version: 66.06
glider: 139
mission: 7
dive: 45
start: 4 17 110 3 35 32
data:
$ID,139
$MISSION,7
$DIVE,45
$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,-2120234
$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
$GPS1,033013,2100.862,-15749.636,110,1.4,122,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-70.0
$GPS2,033514,2100.856,-15749.654,15,1.6,15,9.8
$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,113.5,9918,-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,-58.90,0.000,6,0.000,0.000,429,1927,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,4.1,-7.4,11,99,10.77,2.45,0.00,0.000,4,0.142,0.032,2399,3361,3371,0,0,0,0,0,0
$GC,122,-1.40,-77.9,18.8,-30.8,19,129,0.00,2.47,0.00,0.000,6,0.000,0.038,2399,1939,3372,0,0,0,0,0,0
$GC,322,-1.40,-77.9,52.9,-18.7,44,326,0.00,2.40,0.00,0.000,4,0.000,0.044,2399,531,3372,0,0,0,0,0,0
$GC,355,-1.40,-77.9,59.3,-20.8,47,360,0.00,2.33,0.00,0.000,6,0.000,0.021,2399,1967,3372,0,0,0,0,0,0
$GC,620,-1.40,-77.9,102.3,-14.2,72,624,0.00,2.50,0.00,0.000,4,0.000,0.045,2399,525,3373,0,0,0,0,0,0
$GC,679,-1.40,-77.9,111.1,-14.9,78,683,0.00,2.30,0.00,0.000,6,0.000,0.021,2399,1945,3373,0,0,0,0,0,0
$GC,939,-1.40,-77.9,144.4,-13.5,102,943,0.00,2.45,0.00,0.000,4,0.000,0.045,2400,529,3374,0,0,0,0,0,0
$GC,956,-1.40,-77.9,147.1,-14.2,103,962,0.00,2.30,0.00,0.000,6,0.000,0.021,2399,1958,3374,0,0,0,0,0,0
$GC,1217,-1.40,-77.9,178.1,-11.6,128,1222,0.00,2.45,0.00,0.000,4,0.000,0.045,2399,529,3375,0,0,0,0,0,0
$GC,1278,-1.40,-77.9,185.4,-11.9,134,1282,0.00,2.28,0.00,0.000,6,0.000,0.022,2399,1933,3375,0,0,0,0,0,0
$GC,1534,-1.40,-77.9,213.8,-11.1,152,1539,0.00,2.40,0.00,0.000,4,0.000,0.046,2399,531,3376,0,0,0,0,0,0
$GC,1561,-1.40,-77.9,217.6,-14.6,153,1565,0.00,2.30,0.00,0.000,6,0.000,0.022,2399,1947,3376,0,0,0,0,0,0
$GC,1881,-1.40,-77.9,251.0,-8.8,169,1886,0.00,2.42,0.00,0.000,4,0.000,0.047,2399,531,3376,0,0,0,0,0,0
$GC,1959,-1.40,-77.9,259.5,-11.0,172,1963,0.00,2.28,0.00,0.000,6,0.000,0.023,2399,1939,3376,0,0,0,0,0,0
$GC,2275,-1.40,-77.9,287.4,-8.2,187,2279,0.00,2.30,0.00,0.000,4,0.000,0.034,2399,3330,3376,0,0,0,0,0,0
$GC,2313,-1.40,-77.9,290.7,-8.4,188,2319,0.00,2.38,0.00,0.000,6,0.000,0.035,2399,1941,3376,0,0,0,0,0,0
$GC,2645,-1.40,-77.9,318.6,-8.4,200,2649,0.00,2.45,0.00,0.000,4,0.000,0.051,2399,529,3375,0,0,0,0,0,0
$GC,2704,-1.40,-77.9,324.2,-9.8,201,2708,0.00,2.33,0.00,0.000,6,0.000,0.027,2399,1942,3376,0,0,0,0,0,0
$GC,3052,-1.40,-77.9,354.4,-8.7,210,3057,0.00,2.47,0.00,0.000,4,0.000,0.054,2399,533,3373,0,0,0,0,0,0
$GC,3144,-1.40,-77.9,362.9,-9.3,212,3148,0.00,2.33,0.00,0.000,6,0.000,0.028,2399,1940,3373,0,0,0,0,0,0
$GC,3466,-1.40,-77.9,392.2,-9.6,220,3471,0.00,2.47,0.00,0.000,4,0.000,0.055,2399,532,3371,0,0,0,0,0,0
$GC,3544,-1.40,-77.9,400.7,-11.3,221,3549,0.00,2.33,0.00,0.000,6,0.000,0.029,2399,1936,3371,0,0,0,0,0,0
$GC,3875,-1.40,-77.9,424.7,-6.6,229,3879,0.00,2.50,0.00,0.000,4,0.000,0.058,2399,528,3369,0,0,0,0,0,0
$GC,3963,-1.40,-77.9,430.9,-8.0,231,3967,0.00,2.35,0.00,0.000,6,0.000,0.031,2399,1939,3368,0,0,0,0,0,0
$STATE,4247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4247,begin apogee
$GC,4252,-0.31,0.0,450.3,6.6,238,4321,1.15,0.00,64.70,0.889,6,0.081,0.000,2643,2048,3050,0,0,0,0,0,0
$STATE,4321,end apogee,CONTROL_FINISHED_OK
$STATE,4321,begin climb
$GC,4323,1.40,77.9,450.8,0.0,239,4398,1.62,2.47,64.97,0.867,4,0.036,0.044,3019,3413,2731,0,0,0,0,0,0
