version: 66.06
glider: 139
mission: 7
dive: 98
start: 4 23 110 7 57 12
data:
$ID,139
$MISSION,7
$DIVE,98
$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,-2122004.5
$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
$GPS1,074743,2106.229,-15748.227,47,1.4,54,9.8
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-71.0
$GPS2,075622,2106.217,-15748.345,16,2.2,35,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.074,0.168
$KALMAN_X,-16103.0,114.6,150.1,11429.5,-2342.8
$KALMAN_Y,-10573.1,-37.4,36.8,14578.3,-1365.1
$MHEAD_RNG_PITCHd_Wd,326.6,24022,-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,-59.05,0.000,6,0.000,0.000,420,1871,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.7,-6.6,11,98,10.85,2.45,0.00,0.000,4,0.142,0.028,2405,3315,3371,0,0,0,0,0,0
$GC,233,-1.40,-77.9,34.7,-15.2,42,237,0.00,2.38,0.00,0.000,6,0.000,0.031,2405,1897,3372,0,0,0,0,0,0
$GC,495,-1.31,-77.9,76.5,-14.4,66,500,0.10,2.45,0.00,0.000,4,0.120,0.046,2423,488,3373,0,0,0,0,0,0
$GC,548,-1.24,-77.9,84.1,-13.3,71,552,0.00,2.35,0.00,0.000,6,0.000,0.021,2423,1934,3372,0,0,0,0,0,0
$GC,810,-1.24,-77.9,116.9,-11.6,95,815,0.00,2.47,0.00,0.000,4,0.000,0.044,2424,490,3373,0,0,0,0,0,0
$GC,879,-1.20,-77.9,126.2,-12.6,102,884,0.12,2.28,0.00,0.000,6,0.102,0.020,2449,1900,3374,0,0,0,0,0,0
$GC,1141,-1.29,-77.9,151.2,-9.4,126,1145,0.00,2.30,0.00,0.000,4,0.000,0.028,2449,3296,3374,0,0,0,0,0,0
$GC,1158,-1.39,-77.9,152.6,-8.3,127,1163,0.17,2.33,0.00,0.000,6,0.054,0.028,2396,1894,3374,0,0,0,0,0,0
$GC,1419,-1.39,-77.9,179.3,-10.2,151,1423,0.00,2.38,0.00,0.000,4,0.000,0.044,2397,491,3375,0,0,0,0,0,0
$GC,1464,-1.34,-77.9,184.9,-11.8,155,1470,0.12,2.28,0.00,0.000,6,0.102,0.021,2421,1905,3375,0,0,0,0,0,0
$GC,1733,-1.38,-77.9,210.0,-9.3,176,1737,0.00,2.42,0.00,0.000,4,0.000,0.045,2422,497,3376,0,0,0,0,0,0
$GC,1796,-1.38,-77.9,217.4,-11.4,178,1803,0.00,2.28,0.00,0.000,6,0.000,0.021,2420,1892,3376,0,0,0,0,0,0
$GC,2111,-1.43,-77.9,248.5,-9.7,194,2115,0.00,2.30,0.00,0.000,4,0.000,0.031,2423,3290,3375,0,0,0,0,0,0
$GC,2143,-1.55,-77.9,251.4,-8.6,195,2148,0.20,2.33,0.00,0.000,6,0.051,0.032,2361,1896,3375,0,0,0,0,0,0
$GC,2458,-1.51,-77.9,285.3,-11.2,210,2462,0.00,2.40,0.00,0.000,4,0.000,0.048,2362,488,3375,0,0,0,0,0,0
$GC,2479,-1.42,-77.9,287.4,-10.6,211,2484,0.17,2.30,0.00,0.000,6,0.095,0.024,2403,1902,3375,0,0,0,0,0,0
$GC,2806,-1.46,-77.9,314.2,-8.4,223,2810,0.00,2.42,0.00,0.000,4,0.000,0.049,2380,497,3374,0,0,0,0,0,0
