version: 66.06
glider: 139
mission: 7
dive: 117
start: 4 25 110 14 58 36
data:
$ID,139
$MISSION,7
$DIVE,117
$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,-2122702.8
$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
$GPS1,145252,2104.933,-15759.768,48,3.4,67,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.6
$GPS2,145746,2104.934,-15759.807,12,3.8,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.132,-0.128
$KALMAN_X,-16861.2,-265.6,-502.9,-6574.0,295.9
$KALMAN_Y,-13776.9,41.7,-7.5,15372.6,83.9
$MHEAD_RNG_PITCHd_Wd,124.1,21557,-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,-77.9,0.0,0.0,0,77,0.00,0.00,-58.88,0.000,6,0.000,0.000,429,1885,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.8,-6.7,11,98,10.70,2.40,0.00,0.000,4,0.138,0.037,2407,495,3371,0,0,0,0,0,0
$GC,156,-1.22,-77.9,26.2,-20.2,27,163,0.15,2.35,0.00,0.000,6,0.081,0.021,2442,1928,3372,0,0,0,0,0,0
$GC,361,-1.22,-77.9,54.7,-12.5,48,365,0.00,2.47,0.00,0.000,4,0.000,0.045,2443,490,3372,0,0,0,0,0,0
$GC,395,-1.12,-77.9,59.4,-14.5,51,400,0.12,2.28,0.00,0.000,6,0.106,0.020,2466,1911,3372,0,0,0,0,0,0
$GC,657,-1.18,-77.9,90.7,-11.2,75,662,0.00,2.42,0.00,0.000,4,0.000,0.044,2467,494,3373,0,0,0,0,0,0
$GC,737,-1.22,-77.9,99.3,-11.1,83,741,0.00,2.25,0.00,0.000,6,0.000,0.020,2466,1905,3373,0,0,0,0,0,0
$GC,1000,-1.33,-77.9,122.1,-7.7,107,1005,0.20,2.45,0.00,0.000,4,0.050,0.043,2407,487,3374,0,0,0,0,0,0
$GC,1055,-1.28,-77.9,128.7,-12.1,112,1063,0.10,2.30,0.00,0.000,6,0.075,0.020,2432,1900,3374,0,0,0,0,0,0
$GC,1318,-1.33,-77.9,154.0,-9.0,137,1322,0.00,2.42,0.00,0.000,4,0.000,0.044,2433,492,3375,0,0,0,0,0,0
$GC,1371,-1.33,-77.9,159.8,-10.1,142,1378,0.00,2.30,0.00,0.000,6,0.000,0.021,2433,1904,3375,0,0,0,0,0,0
$GC,1634,-1.39,-77.9,186.1,-11.5,167,1639,0.00,2.42,0.00,0.000,4,0.000,0.045,2433,494,3376,0,0,0,0,0,0
$GC,1695,-1.39,-77.9,193.9,-12.7,173,1700,0.00,2.28,0.00,0.000,6,0.000,0.021,2433,1904,3376,0,0,0,0,0,0
$GC,1961,-1.46,-77.9,221.1,-9.2,188,1966,0.17,2.42,0.00,0.000,4,0.054,0.046,2382,494,3376,0,0,0,0,0,0
$GC,2012,-1.38,-77.9,227.4,-13.0,190,2017,0.15,2.28,0.00,0.000,6,0.097,0.021,2412,1906,3376,0,0,0,0,0,0
$GC,2334,-1.43,-77.9,255.2,-7.4,206,2338,0.00,2.42,0.00,0.000,4,0.000,0.047,2412,492,3376,0,0,0,0,0,0
$GC,2379,-1.43,-77.9,259.0,-8.5,208,2383,0.00,2.28,0.00,0.000,6,0.000,0.022,2413,1908,3375,0,0,0,0,0,0
