version: 66.06
glider: 139
mission: 7
dive: 118
start: 4 25 110 17 45 18
data:
$ID,139
$MISSION,7
$DIVE,118
$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,-2122736.2
$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
$GPS1,173927,2104.162,-15759.074,65,3.6,84,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.2
$GPS2,174428,2104.134,-15759.117,12,5.0,31,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.159,-0.092
$KALMAN_X,-18008.2,-183.5,251.5,-5076.2,-667.5
$KALMAN_Y,-13645.5,-25.6,-123.5,13944.5,231.1
$MHEAD_RNG_PITCHd_Wd,110.3,19718,-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,-77.9,0.0,0.0,0,78,0.00,0.00,-59.28,0.000,6,0.000,0.000,426,1929,3368,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.3,-5.1,11,98,10.73,2.50,0.00,0.000,4,0.138,0.038,2407,495,3370,0,0,0,0,0,0
$GC,114,-0.50,-77.9,15.7,-34.7,17,122,0.93,2.35,0.00,0.000,6,0.091,0.021,2604,1928,3371,0,0,0,0,0,0
$GC,318,-0.87,-77.9,27.9,-3.4,54,326,0.35,2.47,0.00,0.000,4,0.046,0.043,2505,495,3371,0,0,0,0,0,0
$GC,394,-0.98,-77.9,34.8,-11.1,65,398,0.00,2.28,0.00,0.000,6,0.000,0.020,2504,1897,3371,0,0,0,0,0,0
$GC,656,-1.10,-77.9,59.4,-8.8,89,661,0.15,2.45,0.00,0.000,4,0.059,0.045,2458,493,3372,0,0,0,0,0,0
$GC,710,-1.10,-77.9,66.1,-13.7,94,714,0.00,2.28,0.00,0.000,6,0.000,0.020,2455,1902,3373,0,0,0,0,0,0
$GC,971,-1.17,-77.9,99.1,-11.7,118,975,0.00,2.45,0.00,0.000,4,0.000,0.045,2457,485,3373,0,0,0,0,0,0
$GC,1060,-1.20,-77.9,108.8,-11.1,127,1064,0.00,2.30,0.00,0.000,6,0.000,0.020,2454,1914,3374,0,0,0,0,0,0
$GC,1323,-1.31,-77.9,131.3,-6.9,151,1328,0.12,2.47,0.00,0.000,4,0.065,0.044,2415,488,3374,0,0,0,0,0,0
$GC,1411,-1.31,-77.9,139.7,-8.9,160,1415,0.00,2.28,0.00,0.000,6,0.000,0.021,2414,1900,3375,0,0,0,0,0,0
$GC,1672,-1.31,-77.9,162.8,-8.9,184,1676,0.00,2.42,0.00,0.000,4,0.000,0.044,2417,492,3376,0,0,0,0,0,0
$GC,1714,-1.25,-77.9,167.2,-11.1,188,1719,0.12,2.28,0.00,0.000,6,0.102,0.021,2440,1902,3376,0,0,0,0,0,0
$GC,1976,-1.33,-77.9,189.9,-8.4,212,1980,0.00,2.42,0.00,0.000,4,0.000,0.045,2441,485,3376,0,0,0,0,0,0
$GC,2057,-1.38,-77.9,197.7,-8.7,220,2065,0.10,2.30,0.00,0.000,6,0.036,0.021,2400,1895,3376,0,0,0,0,0,0
$GC,2310,-1.38,-77.9,224.7,-10.1,234,2314,0.00,2.42,0.00,0.000,4,0.000,0.046,2401,485,3376,0,0,0,0,0,0
$GC,2324,-1.35,-77.9,226.3,-10.2,234,2328,0.00,2.30,0.00,0.000,6,0.000,0.021,2400,1911,3376,0,0,0,0,0,0
$GC,2640,-1.35,-77.9,255.6,-8.6,249,2644,0.00,2.42,0.00,0.000,4,0.000,0.044,2400,491,3376,0,0,0,0,0,0