$GC,2880,-1.46,-77.9,322.7,-11.5,224,2884,0.00,2.28,0.00,0.000,6,0.000,0.025,2400,1900,3374,0,0,0,0,0,0
$GC,3215,-1.50,-77.9,355.1,-9.3,233,3219,0.00,2.45,0.00,0.000,4,0.000,0.051,2395,498,3372,0,0,0,0,0,0
$GC,3262,-1.50,-77.9,360.4,-10.8,234,3266,0.00,2.28,0.00,0.000,6,0.000,0.027,2394,1895,3372,0,0,0,0,0,0
$GC,3584,-1.55,-77.9,391.5,-9.4,242,3586,0.12,0.00,0.00,0.000,6,0.074,0.000,2367,1899,3370,0,0,0,0,0,0
$GC,3909,-1.55,-77.9,422.7,-9.1,250,3913,0.00,2.45,0.00,0.000,4,0.000,0.056,2366,497,3368,0,0,0,0,0,0
$GC,3983,-1.50,-77.9,431.5,-12.7,251,3987,0.00,2.33,0.00,0.000,6,0.000,0.028,2366,1896,3368,0,0,0,0,0,0
$STATE,4153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4153,begin apogee
$GC,4159,-0.31,0.0,450.8,11.2,256,4227,1.33,0.00,65.10,0.878,6,0.083,0.000,2643,2058,3050,0,0,0,0,0,0
$STATE,4228,end apogee,CONTROL_FINISHED_OK
$STATE,4228,begin climb
$GC,4230,1.40,77.9,452.3,0.0,257,4304,1.62,2.45,65.07,0.858,4,0.034,0.046,3023,3405,2732,0,0,0,0,0,0
$GC,4393,1.22,113.1,450.8,5.6,260,4430,0.25,2.38,30.73,0.838,6,0.119,0.038,2978,2026,2588,0,0,0,0,0,0
$GC,4775,1.12,113.1,416.5,9.0,270,4777,0.12,0.00,0.00,0.000,6,0.127,0.000,2956,2026,2582,0,0,0,0,0,0
$GC,5100,1.09,138.2,393.5,6.3,278,5129,0.00,2.58,21.42,0.821,4,0.000,0.058,2956,632,2484,0,0,0,0,0,0
$GC,5156,0.98,138.2,389.3,8.1,279,5162,0.17,2.35,0.00,0.000,6,0.126,0.030,2926,2013,2482,0,0,0,0,0,0
$GC,5470,0.99,146.8,366.7,7.4,287,5483,0.00,2.47,7.88,0.715,4,0.000,0.055,2926,632,2451,0,0,0,0,0,0
$GC,5507,0.95,149.4,363.8,7.8,287,5515,0.00,2.40,3.70,0.494,6,0.000,0.030,2926,2043,2441,0,0,0,0,0,0
$GC,5844,0.99,153.2,336.4,7.8,296,5855,0.00,2.53,4.93,0.601,4,0.000,0.054,2927,627,2424,0,0,0,0,0,0
$GC,5938,0.99,153.2,328.7,8.4,298,5943,0.00,2.38,0.00,0.000,6,0.000,0.028,2926,2037,2422,0,0,0,0,0,0
$GC,6261,1.06,175.8,307.3,6.5,306,6289,0.00,2.53,21.02,0.788,4,0.000,0.052,2927,632,2331,0,0,0,0,0,0
$GC,6374,1.06,175.8,297.0,11.0,309,6378,0.00,2.38,0.00,0.000,6,0.000,0.030,2926,2035,2327,0,0,0,0,0,0
$GC,6709,1.12,175.8,267.9,8.6,325,6714,0.15,2.50,0.00,0.000,4,0.072,0.052,2962,631,2326,0,0,0,0,0,0
$GC,6913,1.06,175.8,246.9,9.1,334,6917,0.00,2.38,0.00,0.000,6,0.000,0.029,2962,2043,2323,0,0,0,0,0,0
$GC,7241,1.06,175.8,219.1,9.2,350,7245,0.00,2.47,0.00,0.000,4,0.000,0.050,2962,625,2324,0,0,0,0,0,0
$GC,7255,1.03,175.8,217.8,9.2,350,7262,0.10,2.38,0.00,0.000,6,0.105,0.028,2940,2034,2323,0,0,0,0,0,0
