-77.9,181.2,-10.8,159,1490,0.00,2.25,0.00,0.000,6,0.000,0.021,2437,1897,3375,0,0,0,0,0,0
$GC,1757,-1.43,-77.9,202.9,-6.7,182,1762,0.17,2.42,0.00,0.000,4,0.054,0.045,2387,488,3376,0,0,0,0,0,0
$GC,1836,-1.37,-77.9,211.5,-11.3,185,1841,0.12,2.25,0.00,0.000,6,0.104,0.021,2411,1898,3376,0,0,0,0,0,0
$GC,2151,-1.40,-77.9,238.3,-9.3,200,2155,0.00,2.42,0.00,0.000,4,0.000,0.046,2412,494,3376,0,0,0,0,0,0
$GC,2211,-1.40,-77.9,244.9,-11.0,202,2217,0.00,2.30,0.00,0.000,6,0.000,0.023,2412,1897,3376,0,0,0,0,0,0
$GC,2525,-1.45,-77.9,275.0,-9.4,218,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1902,3375,0,0,0,0,0,0
$GC,2854,-1.50,-77.9,309.6,-11.6,232,2859,0.12,2.47,0.00,0.000,4,0.069,0.050,2374,488,3375,0,0,0,0,0,0
$GC,2873,-1.50,-77.9,312.1,-12.6,232,2877,0.00,2.33,0.00,0.000,6,0.000,0.025,2375,1905,3375,0,0,0,0,0,0
$GC,3221,-1.50,-77.9,352.5,-11.1,241,3226,0.00,2.47,0.00,0.000,4,0.000,0.051,2354,492,3373,0,0,0,0,0,0
$GC,3254,-1.43,-77.9,356.5,-12.2,241,3259,0.12,2.30,0.00,0.000,6,0.106,0.026,2399,1899,3373,0,0,0,0,0,0
$GC,3590,-1.48,-77.9,386.8,-8.9,250,3593,0.00,2.45,0.00,0.000,4,0.000,0.054,2398,496,3371,0,0,0,0,0,0
$GC,3649,-1.48,-77.9,392.3,-9.1,251,3653,0.00,2.30,0.00,0.000,6,0.000,0.028,2399,1900,3371,0,0,0,0,0,0
$GC,3962,-1.53,-77.9,418.2,-8.1,259,3966,0.00,2.47,0.00,0.000,4,0.000,0.055,2400,497,3370,0,0,0,0,0,0
$GC,3993,-1.53,-77.9,420.9,-8.6,259,3998,0.00,2.30,0.00,0.000,6,0.000,0.028,2398,1899,3369,0,0,0,0,0,0
$GC,4325,-1.59,-77.9,443.2,-6.0,267,4330,0.15,2.50,0.00,0.000,4,0.067,0.058,2361,491,3367,0,0,0,0,0,0
$GC,4353,-1.50,-77.9,445.4,-7.8,267,4358,0.12,2.33,0.00,0.000,6,0.110,0.029,2385,1902,3367,0,0,0,0,0,0
$STATE,4443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4444,begin apogee
$GC,4448,-0.31,0.0,451.6,6.7,270,4517,1.23,0.00,64.95,0.885,6,0.081,0.000,2642,2059,3050,0,0,0,0,0,0
$STATE,4518,end apogee,CONTROL_FINISHED_OK
$STATE,4518,begin climb
$GC,4520,1.40,77.9,451.6,0.0,271,4594,1.65,2.45,64.85,0.865,4,0.035,0.047,3026,3407,2732,0,0,0,0,0,0
$GC,4653,1.21,116.5,449.0,5.4,274,4696,0.25,2.38,33.70,0.844,6,0.118,0.037,2978,2029,2573,0,0,0,0,0,0
$GC,5019,1.11,116.5,416.8,8.8,283,5021,0.12,0.00,0.00,0.000,6,0.128,0.000,2957,2029,2566,0,0,0,0,0,0
$GC,5345,1.05,121.9,392.5,7.7,291,5351,0.00,0.00,4.12,0.551,6,0.000,0.000,2957,2029,2553,0,0,0,0,0,0
$GC,5670,1.00,121.9,366.9,8.4,299,5672,0.15,0.00,0.00,0.000,6,0.123,0.000,2930,2029,2551,0,0,0,0,0,0
$GC,5994,1.07,179.0,350.1,4.1,307,6047,0.00,0.00,50.55,0.835,6,0.000,0.000,2931,2029,2320,0,0,0,0,0,0
$GC,6359,1.11,179.0,321.4,9.0,316,6364,0.10,2.50,0.00,0.000,4,0.091,0.056,2955,627,2312,0,0,0,0,0,0
$GC,6467,1.04,179.0,309.3,11.1,318,6472,0.00,2.35,0.00,0.000,6,0.000,0.029,2954,2019,2309,0,0,0,0,0,0
$GC,6799,1.04,179.0,277.7,8.6,332,6804,0.00,2.42,0.00,0.000,4,0.000,0.040,2956,3431,2309,0,0,0,0,0,0
