version: 66.06
glider: 139
mission: 7
dive: 116
start: 4 25 110 12 3 17
data:
$ID,139
$MISSION,7
$DIVE,116
$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,-2122669.2
$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
$GPS1,115704,2105.667,-15759.998,58,9.8,77,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.8
$GPS2,120227,2105.673,-15800.090,15,2.4,34,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.134,-0.126
$KALMAN_X,-15685.5,-347.2,-559.4,-8103.1,107.8
$KALMAN_Y,-13969.4,76.7,106.5,16784.6,105.3
$MHEAD_RNG_PITCHd_Wd,123.5,22786,-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,-77.9,0.0,0.0,0,79,0.00,0.00,-58.97,0.000,6,0.000,0.000,426,1940,3369,0,0,0,0,0,0
$GC,81,-1.40,-77.9,3.8,-6.5,11,99,10.73,2.53,0.00,0.000,4,0.139,0.041,2406,495,3370,0,0,0,0,0,0
$GC,107,-0.14,-77.9,14.4,-32.9,15,114,1.33,2.35,0.00,0.000,6,0.100,0.021,2680,1951,3371,0,0,0,0,0,0
$GC,308,-0.79,-77.9,29.8,-8.6,52,315,0.60,2.50,0.00,0.000,4,0.047,0.041,2536,494,3371,0,0,0,0,0,0
$GC,370,-1.01,-77.9,34.2,-6.5,59,377,0.15,2.35,0.00,0.000,6,0.031,0.020,2480,1945,3372,0,0,0,0,0,0
$GC,632,-1.10,-77.9,59.9,-10.8,84,637,0.00,2.50,0.00,0.000,4,0.000,0.044,2480,490,3373,0,0,0,0,0,0
$GC,675,-1.10,-77.9,64.7,-11.7,88,679,0.00,2.28,0.00,0.000,6,0.000,0.020,2480,1905,3373,0,0,0,0,0,0
$GC,936,-1.20,-77.9,87.3,-7.4,112,941,0.12,2.45,0.00,0.000,4,0.064,0.044,2437,494,3374,0,0,0,0,0,0
$GC,1038,-1.16,-77.9,97.9,-11.0,122,1045,0.08,2.28,0.00,0.000,6,0.079,0.020,2458,1895,3374,0,0,0,0,0,0
$GC,1300,-1.25,-77.9,122.5,-9.3,147,1304,0.00,2.42,0.00,0.000,4,0.000,0.044,2457,487,3375,0,0,0,0,0,0
$GC,1343,-1.29,-77.9,127.1,-10.7,151,1348,0.12,2.28,0.00,0.000,6,0.065,0.020,2416,1907,3375,0,0,0,0,0,0
$GC,1605,-1.29,-77.9,157.5,-9.0,175,1609,0.00,2.40,0.00,0.000,4,0.000,0.043,2415,494,3376,0,0,0,0,0,0
$GC,1630,-1.25,-77.9,159.6,-8.6,177,1635,0.12,2.22,0.00,0.000,6,0.100,0.020,2442,1899,3376,0,0,0,0,0,0
$GC,1892,-1.33,-77.9,183.8,-9.1,201,1896,0.00,2.40,0.00,0.000,4,0.000,0.044,2441,491,3376,0,0,0,0,0,0
$GC,1919,-1.33,-77.9,186.7,-10.7,203,1924,0.00,2.28,0.00,0.000,6,0.000,0.021,2441,1911,3376,0,0,0,0,0,0
$GC,2188,-1.43,-77.9,212.9,-9.2,223,2193,0.17,2.47,0.00,0.000,4,0.054,0.045,2388,487,3376,0,0,0,0,0,0
$GC,2266,-1.38,-77.9,222.2,-12.0,226,2271,0.12,2.28,0.00,0.000,6,0.102,0.021,2414,1900,3376,0,0,0,0,0,0
$GC,2583,-1.43,-77.9,253.8,-9.0,241,2587,0.00,2.42,0.00,0.000,4,0.000,0.046,2413,494,3377,0,0,0,0,0,0
