version: 66.06
glider: 139
mission: 7
dive: 105
start: 4 24 110 4 19 27
data:
$ID,139
$MISSION,7
$DIVE,105
$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,-2122326
$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,2714
$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
$GPS1,041254,2109.176,-15755.508,118,1.3,135,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-70.1
$GPS2,041836,2109.165,-15755.520,16,0.9,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.182,0.024
$KALMAN_X,-19283.2,253.1,330.2,1887.3,-150.2
$KALMAN_Y,-15624.7,168.4,54.2,24861.3,-568.3
$MHEAD_RNG_PITCHd_Wd,267.7,11410,-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,-77.9,0.0,0.0,0,77,0.00,0.00,-58.78,0.000,6,0.000,0.000,431,1869,3369,0,0,0,0,0,0
$GC,79,-1.40,-77.9,3.9,-7.3,11,97,10.73,2.40,0.00,0.000,4,0.139,0.041,2407,496,3371,0,0,0,0,0,0
$GC,313,-1.22,-77.9,55.3,-18.3,48,320,0.15,2.33,0.00,0.000,6,0.084,0.021,2441,1922,3372,0,0,0,0,0,0
$GC,575,-1.22,-77.9,94.6,-15.5,73,580,0.00,2.47,0.00,0.000,4,0.000,0.046,2441,494,3373,0,0,0,0,0,0
$GC,612,-1.16,-77.9,100.7,-14.5,76,618,0.00,2.28,0.00,0.000,6,0.000,0.020,2441,1896,3373,0,0,0,0,0,0
$GC,875,-1.20,-77.9,126.9,-8.7,101,879,0.00,2.42,0.00,0.000,4,0.000,0.044,2441,491,3374,0,0,0,0,0,0
$GC,907,-1.20,-77.9,130.7,-11.5,104,911,0.00,2.28,0.00,0.000,6,0.000,0.020,2441,1906,3374,0,0,0,0,0,0
$GC,1168,-1.26,-77.9,154.4,-8.1,128,1173,0.00,2.45,0.00,0.000,4,0.000,0.044,2441,487,3375,0,0,0,0,0,0
$GC,1229,-1.26,-77.9,159.9,-9.1,134,1234,0.00,2.28,0.00,0.000,6,0.000,0.020,2441,1905,3375,0,0,0,0,0,0
$GC,1491,-1.35,-77.9,183.6,-9.2,158,1495,0.00,2.45,0.00,0.000,4,0.000,0.044,2441,486,3376,0,0,0,0,0,0
$GC,1514,-1.38,-77.9,185.8,-9.5,160,1519,0.12,2.25,0.00,0.000,6,0.065,0.021,2400,1900,3376,0,0,0,0,0,0
$GC,1770,-1.38,-77.9,214.4,-10.9,178,1774,0.00,2.42,0.00,0.000,4,0.000,0.045,2400,488,3376,0,0,0,0,0,0
$GC,1806,-1.33,-77.9,218.4,-10.9,179,1811,0.12,2.28,0.00,0.000,6,0.102,0.021,2426,1898,3376,0,0,0,0,0,0
$GC,2121,-1.41,-77.9,247.5,-9.4,194,2126,0.00,2.42,0.00,0.000,4,0.000,0.047,2422,495,3376,0,0,0,0,0,0
$GC,2188,-1.45,-77.9,254.0,-9.8,197,2193,0.12,2.28,0.00,0.000,6,0.066,0.023,2388,1897,3376,0,0,0,0,0,0
$GC,2519,-1.45,-77.9,288.4,-11.3,213,2523,0.00,2.45,0.00,0.000,4,0.000,0.048,2382,488,3375,0,0,0,0,0,0
$GC,2538,-1.40,-77.9,290.7,-11.5,214,2542,0.00,2.28,0.00,0.000,6,0.000,0.025,2388,1897,3375,0,0,0,0,0,0
$GC,2883,-1.40,-77.9,328.7,-10.6,225,2888,0.10,2.47,0.00,0.000,4,0.113,0.051,2405,491,3374,0,0,0,0,0,0