$GC,4661,1.46,133.1,439.5,4.2,246,4714,0.00,2.40,46.90,0.861,6,0.000,0.040,3019,2029,2507,0,0,0,0,0,0
$GC,5049,1.46,133.1,407.2,8.8,256,5053,0.00,2.42,0.00,0.000,4,0.000,0.041,3019,3420,2500,0,0,0,0,0,0
$GC,5062,1.46,133.1,405.9,8.7,256,5066,0.00,2.42,0.00,0.000,6,0.000,0.042,3019,2034,2500,0,0,0,0,0,0
$GC,5411,1.46,133.1,375.4,8.4,265,5415,0.00,2.53,0.00,0.000,4,0.000,0.058,3019,619,2497,0,0,0,0,0,0
$GC,5428,1.46,133.1,373.6,8.7,265,5433,0.00,2.38,0.00,0.000,6,0.000,0.031,3019,2027,2495,0,0,0,0,0,0
$GC,5777,1.46,133.1,345.0,8.6,274,5781,0.00,2.50,0.00,0.000,4,0.000,0.057,3019,629,2495,0,0,0,0,0,0
$GC,5997,1.46,133.1,322.5,9.1,278,6003,0.00,2.38,0.00,0.000,6,0.000,0.031,3018,2033,2492,0,0,0,0,0,0
$GC,6309,1.46,133.3,296.8,8.0,287,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2037,2492,0,0,0,0,0,0
$GC,6617,1.46,133.3,271.7,8.7,302,6621,0.00,2.47,0.00,0.000,4,0.000,0.054,3018,625,2491,0,0,0,0,0,0
$GC,6728,1.46,133.3,260.1,11.0,307,6733,0.00,2.35,0.00,0.000,6,0.000,0.030,3018,2036,2490,0,0,0,0,0,0
$GC,7058,1.51,168.7,238.3,5.6,323,7089,0.00,0.00,28.85,0.759,6,0.000,0.000,3019,2041,2361,0,0,0,0,0,0
$GC,7387,1.51,168.7,211.0,9.6,339,7392,0.00,2.50,0.00,0.000,4,0.000,0.052,3018,626,2356,0,0,0,0,0,0
$GC,7424,1.51,168.7,206.2,12.2,340,7431,0.00,2.40,0.00,0.000,6,0.000,0.029,3018,2040,2354,0,0,0,0,0,0
$GC,7747,1.51,168.7,174.0,8.3,368,7751,0.00,2.47,0.00,0.000,4,0.000,0.050,3019,618,2354,0,0,0,0,0,0
$GC,7770,1.51,168.7,171.9,9.9,370,7775,0.00,2.35,0.00,0.000,6,0.000,0.028,3018,2043,2354,0,0,0,0,0,0
$GC,8032,1.53,182.9,153.1,7.0,394,8052,0.10,2.38,12.45,0.640,4,0.083,0.035,3047,3432,2304,0,0,0,0,0,0
$GC,8071,1.53,185.2,149.9,7.9,398,8083,0.00,2.40,3.97,0.440,6,0.000,0.032,3047,2026,2294,0,0,0,0,0,0
$GC,8337,1.53,185.2,122.3,11.3,423,8341,0.00,2.38,0.00,0.000,4,0.000,0.034,3047,3440,2293,0,0,0,0,0,0
$GC,8528,1.53,185.2,102.4,9.9,443,8533,0.00,2.38,0.00,0.000,6,0.000,0.031,3047,2030,2293,0,0,0,0,0,0
$GC,8789,1.55,204.5,84.0,6.7,468,8817,0.00,2.40,18.27,0.591,4,0.000,0.030,3047,3435,2215,0,0,0,0,0,0
$GC,8831,1.57,222.1,81.0,6.8,472,8856,0.00,2.40,16.67,0.576,6,0.000,0.031,3047,2036,2142,0,0,0,0,0,0
$GC,9110,1.57,222.1,55.5,9.4,499,9114,0.00,2.40,0.00,0.000,4,0.000,0.044,3047,629,2140,0,0,0,0,0,0
$GC,9284,1.57,222.1,32.6,14.3,518,9288,0.00,2.33,0.00,0.000,6,0.000,0.021,3047,2049,2136,0,0,0,0,0,0
$STATE,9540,end climb,SURFACE_DEPTH_REACHED
$STATE,9540,begin surface coast
$FINISH,0.6,1.023697
$STATE,9562,end surface coast,CONTROL_FINISHED_OK
$STATE,9562,begin surface
$SM_CCo,9582,42.70,0.535,0,0,1826,300.00
$SM_GC,1.70,0.00,0.00,42.70,0.000,0.000,0.535,428,1931,1826,-10.50,-0.25,300.00
$IRIDIUM_FIX,2052.52,-15747.49,120799,000011
$TT8_MAMPS,0.029146
$HUMID,43.22
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.3,5.520
$10V_AH,9.9,4.991
$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,25.025,110.625,256.800,42.700,0.000,22.849,36.298,149.671,0.000,0.000,15.463,1095.227,6368.066,366.934,1749.984,350.798,0.000,1138.066,0.000,1744.582,0.000,0.537,0.000
$DEVICE_MAMPS,141.895,71.331,888.953,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,383.245,361.432,785.250,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,31730,567
$CAP_FILE_SIZE,100996,0
$CFSIZE,260165632,255696896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170410,061754,2100.184,-15749.378,82,1.5,82,9.8