$GC,2653,-1.35,-77.9,256.8,-8.5,249,2658,0.00,2.28,0.00,0.000,6,0.000,0.022,2401,1904,3376,0,0,0,0,0,0
$GC,2969,-1.39,-77.9,286.0,-10.2,265,2973,0.00,2.45,0.00,0.000,4,0.000,0.048,2401,493,3376,0,0,0,0,0,0
$GC,3001,-1.39,-77.9,289.4,-9.5,266,3005,0.00,2.28,0.00,0.000,6,0.000,0.023,2402,1891,3376,0,0,0,0,0,0
$GC,3333,-1.44,-77.9,320.0,-9.7,277,3337,0.00,2.45,0.00,0.000,4,0.000,0.051,2401,488,3375,0,0,0,0,0,0
$GC,3393,-1.44,-77.9,326.8,-10.8,278,3397,0.00,2.30,0.00,0.000,6,0.000,0.025,2401,1897,3375,0,0,0,0,0,0
$GC,3742,-1.49,-77.9,361.2,-9.6,287,3746,0.00,2.45,0.00,0.000,4,0.000,0.052,2402,496,3373,0,0,0,0,0,0
$GC,3811,-1.49,-77.9,368.0,-9.7,288,3815,0.00,2.30,0.00,0.000,6,0.000,0.027,2400,1897,3373,0,0,0,0,0,0
$GC,4151,-1.55,-77.9,400.5,-9.9,297,4156,0.12,2.47,0.00,0.000,4,0.071,0.055,2364,492,3371,0,0,0,0,0,0
$GC,4225,-1.49,-77.9,409.7,-11.9,298,4230,0.12,2.33,0.00,0.000,6,0.107,0.028,2388,1902,3370,0,0,0,0,0,0
$GC,4561,-1.53,-77.9,445.1,-10.0,307,4566,0.00,2.38,0.00,0.000,4,0.000,0.042,2390,3296,3368,0,0,0,0,0,0
$GC,4589,-1.58,-77.9,448.3,-10.9,307,4593,0.00,2.40,0.00,0.000,6,0.000,0.039,2390,1899,3368,0,0,0,0,0,0
$STATE,4639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4639,begin apogee
$GC,4644,-0.31,0.0,453.8,11.2,309,4713,1.20,0.00,65.22,0.881,6,0.079,0.000,2644,2063,3050,0,0,0,0,0,0
$STATE,4714,end apogee,CONTROL_FINISHED_OK
$STATE,4714,begin climb
$GC,4716,1.40,77.9,455.9,0.0,310,4790,1.65,2.45,64.95,0.861,4,0.036,0.048,3025,3406,2732,0,0,0,0,0,0
$GC,4972,1.19,85.4,446.3,7.5,315,4987,0.28,2.40,7.55,0.715,6,0.114,0.039,2975,2029,2701,0,0,0,0,0,0
$GC,5311,1.09,98.8,422.7,7.1,324,5329,0.12,2.47,12.00,0.788,4,0.127,0.043,2954,3419,2647,0,0,0,0,0,0
$GC,5523,1.02,99.0,405.6,8.0,328,5527,0.00,2.40,0.00,0.000,6,0.000,0.038,2954,2035,2645,0,0,0,0,0,0
$GC,5858,1.02,147.4,386.1,4.7,337,5906,0.00,2.58,41.75,0.848,4,0.000,0.054,2953,632,2448,0,0,0,0,0,0
$GC,5994,0.93,147.4,376.0,9.9,340,6000,0.17,2.38,0.00,0.000,6,0.121,0.030,2920,2026,2442,0,0,0,0,0,0
$GC,6318,1.00,166.9,354.5,6.7,348,6342,0.00,2.53,17.17,0.798,4,0.000,0.055,2922,630,2368,0,0,0,0,0,0
$GC,6439,1.00,166.9,343.5,10.0,350,6443,0.00,2.38,0.00,0.000,6,0.000,0.031,2921,2037,2363,0,0,0,0,0,0
$GC,6774,1.05,166.9,313.7,8.5,359,6779,0.10,2.53,0.00,0.000,4,0.089,0.055,2946,630,2362,0,0,0,0,0,0
$GC,6830,0.99,166.9,308.3,9.2,360,6834,0.00,2.38,0.00,0.000,6,0.000,0.030,2945,2046,2360,0,0,0,0,0,0
$GC,7147,1.03,196.2,286.0,6.0,373,7180,0.00,2.62,25.70,0.784,4,0.000,0.054,2946,629,2249,0,0,0,0,0,0
