version: 66.06
glider: 139
mission: 7
dive: 111
start: 4 24 110 21 35 23
data:
$ID,139
$MISSION,7
$DIVE,111
$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,-2122499
$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
$GPS1,212638,2108.879,-15800.412,39,1.9,39,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.5
$GPS2,213431,2108.905,-15800.431,10,1.8,15,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.179,-0.041
$KALMAN_X,-14885.6,-73.9,46.2,-10373.4,258.0
$KALMAN_Y,-15234.2,-12.1,138.8,24091.8,-193.5
$MHEAD_RNG_PITCHd_Wd,247.3,3015,-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,-59.20,0.000,6,0.000,0.000,431,1931,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.6,-6.2,11,98,10.68,2.50,0.00,0.000,4,0.137,0.040,2406,498,3371,0,0,0,0,0,0
$GC,236,-1.24,-77.9,38.0,-17.2,40,243,0.15,2.33,0.00,0.000,6,0.082,0.021,2441,1925,3372,0,0,0,0,0,0
$GC,498,-1.24,-77.9,74.7,-13.5,65,502,0.00,2.47,0.00,0.000,4,0.000,0.044,2439,493,3372,0,0,0,0,0,0
$GC,549,-1.20,-77.9,81.8,-12.7,70,553,0.00,2.28,0.00,0.000,6,0.000,0.020,2441,1910,3373,0,0,0,0,0,0
$GC,809,-1.20,-77.9,114.4,-11.7,94,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1914,3374,0,0,0,0,0,0
$GC,1064,-1.25,-77.9,140.0,-9.5,118,1068,0.00,2.45,0.00,0.000,4,0.000,0.044,2440,488,3375,0,0,0,0,0,0
$GC,1105,-1.25,-77.9,144.5,-11.7,122,1110,0.00,2.28,0.00,0.000,6,0.000,0.020,2440,1906,3375,0,0,0,0,0,0
$GC,1367,-1.33,-77.9,170.9,-8.6,146,1371,0.00,2.45,0.00,0.000,4,0.000,0.044,2440,485,3376,0,0,0,0,0,0
$GC,1401,-1.33,-77.9,173.9,-9.4,149,1405,0.00,2.28,0.00,0.000,6,0.000,0.021,2440,1900,3376,0,0,0,0,0,0
$GC,1663,-1.42,-77.9,196.2,-9.0,173,1668,0.15,2.45,0.00,0.000,4,0.059,0.045,2392,491,3376,0,0,0,0,0,0
$GC,1732,-1.37,-77.9,204.7,-12.0,178,1737,0.10,2.25,0.00,0.000,6,0.111,0.021,2414,1896,3376,0,0,0,0,0,0
$GC,2062,-1.41,-77.9,236.6,-8.8,194,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1898,3377,0,0,0,0,0,0
$GC,2372,-1.47,-77.9,262.6,-8.3,209,2376,0.00,2.40,0.00,0.000,4,0.000,0.048,2412,495,3376,0,0,0,0,0,0
$GC,2442,-1.47,-77.9,268.1,-7.5,212,2447,0.10,2.28,0.00,0.000,6,0.078,0.024,2384,1895,3376,0,0,0,0,0,0
$GC,2767,-1.47,-77.9,296.0,-8.8,228,2771,0.00,2.45,0.00,0.000,4,0.000,0.050,2380,488,3375,0,0,0,0,0,0
$GC,2812,-1.43,-77.9,300.5,-10.2,230,2816,0.00,2.30,0.00,0.000,6,0.000,0.025,2383,1896,3375,0,0,0,0,0,0
$GC,3134,-1.43,-77.9,329.3,-8.9,238,3138,0.00,2.45,0.00,0.000,4,0.000,0.051,2366,496,3374,0,0,0,0,0,0
$GC,3198,-1.39,-77.9,336.3,-10.8,239,3203,0.15,2.30,0.00,0.000,6,0.099,0.026,2414,1904,3373,0,0,0,0,0,0
$GC,3548,-1.47,-77.9,367.6,-8.7,248,3552,0.00,2.47,0.00,0.000,4,0.000,0.054,2411,497,3372,0,0,0,0,0,0
$GC,3613,-1.51,-77.9,373.3,-8.5,249,3618,0.12,2.33,0.00,0.000,6,0.071,0.028,2378,1903,3371,0,0,0,0,0,0
$GC,3957,-1.51,-77.9,403.8,-8.6,258,3962,0.00,2.47,0.00,0.000,4,0.000,0.055,2378,497,3369,0,0,0,0,0,0
$GC,3971,-1.51,-77.9,405.2,-8.7,258,3975,0.00,2.30,0.00,0.000,6,0.000,0.028,2377,1899,3369,0,0,0,0,0,0
$GC,4319,-1.51,-77.9,441.0,-10.8,267,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1903,3367,0,0,0,0,0,0
$STATE,4399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4399,begin apogee
$GC,4404,-0.31,0.0,450.0,11.2,269,4472,1.25,0.00,64.68,0.880,6,0.079,0.000,2642,2060,3050,0,0,0,0,0,0
$STATE,4473,end apogee,CONTROL_FINISHED_OK
$STATE,4473,begin climb
$GC,4475,1.40,77.9,451.3,0.0,270,4549,1.65,2.45,64.70,0.859,4,0.036,0.048,3025,3406,2731,0,0,0,0,0,0
$GC,4647,1.22,115.3,449.2,5.4,273,4685,0.22,2.40,32.28,0.841,6,0.117,0.038,2981,2025,2578,0,0,0,0,0,0
