version: 66.06
glider: 139
mission: 7
dive: 145
start: 4 28 110 19 24 5
data:
$ID,139
$MISSION,7
$DIVE,145
$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,2
$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,-2123518.2
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,20
$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
$GPS1,191758,2101.539,-15756.405,42,3.1,61,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-68.1
$GPS2,192347,2101.541,-15756.433,18,2.8,37,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.168,-0.074
$KALMAN_X,-59222.4,-485.3,-363.1,40755.3,-1141.0
$KALMAN_Y,-23432.7,-223.8,-84.1,19158.6,421.6
$MHEAD_RNG_PITCHd_Wd,110.8,13198,-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,-58.75,0.000,6,0.000,0.000,426,1868,3369,0,0,0,0,0,0
$GC,81,-1.40,-77.9,4.1,-7.6,11,93,10.73,0.00,0.00,0.000,6,0.140,0.000,2403,1868,3370,0,0,0,0,0,0
$GC,294,-1.28,-77.9,47.1,-16.4,40,296,0.15,0.00,0.00,0.000,6,0.103,0.000,2433,1869,3372,0,0,0,0,0,0
$GC,547,-1.28,-77.9,82.2,-12.5,64,551,0.00,2.38,0.00,0.000,4,0.000,0.045,2433,493,3372,0,0,0,0,0,0
$GC,592,-1.24,-77.9,89.4,-15.6,68,599,0.00,2.35,0.00,0.000,6,0.000,0.020,2433,1934,3372,0,0,0,0,0,0
$GC,855,-1.27,-77.9,122.5,-12.9,93,859,0.00,2.47,0.00,0.000,4,0.000,0.044,2433,489,3373,0,0,0,0,0,0
$GC,945,-1.27,-77.9,135.3,-13.2,102,952,0.00,2.30,0.00,0.000,6,0.000,0.020,2433,1899,3374,0,0,0,0,0,0
$GC,1208,-1.32,-77.9,162.4,-9.1,127,1212,0.00,2.42,0.00,0.000,4,0.000,0.044,2433,490,3375,0,0,0,0,0,0
$GC,1262,-1.32,-77.9,167.9,-9.2,132,1268,0.00,2.30,0.00,0.000,6,0.000,0.021,2434,1902,3375,0,0,0,0,0,0
$GC,1525,-1.39,-77.9,192.5,-10.1,157,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,1908,3376,0,0,0,0,0,0
$GC,1774,-1.46,-77.9,217.6,-9.7,173,1779,0.17,2.42,0.00,0.000,4,0.054,0.046,2382,494,3376,0,0,0,0,0,0
$GC,1795,-1.43,-77.9,220.1,-11.5,174,1799,0.10,2.28,0.00,0.000,6,0.113,0.022,2402,1909,3376,0,0,0,0,0,0
$GC,2129,-1.43,-77.9,253.1,-7.5,190,2134,0.00,2.42,0.00,0.000,4,0.000,0.046,2402,494,3376,0,0,0,0,0,0
$GC,2171,-1.43,-77.9,257.3,-9.8,192,2175,0.00,2.30,0.00,0.000,6,0.000,0.023,2402,1906,3376,0,0,0,0,0,0
$GC,2500,-1.43,-77.9,288.3,-9.8,208,2504,0.00,2.45,0.00,0.000,4,0.000,0.048,2402,495,3376,0,0,0,0,0,0
$GC,2550,-1.43,-77.9,293.8,-11.0,210,2554,0.00,2.30,0.00,0.000,6,0.000,0.024,2402,1906,3376,0,0,0,0,0,0
$GC,2867,-1.43,-77.9,321.2,-8.3,220,2871,0.00,2.47,0.00,0.000,4,0.000,0.051,2402,491,3374,0,0,0,0,0,0