$GC,2921,-1.40,-77.9,332.9,-10.7,225,2926,0.00,2.28,0.00,0.000,6,0.000,0.025,2406,1896,3374,0,0,0,0,0,0
$GC,3252,-1.46,-77.9,361.9,-7.8,234,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,1899,3373,0,0,0,0,0,0
$GC,3576,-1.53,-77.9,388.3,-8.9,242,3581,0.12,2.50,0.00,0.000,4,0.071,0.055,2372,490,3371,0,0,0,0,0,0
$GC,3670,-1.49,-77.9,399.2,-11.4,244,3674,0.00,2.33,0.00,0.000,6,0.000,0.028,2369,1895,3370,0,0,0,0,0,0
$GC,3992,-1.49,-77.9,431.8,-9.9,252,3996,0.00,2.47,0.00,0.000,4,0.000,0.057,2372,496,3368,0,0,0,0,0,0
$GC,4052,-1.45,-77.9,437.9,-10.2,253,4057,0.12,2.33,0.00,0.000,6,0.110,0.029,2396,1897,3368,0,0,0,0,0,0
$STATE,4237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4237,begin apogee
$GC,4242,-0.31,0.0,452.9,7.8,258,4310,1.17,0.00,64.78,0.881,6,0.077,0.000,2646,2058,3050,0,0,0,0,0,0
$STATE,4311,end apogee,CONTROL_FINISHED_OK
$STATE,4311,begin climb
$GC,4313,1.40,77.9,453.4,0.0,259,4388,1.62,2.45,64.88,0.860,4,0.033,0.046,3024,3402,2731,0,0,0,0,0,0
$GC,4527,1.22,113.0,447.9,5.6,263,4564,0.22,2.38,30.20,0.843,6,0.117,0.038,2983,2033,2588,0,0,0,0,0,0
$GC,4904,1.10,113.0,416.9,8.2,273,4909,0.15,2.53,0.00,0.000,4,0.120,0.058,2956,630,2583,0,0,0,0,0,0
$GC,4924,0.99,128.3,415.5,7.0,273,4946,0.15,2.33,13.18,0.790,6,0.126,0.029,2931,2019,2527,0,0,0,0,0,0
$GC,5271,1.01,144.8,392.3,6.9,282,5291,0.00,2.55,15.32,0.803,4,0.000,0.056,2931,624,2459,0,0,0,0,0,0
$GC,5328,0.96,144.8,387.6,8.2,283,5333,0.00,2.40,0.00,0.000,6,0.000,0.030,2931,2034,2457,0,0,0,0,0,0
$GC,5641,0.97,151.4,363.6,7.6,291,5654,0.00,2.58,6.72,0.688,4,0.000,0.055,2931,631,2432,0,0,0,0,0,0
$GC,5866,0.97,151.4,343.6,9.8,295,5872,0.00,2.38,0.00,0.000,6,0.000,0.031,2931,2036,2429,0,0,0,0,0,0
$GC,6197,1.01,151.4,316.7,8.3,304,6201,0.00,2.50,0.00,0.000,4,0.000,0.054,2931,627,2428,0,0,0,0,0,0
$GC,6219,1.01,151.4,314.4,10.3,304,6224,0.00,2.38,0.00,0.000,6,0.000,0.030,2931,2044,2427,0,0,0,0,0,0
$GC,6541,1.04,151.4,288.0,8.4,316,6545,0.00,2.50,0.00,0.000,4,0.000,0.053,2932,630,2426,0,0,0,0,0,0
$GC,6653,1.04,151.4,277.2,8.9,321,6658,0.00,2.38,0.00,0.000,6,0.000,0.029,2931,2044,2425,0,0,0,0,0,0
$GC,6985,1.10,170.3,252.0,6.7,337,7008,0.10,2.55,16.73,0.746,4,0.089,0.050,2955,625,2354,0,0,0,0,0,0
$GC,7040,1.05,170.3,247.0,9.2,339,7045,0.00,2.40,0.00,0.000,6,0.000,0.028,2956,2045,2351,0,0,0,0,0,0
$GC,7361,1.06,178.4,222.3,7.5,355,7374,0.00,2.53,7.90,0.649,4,0.000,0.050,2955,630,2322,0,0,0,0,0,0
$GC,7480,1.03,178.4,212.9,8.4,360,7484,0.00,2.35,0.00,0.000,6,0.000,0.027,2955,2040,2319,0,0,0,0,0,0
