version: 66.06
glider: 139
mission: 7
dive: 100
start: 4 23 110 13 45 46
data:
$ID,139
$MISSION,7
$DIVE,100
$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,-2122099
$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
$GPS1,133815,2106.881,-15751.001,33,2.3,52,9.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-69.6
$GPS2,134455,2106.866,-15751.024,58,1.4,58,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.092,0.159
$KALMAN_X,-18881.3,386.8,13.1,9441.9,-1488.2
$KALMAN_Y,-13136.1,158.0,7.6,18177.4,-1428.6
$MHEAD_RNG_PITCHd_Wd,320.3,19264,-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,-77.9,0.0,0.0,0,72,0.00,0.00,-54.15,0.000,2,0.000,0.000,423,1870,3279,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.7,-7.9,10,93,10.73,2.42,-1.73,0.000,4,0.138,0.038,2406,3330,3368,0,0,0,0,0,0
$GC,138,-1.40,-77.9,19.5,-15.5,23,144,0.00,2.45,0.00,0.000,6,0.000,0.034,2405,1904,3369,0,0,0,0,0,0
$GC,345,-1.29,-77.9,52.2,-16.1,48,350,0.12,2.45,0.00,0.000,4,0.110,0.048,2430,485,3370,0,0,0,0,0,0
$GC,381,-1.17,-77.9,58.2,-14.7,51,388,0.10,2.35,0.00,0.000,6,0.087,0.021,2453,1928,3370,0,0,0,0,0,0
$GC,643,-1.20,-77.9,86.9,-10.5,76,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1932,3371,0,0,0,0,0,0
$GC,897,-1.26,-77.9,111.0,-7.2,100,901,0.00,2.47,0.00,0.000,4,0.000,0.043,2454,491,3372,0,0,0,0,0,0
$GC,979,-1.31,-77.9,116.6,-7.2,108,986,0.10,2.30,0.00,0.000,6,0.037,0.020,2413,1900,3372,0,0,0,0,0,0
$GC,1240,-1.31,-77.9,143.8,-12.0,133,1244,0.00,2.45,0.00,0.000,4,0.000,0.046,2414,486,3373,0,0,0,0,0,0
$GC,1273,-1.23,-77.9,148.5,-14.5,136,1278,0.15,2.28,0.00,0.000,6,0.096,0.021,2444,1910,3373,0,0,0,0,0,0
$GC,1533,-1.31,-77.9,173.0,-8.6,160,1537,0.00,2.45,0.00,0.000,4,0.000,0.044,2444,489,3373,0,0,0,0,0,0
$GC,1593,-1.34,-77.9,178.1,-7.8,166,1598,0.12,2.28,0.00,0.000,6,0.065,0.021,2404,1899,3373,0,0,0,0,0,0
$GC,1853,-1.34,-77.9,204.1,-9.1,188,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1904,3374,0,0,0,0,0,0
$GC,2163,-1.34,-77.9,232.7,-9.0,203,2167,0.00,2.42,0.00,0.000,4,0.000,0.045,2404,492,3374,0,0,0,0,0,0
$GC,2217,-1.34,-77.9,238.3,-9.9,205,2221,0.00,2.28,0.00,0.000,6,0.000,0.021,2404,1900,3374,0,0,0,0,0,0
$GC,2532,-1.34,-77.9,267.5,-9.8,220,2536,0.00,2.45,0.00,0.000,4,0.000,0.048,2403,485,3374,0,0,0,0,0,0
$GC,2600,-1.34,-77.9,275.5,-11.5,223,2605,0.00,2.30,0.00,0.000,6,0.000,0.024,2404,1899,3374,0,0,0,0,0,0
$GC,2944,-1.39,-77.9,306.4,-7.9,238,2948,0.00,2.45,0.00,0.000,4,0.000,0.050,2400,493,3374,0,0,0,0,0,0
