version: 66.06
glider: 139
mission: 7
dive: 102
start: 4 23 110 19 31 45
data:
$ID,139
$MISSION,7
$DIVE,102
$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,-2122167.8
$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
$GPS1,192554,2108.219,-15752.591,41,1.7,59,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-68.8
$GPS2,193055,2108.185,-15752.631,18,1.7,35,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.134,0.125
$KALMAN_X,-19789.4,402.6,464.0,7097.3,-1836.7
$KALMAN_Y,-14458.5,275.1,263.1,21563.9,-1349.5
$MHEAD_RNG_PITCHd_Wd,303.2,16298,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,78,0.00,0.00,-59.20,0.000,6,0.000,0.000,427,1888,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.5,-5.9,11,99,10.75,2.42,0.00,0.000,4,0.140,0.029,2403,3315,3371,0,0,0,0,0,0
$GC,303,-1.40,-77.9,47.5,-16.2,50,307,0.00,2.40,0.00,0.000,6,0.000,0.033,2402,1899,3373,0,0,0,0,0,0
$GC,564,-1.33,-77.9,89.3,-15.5,74,568,0.00,2.35,0.00,0.000,4,0.000,0.026,2402,3329,3373,0,0,0,0,0,0
$GC,580,-1.28,-77.9,91.5,-14.7,75,585,0.17,2.40,0.00,0.000,6,0.094,0.028,2433,1896,3373,0,0,0,0,0,0
$GC,843,-1.28,-77.9,119.6,-9.4,99,847,0.00,2.40,0.00,0.000,4,0.000,0.044,2439,495,3374,0,0,0,0,0,0
$GC,879,-1.28,-77.9,124.0,-10.7,102,885,0.00,2.35,0.00,0.000,6,0.000,0.021,2438,1933,3375,0,0,0,0,0,0
$GC,1142,-1.32,-77.9,149.5,-10.2,127,1146,0.00,2.47,0.00,0.000,4,0.000,0.045,2439,488,3375,0,0,0,0,0,0
$GC,1185,-1.32,-77.9,154.6,-11.0,131,1189,0.00,2.28,0.00,0.000,6,0.000,0.021,2438,1913,3376,0,0,0,0,0,0
$GC,1448,-1.36,-77.9,180.6,-10.0,155,1449,0.10,0.00,0.00,0.000,6,0.077,0.000,2404,1917,3376,0,0,0,0,0,0
$GC,1698,-1.36,-77.9,209.1,-10.7,175,1702,0.00,2.45,0.00,0.000,4,0.000,0.045,2405,494,3377,0,0,0,0,0,0
$GC,1767,-1.33,-77.9,217.9,-12.0,178,1771,0.00,2.28,0.00,0.000,6,0.000,0.021,2404,1900,3377,0,0,0,0,0,0
$GC,2090,-1.33,-77.9,254.0,-11.4,194,2094,0.00,2.40,0.00,0.000,4,0.000,0.045,2404,498,3377,0,0,0,0,0,0
$GC,2154,-1.33,-77.9,261.3,-11.2,196,2161,0.00,2.30,0.00,0.000,6,0.000,0.022,2405,1898,3377,0,0,0,0,0,0
$GC,2469,-1.36,-77.9,291.9,-8.4,212,2473,0.00,2.40,0.00,0.000,4,0.000,0.047,2404,498,3377,0,0,0,0,0,0
$GC,2500,-1.36,-77.9,294.6,-8.1,213,2504,0.00,2.30,0.00,0.000,6,0.000,0.023,2405,1909,3377,0,0,0,0,0,0
$GC,2832,-1.41,-77.9,322.2,-9.1,223,2836,0.00,2.45,0.00,0.000,4,0.000,0.049,2404,500,3376,0,0,0,0,0,0
$GC,2929,-1.41,-77.9,329.8,-8.2,225,2933,0.00,2.30,0.00,0.000,6,0.000,0.025,2405,1907,3376,0,0,0,0,0,0
