version: 66.06
glider: 139
mission: 7
dive: 115
start: 4 25 110 9 8 24
data:
$ID,139
$MISSION,7
$DIVE,115
$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,-2122633.5
$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
$GPS1,085924,2106.174,-15800.216,36,1.4,53,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-70.7
$GPS2,090732,2106.162,-15800.262,13,1.4,13,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.146,-0.112
$KALMAN_X,-15030.3,-364.6,161.2,-9758.6,-543.0
$KALMAN_Y,-14206.0,72.1,-0.6,18039.4,324.5
$MHEAD_RNG_PITCHd_Wd,117.7,23594,-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,-59.33,0.000,6,0.000,0.000,426,1878,3368,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.3,-5.0,11,98,10.70,2.40,0.00,0.000,4,0.138,0.038,2403,494,3370,0,0,0,0,0,0
$GC,106,-0.14,-77.9,13.3,-30.0,15,113,1.33,2.35,0.00,0.000,6,0.096,0.021,2679,1931,3371,0,0,0,0,0,0
$GC,309,-0.77,-77.9,26.7,-7.9,52,316,0.57,2.47,0.00,0.000,4,0.047,0.040,2538,493,3371,0,0,0,0,0,0
$GC,354,-1.17,-77.9,29.6,-5.4,61,360,0.30,2.28,0.00,0.000,6,0.025,0.020,2438,1908,3371,0,0,0,0,0,0
$GC,559,-1.14,-77.9,54.6,-14.4,81,561,0.12,0.00,0.00,0.000,6,0.104,0.000,2464,1908,3372,0,0,0,0,0,0
$GC,813,-1.18,-77.9,86.6,-12.2,105,817,0.00,2.45,0.00,0.000,4,0.000,0.045,2463,490,3373,0,0,0,0,0,0
$GC,921,-1.18,-77.9,101.9,-14.0,116,928,0.00,2.28,0.00,0.000,6,0.000,0.020,2463,1890,3373,0,0,0,0,0,0
$GC,1184,-1.29,-77.9,126.6,-8.4,141,1189,0.15,2.42,0.00,0.000,4,0.058,0.045,2414,494,3374,0,0,0,0,0,0
$GC,1235,-1.29,-77.9,132.3,-11.1,146,1239,0.00,2.28,0.00,0.000,6,0.000,0.020,2414,1906,3374,0,0,0,0,0,0
$GC,1496,-1.29,-77.9,157.7,-9.2,170,1501,0.00,2.42,0.00,0.000,4,0.000,0.044,2414,488,3375,0,0,0,0,0,0
$GC,1541,-1.29,-77.9,162.9,-11.3,174,1548,0.00,2.30,0.00,0.000,6,0.000,0.021,2413,1898,3375,0,0,0,0,0,0
$GC,1803,-1.29,-77.9,190.4,-9.7,199,1807,0.00,2.42,0.00,0.000,4,0.000,0.044,2413,492,3375,0,0,0,0,0,0
$GC,1872,-1.29,-77.9,198.6,-12.3,206,1876,0.00,2.28,0.00,0.000,6,0.000,0.021,2414,1905,3375,0,0,0,0,0,0
$GC,2137,-1.33,-77.9,225.5,-9.5,219,2141,0.00,2.45,0.00,0.000,4,0.000,0.046,2414,487,3375,0,0,0,0,0,0
$GC,2182,-1.33,-77.9,230.0,-11.1,221,2186,0.00,2.28,0.00,0.000,6,0.000,0.022,2415,1896,3375,0,0,0,0,0,0
$GC,2512,-1.39,-77.9,259.4,-8.5,237,2516,0.00,2.33,0.00,0.000,4,0.000,0.031,2413,3296,3376,0,0,0,0,0,0
$GC,2539,-1.49,-77.9,262.4,-10.3,238,2543,0.00,2.35,0.00,0.000,6,0.000,0.032,2411,1898,3375,0,0,0,0,0,0