$GC,2931,-1.43,-77.9,327.3,-8.8,221,2936,0.00,2.33,0.00,0.000,6,0.000,0.025,2402,1905,3374,0,0,0,0,0,0
$GC,3276,-1.47,-77.9,354.1,-7.7,230,3280,0.00,2.47,0.00,0.000,4,0.000,0.051,2402,494,3372,0,0,0,0,0,0
$GC,3340,-1.47,-77.9,360.7,-10.1,231,3344,0.00,2.33,0.00,0.000,6,0.000,0.027,2402,1906,3372,0,0,0,0,0,0
$GC,3684,-1.53,-77.9,390.0,-8.3,240,3688,0.00,2.47,0.00,0.000,4,0.000,0.054,2401,497,3371,0,0,0,0,0,0
$GC,3767,-1.53,-77.9,397.2,-8.4,241,3772,0.00,2.33,0.00,0.000,6,0.000,0.028,2401,1897,3370,0,0,0,0,0,0
$GC,4099,-1.59,-77.9,421.1,-7.4,250,4104,0.15,2.50,0.00,0.000,4,0.065,0.055,2361,493,3368,0,0,0,0,0,0
$GC,4136,-1.52,-77.9,424.8,-10.3,250,4142,0.00,2.35,0.00,0.000,6,0.000,0.029,2362,1900,3368,0,0,0,0,0,0
$STATE,4424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4424,begin apogee
$GC,4429,-0.31,0.0,451.9,9.3,258,4497,1.33,0.00,64.60,0.891,6,0.081,0.000,2641,2060,3050,0,0,0,0,0,0
$STATE,4498,end apogee,CONTROL_FINISHED_OK
$STATE,4498,begin climb
$GC,4500,1.40,77.9,452.7,0.0,259,4574,1.65,2.45,64.97,0.866,4,0.035,0.048,3024,3404,2732,0,0,0,0,0,0
$GC,4681,1.20,106.3,448.7,6.1,263,4714,0.25,2.38,24.90,0.839,6,0.119,0.038,2978,2029,2616,0,0,0,0,0,0
$GC,5046,1.10,116.8,420.1,7.3,272,5063,0.12,2.47,9.35,0.758,4,0.128,0.042,2958,3408,2573,0,0,0,0,0,0
$GC,5165,1.07,142.5,412.5,6.3,274,5194,0.00,2.40,23.40,0.836,6,0.000,0.039,2958,2031,2469,0,0,0,0,0,0
$GC,5513,1.04,155.3,387.1,7.1,283,5530,0.00,2.53,11.70,0.777,4,0.000,0.057,2957,630,2416,0,0,0,0,0,0
$GC,5581,0.93,155.3,381.7,8.1,284,5586,0.22,2.38,0.00,0.000,6,0.116,0.031,2916,2019,2413,0,0,0,0,0,0
$GC,5922,0.98,155.3,354.9,8.3,293,5926,0.00,2.42,0.00,0.000,4,0.000,0.042,2917,3429,2412,0,0,0,0,0,0
$GC,5940,1.05,155.3,353.0,9.8,293,5945,0.12,2.42,0.00,0.000,6,0.075,0.040,2948,2035,2411,0,0,0,0,0,0
$GC,6285,1.05,155.3,316.3,10.1,302,6289,0.00,2.50,0.00,0.000,4,0.000,0.054,2946,620,2410,0,0,0,0,0,0
$GC,6374,0.99,155.3,307.5,9.9,304,6378,0.00,2.38,0.00,0.000,6,0.000,0.030,2947,2039,2407,0,0,0,0,0,0
$GC,6704,0.99,155.3,280.0,8.4,317,6708,0.00,2.47,0.00,0.000,4,0.000,0.053,2947,629,2407,0,0,0,0,0,0
$GC,6834,0.94,155.3,267.5,9.6,322,6841,0.12,2.40,0.00,0.000,6,0.097,0.029,2920,2039,2405,0,0,0,0,0,0
$GC,7149,1.02,174.4,243.1,6.7,338,7172,0.00,2.58,16.05,0.740,4,0.000,0.051,2920,626,2338,0,0,0,0,0,0