$GC,3251,-1.46,-77.9,357.3,-9.4,233,3255,0.00,2.45,0.00,0.000,4,0.000,0.052,2403,497,3375,0,0,0,0,0,0
$GC,3301,-1.46,-77.9,362.6,-10.4,234,3305,0.00,2.30,0.00,0.000,6,0.000,0.026,2404,1899,3375,0,0,0,0,0,0
$GC,3619,-1.51,-77.9,387.3,-6.8,242,3623,0.00,2.47,0.00,0.000,4,0.000,0.054,2404,494,3373,0,0,0,0,0,0
$GC,3692,-1.51,-77.9,393.4,-8.7,243,3696,0.00,2.33,0.00,0.000,6,0.000,0.028,2403,1900,3373,0,0,0,0,0,0
$GC,4027,-1.58,-77.9,422.5,-8.9,252,4032,0.17,2.50,0.00,0.000,4,0.061,0.056,2359,498,3371,0,0,0,0,0,0
$GC,4093,-1.51,-77.9,430.6,-13.0,253,4098,0.12,2.33,0.00,0.000,6,0.111,0.028,2382,1898,3370,0,0,0,0,0,0
$STATE,4314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4314,begin apogee
$GC,4319,-0.31,0.0,453.4,10.1,259,4388,1.23,0.00,65.53,0.881,6,0.079,0.000,2641,2057,3050,0,0,0,0,0,0
$STATE,4389,end apogee,CONTROL_FINISHED_OK
$STATE,4389,begin climb
$GC,4391,1.40,77.9,454.6,0.0,260,4465,1.65,2.45,64.95,0.862,4,0.035,0.047,3021,3404,2731,0,0,0,0,0,0
$GC,4535,1.21,116.0,453.4,5.4,263,4576,0.25,2.38,32.90,0.842,6,0.117,0.037,2980,2038,2577,0,0,0,0,0,0
$GC,4894,1.11,116.0,422.7,8.4,272,4899,0.15,2.40,0.00,0.000,4,0.121,0.042,2952,3409,2571,0,0,0,0,0,0
$GC,4918,1.05,116.0,420.5,8.7,272,4922,0.00,2.40,0.00,0.000,6,0.000,0.038,2954,2028,2571,0,0,0,0,0,0
$GC,5258,1.02,123.2,393.7,7.5,281,5270,0.00,2.55,6.28,0.675,4,0.000,0.057,2953,631,2547,0,0,0,0,0,0
$GC,5304,0.92,128.2,389.9,7.7,282,5317,0.20,2.35,5.85,0.652,6,0.118,0.030,2917,2015,2527,0,0,0,0,0,0
$GC,5636,0.96,156.7,368.8,6.1,290,5668,0.00,2.58,25.60,0.820,4,0.000,0.055,2917,629,2410,0,0,0,0,0,0
$GC,5784,0.96,156.7,355.5,9.5,293,5788,0.00,2.40,0.00,0.000,6,0.000,0.030,2916,2039,2405,0,0,0,0,0,0
$GC,6097,1.02,156.7,327.7,8.7,301,6101,0.00,2.53,0.00,0.000,4,0.000,0.054,2916,622,2404,0,0,0,0,0,0
$GC,6124,1.02,156.7,325.0,9.4,301,6128,0.00,2.40,0.00,0.000,6,0.000,0.030,2916,2040,2402,0,0,0,0,0,0
$GC,6459,1.10,165.6,298.8,7.4,310,6473,0.15,2.53,7.93,0.693,4,0.071,0.054,2953,629,2374,0,0,0,0,0,0
$GC,6686,1.04,165.6,277.7,9.4,320,6690,0.00,2.38,0.00,0.000,6,0.000,0.029,2952,2039,2370,0,0,0,0,0,0
$GC,7014,1.06,177.2,253.0,7.2,336,7031,0.00,2.58,11.12,0.709,4,0.000,0.051,2953,625,2327,0,0,0,0,0,0
$GC,7154,1.06,177.2,239.9,9.8,342,7158,0.00,2.38,0.00,0.000,6,0.000,0.028,2953,2039,2323,0,0,0,0,0,0
$GC,7477,1.06,177.2,212.5,9.1,358,7482,0.00,2.47,0.00,0.000,4,0.000,0.050,2952,629,2323,0,0,0,0,0,0
$GC,7537,1.02,177.2,206.6,9.8,360,7544,0.00,2.38,0.00,0.000,6,0.000,0.027,2952,2039,2322,0,0,0,0,0,0