$GC,7574,1.12,197.4,195.9,6.5,369,7601,0.00,2.53,18.90,0.700,4,0.000,0.048,2940,626,2243,0,0,0,0,0,0
$GC,7747,1.12,197.4,179.4,9.9,388,7751,0.00,2.35,0.00,0.000,6,0.000,0.026,2940,2036,2239,0,0,0,0,0,0
$GC,8008,1.19,197.4,155.8,9.1,412,8013,0.12,2.47,0.00,0.000,4,0.076,0.048,2973,621,2238,0,0,0,0,0,0
$GC,8036,1.12,197.4,152.8,11.0,414,8043,0.00,2.35,0.00,0.000,6,0.000,0.025,2971,2029,2237,0,0,0,0,0,0
$GC,8298,1.12,197.4,127.3,9.7,439,8302,0.00,2.42,0.00,0.000,4,0.000,0.045,2972,619,2237,0,0,0,0,0,0
$GC,8316,1.08,197.4,125.2,10.0,440,8323,0.10,2.35,0.00,0.000,6,0.100,0.025,2952,2032,2237,0,0,0,0,0,0
$GC,8579,1.18,220.1,106.9,6.5,465,8607,0.00,2.53,20.33,0.618,4,0.000,0.045,2950,624,2151,0,0,0,0,0,0
$GC,8765,1.22,220.1,91.5,8.3,485,8770,0.12,2.33,0.00,0.000,6,0.075,0.022,2985,2038,2146,0,0,0,0,0,0
$GC,9026,1.23,221.3,69.7,7.9,509,9030,0.00,2.45,0.00,0.000,4,0.000,0.044,2984,619,2146,0,0,0,0,0,0
$GC,9193,1.23,221.3,54.9,8.1,527,9197,0.00,2.30,0.00,0.000,6,0.000,0.021,2985,2040,2146,0,0,0,0,0,0
$GC,9461,1.27,223.3,33.2,7.9,552,9465,0.00,2.42,0.00,0.000,4,0.000,0.043,2984,628,2145,0,0,0,0,0,0
$GC,9515,1.27,223.3,28.0,10.4,559,9522,0.00,2.30,0.00,0.000,6,0.000,0.021,2985,2031,2146,0,0,0,0,0,0
$GC,9717,1.30,223.3,6.8,9.6,596,9723,0.00,2.42,0.00,0.000,4,0.000,0.042,2984,632,2145,0,0,0,0,0,0
$GC,9752,1.31,232.9,4.1,7.4,603,9765,0.00,2.30,8.40,0.470,2,0.000,0.021,2984,2053,2117,0,0,0,0,0,0
$STATE,9766,end climb,SURFACE_DEPTH_REACHED
$STATE,9766,begin surface coast
$FINISH,0.6,1.023806
$STATE,9781,end surface coast,CONTROL_FINISHED_OK
$STATE,9781,begin surface
$SM_CCo,9800,36.15,0.525,0,0,1826,300.00
$SM_GC,1.69,0.00,0.00,36.15,0.000,0.000,0.525,425,1886,1826,-10.52,-0.40,300.00
$IRIDIUM_FIX,2057.14,-15746.61,180799,050537
$TT8_MAMPS,0.029146
$HUMID,43.38
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.10
$XPDR_PINGS,0
$24V_AH,23.4,9.917
$10V_AH,10.0,9.096
$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,27.125,120.000,267.475,36.150,0.000,51.967,107.318,170.529,0.000,0.000,36.241,1180.428,6463.522,364.977,1855.759,492.432,33.359,1171.592,0.000,1821.570,0.000,0.539,0.000
$DEVICE_MAMPS,141.895,57.525,878.215,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,411.200,389.143,872.479,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,34871,608
$CAP_FILE_SIZE,114453,0
$CFSIZE,260165632,252846080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230410,104307,2106.600,-15749.728,84,1.8,84,9.8