$GC,7298,1.07,216.2,233.8,5.1,344,7344,0.12,2.38,38.17,0.753,6,0.074,0.028,2952,2044,2167,0,0,0,0,0,0
$GC,7664,1.13,216.2,202.1,9.3,362,7668,0.00,2.50,0.00,0.000,4,0.000,0.051,2951,618,2161,0,0,0,0,0,0
$GC,7789,1.13,216.2,190.1,9.8,373,7793,0.00,2.38,0.00,0.000,6,0.000,0.027,2952,2038,2158,0,0,0,0,0,0
$GC,8052,1.17,216.2,166.4,10.9,397,8056,0.00,2.47,0.00,0.000,4,0.000,0.048,2952,628,2157,0,0,0,0,0,0
$GC,8066,1.17,216.2,164.4,11.2,398,8070,0.00,2.35,0.00,0.000,6,0.000,0.026,2952,2041,2156,0,0,0,0,0,0
$GC,8327,1.24,216.2,137.1,9.1,422,8332,0.15,2.47,0.00,0.000,4,0.066,0.048,2991,622,2156,0,0,0,0,0,0
$GC,8446,1.16,216.2,122.5,11.7,434,8453,0.10,2.35,0.00,0.000,6,0.092,0.024,2969,2035,2156,0,0,0,0,0,0
$GC,8708,1.22,219.8,97.9,7.8,459,8712,0.00,2.42,0.00,0.000,4,0.000,0.044,2969,622,2155,0,0,0,0,0,0
$GC,8758,1.22,219.8,93.5,8.8,464,8762,0.00,2.33,0.00,0.000,6,0.000,0.023,2968,2041,2155,0,0,0,0,0,0
$GC,9022,1.29,229.2,74.2,7.4,488,9044,0.12,2.53,10.80,0.555,4,0.070,0.044,3004,619,2114,0,0,0,0,0,0
$GC,9091,1.21,229.2,67.4,11.2,495,9096,0.12,2.30,0.00,0.000,6,0.110,0.021,2980,2037,2113,0,0,0,0,0,0
$GC,9354,1.26,229.2,41.3,9.5,519,9358,0.00,2.45,0.00,0.000,4,0.000,0.043,2979,617,2113,0,0,0,0,0,0
$GC,9398,1.26,229.2,36.1,12.1,523,9405,0.00,2.33,0.00,0.000,6,0.000,0.021,2980,2031,2112,0,0,0,0,0,0
$GC,9662,1.30,229.2,11.0,9.2,566,9668,0.00,2.47,0.00,0.000,4,0.000,0.044,2980,623,2112,0,0,0,0,0,0
$STATE,9736,end climb,SURFACE_DEPTH_REACHED
$STATE,9736,begin surface coast
$FINISH,0.5,1.023787
$STATE,9770,end surface coast,CONTROL_FINISHED_OK
$STATE,9770,begin surface
$SM_CCo,9791,35.90,0.526,0,0,1826,300.00
$SM_GC,1.48,0.00,0.00,35.90,0.000,0.000,0.526,425,1937,1826,-10.53,1.05,300.00
$IRIDIUM_FIX,2054.83,-15754.77,230799,161612
$TT8_MAMPS,0.028379
$HUMID,44.48
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.4,13.706
$10V_AH,10.0,12.758
$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,26.750,115.450,263.950,35.900,0.000,25.265,29.192,169.734,4.500,0.000,38.338,1162.780,6447.950,361.229,1826.331,380.320,0.000,1155.968,0.000,1779.535,0.000,29.232,0.000
$DEVICE_MAMPS,139.594,56.758,891.254,526.162,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.564,376.723,834.925,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,31788,590
$CAP_FILE_SIZE,112860,0
$CFSIZE,260165632,250290176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280410,220928,2101.217,-15755.506,41,4.1,60,9.8