$GC,7861,1.06,177.2,180.3,8.0,387,7865,0.00,2.45,0.00,0.000,4,0.000,0.048,2953,624,2322,0,0,0,0,0,0
$GC,7930,1.05,202.8,175.3,6.3,394,7960,0.00,2.35,23.23,0.683,6,0.000,0.025,2952,2049,2222,0,0,0,0,0,0
$GC,8214,1.09,202.8,152.5,8.3,421,8219,0.00,2.47,0.00,0.000,4,0.000,0.047,2953,628,2220,0,0,0,0,0,0
$GC,8232,1.09,202.8,150.6,9.2,422,8239,0.00,2.35,0.00,0.000,6,0.000,0.025,2953,2031,2218,0,0,0,0,0,0
$GC,8495,1.14,202.8,129.3,8.3,447,8499,0.00,2.42,0.00,0.000,4,0.000,0.045,2952,622,2217,0,0,0,0,0,0
$GC,8563,1.14,202.8,122.6,10.1,454,8568,0.00,2.33,0.00,0.000,6,0.000,0.023,2953,2038,2216,0,0,0,0,0,0
$GC,8825,1.22,202.8,99.7,8.2,478,8830,0.10,2.45,0.00,0.000,4,0.083,0.044,2981,621,2217,0,0,0,0,0,0
$GC,8860,1.16,202.8,96.5,10.4,481,8864,0.00,2.33,0.00,0.000,6,0.000,0.022,2981,2040,2217,0,0,0,0,0,0
$GC,9122,1.20,238.4,76.5,5.6,505,9162,0.00,2.40,31.58,0.591,4,0.000,0.031,2981,3425,2078,0,0,0,0,0,0
$GC,9210,1.27,238.4,70.3,8.8,514,9214,0.00,2.38,0.00,0.000,6,0.000,0.029,2979,2024,2076,0,0,0,0,0,0
$GC,9472,1.32,238.4,44.9,9.2,538,9476,0.00,2.38,0.00,0.000,4,0.000,0.044,2981,628,2074,0,0,0,0,0,0
$GC,9553,1.32,238.4,36.1,11.1,546,9560,0.00,2.30,0.00,0.000,6,0.000,0.021,2981,2035,2072,0,0,0,0,0,0
$GC,9816,1.37,238.4,9.8,10.4,589,9823,0.12,2.47,0.00,0.000,4,0.067,0.044,3018,626,2072,0,0,0,0,0,0
$GC,9856,1.27,238.4,4.8,13.6,597,9863,0.10,2.30,0.00,0.000,6,0.081,0.021,2994,2033,2071,0,0,0,0,0,0
$STATE,9868,end climb,SURFACE_DEPTH_REACHED
$STATE,9868,begin surface coast
$FINISH,0.7,1.023780
$STATE,9891,end surface coast,CONTROL_FINISHED_OK
$STATE,9891,begin surface
$SM_CCo,9910,32.90,0.522,0,0,1827,300.00
$SM_GC,1.55,0.00,0.00,32.90,0.000,0.000,0.522,429,1879,1827,-10.50,-0.59,300.00
$IRIDIUM_FIX,2059.45,-15750.89,180799,161606
$TT8_MAMPS,0.029146
$HUMID,43.81
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,10.245
$10V_AH,10.0,9.417
$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,26.325,125.250,274.950,32.900,0.000,22.193,28.503,137.418,0.000,0.000,35.628,1180.982,6485.420,364.871,1876.586,338.804,33.351,1193.087,0.000,1841.052,0.000,0.538,0.000
$DEVICE_MAMPS,140.361,56.758,881.283,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.832,379.759,852.413,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,34946,603
$CAP_FILE_SIZE,114746,0
$CFSIZE,260165632,252616704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230410,221858,2108.632,-15753.757,35,3.8,54,9.8