$GC,2602,-1.43,-77.9,255.9,-9.7,242,2606,0.00,2.25,0.00,0.000,6,0.000,0.022,2415,1901,3377,0,0,0,0,0,0
$GC,2930,-1.50,-77.9,286.7,-8.7,258,2935,0.12,2.42,0.00,0.000,4,0.067,0.048,2376,495,3376,0,0,0,0,0,0
$GC,2954,-1.43,-77.9,289.4,-11.2,259,2959,0.12,2.28,0.00,0.000,6,0.102,0.024,2401,1897,3376,0,0,0,0,0,0
$GC,3276,-1.46,-77.9,320.1,-9.3,270,3280,0.00,2.47,0.00,0.000,4,0.000,0.050,2400,490,3375,0,0,0,0,0,0
$GC,3364,-1.46,-77.9,329.2,-10.8,272,3368,0.00,2.30,0.00,0.000,6,0.000,0.025,2401,1896,3375,0,0,0,0,0,0
$GC,3696,-1.51,-77.9,358.6,-8.9,280,3700,0.00,2.45,0.00,0.000,4,0.000,0.053,2400,488,3374,0,0,0,0,0,0
$GC,3788,-1.51,-77.9,369.3,-11.0,282,3792,0.00,2.33,0.00,0.000,6,0.000,0.026,2399,1900,3373,0,0,0,0,0,0
$GC,4110,-1.56,-77.9,405.9,-11.0,290,4115,0.12,2.47,0.00,0.000,4,0.071,0.055,2364,496,3371,0,0,0,0,0,0
$GC,4171,-1.50,-77.9,414.0,-13.8,291,4175,0.12,2.30,0.00,0.000,6,0.106,0.028,2389,1897,3370,0,0,0,0,0,0
$GC,4484,-1.53,-77.9,443.8,-8.3,299,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1900,3369,0,0,0,0,0,0
$STATE,4563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4563,begin apogee
$GC,4568,-0.31,0.0,450.1,7.9,301,4637,1.20,0.00,65.20,0.874,6,0.077,0.000,2645,2056,3050,0,0,0,0,0,0
$STATE,4638,end apogee,CONTROL_FINISHED_OK
$STATE,4638,begin climb
$GC,4640,1.40,77.9,450.6,0.0,302,4714,1.62,2.45,64.93,0.850,4,0.035,0.047,3024,3404,2732,0,0,0,0,0,0
$GC,4775,1.21,106.9,447.0,6.0,305,4808,0.22,2.38,25.42,0.821,6,0.117,0.038,2981,2032,2613,0,0,0,0,0,0
$GC,5140,1.09,106.9,414.0,9.2,314,5142,0.15,0.00,0.00,0.000,6,0.122,0.000,2955,2032,2608,0,0,0,0,0,0
$GC,5465,1.09,147.3,395.3,5.2,322,5504,0.00,0.00,34.72,0.831,6,0.000,0.000,2956,2032,2448,0,0,0,0,0,0
$GC,5829,1.09,147.3,363.0,9.9,331,5833,0.00,2.50,0.00,0.000,4,0.000,0.056,2955,628,2442,0,0,0,0,0,0
$GC,5866,0.99,147.3,359.4,9.8,331,5872,0.15,2.33,0.00,0.000,6,0.123,0.030,2930,2019,2440,0,0,0,0,0,0
$GC,6197,1.06,181.7,337.4,5.7,340,6233,0.00,2.58,29.67,0.805,4,0.000,0.055,2930,632,2308,0,0,0,0,0,0
$GC,6316,1.06,181.7,327.6,9.2,342,6320,0.00,2.38,0.00,0.000,6,0.000,0.030,2930,2034,2303,0,0,0,0,0,0
$GC,6651,1.12,181.7,300.6,8.3,351,6656,0.12,2.50,0.00,0.000,4,0.080,0.054,2959,630,2301,0,0,0,0,0,0
$GC,6790,1.06,181.7,285.8,9.9,356,6794,0.00,2.38,0.00,0.000,6,0.000,0.029,2959,2038,2298,0,0,0,0,0,0
$GC,7114,1.06,181.7,258.0,8.2,372,7115,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2043,2298,0,0,0,0,0,0
