version: 66.06
glider: 139
mission: 7
dive: 43
start: 4 16 110 22 8 12
data:
$ID,139
$MISSION,7
$DIVE,43
$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,-2120200.8
$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,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,1940
$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
$GPS1,215813,2101.712,-15750.479,31,1.4,48,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-70.4
$GPS2,220722,2101.647,-15750.514,11,5.7,30,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,SOUTH
$TGT_LATLONG,2057.918,-15744.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.177,0.048
$KALMAN_X,-10622.7,142.5,584.3,29179.9,-1774.9
$KALMAN_Y,-1714.3,205.2,435.2,-12797.6,-689.5
$MHEAD_RNG_PITCHd_Wd,65.1,11970,-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,-58.70,0.000,6,0.000,0.000,430,1923,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,4.0,-7.5,11,98,10.73,2.42,0.00,0.000,4,0.140,0.037,2401,523,3371,0,0,0,0,0,0
$GC,151,-1.40,-77.9,26.2,-21.5,26,158,0.00,2.38,0.00,0.000,6,0.000,0.022,2401,1956,3372,0,0,0,0,0,0
$GC,355,-1.40,-77.9,64.3,-16.9,47,359,0.00,2.45,0.00,0.000,4,0.000,0.044,2401,529,3372,0,0,0,0,0,0
$GC,382,-1.40,-77.9,69.0,-16.9,49,388,0.00,2.33,0.00,0.000,6,0.000,0.021,2401,1952,3372,0,0,0,0,0,0
$GC,642,-1.40,-77.9,105.7,-11.9,74,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1956,3373,0,0,0,0,0,0
$GC,897,-1.40,-77.9,135.3,-11.5,98,901,0.00,2.45,0.00,0.000,4,0.000,0.046,2401,526,3374,0,0,0,0,0,0
$GC,996,-1.40,-77.9,147.4,-13.2,108,1002,0.00,2.30,0.00,0.000,6,0.000,0.022,2401,1935,3374,0,0,0,0,0,0
$GC,1258,-1.40,-77.9,179.2,-12.5,133,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1939,3375,0,0,0,0,0,0
$GC,1510,-1.40,-77.9,211.1,-12.9,153,1514,0.00,2.42,0.00,0.000,4,0.000,0.046,2401,532,3375,0,0,0,0,0,0
$GC,1559,-1.40,-77.9,217.7,-12.0,155,1563,0.00,2.25,0.00,0.000,6,0.000,0.022,2401,1941,3375,0,0,0,0,0,0
$GC,1880,-1.40,-77.9,248.1,-8.1,171,1884,0.00,2.42,0.00,0.000,4,0.000,0.048,2401,529,3375,0,0,0,0,0,0
$GC,1969,-1.40,-77.9,256.9,-10.5,175,1973,0.00,2.30,0.00,0.000,6,0.000,0.024,2401,1942,3375,0,0,0,0,0,0
$GC,2298,-1.40,-77.9,287.4,-8.8,191,2303,0.00,2.45,0.00,0.000,4,0.000,0.050,2401,523,3375,0,0,0,0,0,0
$GC,2372,-1.40,-77.9,295.0,-10.8,194,2376,0.00,2.30,0.00,0.000,6,0.000,0.025,2401,1936,3375,0,0,0,0,0,0
$GC,2687,-1.40,-77.9,323.6,-9.3,204,2691,0.00,2.47,0.00,0.000,4,0.000,0.053,2401,526,3374,0,0,0,0,0,0
$GC,2748,-1.40,-77.9,330.1,-10.9,205,2752,0.00,2.33,0.00,0.000,6,0.000,0.027,2401,1947,3374,0,0,0,0,0,0
$GC,3096,-1.40,-77.9,364.1,-9.2,214,3101,0.00,2.47,0.00,0.000,4,0.000,0.054,2401,528,3372,0,0,0,0,0,0
$GC,3151,-1.40,-77.9,369.8,-10.6,215,3155,0.00,2.35,0.00,0.000,6,0.000,0.028,2401,1947,3372,0,0,0,0,0,0
$GC,3464,-1.40,-77.9,398.4,-9.2,223,3468,0.00,2.47,0.00,0.000,4,0.000,0.055,2401,532,3370,0,0,0,0,0,0
$GC,3528,-1.40,-77.9,405.6,-11.3,224,3532,0.00,2.33,0.00,0.000,6,0.000,0.029,2401,1942,3370,0,0,0,0,0,0
$GC,3872,-1.40,-77.9,440.3,-9.8,233,3876,0.00,2.47,0.00,0.000,4,0.000,0.058,2401,533,3367,0,0,0,0,0,0
$STATE,3967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3967,begin apogee
$GC,3974,-0.31,0.0,450.1,9.9,235,4042,1.10,0.00,64.50,0.885,6,0.081,0.000,2637,2034,3050,0,0,0,0,0,0
$STATE,4043,end apogee,CONTROL_FINISHED_OK
$STATE,4043,begin climb
$GC,4045,1.40,77.9,451.7,0.0,236,4119,1.65,2.53,64.50,0.865,4,0.038,0.045,3017,3433,2732,0,0,0,0,0,0
