version: 66.06
glider: 139
mission: 7
dive: 46
start: 4 17 110 6 35 15
data:
$ID,139
$MISSION,7
$DIVE,46
$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,637.77997
$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,-2120250.2
$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,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
$GPS1,061754,2100.184,-15749.378,82,1.5,82,9.8
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-70.8
$GPS2,063456,2100.112,-15749.479,15,1.6,15,9.8
$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,107.2,8964,-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,-58.80,0.000,6,0.000,0.000,426,1930,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.7,-6.8,11,98,10.73,2.45,0.00,0.000,4,0.140,0.040,2400,529,3371,0,0,0,0,0,0
$GC,192,-1.40,-77.9,33.7,-18.3,34,199,0.00,2.35,0.00,0.000,6,0.000,0.023,2400,1948,3371,0,0,0,0,0,0
$GC,453,-1.40,-77.9,76.2,-16.3,59,458,0.00,2.45,0.00,0.000,4,0.000,0.044,2399,531,3372,0,0,0,0,0,0
$GC,532,-1.40,-77.9,87.2,-15.1,67,536,0.00,2.33,0.00,0.000,6,0.000,0.021,2400,1957,3372,0,0,0,0,0,0
$GC,794,-1.40,-77.9,120.7,-11.1,91,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1962,3373,0,0,0,0,0,0
$GC,1049,-1.40,-77.9,151.6,-11.8,115,1053,0.00,2.47,0.00,0.000,4,0.000,0.044,2400,523,3373,0,0,0,0,0,0
$GC,1110,-1.40,-77.9,159.3,-12.1,121,1114,0.00,2.30,0.00,0.000,6,0.000,0.021,2400,1944,3373,0,0,0,0,0,0
$GC,1372,-1.40,-77.9,187.9,-9.8,145,1377,0.00,2.42,0.00,0.000,4,0.000,0.044,2400,532,3374,0,0,0,0,0,0
$GC,1387,-1.40,-77.9,189.6,-9.5,146,1391,0.00,2.28,0.00,0.000,6,0.000,0.022,2399,1947,3374,0,0,0,0,0,0
$GC,1644,-1.40,-77.9,215.3,-10.9,163,1648,0.00,2.25,0.00,0.000,4,0.000,0.030,2400,3325,3374,0,0,0,0,0,0
$GC,1666,-1.40,-77.9,218.0,-11.4,164,1671,0.00,2.35,0.00,0.000,6,0.000,0.031,2399,1927,3374,0,0,0,0,0,0
$GC,1990,-1.40,-77.9,251.3,-10.3,180,1994,0.00,2.40,0.00,0.000,4,0.000,0.048,2400,532,3374,0,0,0,0,0,0
$GC,2063,-1.40,-77.9,259.1,-10.3,183,2067,0.00,2.25,0.00,0.000,6,0.000,0.024,2399,1929,3374,0,0,0,0,0,0
$GC,2383,-1.40,-77.9,291.1,-10.1,199,2388,0.00,2.42,0.00,0.000,4,0.000,0.051,2399,528,3374,0,0,0,0,0,0
$GC,2456,-1.40,-77.9,299.3,-9.9,202,2460,0.00,2.33,0.00,0.000,6,0.000,0.025,2400,1944,3373,0,0,0,0,0,0
$GC,2791,-1.40,-77.9,326.6,-7.9,211,2795,0.00,2.47,0.00,0.000,4,0.000,0.053,2400,535,3372,0,0,0,0,0,0
$GC,2856,-1.40,-77.9,331.5,-8.3,212,2860,0.00,2.30,0.00,0.000,6,0.000,0.028,2399,1939,3372,0,0,0,0,0,0
$GC,3200,-1.40,-77.9,358.6,-7.8,221,3204,0.00,2.47,0.00,0.000,4,0.000,0.055,2399,535,3370,0,0,0,0,0,0
$GC,3246,-1.40,-77.9,362.5,-7.8,222,3250,0.00,2.33,0.00,0.000,6,0.000,0.029,2399,1937,3369,0,0,0,0,0,0
$GC,3568,-1.40,-77.9,387.9,-8.2,230,3572,0.00,2.47,0.00,0.000,4,0.000,0.057,2399,538,3367,0,0,0,0,0,0
$GC,3632,-1.40,-77.9,393.6,-9.4,231,3636,0.00,2.33,0.00,0.000,6,0.000,0.030,2400,1939,3366,0,0,0,0,0,0
$GC,3981,-1.40,-77.9,423.3,-8.5,240,3985,0.00,2.50,0.00,0.000,4,0.000,0.058,2399,531,3364,0,0,0,0,0,0
$GC,4063,-1.40,-77.9,431.4,-10.1,241,4069,0.00,2.33,0.00,0.000,6,0.000,0.031,2399,1939,3363,0,0,0,0,0,0
$STATE,4310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4310,begin apogee
$GC,4315,-0.31,0.0,453.5,9.0,248,4383,1.12,0.00,63.80,0.897,6,0.081,0.000,2639,2045,3050,0,0,0,0,0,0
$STATE,4383,end apogee,CONTROL_FINISHED_OK
$STATE,4383,begin climb
$GC,4385,1.40,77.9,454.9,0.0,249,4460,1.65,2.47,64.78,0.877,4,0.038,0.044,3017,3415,2732,0,0,0,0,0,0
