version: 66.06
glider: 139
mission: 7
dive: 119
start: 4 25 110 20 42 6
data:
$ID,139
$MISSION,7
$DIVE,119
$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,-2122751.5
$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
$GPS1,203557,2103.515,-15758.495,30,2.9,49,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-69.4
$GPS2,204114,2103.487,-15758.546,14,1.5,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.179,-0.043
$KALMAN_X,-19087.2,-72.2,415.4,-3289.0,-1591.6
$KALMAN_Y,-13752.2,-118.8,-94.6,12919.3,204.1
$MHEAD_RNG_PITCHd_Wd,93.9,18221,-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,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,78,0.00,0.00,-58.80,0.000,6,0.000,0.000,425,1888,3368,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.8,-6.5,11,98,10.75,2.42,0.00,0.000,4,0.139,0.026,2407,3326,3370,0,0,0,0,0,0
$GC,126,-1.19,-77.9,18.4,-24.3,20,133,0.17,2.45,0.00,0.000,6,0.077,0.034,2448,1901,3371,0,0,0,0,0,0
$GC,334,-1.19,-77.9,45.5,-13.0,47,338,0.00,2.42,0.00,0.000,4,0.000,0.046,2449,494,3372,0,0,0,0,0,0
$GC,368,-1.11,-77.9,50.6,-15.1,50,373,0.12,2.33,0.00,0.000,6,0.109,0.020,2473,1939,3372,0,0,0,0,0,0
$GC,630,-1.18,-77.9,82.1,-11.2,74,634,0.00,2.47,0.00,0.000,4,0.000,0.044,2472,494,3373,0,0,0,0,0,0
$GC,684,-1.24,-77.9,88.9,-12.5,79,690,0.12,2.25,0.00,0.000,6,0.064,0.020,2431,1906,3373,0,0,0,0,0,0
$GC,945,-1.27,-77.9,118.5,-10.6,104,949,0.00,2.45,0.00,0.000,4,0.000,0.044,2430,490,3374,0,0,0,0,0,0
$GC,1015,-1.27,-77.9,126.4,-11.6,111,1019,0.00,2.28,0.00,0.000,6,0.000,0.020,2430,1902,3374,0,0,0,0,0,0
$GC,1278,-1.31,-77.9,156.0,-12.2,135,1282,0.00,2.40,0.00,0.000,4,0.000,0.044,2430,494,3375,0,0,0,0,0,0
$GC,1302,-1.31,-77.9,159.2,-12.4,137,1306,0.00,2.28,0.00,0.000,6,0.000,0.020,2430,1905,3375,0,0,0,0,0,0
$GC,1565,-1.36,-77.9,191.3,-11.9,161,1569,0.00,2.42,0.00,0.000,4,0.000,0.045,2430,488,3376,0,0,0,0,0,0
$GC,1627,-1.36,-77.9,199.0,-12.8,167,1631,0.00,2.28,0.00,0.000,6,0.000,0.021,2430,1899,3376,0,0,0,0,0,0
$GC,1891,-1.43,-77.9,224.3,-8.0,180,1896,0.12,2.45,0.00,0.000,4,0.067,0.046,2390,492,3376,0,0,0,0,0,0
$GC,1934,-1.37,-77.9,228.7,-10.6,182,1939,0.12,2.25,0.00,0.000,6,0.101,0.021,2416,1895,3376,0,0,0,0,0,0
$GC,2265,-1.43,-77.9,257.4,-9.5,198,2269,0.00,2.42,0.00,0.000,4,0.000,0.047,2415,494,3376,0,0,0,0,0,0
$GC,2339,-1.47,-77.9,264.7,-8.8,201,2343,0.00,2.28,0.00,0.000,6,0.000,0.022,2416,1900,3376,0,0,0,0,0,0
$GC,2660,-1.55,-77.9,290.8,-7.6,217,2665,0.17,2.47,0.00,0.000,4,0.055,0.048,2367,488,3376,0,0,0,0,0,0
