version: 66.06
glider: 139
mission: 7
dive: 112
start: 4 25 110 0 31 22
data:
$ID,139
$MISSION,7
$DIVE,112
$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,-2122548.8
$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,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
$GPS1,002525,2108.813,-15801.676,54,1.5,54,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-70.2
$GPS2,003031,2108.840,-15801.717,48,1.5,48,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.066,-0.172
$KALMAN_X,-14406.6,-100.4,-631.8,-12370.6,1153.1
$KALMAN_Y,-14775.6,-89.8,109.3,23615.7,59.9
$MHEAD_RNG_PITCHd_Wd,149.3,28802,-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,-77.9,0.0,0.0,0,73,0.00,0.00,-55.22,0.000,2,0.000,0.000,426,1877,3253,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.0,-5.1,10,94,10.68,2.38,-2.38,0.000,4,0.137,0.051,2404,491,3368,0,0,0,0,0,0
$GC,143,-1.20,-77.9,19.9,-18.4,24,150,0.20,2.38,0.00,0.000,6,0.086,0.021,2457,1934,3370,0,0,0,0,0,0
$GC,345,-1.20,-77.9,46.7,-12.8,49,349,0.00,2.50,0.00,0.000,4,0.000,0.044,2457,493,3370,0,0,0,0,0,0
$GC,387,-1.17,-77.9,52.4,-12.9,53,391,0.00,2.28,0.00,0.000,6,0.000,0.020,2457,1910,3371,0,0,0,0,0,0
$GC,651,-1.17,-77.9,85.0,-12.3,78,656,0.00,2.42,0.00,0.000,4,0.000,0.044,2456,494,3372,0,0,0,0,0,0
$GC,712,-1.17,-77.9,93.3,-13.7,84,716,0.00,2.28,0.00,0.000,6,0.000,0.020,2456,1898,3372,0,0,0,0,0,0
$GC,973,-1.24,-77.9,121.5,-9.0,108,977,0.00,2.40,0.00,0.000,4,0.000,0.044,2456,493,3373,0,0,0,0,0,0
$GC,1007,-1.24,-77.9,125.0,-10.6,111,1011,0.00,2.28,0.00,0.000,6,0.000,0.020,2456,1908,3373,0,0,0,0,0,0
$GC,1270,-1.33,-77.9,148.6,-9.0,135,1275,0.15,2.45,0.00,0.000,4,0.058,0.044,2409,494,3374,0,0,0,0,0,0
$GC,1285,-1.37,-77.9,150.5,-9.8,136,1289,0.00,2.25,0.00,0.000,6,0.000,0.021,2409,1909,3374,0,0,0,0,0,0
$GC,1546,-1.37,-77.9,182.2,-11.2,160,1550,0.00,2.45,0.00,0.000,4,0.000,0.044,2409,488,3374,0,0,0,0,0,0
$GC,1606,-1.34,-77.9,189.1,-12.2,166,1610,0.00,2.25,0.00,0.000,6,0.000,0.021,2410,1896,3374,0,0,0,0,0,0
$GC,1873,-1.34,-77.9,219.3,-11.3,183,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,1900,3375,0,0,0,0,0,0
$GC,2181,-1.34,-77.9,250.0,-8.7,198,2185,0.00,2.42,0.00,0.000,4,0.000,0.048,2408,494,3375,0,0,0,0,0,0
$GC,2217,-1.30,-77.9,253.7,-9.6,199,2222,0.00,2.28,0.00,0.000,6,0.000,0.022,2410,1899,3375,0,0,0,0,0,0
$GC,2534,-1.35,-77.9,283.7,-9.1,215,2538,0.00,2.45,0.00,0.000,4,0.000,0.048,2408,485,3374,0,0,0,0,0,0
$GC,2588,-1.35,-77.9,289.5,-10.0,217,2592,0.00,2.28,0.00,0.000,6,0.000,0.024,2409,1898,3374,0,0,0,0,0,0
$GC,2921,-1.40,-77.9,317.3,-7.8,228,2925,0.00,2.42,0.00,0.000,4,0.000,0.049,2408,494,3374,0,0,0,0,0,0
$GC,2943,-1.40,-77.9,319.5,-8.8,228,2947,0.00,2.28,0.00,0.000,6,0.000,0.025,2409,1900,3374,0,0,0,0,0,0
$GC,3283,-1.45,-77.9,346.1,-7.3,237,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,1905,3372,0,0,0,0,0,0
$GC,3608,-1.52,-77.9,375.0,-9.5,245,3613,0.12,2.47,0.00,0.000,4,0.071,0.054,2372,495,3370,0,0,0,0,0,0
$GC,3673,-1.46,-77.9,383.2,-12.5,246,3678,0.12,2.33,0.00,0.000,6,0.107,0.028,2396,1900,3370,0,0,0,0,0,0
$GC,4018,-1.51,-77.9,417.0,-9.1,255,4023,0.00,2.47,0.00,0.000,4,0.000,0.056,2398,488,3368,0,0,0,0,0,0
$GC,4082,-1.51,-77.9,422.5,-8.5,256,4086,0.00,2.33,0.00,0.000,6,0.000,0.028,2394,1903,3367,0,0,0,0,0,0
$GC,4431,-1.57,-77.9,449.7,-8.1,265,4436,0.12,2.50,0.00,0.000,4,0.073,0.058,2363,494,3365,0,0,0,0,0,0
$STATE,4439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4439,begin apogee
