version: 66.06
glider: 139
mission: 7
dive: 35
start: 4 16 110 1 2 12
data:
$ID,139
$MISSION,7
$DIVE,35
$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,180
$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,-2119949.5
$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,2710
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,1960
$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
$GPS1,005643,2103.700,-15754.299,53,1.5,59,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.5
$GPS2,010120,2103.645,-15754.314,16,1.5,16,9.8
$SPEED_LIMITS,0.144,0.186
$TGT_NAME,SOUTH
$TGT_LATLONG,2057.918,-15744.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.172,-0.071
$KALMAN_X,-1120.5,-32.9,196.5,13680.0,-807.7
$KALMAN_Y,1572.9,-74.7,-58.6,-11600.1,88.9
$MHEAD_RNG_PITCHd_Wd,102.7,19490,-21.5,-8.333
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.44,-77.9,0.0,0.0,0,77,0.00,0.00,-59.83,0.000,6,0.000,0.000,425,1992,3369,0,0,0,0,0,0
$GC,79,-1.44,-77.9,3.6,-6.4,11,97,10.73,2.53,0.00,0.000,4,0.141,0.041,2391,553,3371,0,0,0,0,0,0
$GC,133,-1.44,-77.9,21.0,-24.2,22,140,0.00,2.38,0.00,0.000,6,0.000,0.022,2391,1986,3371,0,0,0,0,0,0
$GC,337,-1.44,-77.9,59.9,-17.7,45,342,0.00,2.50,0.00,0.000,4,0.000,0.047,2391,552,3373,0,0,0,0,0,0
$GC,382,-1.44,-77.9,69.0,-20.5,49,389,0.00,2.33,0.00,0.000,6,0.000,0.022,2391,1963,3372,0,0,0,0,0,0
$GC,642,-1.44,-77.9,109.0,-13.3,74,647,0.00,2.42,0.00,0.000,4,0.000,0.045,2391,552,3373,0,0,0,0,0,0
$GC,665,-1.44,-77.9,112.1,-13.7,76,670,0.00,2.30,0.00,0.000,6,0.000,0.021,2391,1966,3374,0,0,0,0,0,0
$GC,926,-1.44,-77.9,144.7,-12.2,100,930,0.00,2.45,0.00,0.000,4,0.000,0.046,2391,551,3375,0,0,0,0,0,0
$GC,966,-1.44,-77.9,150.2,-13.3,104,971,0.00,2.28,0.00,0.000,6,0.000,0.022,2391,1955,3375,0,0,0,0,0,0
$GC,1233,-1.44,-77.9,181.6,-11.5,129,1237,0.00,2.42,0.00,0.000,4,0.000,0.046,2391,541,3375,0,0,0,0,0,0
$GC,1259,-1.44,-77.9,185.4,-13.5,131,1265,0.00,2.33,0.00,0.000,6,0.000,0.022,2391,1970,3375,0,0,0,0,0,0
$GC,1516,-1.44,-77.9,217.8,-10.8,149,1521,0.00,2.45,0.00,0.000,4,0.000,0.046,2391,552,3376,0,0,0,0,0,0
$GC,1548,-1.44,-77.9,221.3,-11.1,150,1552,0.00,2.30,0.00,0.000,6,0.000,0.023,2391,1962,3376,0,0,0,0,0,0
$GC,1864,-1.44,-77.9,253.5,-10.0,165,1868,0.00,2.42,0.00,0.000,4,0.000,0.048,2391,553,3376,0,0,0,0,0,0
$GC,1959,-1.44,-77.9,264.1,-10.4,169,1964,0.00,2.28,0.00,0.000,6,0.000,0.025,2391,1957,3376,0,0,0,0,0,0
$GC,2280,-1.44,-77.9,295.1,-9.7,185,2284,0.00,2.45,0.00,0.000,4,0.000,0.051,2391,554,3376,0,0,0,0,0,0
$GC,2334,-1.44,-77.9,301.2,-11.6,187,2338,0.00,2.33,0.00,0.000,6,0.000,0.025,2391,1969,3376,0,0,0,0,0,0
$GC,2664,-1.44,-77.9,332.1,-9.7,195,2669,0.00,2.47,0.00,0.000,4,0.000,0.052,2391,554,3375,0,0,0,0,0,0
$GC,2719,-1.44,-77.9,337.7,-9.8,196,2723,0.00,2.30,0.00,0.000,6,0.000,0.028,2391,1958,3375,0,0,0,0,0,0
$GC,3032,-1.44,-77.9,363.3,-7.8,204,3036,0.00,2.47,0.00,0.000,4,0.000,0.054,2391,555,3373,0,0,0,0,0,0
$GC,3091,-1.44,-77.9,368.4,-8.3,205,3096,0.00,2.30,0.00,0.000,6,0.000,0.028,2391,1957,3373,0,0,0,0,0,0
$GC,3440,-1.44,-77.9,397.4,-8.7,214,3444,0.00,2.50,0.00,0.000,4,0.000,0.057,2391,548,3371,0,0,0,0,0,0
$GC,3495,-1.44,-77.9,403.4,-10.8,215,3499,0.00,2.35,0.00,0.000,6,0.000,0.031,2391,1959,3371,0,0,0,0,0,0
$GC,3812,-1.44,-77.9,438.4,-10.9,223,3816,0.00,2.50,0.00,0.000,4,0.000,0.057,2391,549,3369,0,0,0,0,0,0
$GC,3890,-1.44,-77.9,447.3,-11.6,224,3894,0.00,2.38,0.00,0.000,6,0.000,0.031,2391,1963,3369,0,0,0,0,0,0
$STATE,3934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3934,begin apogee
$GC,3939,-0.31,0.0,451.6,10.0,225,4008,1.17,0.00,65.18,0.886,6,0.083,0.000,2638,2057,3050,0,0,0,0,0,0