$GC,2707,-1.47,-77.9,295.4,-10.9,219,2712,0.12,2.28,0.00,0.000,6,0.104,0.024,2392,1897,3376,0,0,0,0,0,0
$GC,3053,-1.50,-77.9,328.1,-9.1,229,3057,0.00,2.45,0.00,0.000,4,0.000,0.051,2392,494,3375,0,0,0,0,0,0
$GC,3135,-1.50,-77.9,336.7,-10.3,230,3141,0.00,2.30,0.00,0.000,6,0.000,0.026,2392,1896,3374,0,0,0,0,0,0
$GC,3466,-1.54,-77.9,366.8,-8.8,239,3470,0.00,2.45,0.00,0.000,4,0.000,0.054,2392,491,3373,0,0,0,0,0,0
$GC,3535,-1.54,-77.9,373.6,-9.7,240,3539,0.00,2.30,0.00,0.000,6,0.000,0.027,2391,1897,3373,0,0,0,0,0,0
$GC,3874,-1.58,-77.9,404.1,-8.8,249,3879,0.00,2.47,0.00,0.000,4,0.000,0.054,2391,496,3370,0,0,0,0,0,0
$GC,3920,-1.58,-77.9,408.5,-9.0,250,3924,0.00,2.33,0.00,0.000,6,0.000,0.028,2391,1898,3370,0,0,0,0,0,0
$GC,4242,-1.62,-77.9,440.0,-10.1,258,4247,0.15,2.47,0.00,0.000,4,0.066,0.057,2351,498,3367,0,0,0,0,0,0
$GC,4256,-1.62,-77.9,441.8,-10.4,258,4261,0.00,2.35,0.00,0.000,6,0.000,0.029,2350,1910,3367,0,0,0,0,0,0
$STATE,4360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4360,begin apogee
$GC,4365,-0.31,0.0,453.6,11.4,261,4434,1.40,0.00,65.25,0.881,6,0.081,0.000,2646,2054,3050,0,0,0,0,0,0
$STATE,4435,end apogee,CONTROL_FINISHED_OK
$STATE,4435,begin climb
$GC,4436,1.40,77.9,454.6,0.0,262,4511,1.62,2.45,64.95,0.862,4,0.035,0.048,3023,3404,2732,0,0,0,0,0,0
$GC,4688,1.20,93.7,443.0,6.9,267,4709,0.22,2.38,14.32,0.800,6,0.119,0.038,2978,2033,2667,0,0,0,0,0,0
$GC,5037,1.08,108.2,416.7,7.0,276,5057,0.15,2.45,12.93,0.794,4,0.120,0.042,2956,3410,2608,0,0,0,0,0,0
$GC,5158,1.06,133.1,409.4,6.3,278,5187,0.00,2.38,22.30,0.828,6,0.000,0.040,2956,2029,2506,0,0,0,0,0,0
$GC,5501,1.06,171.6,389.9,5.4,287,5544,0.00,2.60,33.88,0.840,4,0.000,0.058,2955,626,2349,0,0,0,0,0,0
$GC,5572,0.97,171.6,384.7,8.7,288,5577,0.15,2.35,0.00,0.000,6,0.122,0.030,2926,2016,2345,0,0,0,0,0,0
$GC,5913,0.97,171.6,358.4,8.2,297,5917,0.00,2.50,0.00,0.000,4,0.000,0.057,2929,623,2343,0,0,0,0,0,0
$GC,5991,0.97,171.6,350.7,10.2,298,5995,0.00,2.40,0.00,0.000,6,0.000,0.030,2928,2036,2339,0,0,0,0,0,0
$GC,6321,1.01,171.6,321.7,9.0,306,6326,0.00,2.53,0.00,0.000,4,0.000,0.056,2929,621,2339,0,0,0,0,0,0
$GC,6457,1.01,171.6,308.1,10.1,309,6461,0.00,2.40,0.00,0.000,6,0.000,0.030,2929,2042,2337,0,0,0,0,0,0
$GC,6793,1.06,171.6,276.7,8.5,323,6798,0.00,2.50,0.00,0.000,4,0.000,0.054,2929,629,2337,0,0,0,0,0,0
$GC,6932,1.06,171.6,262.5,10.1,329,6936,0.00,2.35,0.00,0.000,6,0.000,0.029,2929,2040,2335,0,0,0,0,0,0
$GC,7258,1.13,174.9,237.1,7.8,345,7263,0.15,2.50,0.00,0.000,4,0.072,0.051,2965,629,2335,0,0,0,0,0,0