$GC,7312,1.03,196.2,270.6,10.7,380,7316,0.00,2.38,0.00,0.000,6,0.000,0.029,2945,2038,2243,0,0,0,0,0,0
$GC,7632,1.07,196.2,234.4,11.2,396,7636,0.00,2.47,0.00,0.000,4,0.000,0.051,2946,629,2243,0,0,0,0,0,0
$GC,7664,1.07,196.2,230.8,10.8,397,7668,0.00,2.35,0.00,0.000,6,0.000,0.028,2946,2044,2241,0,0,0,0,0,0
$GC,7979,1.13,201.8,204.8,7.6,412,7991,0.00,2.50,5.07,0.547,4,0.000,0.048,2946,621,2226,0,0,0,0,0,0
$GC,8023,1.13,201.8,201.0,8.7,414,8028,0.00,2.35,0.00,0.000,6,0.000,0.027,2946,2038,2224,0,0,0,0,0,0
$GC,8351,1.19,201.8,174.3,8.1,444,8356,0.12,2.47,0.00,0.000,4,0.075,0.048,2979,621,2224,0,0,0,0,0,0
$GC,8469,1.13,201.8,162.1,10.8,456,8475,0.00,2.38,0.00,0.000,6,0.000,0.025,2979,2040,2223,0,0,0,0,0,0
$GC,8730,1.13,201.8,138.2,9.8,481,8734,0.00,2.47,0.00,0.000,4,0.000,0.046,2978,616,2223,0,0,0,0,0,0
$GC,8803,1.07,201.8,129.3,13.1,488,8810,0.12,2.38,0.00,0.000,6,0.095,0.024,2951,2043,2223,0,0,0,0,0,0
$GC,9066,1.20,242.5,107.0,5.2,513,9112,0.10,2.53,36.78,0.624,4,0.084,0.044,2979,619,2059,0,0,0,0,0,0
$GC,9251,1.20,242.5,89.0,12.2,533,9256,0.00,2.35,0.00,0.000,6,0.000,0.022,2979,2044,2053,0,0,0,0,0,0
$GC,9514,1.25,242.5,64.8,8.9,557,9518,0.00,2.47,0.00,0.000,4,0.000,0.044,2979,616,2053,0,0,0,0,0,0
$GC,9662,1.25,242.5,47.8,11.7,573,9666,0.00,2.33,0.00,0.000,6,0.000,0.021,2978,2041,2052,0,0,0,0,0,0
$GC,9925,1.30,242.5,20.2,10.1,605,9931,0.00,2.47,0.00,0.000,4,0.000,0.044,2979,622,2052,0,0,0,0,0,0
$GC,10022,1.30,242.5,9.0,11.8,627,10028,0.00,2.33,0.00,0.000,6,0.000,0.021,2978,2041,2052,0,0,0,0,0,0
$STATE,10076,end climb,SURFACE_DEPTH_REACHED
$STATE,10077,begin surface coast
$FINISH,0.5,1.023788
$STATE,10104,end surface coast,CONTROL_FINISHED_OK
$STATE,10104,begin surface
$SM_CCo,10124,29.58,0.520,0,0,1827,300.00
$SM_GC,1.40,0.00,0.00,29.58,0.000,0.000,0.520,425,1887,1827,-10.53,-0.37,300.00
$IRIDIUM_FIX,2054.83,-15759.05,200799,151501
$TT8_MAMPS,0.029913
$HUMID,43.73
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.4,11.497
$10V_AH,10.0,10.713
$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,27.500,130.275,276.200,29.575,0.000,27.587,30.007,133.035,0.000,0.000,32.654,1255.646,6463.653,370.042,2022.029,345.277,33.363,1240.235,0.000,1989.729,0.000,0.538,0.000
$DEVICE_MAMPS,138.060,55.991,881.283,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,434.523,410.302,945.001,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,34934,642
$CAP_FILE_SIZE,120436,0
$CFSIZE,260165632,251699200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250410,203557,2103.515,-15758.495,30,2.9,49,9.8