$GC,2986,-1.39,-77.9,310.0,-7.9,239,2991,0.00,2.30,0.00,0.000,6,0.000,0.025,2404,1897,3374,0,0,0,0,0,0
$GC,3313,-1.44,-77.9,337.9,-9.1,247,3318,0.00,2.45,0.00,0.000,4,0.000,0.051,2401,494,3372,0,0,0,0,0,0
$GC,3378,-1.44,-77.9,344.6,-9.9,248,3382,0.00,2.33,0.00,0.000,6,0.000,0.026,2404,1903,3371,0,0,0,0,0,0
$GC,3722,-1.50,-77.9,375.1,-8.7,257,3726,0.00,2.47,0.00,0.000,4,0.000,0.054,2403,495,3370,0,0,0,0,0,0
$GC,3749,-1.50,-77.9,377.7,-9.2,257,3753,0.00,2.33,0.00,0.000,6,0.000,0.028,2403,1908,3370,0,0,0,0,0,0
$GC,4089,-1.56,-77.9,404.8,-7.8,266,4094,0.15,2.50,0.00,0.000,4,0.065,0.057,2363,495,3367,0,0,0,0,0,0
$GC,4145,-1.50,-77.9,410.2,-9.6,267,4150,0.10,2.33,0.00,0.000,6,0.120,0.028,2382,1897,3367,0,0,0,0,0,0
$GC,4459,-1.50,-77.9,437.8,-8.7,275,4463,0.00,2.50,0.00,0.000,4,0.000,0.058,2382,488,3364,0,0,0,0,0,0
$GC,4509,-1.50,-77.9,442.6,-9.5,276,4513,0.00,2.33,0.00,0.000,6,0.000,0.029,2382,1897,3365,0,0,0,0,0,0
$STATE,4621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4621,begin apogee
$GC,4626,-0.31,0.0,453.0,9.1,279,4695,1.23,0.00,64.72,0.888,6,0.080,0.000,2640,2054,3050,0,0,0,0,0,0
$STATE,4696,end apogee,CONTROL_FINISHED_OK
$STATE,4696,begin climb
$GC,4697,1.40,77.9,454.1,0.0,280,4773,1.65,2.47,65.38,0.866,4,0.035,0.048,3023,3413,2732,0,0,0,0,0,0
$GC,4842,1.23,128.1,452.4,4.6,284,4892,0.22,2.42,43.40,0.856,6,0.121,0.038,2984,2025,2527,0,0,0,0,0,0
$GC,5205,1.12,128.1,418.7,9.8,293,5207,0.15,0.00,0.00,0.000,6,0.121,0.000,2958,2025,2519,0,0,0,0,0,0
$GC,5531,1.07,128.5,392.0,8.0,301,5535,0.00,2.50,0.00,0.000,4,0.000,0.059,2957,629,2517,0,0,0,0,0,0
$GC,5545,1.00,131.4,390.9,7.8,301,5550,0.15,2.38,0.00,0.000,6,0.130,0.031,2932,2021,2516,0,0,0,0,0,0
$GC,5895,1.03,156.9,369.1,6.3,310,5924,0.00,2.55,23.88,0.829,4,0.000,0.058,2932,626,2410,0,0,0,0,0,0
$GC,5957,0.99,156.9,364.0,9.3,311,5961,0.00,2.40,0.00,0.000,6,0.000,0.031,2932,2041,2407,0,0,0,0,0,0
$GC,6302,1.02,156.9,334.3,8.9,320,6306,0.00,2.50,0.00,0.000,4,0.000,0.055,2931,629,2404,0,0,0,0,0,0
$GC,6344,1.02,156.9,330.2,10.5,321,6348,0.00,2.38,0.00,0.000,6,0.000,0.031,2932,2042,2403,0,0,0,0,0,0
$GC,6672,1.06,160.5,304.8,7.8,329,6677,0.00,2.53,0.00,0.000,4,0.000,0.054,2932,623,2402,0,0,0,0,0,0
$GC,6802,1.06,160.5,291.7,10.1,332,6809,0.00,2.40,0.00,0.000,6,0.000,0.029,2932,2037,2400,0,0,0,0,0,0
$GC,7117,1.15,197.5,269.1,5.5,348,7161,0.12,2.60,35.58,0.785,4,0.079,0.054,2962,631,2243,0,0,0,0,0,0
$GC,7236,1.09,197.5,259.7,8.7,353,7240,0.00,2.40,0.00,0.000,6,0.000,0.029,2962,2044,2238,0,0,0,0,0,0
