version: 66.06
glider: 139
mission: 7
dive: 99
start: 4 23 110 10 54 28
data:
$ID,139
$MISSION,7
$DIVE,99
$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,-2122039.8
$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
$GPS1,104307,2106.600,-15749.728,84,1.8,84,9.8
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-70.2
$GPS2,105337,2106.577,-15749.802,17,1.9,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.103,0.153
$KALMAN_X,-17527.5,283.5,-282.4,10598.8,-1579.1
$KALMAN_Y,-11825.9,67.0,-35.7,16466.9,-1292.4
$MHEAD_RNG_PITCHd_Wd,316.3,21430,-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,-77.9,0.0,0.0,0,72,0.00,0.00,-54.92,0.000,2,0.000,0.000,424,1887,3254,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.1,-5.3,10,94,10.73,2.40,-2.28,0.000,4,0.137,0.037,2410,3330,3369,0,0,0,0,0,0
$GC,220,-1.40,-77.9,31.1,-13.7,42,227,0.00,2.45,0.00,0.000,6,0.000,0.030,2409,1896,3370,0,0,0,0,0,0
$GC,483,-1.31,-77.9,73.1,-15.3,67,487,0.00,2.42,0.00,0.000,4,0.000,0.044,2410,487,3371,0,0,0,0,0,0
$GC,525,-1.18,-77.9,79.8,-15.3,71,530,0.22,2.30,0.00,0.000,6,0.096,0.020,2454,1934,3371,0,0,0,0,0,0
$GC,788,-1.25,-77.9,109.1,-10.5,95,792,0.00,2.50,0.00,0.000,4,0.000,0.043,2454,485,3372,0,0,0,0,0,0
$GC,851,-1.29,-77.9,116.6,-10.6,101,857,0.10,2.28,0.00,0.000,6,0.074,0.020,2420,1906,3372,0,0,0,0,0,0
$GC,1112,-1.29,-77.9,147.4,-12.3,126,1116,0.00,2.25,0.00,0.000,4,0.000,0.028,2419,3285,3373,0,0,0,0,0,0
$GC,1139,-1.37,-77.9,150.5,-10.9,128,1146,0.00,2.35,0.00,0.000,6,0.000,0.030,2420,1899,3373,0,0,0,0,0,0
$GC,1402,-1.41,-77.9,177.5,-10.8,153,1406,0.00,2.42,0.00,0.000,4,0.000,0.045,2419,485,3373,0,0,0,0,0,0
$GC,1518,-1.41,-77.9,191.2,-12.1,165,1522,0.00,2.28,0.00,0.000,6,0.000,0.021,2420,1895,3374,0,0,0,0,0,0
$GC,1785,-1.45,-77.9,221.0,-10.8,181,1790,0.10,2.45,0.00,0.000,4,0.079,0.046,2386,488,3374,0,0,0,0,0,0
$GC,1818,-1.37,-77.9,225.1,-12.1,182,1822,0.12,2.28,0.00,0.000,6,0.104,0.021,2412,1902,3374,0,0,0,0,0,0
$GC,2134,-1.41,-77.9,254.8,-10.7,197,2138,0.00,2.45,0.00,0.000,4,0.000,0.046,2412,487,3374,0,0,0,0,0,0
$GC,2202,-1.41,-77.9,262.1,-9.3,200,2206,0.00,2.30,0.00,0.000,6,0.000,0.022,2412,1902,3374,0,0,0,0,0,0
$GC,2526,-1.47,-77.9,286.2,-7.8,216,2527,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1906,3373,0,0,0,0,0,0
$GC,2855,-1.54,-77.9,316.6,-9.1,228,2860,0.15,2.47,0.00,0.000,4,0.063,0.051,2368,495,3373,0,0,0,0,0,0
$GC,2925,-1.47,-77.9,324.6,-12.4,229,2930,0.10,2.30,0.00,0.000,6,0.117,0.025,2389,1898,3373,0,0,0,0,0,0
$GC,3265,-1.47,-77.9,360.4,-10.0,238,3269,0.00,2.45,0.00,0.000,4,0.000,0.052,2388,490,3371,0,0,0,0,0,0
$GC,3301,-1.47,-77.9,364.7,-11.8,238,3307,0.00,2.33,0.00,0.000,6,0.000,0.026,2386,1901,3371,0,0,0,0,0,0
$GC,3632,-1.50,-77.9,395.5,-9.6,247,3636,0.00,2.47,0.00,0.000,4,0.000,0.054,2389,498,3368,0,0,0,0,0,0
$GC,3696,-1.50,-77.9,402.8,-10.5,248,3700,0.00,2.33,0.00,0.000,6,0.000,0.028,2388,1905,3368,0,0,0,0,0,0
$GC,4045,-1.54,-77.9,433.4,-8.6,257,4049,0.00,2.50,0.00,0.000,4,0.000,0.058,2389,497,3366,0,0,0,0,0,0
$GC,4087,-1.54,-77.9,437.6,-9.9,258,4091,0.00,2.35,0.00,0.000,6,0.000,0.030,2390,1906,3365,0,0,0,0,0,0
$STATE,4249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4249,begin apogee
$GC,4254,-0.31,0.0,452.5,9.1,262,4322,1.20,0.00,64.70,0.887,6,0.078,0.000,2644,2053,3050,0,0,0,0,0,0
$STATE,4323,end apogee,CONTROL_FINISHED_OK
$STATE,4323,begin climb
$GC,4325,1.40,77.9,453.7,0.0,263,4399,1.62,2.47,65.25,0.865,4,0.034,0.048,3022,3413,2732,0,0,0,0,0,0