$GC,2703,-1.48,-77.9,281.2,-8.7,224,2707,0.00,2.28,0.00,0.000,4,0.000,0.031,2412,3291,3375,0,0,0,0,0,0
$GC,2724,-1.57,-77.9,283.2,-9.9,225,2729,0.17,2.35,0.00,0.000,6,0.056,0.034,2362,1899,3375,0,0,0,0,0,0
$GC,3071,-1.54,-77.9,321.8,-10.5,237,3074,0.00,2.42,0.00,0.000,4,0.000,0.051,2360,496,3374,0,0,0,0,0,0
$GC,3139,-1.45,-77.9,329.8,-11.2,238,3145,0.17,2.30,0.00,0.000,6,0.096,0.025,2397,1903,3374,0,0,0,0,0,0
$GC,3485,-1.49,-77.9,360.6,-9.3,247,3489,0.00,2.45,0.00,0.000,4,0.000,0.052,2394,493,3373,0,0,0,0,0,0
$GC,3517,-1.49,-77.9,364.2,-11.9,247,3521,0.00,2.33,0.00,0.000,6,0.000,0.026,2397,1900,3373,0,0,0,0,0,0
$GC,3847,-1.53,-77.9,391.5,-7.8,255,3852,0.00,2.45,0.00,0.000,4,0.000,0.054,2396,495,3371,0,0,0,0,0,0
$GC,3884,-1.53,-77.9,395.0,-9.6,255,3890,0.00,2.33,0.00,0.000,6,0.000,0.028,2397,1900,3370,0,0,0,0,0,0
$GC,4215,-1.59,-77.9,424.4,-9.0,264,4220,0.15,2.50,0.00,0.000,4,0.065,0.056,2357,492,3368,0,0,0,0,0,0
$GC,4285,-1.51,-77.9,432.9,-13.0,265,4290,0.15,2.35,0.00,0.000,6,0.104,0.028,2384,1908,3368,0,0,0,0,0,0
$STATE,4461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4461,begin apogee
$GC,4466,-0.31,0.0,450.9,10.1,270,4534,1.23,0.00,64.95,0.877,6,0.079,0.000,2646,2059,3050,0,0,0,0,0,0
$STATE,4535,end apogee,CONTROL_FINISHED_OK
$STATE,4535,begin climb
$GC,4537,1.40,77.9,451.9,0.0,271,4611,1.65,2.45,64.82,0.856,4,0.036,0.047,3028,3404,2732,0,0,0,0,0,0
$GC,4635,1.26,160.7,452.5,2.3,273,4714,0.20,2.40,71.15,0.851,6,0.116,0.038,2989,2028,2394,0,0,0,0,0,0
$GC,5036,1.16,160.7,410.7,11.0,283,5041,0.12,2.50,0.00,0.000,4,0.123,0.058,2968,630,2383,0,0,0,0,0,0
$GC,5080,1.04,160.7,406.1,10.8,284,5085,0.15,2.35,0.00,0.000,6,0.123,0.030,2941,2012,2381,0,0,0,0,0,0
$GC,5407,1.04,160.7,376.6,9.5,292,5411,0.00,2.45,0.00,0.000,4,0.000,0.057,2942,630,2379,0,0,0,0,0,0
$GC,5467,0.98,160.7,370.1,10.3,293,5472,0.00,2.38,0.00,0.000,6,0.000,0.031,2942,2035,2377,0,0,0,0,0,0
$GC,5816,0.98,160.7,338.7,8.4,302,5820,0.00,2.47,0.00,0.000,4,0.000,0.054,2942,630,2376,0,0,0,0,0,0
$GC,5853,0.93,160.7,335.4,9.4,302,5859,0.15,2.38,0.00,0.000,6,0.121,0.030,2915,2036,2375,0,0,0,0,0,0
$GC,6184,1.04,199.7,315.9,5.3,311,6225,0.12,2.55,32.10,0.801,4,0.079,0.054,2946,628,2233,0,0,0,0,0,0
$GC,6396,1.01,199.7,295.7,10.9,316,6401,0.00,2.40,0.00,0.000,6,0.000,0.029,2946,2047,2226,0,0,0,0,0,0
$GC,6716,1.05,199.7,265.4,9.5,332,6720,0.00,2.50,0.00,0.000,4,0.000,0.053,2946,629,2226,0,0,0,0,0,0