$GC,7561,1.09,197.5,232.4,9.2,369,7565,0.00,2.50,0.00,0.000,4,0.000,0.052,2962,619,2236,0,0,0,0,0,0
$GC,7755,1.05,197.5,212.1,10.7,377,7760,0.12,2.38,0.00,0.000,6,0.129,0.028,2941,2043,2233,0,0,0,0,0,0
$GC,8074,1.12,197.5,185.9,8.0,400,8076,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2047,2233,0,0,0,0,0,0
$GC,8330,1.20,200.2,165.7,7.8,424,8335,0.15,2.47,0.00,0.000,4,0.068,0.048,2978,624,2233,0,0,0,0,0,0
$GC,8492,1.14,200.2,148.0,11.5,441,8496,0.00,2.33,0.00,0.000,6,0.000,0.025,2978,2045,2231,0,0,0,0,0,0
$GC,8754,1.14,201.3,125.7,7.9,465,8759,0.00,2.45,0.00,0.000,4,0.000,0.046,2979,621,2231,0,0,0,0,0,0
$GC,8999,1.10,201.3,104.0,8.4,491,9004,0.12,2.30,0.00,0.000,6,0.120,0.023,2957,2041,2231,0,0,0,0,0,0
$GC,9261,1.20,202.2,83.9,8.0,515,9265,0.00,2.42,0.00,0.000,4,0.000,0.044,2956,618,2231,0,0,0,0,0,0
$GC,9276,1.26,202.2,82.6,8.3,516,9281,0.15,2.30,0.00,0.000,6,0.067,0.022,2996,2046,2231,0,0,0,0,0,0
$GC,9540,1.27,205.7,61.4,7.8,540,9552,0.00,2.47,6.78,0.490,4,0.000,0.042,2995,615,2211,0,0,0,0,0,0
$GC,9563,1.27,205.7,59.3,8.4,542,9567,0.00,2.30,0.00,0.000,6,0.000,0.021,2996,2044,2210,0,0,0,0,0,0
$GC,9826,1.27,205.7,37.5,8.8,566,9830,0.00,2.45,0.00,0.000,4,0.000,0.042,2995,616,2210,0,0,0,0,0,0
$GC,9861,1.21,205.7,34.0,9.9,569,9868,0.00,2.33,0.00,0.000,6,0.000,0.021,2996,2034,2210,0,0,0,0,0,0
$GC,10123,1.21,205.7,12.7,8.3,613,10130,0.00,2.42,0.00,0.000,4,0.000,0.041,2996,628,2210,0,0,0,0,0,0
$GC,10200,1.14,205.7,6.7,8.3,630,10207,0.15,2.30,0.00,0.000,6,0.087,0.020,2963,2040,2210,0,0,0,0,0,0
$STATE,10239,end climb,SURFACE_DEPTH_REACHED
$STATE,10239,begin surface coast
$FINISH,0.4,1.023833
$STATE,10272,end surface coast,CONTROL_FINISHED_OK
$STATE,10274,begin surface
$SM_CCo,10292,47.72,0.524,0,0,1825,300.00
$SM_GC,1.15,0.00,0.00,47.72,0.000,0.000,0.524,425,1868,1825,-10.52,-0.90,300.00
$IRIDIUM_FIX,2057.14,-15748.75,180799,101045
$TT8_MAMPS,0.029146
$HUMID,42.99
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,10.087
$10V_AH,10.0,9.263
$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,26.700,120.725,239.725,47.725,0.000,25.145,27.921,210.629,0.000,0.000,58.436,1248.398,6763.536,355.128,1957.038,419.333,33.357,1175.262,0.000,1904.130,0.000,0.537,0.000
$DEVICE_MAMPS,138.060,59.059,888.186,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.835,411.323,927.147,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355772
$DATA_FILE_SIZE,34905,643
$CAP_FILE_SIZE,118416,0
$CFSIZE,260165632,252727296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230410,163957,2107.533,-15751.763,55,4.8,74,9.8