$GC,7424,1.06,181.7,231.8,9.0,387,7428,0.00,2.47,0.00,0.000,4,0.000,0.051,2958,630,2297,0,0,0,0,0,0
$GC,7513,1.02,181.7,221.5,13.0,391,7518,0.12,2.33,0.00,0.000,6,0.127,0.027,2937,2038,2295,0,0,0,0,0,0
$GC,7836,1.08,181.7,188.2,10.7,412,7840,0.00,2.45,0.00,0.000,4,0.000,0.049,2936,627,2295,0,0,0,0,0,0
$GC,7914,1.08,181.7,179.8,10.8,420,7918,0.00,2.35,0.00,0.000,6,0.000,0.025,2938,2044,2294,0,0,0,0,0,0
$GC,8175,1.16,185.0,156.8,7.8,444,8180,0.12,2.50,0.00,0.000,4,0.075,0.048,2970,618,2294,0,0,0,0,0,0
$GC,8312,1.11,185.0,143.3,9.1,458,8319,0.00,2.35,0.00,0.000,6,0.000,0.025,2971,2033,2294,0,0,0,0,0,0
$GC,8575,1.12,195.9,122.2,7.3,483,8592,0.00,2.45,11.43,0.593,4,0.000,0.044,2971,627,2250,0,0,0,0,0,0
$GC,8606,1.12,195.9,119.4,8.9,486,8613,0.00,2.35,0.00,0.000,6,0.000,0.023,2971,2041,2249,0,0,0,0,0,0
$GC,8869,1.19,211.2,102.0,7.0,511,8889,0.00,2.50,14.75,0.588,4,0.000,0.044,2971,618,2188,0,0,0,0,0,0
$GC,9029,1.19,211.2,88.5,9.4,528,9033,0.00,2.33,0.00,0.000,6,0.000,0.022,2970,2043,2184,0,0,0,0,0,0
$GC,9294,1.27,227.2,69.8,6.9,552,9314,0.00,2.47,15.15,0.556,4,0.000,0.042,2970,626,2122,0,0,0,0,0,0
$GC,9430,1.27,227.2,56.6,12.1,567,9434,0.00,2.30,0.00,0.000,6,0.000,0.021,2971,2027,2118,0,0,0,0,0,0
$GC,9693,1.34,227.2,31.0,9.6,591,9698,0.15,2.42,0.00,0.000,4,0.061,0.044,3013,617,2118,0,0,0,0,0,0
$GC,9808,1.24,227.2,17.6,10.5,615,9815,0.12,2.33,0.00,0.000,6,0.084,0.021,2986,2038,2117,0,0,0,0,0,0
$STATE,9981,end climb,SURFACE_DEPTH_REACHED
$STATE,9982,begin surface coast
$FINISH,0.4,1.011110
$STATE,10015,end surface coast,CONTROL_FINISHED_OK
$STATE,10015,begin surface
$SM_CCo,10034,37.45,0.518,0,0,1826,300.00
$SM_GC,1.48,0.00,0.00,37.45,0.000,0.000,0.518,429,1882,1826,-10.51,-0.51,300.00
$IRIDIUM_FIX,2059.45,-15801.19,200799,090915
$TT8_MAMPS,0.029146
$HUMID,43.58
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,11.343
$10V_AH,10.0,10.551
$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,29.075,115.200,261.275,37.450,0.000,30.388,34.867,143.580,0.000,0.000,35.028,1244.540,6485.225,376.101,1920.005,370.440,33.353,1175.985,0.000,1895.694,0.000,0.538,0.000
$DEVICE_MAMPS,138.827,57.525,873.613,518.492,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,441.563,423.299,981.762,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,34995,653
$CAP_FILE_SIZE,114906,0
$CFSIZE,260165632,251817984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250410,145252,2104.933,-15759.768,48,3.4,67,9.8