$GC,2859,-1.56,-77.9,291.6,-8.9,254,2864,0.17,2.45,0.00,0.000,4,0.054,0.050,2355,491,3375,0,0,0,0,0,0
$GC,2892,-1.47,-77.9,295.2,-11.5,255,2897,0.15,2.30,0.00,0.000,6,0.097,0.024,2396,1900,3374,0,0,0,0,0,0
$GC,3203,-1.50,-77.9,321.5,-8.3,264,3207,0.00,2.45,0.00,0.000,4,0.000,0.049,2393,492,3373,0,0,0,0,0,0
$GC,3323,-1.50,-77.9,333.4,-9.7,266,3328,0.00,2.30,0.00,0.000,6,0.000,0.025,2396,1899,3373,0,0,0,0,0,0
$GC,3659,-1.54,-77.9,362.4,-8.7,275,3663,0.00,2.45,0.00,0.000,4,0.000,0.052,2394,490,3371,0,0,0,0,0,0
$GC,3690,-1.54,-77.9,365.7,-11.0,275,3695,0.00,2.33,0.00,0.000,6,0.000,0.027,2395,1902,3371,0,0,0,0,0,0
$GC,4021,-1.59,-77.9,396.7,-9.4,283,4026,0.12,2.47,0.00,0.000,4,0.071,0.055,2362,497,3369,0,0,0,0,0,0
$GC,4120,-1.53,-77.9,409.2,-13.6,285,4124,0.00,2.33,0.00,0.000,6,0.000,0.028,2361,1897,3369,0,0,0,0,0,0
$GC,4437,-1.53,-77.9,445.1,-11.0,293,4442,0.00,2.45,0.00,0.000,4,0.000,0.057,2362,499,3367,0,0,0,0,0,0
$GC,4456,-1.46,-77.9,447.1,-10.9,293,4461,0.15,2.35,0.00,0.000,6,0.104,0.029,2391,1907,3367,0,0,0,0,0,0
$STATE,4515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4515,begin apogee
$GC,4520,-0.31,0.0,452.7,9.1,295,4589,1.20,0.00,64.95,0.881,6,0.077,0.000,2646,2058,3050,0,0,0,0,0,0
$STATE,4589,end apogee,CONTROL_FINISHED_OK
$STATE,4589,begin climb
$GC,4591,1.40,77.9,453.6,0.0,296,4666,1.62,2.45,64.97,0.861,4,0.034,0.047,3026,3404,2732,0,0,0,0,0,0
$GC,4796,1.22,112.9,449.5,5.6,300,4833,0.20,2.40,30.35,0.840,6,0.120,0.039,2983,2029,2588,0,0,0,0,0,0
$GC,5142,1.09,115.7,422.4,7.8,309,5147,0.17,2.50,0.00,0.000,4,0.119,0.058,2957,629,2583,0,0,0,0,0,0
$GC,5166,0.97,126.6,420.6,7.3,309,5185,0.17,2.35,12.05,0.780,6,0.120,0.030,2926,2014,2533,0,0,0,0,0,0
$GC,5509,1.00,154.6,400.2,6.1,318,5536,0.00,0.00,25.38,0.831,6,0.000,0.000,2926,2014,2419,0,0,0,0,0,0
$GC,5833,1.00,154.6,371.5,8.9,326,5837,0.00,2.47,0.00,0.000,4,0.000,0.056,2926,629,2414,0,0,0,0,0,0
$GC,5985,1.01,156.5,359.4,7.9,329,5989,0.00,2.38,0.00,0.000,6,0.000,0.031,2926,2033,2411,0,0,0,0,0,0
$GC,6334,1.06,169.3,335.5,7.1,338,6354,0.00,2.53,12.98,0.770,4,0.000,0.053,2927,629,2357,0,0,0,0,0,0
$GC,6455,1.06,169.3,325.5,9.3,340,6459,0.00,2.38,0.00,0.000,6,0.000,0.030,2926,2038,2354,0,0,0,0,0,0
$GC,6795,1.15,197.4,302.4,6.1,349,6828,0.17,2.60,25.50,0.787,4,0.070,0.054,2968,631,2244,0,0,0,0,0,0
$GC,6955,1.07,197.4,283.8,14.1,355,6959,0.00,2.38,0.00,0.000,6,0.000,0.029,2968,2034,2239,0,0,0,0,0,0