$GC,4723,1.46,127.2,447.4,4.6,256,4771,0.00,2.38,42.03,0.867,6,0.000,0.040,3018,2038,2530,0,0,0,0,0,0
$GC,5111,1.46,127.2,413.9,9.7,266,5116,0.00,2.38,0.00,0.000,4,0.000,0.041,3018,3417,2524,0,0,0,0,0,0
$GC,5161,1.46,127.2,408.4,10.7,267,5166,0.00,2.40,0.00,0.000,6,0.000,0.041,3018,2030,2523,0,0,0,0,0,0
$GC,5479,1.46,127.2,371.9,11.1,275,5483,0.00,2.40,0.00,0.000,4,0.000,0.041,3018,3418,2521,0,0,0,0,0,0
$GC,5571,1.46,127.2,361.5,10.9,277,5575,0.00,2.40,0.00,0.000,6,0.000,0.041,3018,2026,2520,0,0,0,0,0,0
$GC,5899,1.46,127.2,328.2,10.1,285,5903,0.00,2.50,0.00,0.000,4,0.000,0.058,3017,620,2519,0,0,0,0,0,0
$GC,5917,1.46,127.2,326.1,10.4,285,5921,0.00,2.38,0.00,0.000,6,0.000,0.031,3017,2024,2517,0,0,0,0,0,0
$GC,6241,1.46,128.3,297.2,7.9,294,6245,0.00,2.50,0.00,0.000,4,0.000,0.056,3017,620,2517,0,0,0,0,0,0
$GC,6287,1.46,128.3,293.6,8.1,296,6291,0.00,2.38,0.00,0.000,6,0.000,0.031,3017,2039,2516,0,0,0,0,0,0
$GC,6611,1.46,129.4,268.7,7.9,312,6612,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2042,2515,0,0,0,0,0,0
$GC,6921,1.47,141.6,248.4,7.2,327,6934,0.00,0.00,10.82,0.716,6,0.000,0.000,3017,2044,2472,0,0,0,0,0,0
$GC,7229,1.49,155.0,223.8,7.1,342,7244,0.00,0.00,13.12,0.713,6,0.000,0.000,3017,2044,2417,0,0,0,0,0,0
$GC,7540,1.52,182.1,199.5,6.2,357,7570,0.10,2.55,24.48,0.721,4,0.084,0.052,3044,622,2306,0,0,0,0,0,0
$GC,7602,1.52,182.1,193.6,11.3,363,7607,0.00,2.40,0.00,0.000,6,0.000,0.029,3044,2038,2302,0,0,0,0,0,0
$GC,7862,1.52,182.1,165.3,11.3,388,7864,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2043,2300,0,0,0,0,0,0
$GC,8117,1.52,182.1,135.5,11.2,412,8121,0.00,2.38,0.00,0.000,4,0.000,0.036,3044,3443,2300,0,0,0,0,0,0
$GC,8151,1.52,182.1,132.1,10.1,415,8155,0.00,2.42,0.00,0.000,6,0.000,0.033,3044,2021,2300,0,0,0,0,0,0
$GC,8413,1.54,195.5,108.9,7.1,439,8433,0.00,2.47,12.00,0.604,4,0.000,0.048,3044,630,2251,0,0,0,0,0,0
$GC,8461,1.54,195.5,103.8,11.6,444,8465,0.00,2.33,0.00,0.000,6,0.000,0.025,3044,2042,2249,0,0,0,0,0,0
$GC,8730,1.54,195.5,76.7,9.6,469,8734,0.00,2.33,0.00,0.000,4,0.000,0.033,3044,3430,2248,0,0,0,0,0,0
$GC,8789,1.54,195.5,70.2,10.3,475,8793,0.00,2.38,0.00,0.000,6,0.000,0.031,3044,2025,2248,0,0,0,0,0,0
$GC,9051,1.54,197.9,46.0,7.9,499,9056,0.00,2.40,0.00,0.000,4,0.000,0.044,3044,629,2248,0,0,0,0,0,0
$GC,9312,1.54,197.9,26.1,9.4,532,9318,0.00,2.33,0.00,0.000,6,0.000,0.021,3044,2048,2248,0,0,0,0,0,0
$GC,9514,1.54,197.9,9.0,8.9,569,9521,0.00,2.47,0.00,0.000,4,0.000,0.044,3044,625,2247,0,0,0,0,0,0
$STATE,9577,end climb,SURFACE_DEPTH_REACHED
$STATE,9577,begin surface coast
$FINISH,0.5,1.023570
$STATE,9609,end surface coast,CONTROL_FINISHED_OK
$STATE,9609,begin surface
$SM_CCo,9629,229.15,0.533,0,0,450,637.78
$SM_GC,0.85,0.00,0.00,229.15,0.000,0.000,0.533,429,1925,450,-10.49,-0.42,637.78
$IRIDIUM_FIX,2054.83,-15749.62,120799,060608
$TT8_MAMPS,0.029146
$HUMID,40.39
$INTERNAL_PRESSURE,9.53792
$TCM_TEMP,21.30
$XPDR_PINGS,2
$24V_AH,23.3,5.642
$10V_AH,10.0,5.075
$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,24.800,105.150,231.025,229.150,0.000,135.055,251.367,283.991,0.500,0.000,15.581,1120.519,6645.074,530.930,1752.281,837.584,0.000,1273.821,0.000,1752.072,0.000,0.540,0.000
$DEVICE_MAMPS,140.361,71.331,896.623,533.065,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,400.063,375.464,857.729,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,31826,590
$CAP_FILE_SIZE,106880,0
$CFSIZE,260165632,255627264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170410,092106,2059.751,-15748.769,47,1.6,57,9.8