$GC,4450,1.24,130.6,453.0,4.4,265,4504,0.22,2.40,45.53,0.854,6,0.117,0.038,2982,2035,2516,0,0,0,0,0,0
$GC,4827,1.13,130.6,415.9,10.4,275,4831,0.12,2.45,0.00,0.000,4,0.127,0.043,2960,3422,2509,0,0,0,0,0,0
$GC,4841,1.06,130.6,414.4,10.2,275,4845,0.00,2.42,0.00,0.000,6,0.000,0.041,2960,2033,2509,0,0,0,0,0,0
$GC,5190,1.03,144.6,387.0,7.1,284,5204,0.12,0.00,11.48,0.775,6,0.129,0.000,2939,2032,2460,0,0,0,0,0,0
$GC,5515,1.04,154.1,364.2,7.4,292,5531,0.00,2.58,9.55,0.750,4,0.000,0.058,2938,628,2420,0,0,0,0,0,0
$GC,5656,0.99,154.1,350.6,9.6,295,5661,0.00,2.38,0.00,0.000,6,0.000,0.031,2937,2028,2417,0,0,0,0,0,0
$GC,5978,0.99,154.1,324.3,8.2,303,5979,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2030,2416,0,0,0,0,0,0
$GC,6303,1.00,159.8,297.8,7.6,311,6316,0.00,2.50,5.47,0.625,4,0.000,0.053,2938,619,2398,0,0,0,0,0,0
$GC,6413,0.97,171.1,289.5,7.2,315,6430,0.00,2.38,11.50,0.738,6,0.000,0.030,2938,2041,2351,0,0,0,0,0,0
$GC,6751,1.00,171.1,261.3,9.0,332,6755,0.00,2.50,0.00,0.000,4,0.000,0.053,2938,628,2349,0,0,0,0,0,0
$GC,6829,1.00,171.1,253.0,10.5,335,6833,0.00,2.38,0.00,0.000,6,0.000,0.028,2938,2037,2347,0,0,0,0,0,0
$GC,7144,1.05,171.1,222.4,9.4,350,7148,0.00,2.47,0.00,0.000,4,0.000,0.051,2938,619,2346,0,0,0,0,0,0
$GC,7359,1.05,171.3,202.5,8.0,359,7363,0.00,2.38,0.00,0.000,6,0.000,0.028,2938,2040,2344,0,0,0,0,0,0
$GC,7683,1.16,218.4,184.9,4.8,387,7731,0.12,2.58,41.67,0.713,4,0.079,0.049,2968,631,2159,0,0,0,0,0,0
$GC,7801,1.12,218.4,175.7,9.5,400,7806,0.00,2.38,0.00,0.000,6,0.000,0.026,2968,2046,2153,0,0,0,0,0,0
$GC,8062,1.12,218.4,148.9,9.4,424,8066,0.00,2.47,0.00,0.000,4,0.000,0.048,2969,619,2152,0,0,0,0,0,0
$GC,8181,1.09,218.4,135.3,10.9,436,8187,0.00,2.38,0.00,0.000,6,0.000,0.025,2969,2037,2149,0,0,0,0,0,0
$GC,8443,1.13,218.4,109.8,9.1,461,8447,0.00,2.45,0.00,0.000,4,0.000,0.046,2969,617,2149,0,0,0,0,0,0
$GC,8606,1.13,218.4,93.7,9.2,478,8613,0.00,2.35,0.00,0.000,6,0.000,0.023,2969,2034,2148,0,0,0,0,0,0
$GC,8870,1.19,218.4,70.7,8.6,503,8874,0.00,2.42,0.00,0.000,4,0.000,0.044,2969,618,2148,0,0,0,0,0,0
$GC,8993,1.19,218.4,59.7,8.9,516,9000,0.00,2.33,0.00,0.000,6,0.000,0.021,2970,2037,2148,0,0,0,0,0,0
$GC,9256,1.26,218.4,39.8,8.3,541,9260,0.00,2.42,0.00,0.000,4,0.000,0.042,2969,622,2148,0,0,0,0,0,0
$GC,9378,1.26,218.4,28.3,9.7,556,9384,0.00,2.33,0.00,0.000,6,0.000,0.021,2970,2044,2148,0,0,0,0,0,0
$GC,9579,1.32,218.4,8.2,10.8,593,9586,0.12,2.45,0.00,0.000,4,0.070,0.044,3006,630,2147,0,0,0,0,0,0
$GC,9601,1.32,218.4,6.0,10.4,597,9608,0.00,2.30,0.00,0.000,6,0.000,0.022,3006,2020,2148,0,0,0,0,0,0
$STATE,9641,end climb,SURFACE_DEPTH_REACHED
$STATE,9641,begin surface coast
$FINISH,0.4,1.011361
$STATE,9679,end surface coast,CONTROL_FINISHED_OK
$STATE,9680,begin surface
$SM_CCo,9699,40.15,0.526,0,0,1827,300.00
$SM_GC,1.45,0.00,0.00,40.15,0.000,0.000,0.526,423,1869,1827,-10.53,-0.93,300.00
$IRIDIUM_FIX,2059.45,-15753.03,180799,101023
$TT8_MAMPS,0.029146
$HUMID,44.09
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,10.007
$10V_AH,10.0,9.179
$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,26.025,110.875,255.150,40.150,0.000,53.487,59.054,328.614,0.000,0.000,34.380,1174.733,6365.256,360.779,1870.649,600.577,33.358,1155.295,0.000,1840.014,0.000,0.538,0.000
$DEVICE_MAMPS,137.293,57.525,886.652,526.162,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.401,391.593,890.239,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,34896,611
$CAP_FILE_SIZE,114232,0
$CFSIZE,260165632,252788736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230410,133815,2106.881,-15751.001,33,2.3,52,9.8