$GC,7285,1.07,197.4,247.4,10.8,371,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2039,2238,0,0,0,0,0,0
$GC,7593,1.07,197.4,213.5,10.8,386,7597,0.00,2.47,0.00,0.000,4,0.000,0.051,2967,629,2237,0,0,0,0,0,0
$GC,7629,1.01,197.4,209.1,11.4,387,7636,0.15,2.35,0.00,0.000,6,0.103,0.028,2936,2041,2235,0,0,0,0,0,0
$GC,7952,1.11,215.1,183.1,6.8,413,7975,0.00,2.60,15.50,0.680,4,0.000,0.050,2936,619,2172,0,0,0,0,0,0
$GC,8027,1.12,218.0,177.5,7.8,421,8032,0.00,2.38,0.00,0.000,6,0.000,0.026,2936,2039,2168,0,0,0,0,0,0
$GC,8290,1.20,218.0,155.6,8.9,445,8295,0.17,2.50,0.00,0.000,4,0.064,0.050,2980,627,2168,0,0,0,0,0,0
$GC,8462,1.15,218.0,135.9,11.4,463,8467,0.00,2.33,0.00,0.000,6,0.000,0.025,2981,2045,2166,0,0,0,0,0,0
$GC,8725,1.15,218.0,110.5,10.5,487,8729,0.00,2.45,0.00,0.000,4,0.000,0.046,2981,625,2166,0,0,0,0,0,0
$GC,8915,1.12,218.0,90.4,9.5,507,8920,0.12,2.33,0.00,0.000,6,0.119,0.023,2960,2045,2165,0,0,0,0,0,0
$GC,9178,1.21,218.0,67.9,8.7,531,9182,0.00,2.42,0.00,0.000,4,0.000,0.044,2959,625,2165,0,0,0,0,0,0
$GC,9336,1.25,223.6,55.7,7.6,548,9350,0.12,2.30,8.23,0.512,6,0.073,0.021,2993,2053,2136,0,0,0,0,0,0
$GC,9612,1.25,223.6,32.7,9.1,574,9613,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2053,2136,0,0,0,0,0,0
$GC,9870,1.25,223.6,7.9,11.2,619,9876,0.00,2.47,0.00,0.000,4,0.000,0.043,2993,622,2136,0,0,0,0,0,0
$STATE,9915,end climb,SURFACE_DEPTH_REACHED
$STATE,9915,begin surface coast
$FINISH,0.5,1.023449
$STATE,9946,end surface coast,CONTROL_FINISHED_OK
$STATE,9946,begin surface
$SM_CCo,9967,39.35,0.526,0,0,1827,300.00
$SM_GC,1.62,0.00,0.00,39.35,0.000,0.000,0.526,426,1941,1827,-10.52,1.16,300.00
$IRIDIUM_FIX,2057.14,-15759.05,200799,090943
$TT8_MAMPS,0.029913
$HUMID,43.62
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,11.266
$10V_AH,10.0,10.467
$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,28.825,114.925,259.900,39.350,0.000,57.539,62.898,207.967,0.000,0.000,13.545,1230.432,6479.099,368.977,1920.705,498.448,33.354,1185.077,0.000,1916.376,0.000,0.538,0.000
$DEVICE_MAMPS,138.060,58.292,880.516,526.162,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.841,412.086,952.408,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,34936,636
$CAP_FILE_SIZE,117697,0
$CFSIZE,260165632,251875328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250410,115704,2105.667,-15759.998,58,9.8,77,9.8