$STATE,4009,end apogee,CONTROL_FINISHED_OK
$STATE,4009,begin climb
$GC,4010,1.44,77.9,452.7,0.0,226,4085,1.70,2.47,64.60,0.867,4,0.036,0.046,3029,3416,2732,0,0,0,0,0,0
$GC,4234,1.45,85.3,444.9,7.8,231,4246,0.00,2.42,7.57,0.719,6,0.000,0.041,3030,2033,2701,0,0,0,0,0,0
$GC,4564,1.50,128.4,423.8,5.3,239,4607,0.00,2.58,36.78,0.858,4,0.000,0.056,3029,628,2525,0,0,0,0,0,0
$GC,4717,1.50,128.4,409.7,11.0,242,4721,0.00,2.38,0.00,0.000,6,0.000,0.031,3029,2022,2521,0,0,0,0,0,0
$GC,5066,1.50,128.4,368.4,12.4,251,5067,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2028,2518,0,0,0,0,0,0
$GC,5391,1.50,128.4,330.9,11.1,259,5395,0.00,2.42,0.00,0.000,4,0.000,0.044,3029,3434,2516,0,0,0,0,0,0
$GC,5580,1.54,156.9,316.3,6.3,263,5609,0.00,2.42,23.88,0.803,6,0.000,0.039,3030,2033,2410,0,0,0,0,0,0
$GC,5917,1.54,156.9,286.3,9.9,274,5921,0.00,2.50,0.00,0.000,4,0.000,0.054,3029,626,2405,0,0,0,0,0,0
$GC,5930,1.54,156.9,284.8,10.4,274,5937,0.00,2.42,0.00,0.000,6,0.000,0.031,3029,2042,2403,0,0,0,0,0,0
$GC,6245,1.54,156.9,253.2,10.3,290,6249,0.00,2.50,0.00,0.000,4,0.000,0.053,3029,631,2403,0,0,0,0,0,0
$GC,6258,1.54,156.9,251.7,10.9,290,6265,0.00,2.40,0.00,0.000,6,0.000,0.031,3030,2038,2401,0,0,0,0,0,0
$GC,6573,1.54,161.5,223.4,8.0,306,6582,0.00,2.40,3.95,0.489,4,0.000,0.038,3029,3436,2391,0,0,0,0,0,0
$GC,6594,1.56,174.9,221.9,7.4,307,6615,0.00,2.40,13.55,0.705,6,0.000,0.036,3029,2028,2336,0,0,0,0,0,0
$GC,6927,1.56,174.9,193.5,10.0,326,6931,0.00,2.40,0.00,0.000,4,0.000,0.035,3030,3434,2332,0,0,0,0,0,0
$GC,6993,1.56,174.9,185.8,11.3,333,6999,0.00,2.40,0.00,0.000,6,0.000,0.034,3030,2029,2332,0,0,0,0,0,0
$GC,7255,1.56,174.9,155.7,9.5,358,7256,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2029,2332,0,0,0,0,0,0
$GC,7509,1.56,174.9,132.1,8.4,382,7513,0.00,2.42,0.00,0.000,4,0.000,0.047,3030,628,2332,0,0,0,0,0,0
$GC,7581,1.56,174.9,125.8,9.4,389,7586,0.00,2.35,0.00,0.000,6,0.000,0.025,3030,2052,2331,0,0,0,0,0,0
$GC,7841,1.56,174.9,103.7,11.0,414,7846,0.00,2.45,0.00,0.000,4,0.000,0.045,3030,625,2330,0,0,0,0,0,0
$GC,7868,1.56,174.9,100.4,11.9,416,7875,0.00,2.35,0.00,0.000,6,0.000,0.024,3030,2044,2330,0,0,0,0,0,0
$GC,8130,1.56,175.5,78.2,8.3,441,8132,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2048,2331,0,0,0,0,0,0
$GC,8385,1.61,213.2,60.9,5.6,465,8424,0.12,2.50,33.62,0.584,4,0.071,0.042,3065,621,2179,0,0,0,0,0,0
$GC,8454,1.61,213.2,56.0,9.0,472,8458,0.00,2.33,0.00,0.000,6,0.000,0.022,3065,2045,2176,0,0,0,0,0,0
$GC,8717,1.61,213.2,27.5,12.9,497,8724,0.00,2.47,0.00,0.000,4,0.000,0.044,3065,630,2175,0,0,0,0,0,0
$STATE,8893,end climb,SURFACE_DEPTH_REACHED
$STATE,8893,begin surface coast
$FINISH,0.5,1.023710
$STATE,8916,end surface coast,CONTROL_FINISHED_OK
$STATE,8916,begin surface
$SM_CCo,8937,43.78,0.530,0,0,1827,300.00
$SM_GC,1.08,0.00,0.00,43.78,0.000,0.000,0.530,430,1962,1827,-10.49,0.06,300.00
$IRIDIUM_FIX,2054.83,-15753.90,100799,222237
$TT8_MAMPS,0.029146
$HUMID,43.34
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,21.30
$XPDR_PINGS,1
$24V_AH,23.3,4.741
$10V_AH,9.9,4.264
$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,25.150,110.725,249.125,43.775,0.000,29.263,30.658,128.212,0.250,0.000,16.857,1037.315,5933.763,354.282,1619.681,320.013,33.340,1075.509,0.000,1610.422,0.000,0.537,0.000
$DEVICE_MAMPS,141.128,81.302,885.885,529.997,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,366.994,346.127,776.593,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,31752,543
$CAP_FILE_SIZE,96118,0
$CFSIZE,260165632,256180224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160410,033310,2102.924,-15754.104,22,3.2,41,9.8