$GC,7805,1.06,181.7,190.0,7.8,381,7815,0.00,2.47,4.05,0.477,4,0.000,0.049,2955,632,2308,0,0,0,0,0,0
$GC,7890,1.03,181.7,182.5,8.9,390,7894,0.00,2.33,0.00,0.000,6,0.000,0.026,2955,2041,2307,0,0,0,0,0,0
$GC,8151,1.06,204.8,164.7,6.4,414,8180,0.00,2.53,21.83,0.674,4,0.000,0.047,2955,623,2214,0,0,0,0,0,0
$GC,8310,1.06,204.8,150.3,9.2,431,8314,0.00,2.35,0.00,0.000,6,0.000,0.024,2955,2038,2210,0,0,0,0,0,0
$GC,8573,1.12,204.8,127.7,8.8,455,8577,0.00,2.45,0.00,0.000,4,0.000,0.046,2955,629,2210,0,0,0,0,0,0
$GC,8606,1.12,204.8,124.0,11.5,458,8610,0.00,2.33,0.00,0.000,6,0.000,0.024,2955,2035,2209,0,0,0,0,0,0
$GC,8867,1.19,204.8,100.6,8.8,482,8868,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2041,2208,0,0,0,0,0,0
$GC,9122,1.30,225.1,81.7,6.6,506,9151,0.17,2.45,18.40,0.588,4,0.060,0.042,3002,628,2130,0,0,0,0,0,0
$GC,9156,1.26,225.1,79.0,8.3,509,9163,0.00,2.35,0.00,0.000,6,0.000,0.022,3003,2034,2129,0,0,0,0,0,0
$GC,9419,1.26,225.1,56.7,8.6,534,9423,0.00,2.42,0.00,0.000,4,0.000,0.044,3002,619,2129,0,0,0,0,0,0
$GC,9453,1.19,225.1,53.5,9.7,537,9458,0.15,2.33,0.00,0.000,6,0.102,0.021,2974,2047,2128,0,0,0,0,0,0
$GC,9716,1.25,225.1,32.9,8.3,561,9720,0.00,2.42,0.00,0.000,4,0.000,0.042,2974,626,2128,0,0,0,0,0,0
$GC,9808,1.25,225.1,23.5,10.8,578,9815,0.00,2.30,0.00,0.000,6,0.000,0.021,2974,2030,2127,0,0,0,0,0,0
$GC,10011,1.32,225.1,5.2,9.6,615,10018,0.12,2.45,0.00,0.000,4,0.068,0.043,3011,629,2127,0,0,0,0,0,0
$STATE,10032,end climb,SURFACE_DEPTH_REACHED
$STATE,10032,begin surface coast
$FINISH,0.4,1.000482
$STATE,10059,end surface coast,CONTROL_FINISHED_OK
$STATE,10059,begin surface
$SM_CCo,10080,38.70,0.523,0,0,1826,300.00
$SM_GC,1.51,0.00,0.00,38.70,0.000,0.000,0.523,431,1906,1826,-10.50,0.17,300.00
$IRIDIUM_FIX,2101.76,-15756.04,190799,010135
$TT8_MAMPS,0.029146
$HUMID,43.03
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.4,10.481
$10V_AH,10.0,9.663
$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,26.625,124.725,263.975,38.700,0.000,23.509,83.113,124.457,0.000,0.000,33.040,1209.313,6608.332,370.763,1887.102,388.045,33.355,1187.090,0.000,1861.131,0.000,0.539,0.000
$DEVICE_MAMPS,138.827,57.525,880.516,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,422.887,400.517,895.325,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,34900,625
$CAP_FILE_SIZE,115195,0
$CFSIZE,260165632,252444672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240410,070908,2109.348,-15756.203,27,1.7,27,9.8