$GC,6766,1.05,199.7,260.2,9.3,334,6770,0.00,2.38,0.00,0.000,6,0.000,0.028,2945,2043,2224,0,0,0,0,0,0
$GC,7090,1.09,199.7,230.2,10.0,350,7094,0.00,2.47,0.00,0.000,4,0.000,0.051,2945,629,2224,0,0,0,0,0,0
$GC,7213,1.09,199.7,215.5,12.6,355,7217,0.00,2.35,0.00,0.000,6,0.000,0.027,2945,2037,2221,0,0,0,0,0,0
$GC,7540,1.15,199.7,182.6,10.7,379,7544,0.00,2.47,0.00,0.000,4,0.000,0.049,2945,622,2221,0,0,0,0,0,0
$GC,7601,1.15,199.7,175.8,10.9,385,7605,0.00,2.35,0.00,0.000,6,0.000,0.026,2945,2043,2221,0,0,0,0,0,0
$GC,7864,1.20,199.7,151.1,9.1,409,7869,0.12,2.45,0.00,0.000,4,0.074,0.047,2978,619,2221,0,0,0,0,0,0
$GC,7937,1.14,199.7,141.5,14.0,416,7944,0.00,2.35,0.00,0.000,6,0.000,0.025,2979,2029,2220,0,0,0,0,0,0
$GC,8199,1.14,199.7,112.6,9.5,441,8204,0.00,2.40,0.00,0.000,4,0.000,0.045,2978,626,2220,0,0,0,0,0,0
$GC,8345,1.10,199.7,99.7,8.2,456,8352,0.10,2.33,0.00,0.000,6,0.092,0.023,2957,2035,2220,0,0,0,0,0,0
$GC,8607,1.21,219.9,81.3,6.6,481,8629,0.00,2.50,16.42,0.581,4,0.000,0.044,2956,630,2153,0,0,0,0,0,0
$GC,8796,1.25,219.9,65.4,8.5,502,8803,0.10,2.33,0.00,0.000,6,0.044,0.022,2990,2036,2148,0,0,0,0,0,0
$GC,9059,1.25,219.9,42.8,9.4,527,9063,0.00,2.42,0.00,0.000,4,0.000,0.044,2991,617,2148,0,0,0,0,0,0
$GC,9092,1.21,219.9,39.5,9.0,530,9096,0.00,2.33,0.00,0.000,6,0.000,0.021,2991,2044,2149,0,0,0,0,0,0
$GC,9357,1.21,219.9,12.9,10.2,569,9363,0.00,2.45,0.00,0.000,4,0.000,0.042,2990,630,2148,0,0,0,0,0,0
$STATE,9444,end climb,SURFACE_DEPTH_REACHED
$STATE,9444,begin surface coast
$FINISH,0.5,1.013847
$STATE,9468,end surface coast,CONTROL_FINISHED_OK
$STATE,9468,begin surface
$SM_CCo,9488,42.05,0.525,0,0,1827,300.00
$SM_GC,1.73,0.00,0.00,42.05,0.000,0.000,0.525,426,1929,1827,-10.52,0.82,300.00
$IRIDIUM_FIX,2059.45,-15811.49,200799,121227
$TT8_MAMPS,0.029146
$HUMID,43.26
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,11.419
$10V_AH,10.0,10.629
$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,27.325,124.175,249.450,42.050,0.000,25.054,28.321,129.581,0.000,0.000,32.820,1154.715,6169.524,361.239,1803.460,337.131,33.361,1144.931,0.000,1781.582,0.000,0.538,0.000
$DEVICE_MAMPS,138.060,58.292,877.448,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.830,384.866,859.929,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,31861,594
$CAP_FILE_SIZE,111144,0
$CFSIZE,260165632,251768832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250410,173927,2104.162,-15759.074,65,3.6,84,9.8