$GC,4446,-0.31,0.0,450.5,7.7,265,4516,1.30,0.00,64.38,0.877,6,0.085,0.000,2639,2039,3050,0,0,0,0,0,0
$STATE,4517,end apogee,CONTROL_FINISHED_OK
$STATE,4517,begin climb
$GC,4519,1.40,77.9,451.6,0.0,267,4594,1.67,2.53,64.90,0.854,4,0.037,0.048,3025,3429,2732,0,0,0,0,0,0
$GC,4608,1.30,178.0,451.1,1.1,269,4703,0.15,2.45,85.82,0.851,6,0.126,0.037,2998,2025,2324,0,0,0,0,0,0
$GC,5017,1.20,178.0,404.9,12.6,279,5022,0.12,2.50,0.00,0.000,4,0.130,0.058,2977,626,2313,0,0,0,0,0,0
$GC,5077,1.07,178.0,397.0,13.0,280,5082,0.15,2.40,0.00,0.000,6,0.123,0.030,2951,2043,2310,0,0,0,0,0,0
$GC,5427,1.07,178.0,359.2,11.0,289,5431,0.00,2.53,0.00,0.000,4,0.000,0.056,2951,632,2309,0,0,0,0,0,0
$GC,5538,1.02,178.0,346.6,11.0,291,5542,0.00,2.35,0.00,0.000,6,0.000,0.030,2951,2035,2306,0,0,0,0,0,0
$GC,5882,1.02,178.0,311.1,10.8,300,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2040,2306,0,0,0,0,0,0
$GC,6190,1.02,178.0,277.2,10.5,312,6194,0.00,2.50,0.00,0.000,4,0.000,0.054,2951,624,2305,0,0,0,0,0,0
$GC,6210,0.98,178.0,275.1,11.3,313,6215,0.12,2.38,0.00,0.000,6,0.124,0.029,2930,2048,2303,0,0,0,0,0,0
$GC,6543,1.09,217.9,252.1,5.3,329,6587,0.10,2.58,32.60,0.756,4,0.089,0.052,2955,632,2159,0,0,0,0,0,0
$GC,6795,1.09,217.9,222.8,14.7,340,6799,0.00,2.38,0.00,0.000,6,0.000,0.028,2954,2043,2152,0,0,0,0,0,0
$GC,7119,1.14,217.9,186.5,9.9,361,7123,0.00,2.50,0.00,0.000,4,0.000,0.051,2953,625,2151,0,0,0,0,0,0
$GC,7344,1.14,217.9,164.4,9.9,385,7350,0.00,2.35,0.00,0.000,6,0.000,0.025,2954,2044,2148,0,0,0,0,0,0
$GC,7605,1.20,217.9,141.1,9.1,410,7610,0.00,2.33,0.00,0.000,4,0.000,0.034,2954,3428,2148,0,0,0,0,0,0
$GC,7632,1.28,217.9,138.4,9.6,412,7640,0.12,2.38,0.00,0.000,6,0.040,0.032,2994,2038,2148,0,0,0,0,0,0
$GC,7895,1.28,217.9,111.8,9.7,437,7899,0.00,2.42,0.00,0.000,4,0.000,0.047,2993,629,2148,0,0,0,0,0,0
$GC,8023,1.24,217.9,98.3,9.5,450,8029,0.00,2.33,0.00,0.000,6,0.000,0.022,2994,2036,2147,0,0,0,0,0,0
$GC,8285,1.24,217.9,75.8,9.0,475,8289,0.00,2.42,0.00,0.000,4,0.000,0.044,2993,618,2147,0,0,0,0,0,0
$GC,8371,1.19,217.9,67.2,10.1,484,8376,0.00,2.33,0.00,0.000,6,0.000,0.021,2993,2048,2147,0,0,0,0,0,0
$GC,8634,1.19,217.9,43.5,9.3,508,8638,0.00,2.42,0.00,0.000,4,0.000,0.043,2993,625,2147,0,0,0,0,0,0
$GC,8741,1.15,217.9,32.7,10.8,519,8746,0.15,2.28,0.00,0.000,6,0.107,0.021,2967,2042,2147,0,0,0,0,0,0
$GC,9005,1.28,242.7,12.4,6.3,565,9035,0.12,2.50,21.25,0.523,4,0.070,0.046,3002,633,2058,0,0,0,0,0,0
$STATE,9096,end climb,SURFACE_DEPTH_REACHED
$STATE,9096,begin surface coast
$FINISH,0.4,1.001961
$STATE,9118,end surface coast,CONTROL_FINISHED_OK
$STATE,9118,begin surface
$SM_CCo,9139,31.98,0.515,0,0,1826,300.00
$SM_GC,1.61,0.00,0.00,31.98,0.000,0.000,0.515,425,1926,1826,-10.53,0.74,300.00
$IRIDIUM_FIX,2059.45,-15801.19,190799,212111
$TT8_MAMPS,0.029146
$HUMID,43.54
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.4,11.028
$10V_AH,10.0,10.218
$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,26.600,110.050,268.950,31.975,0.000,25.640,29.730,123.924,0.000,0.000,49.089,1120.445,5922.990,342.387,1778.675,315.585,33.354,1100.982,0.000,1734.045,0.000,0.538,0.000
$DEVICE_MAMPS,137.293,58.292,876.681,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.332,380.951,877.216,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,31824,589
$CAP_FILE_SIZE,104103,0
$CFSIZE,260165632,252059648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250410,030559,2107.822,-15801.207,55,1.5,70,9.8