$GC,5016,1.12,115.3,416.7,9.8,283,5021,0.12,2.42,0.00,0.000,4,0.127,0.041,2964,3415,2573,0,0,0,0,0,0
$GC,5124,1.06,123.4,408.3,7.5,285,5136,0.00,2.40,7.15,0.701,6,0.000,0.039,2964,2029,2546,0,0,0,0,0,0
$GC,5477,1.03,143.7,385.8,6.6,294,5501,0.12,2.47,18.35,0.811,4,0.127,0.041,2941,3405,2463,0,0,0,0,0,0
$GC,5554,1.04,149.6,380.5,7.6,295,5568,0.00,2.38,6.93,0.686,6,0.000,0.039,2941,2027,2439,0,0,0,0,0,0
$GC,5892,1.04,149.6,353.7,8.3,304,5896,0.00,2.50,0.00,0.000,4,0.000,0.056,2940,619,2435,0,0,0,0,0,0
$GC,5942,0.97,149.6,348.9,9.4,305,5947,0.00,2.35,0.00,0.000,6,0.000,0.029,2940,2017,2433,0,0,0,0,0,0
$GC,6260,0.97,149.6,317.9,10.3,313,6264,0.00,2.45,0.00,0.000,4,0.000,0.054,2940,628,2432,0,0,0,0,0,0
$GC,6311,0.92,149.6,312.1,11.1,314,6316,0.15,2.38,0.00,0.000,6,0.119,0.029,2914,2039,2431,0,0,0,0,0,0
$GC,6633,0.99,152.8,285.3,7.8,326,6637,0.00,2.50,0.00,0.000,4,0.000,0.054,2913,623,2431,0,0,0,0,0,0
$GC,6848,0.99,154.6,268.0,7.9,335,6858,0.00,2.38,4.20,0.527,6,0.000,0.029,2913,2039,2419,0,0,0,0,0,0
$GC,7170,1.11,183.7,247.6,6.0,351,7203,0.20,2.60,26.55,0.756,4,0.064,0.053,2960,625,2301,0,0,0,0,0,0
$GC,7328,1.05,183.7,234.2,8.6,358,7332,0.00,2.38,0.00,0.000,6,0.000,0.028,2960,2037,2295,0,0,0,0,0,0
$GC,7656,1.05,183.7,205.7,9.3,374,7657,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2041,2294,0,0,0,0,0,0
$GC,7973,1.06,194.0,179.2,7.3,400,7987,0.00,2.50,9.30,0.637,4,0.000,0.049,2960,628,2259,0,0,0,0,0,0
$GC,8137,1.03,194.0,163.9,9.5,417,8144,0.12,2.35,0.00,0.000,6,0.120,0.025,2938,2040,2255,0,0,0,0,0,0
$GC,8399,1.13,201.5,143.4,7.5,442,8413,0.00,2.53,7.97,0.585,4,0.000,0.048,2937,628,2227,0,0,0,0,0,0
$GC,8459,1.17,201.5,138.4,8.1,448,8467,0.10,2.35,0.00,0.000,6,0.047,0.025,2971,2031,2225,0,0,0,0,0,0
$GC,8722,1.17,201.5,116.5,8.1,473,8726,0.00,2.45,0.00,0.000,4,0.000,0.045,2971,622,2225,0,0,0,0,0,0
$GC,8740,1.17,201.5,114.6,8.9,474,8747,0.00,2.35,0.00,0.000,6,0.000,0.024,2971,2039,2224,0,0,0,0,0,0
$GC,9003,1.22,201.5,91.2,9.5,499,9007,0.00,2.45,0.00,0.000,4,0.000,0.045,2970,625,2225,0,0,0,0,0,0
$GC,9102,1.22,201.5,80.2,9.5,509,9107,0.00,2.33,0.00,0.000,6,0.000,0.022,2972,2048,2224,0,0,0,0,0,0
$GC,9365,1.29,217.3,60.4,6.9,534,9387,0.10,2.47,15.23,0.561,4,0.079,0.042,3001,625,2163,0,0,0,0,0,0
$GC,9437,1.24,217.3,53.8,9.9,541,9444,0.00,2.33,0.00,0.000,6,0.000,0.021,3002,2037,2160,0,0,0,0,0,0
$GC,9699,1.24,217.3,31.2,8.9,566,9703,0.00,2.42,0.00,0.000,4,0.000,0.043,3001,625,2160,0,0,0,0,0,0
$GC,9855,1.17,217.3,15.1,10.0,600,9862,0.15,2.33,0.00,0.000,6,0.084,0.021,2969,2041,2160,0,0,0,0,0,0
$STATE,10011,end climb,SURFACE_DEPTH_REACHED
$STATE,10011,begin surface coast
$FINISH,0.4,1.023743
$STATE,10049,end surface coast,CONTROL_FINISHED_OK
$STATE,10049,begin surface
$SM_CCo,10069,44.00,0.525,0,0,1826,300.00
$SM_GC,1.50,0.00,0.00,44.00,0.000,0.000,0.525,426,1876,1826,-10.52,-0.65,300.00
$IRIDIUM_FIX,2059.45,-15759.05,190799,212151
$TT8_MAMPS,0.029146
$HUMID,42.95
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,10.951
$10V_AH,10.0,10.142
$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,26.600,110.825,257.325,44.000,0.000,59.924,58.208,191.078,0.000,0.000,15.668,1220.820,6637.292,356.872,1898.578,476.841,33.354,1172.685,0.000,1889.371,0.000,0.537,0.000
$DEVICE_MAMPS,137.293,55.991,879.749,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.636,413.622,927.444,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,34947,636
$CAP_FILE_SIZE,116141,0
$CFSIZE,260165632,252100608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250410,002525,2108.813,-15801.676,54,1.5,54,9.8