$GC,7325,1.06,174.9,231.1,8.9,348,7330,0.00,2.38,0.00,0.000,6,0.000,0.028,2965,2048,2334,0,0,0,0,0,0
$GC,7654,1.06,177.5,206.7,7.8,364,7658,0.00,2.47,0.00,0.000,4,0.000,0.049,2964,627,2334,0,0,0,0,0,0
$GC,7741,1.01,177.5,198.6,8.9,367,7747,0.15,2.35,0.00,0.000,6,0.117,0.027,2937,2040,2333,0,0,0,0,0,0
$GC,8066,1.08,177.5,173.5,8.6,398,8070,0.00,2.45,0.00,0.000,4,0.000,0.048,2936,627,2333,0,0,0,0,0,0
$GC,8172,1.08,177.5,164.0,8.8,409,8176,0.00,2.33,0.00,0.000,6,0.000,0.025,2937,2046,2332,0,0,0,0,0,0
$GC,8435,1.16,190.9,144.0,7.1,433,8456,0.15,2.50,15.12,0.638,4,0.068,0.046,2975,626,2270,0,0,0,0,0,0
$GC,8522,1.12,194.1,136.6,7.8,442,8533,0.00,2.33,4.07,0.437,6,0.000,0.024,2975,2047,2257,0,0,0,0,0,0
$GC,8788,1.13,207.3,116.1,7.1,467,8808,0.00,0.00,13.35,0.598,6,0.000,0.000,2976,2052,2204,0,0,0,0,0,0
$GC,9065,1.18,208.9,95.7,7.9,493,9069,0.00,2.47,0.00,0.000,4,0.000,0.044,2976,619,2202,0,0,0,0,0,0
$GC,9254,1.18,215.1,80.3,7.6,513,9267,0.00,2.30,7.78,0.518,6,0.000,0.022,2976,2047,2173,0,0,0,0,0,0
$GC,9524,1.24,215.1,61.0,8.1,538,9528,0.00,2.45,0.00,0.000,4,0.000,0.044,2976,624,2173,0,0,0,0,0,0
$GC,9610,1.24,215.1,53.1,9.5,547,9615,0.00,2.28,0.00,0.000,6,0.000,0.021,2975,2037,2171,0,0,0,0,0,0
$GC,9873,1.30,215.1,29.7,9.0,571,9880,0.00,2.45,0.00,0.000,4,0.000,0.043,2975,624,2171,0,0,0,0,0,0
$GC,9912,1.30,215.1,25.8,10.0,579,9919,0.00,2.30,0.00,0.000,6,0.000,0.021,2975,2030,2171,0,0,0,0,0,0
$GC,10115,1.36,215.1,6.4,10.3,616,10122,0.15,2.45,0.00,0.000,4,0.061,0.044,3018,630,2171,0,0,0,0,0,0
$STATE,10144,end climb,SURFACE_DEPTH_REACHED
$STATE,10144,begin surface coast
$FINISH,0.5,1.014999
$STATE,10175,end surface coast,CONTROL_FINISHED_OK
$STATE,10175,begin surface
$SM_CCo,10196,43.17,0.521,0,0,1827,300.00
$SM_GC,1.02,0.00,0.00,43.17,0.000,0.000,0.521,428,1910,1827,-10.52,0.28,300.00
$IRIDIUM_FIX,2057.14,-15801.19,200799,171741
$TT8_MAMPS,0.029146
$HUMID,43.62
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,11.575
$10V_AH,10.1,10.796
$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,27.150,129.250,253.950,43.175,0.000,29.558,32.537,160.802,0.000,0.000,14.375,1238.842,6589.641,373.581,1961.357,396.511,33.359,1225.338,0.000,1958.600,0.000,0.537,0.000
$DEVICE_MAMPS,138.827,57.525,881.283,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,425.647,407.860,907.608,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,34958,629
$CAP_FILE_SIZE,119619,0
$CFSIZE,260165632,251641856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250410,233426,2103.113,-15758.490,45,4.2,64,9.8