$GC,4161,1.47,134.4,451.0,4.1,239,4218,0.00,2.42,48.50,0.854,6,0.000,0.038,3017,2031,2501,0,0,0,0,0,0
$GC,4542,1.47,134.4,408.6,12.3,249,4547,0.00,2.50,0.00,0.000,4,0.000,0.058,3017,621,2493,0,0,0,0,0,0
$GC,4574,1.47,134.4,404.5,12.5,249,4578,0.00,2.40,0.00,0.000,6,0.000,0.031,3017,2048,2491,0,0,0,0,0,0
$GC,4904,1.47,134.4,369.3,9.9,257,4909,0.00,2.53,0.00,0.000,4,0.000,0.055,3017,625,2490,0,0,0,0,0,0
$GC,5001,1.47,134.4,358.3,11.0,259,5005,0.00,2.40,0.00,0.000,6,0.000,0.031,3016,2041,2488,0,0,0,0,0,0
$GC,5318,1.47,134.4,327.4,9.7,267,5322,0.00,2.53,0.00,0.000,4,0.000,0.055,3017,627,2487,0,0,0,0,0,0
$GC,5350,1.47,134.4,324.2,9.7,267,5354,0.00,2.40,0.00,0.000,6,0.000,0.031,3017,2048,2486,0,0,0,0,0,0
$GC,5662,1.47,136.1,298.4,7.9,275,5663,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2053,2485,0,0,0,0,0,0
$GC,5969,1.47,136.1,269.2,9.8,290,5973,0.00,2.53,0.00,0.000,4,0.000,0.053,3017,619,2484,0,0,0,0,0,0
$GC,6057,1.47,136.1,259.0,12.6,294,6061,0.00,2.38,0.00,0.000,6,0.000,0.030,3017,2037,2483,0,0,0,0,0,0
$GC,6386,1.48,145.1,231.7,7.4,310,6395,0.00,0.00,7.00,0.640,6,0.000,0.000,3017,2043,2458,0,0,0,0,0,0
$GC,6697,1.50,159.5,210.6,7.0,325,6716,0.00,0.00,14.05,0.700,6,0.000,0.000,3017,2043,2398,0,0,0,0,0,0
$GC,7030,1.50,159.5,181.3,10.0,350,7034,0.00,2.38,0.00,0.000,4,0.000,0.037,3017,3437,2396,0,0,0,0,0,0
$GC,7065,1.50,159.5,177.7,10.0,353,7071,0.00,2.40,0.00,0.000,6,0.000,0.033,3017,2025,2395,0,0,0,0,0,0
$GC,7326,1.50,159.5,153.4,8.2,378,7330,0.00,2.40,0.00,0.000,4,0.000,0.035,3017,3437,2395,0,0,0,0,0,0
$GC,7423,1.50,159.5,145.0,8.3,388,7427,0.00,2.35,0.00,0.000,6,0.000,0.031,3017,2032,2395,0,0,0,0,0,0
$GC,7684,1.51,167.1,124.6,7.5,412,7698,0.00,2.47,7.40,0.561,4,0.000,0.047,3017,632,2367,0,0,0,0,0,0
$GC,7762,1.51,167.1,117.4,10.1,420,7768,0.00,2.35,0.00,0.000,6,0.000,0.025,3017,2040,2366,0,0,0,0,0,0
$GC,8024,1.52,181.5,96.0,7.0,445,8044,0.10,2.47,13.60,0.589,4,0.081,0.044,3046,632,2310,0,0,0,0,0,0
$GC,8155,1.52,181.5,81.0,12.1,459,8159,0.00,2.33,0.00,0.000,6,0.000,0.024,3046,2041,2307,0,0,0,0,0,0
$GC,8418,1.55,202.8,60.1,6.6,483,8440,0.00,0.00,19.73,0.575,6,0.000,0.000,3046,2047,2223,0,0,0,0,0,0
$GC,8692,1.56,214.0,41.5,7.3,509,8713,0.00,2.33,11.05,0.528,4,0.000,0.029,3046,3433,2176,0,0,0,0,0,0
$GC,8768,1.56,214.0,34.8,9.7,517,8772,0.00,2.35,0.00,0.000,6,0.000,0.031,3046,2035,2176,0,0,0,0,0,0
$GC,9037,1.56,214.0,7.0,12.8,561,9043,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2036,2175,0,0,0,0,0,0
$STATE,9069,end climb,SURFACE_DEPTH_REACHED
$STATE,9070,begin surface coast
$FINISH,0.4,1.019543
$STATE,9092,end surface coast,CONTROL_FINISHED_OK
$STATE,9092,begin surface
$SM_CCo,9111,44.03,0.533,0,0,1826,300.00
$SM_GC,1.12,0.00,0.00,44.03,0.000,0.000,0.533,426,1925,1826,-10.51,-0.42,300.00
$IRIDIUM_FIX,2052.52,-15749.62,110799,222222
$TT8_MAMPS,0.029146
$HUMID,43.46
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.20
$XPDR_PINGS,2
$24V_AH,23.3,5.359
$10V_AH,9.9,4.842
$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,24.975,96.500,250.325,44.025,0.000,57.557,67.172,249.881,0.500,0.000,31.807,1060.818,6114.555,352.762,1667.014,514.119,33.348,1072.274,0.000,1647.196,0.000,0.538,0.000
$DEVICE_MAMPS,140.361,68.263,885.118,533.065,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,386.047,372.149,826.796,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,31765,571
$CAP_FILE_SIZE,98366,0
$CFSIZE,260165632,255795200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170410,004307,2101.822,-15749.810,104,1.2,104,9.8