$GC,6827,1.05,190.3,275.5,7.2,333,6841,0.00,2.40,9.30,0.701,6,0.000,0.038,2956,2029,2274,0,0,0,0,0,0
$GC,7151,1.05,190.3,247.7,9.6,349,7152,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2029,2272,0,0,0,0,0,0
$GC,7459,1.05,190.3,220.4,8.2,364,7463,0.00,2.42,0.00,0.000,4,0.000,0.051,2954,628,2270,0,0,0,0,0,0
$GC,7601,1.01,190.3,208.1,8.5,370,7605,0.00,2.33,0.00,0.000,6,0.000,0.025,2951,2044,2267,0,0,0,0,0,0
$GC,7928,1.05,190.3,179.2,9.8,396,7932,0.00,2.47,0.00,0.000,4,0.000,0.048,2953,626,2267,0,0,0,0,0,0
$GC,8117,1.01,190.3,158.9,10.8,416,8125,0.08,2.35,0.00,0.000,6,0.101,0.025,2938,2038,2267,0,0,0,0,0,0
$GC,8380,1.10,190.3,137.3,8.3,441,8384,0.00,2.45,0.00,0.000,4,0.000,0.046,2938,626,2267,0,0,0,0,0,0
$GC,8460,1.13,193.9,131.2,7.8,449,8464,0.00,2.30,0.00,0.000,6,0.000,0.024,2938,2040,2267,0,0,0,0,0,0
$GC,8723,1.24,201.6,113.1,7.5,473,8744,0.20,2.50,10.48,0.578,4,0.058,0.044,2988,630,2227,0,0,0,0,0,0
$GC,8748,1.24,201.6,110.5,9.4,475,8754,0.00,2.33,0.00,0.000,6,0.000,0.023,2990,2044,2226,0,0,0,0,0,0
$GC,9009,1.24,201.6,85.1,9.4,500,9013,0.00,2.42,0.00,0.000,4,0.000,0.043,2988,625,2226,0,0,0,0,0,0
$GC,9024,1.24,201.6,83.8,9.8,501,9028,0.00,2.33,0.00,0.000,6,0.000,0.022,2990,2047,2225,0,0,0,0,0,0
$GC,9287,1.24,201.6,58.7,9.1,525,9291,0.00,2.45,0.00,0.000,4,0.000,0.044,2989,617,2226,0,0,0,0,0,0
$GC,9404,1.19,201.6,47.2,10.1,537,9410,0.00,2.33,0.00,0.000,6,0.000,0.021,2990,2036,2225,0,0,0,0,0,0
$GC,9666,1.23,236.5,30.0,5.6,562,9706,0.00,2.53,31.42,0.551,4,0.000,0.043,2990,619,2084,0,0,0,0,0,0
$GC,9734,1.19,236.5,23.6,11.0,575,9741,0.00,2.35,0.00,0.000,6,0.000,0.021,2990,2044,2082,0,0,0,0,0,0
$GC,9937,1.23,236.5,3.6,9.3,612,9944,0.00,2.45,0.00,0.000,4,0.000,0.040,2990,630,2081,0,0,0,0,0,0
$STATE,9949,end climb,SURFACE_DEPTH_REACHED
$STATE,9949,begin surface coast
$FINISH,0.4,1.023330
$STATE,9967,end surface coast,CONTROL_FINISHED_OK
$STATE,9968,begin surface
$SM_CCo,9988,33.28,0.522,0,0,1826,300.00
$SM_GC,1.50,0.00,0.00,33.28,0.000,0.000,0.522,421,1869,1826,-10.54,-0.85,300.00
$IRIDIUM_FIX,2054.83,-15746.61,180799,020210
$TT8_MAMPS,0.029146
$HUMID,43.03
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,9.834
$10V_AH,10.0,9.015
$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,26.450,109.825,269.375,33.275,0.000,27.885,30.809,184.666,0.000,0.000,34.798,1156.489,6718.877,376.389,1728.800,400.094,33.352,1115.291,0.000,1715.288,0.000,0.537,0.000
$DEVICE_MAMPS,139.594,58.292,885.118,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,417.713,398.178,885.281,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,34842,618
$CAP_FILE_SIZE,107060,0
$CFSIZE,260165632,252903424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230410,074743,2106.229,-15748.227,47,1.4,54,9.8