version: 66.06
glider: 139
mission: 7
dive: 120
start: 4 25 110 23 40 21
data:
$ID,139
$MISSION,7
$DIVE,120
$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,-2122770
$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,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
$GPS1,233426,2103.113,-15758.490,45,4.2,64,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-71.4
$GPS2,233929,2103.116,-15758.576,14,1.9,17,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.181,-0.030
$KALMAN_X,-20540.1,11.5,-279.3,-1274.7,-1470.7
$KALMAN_Y,-13990.3,-190.7,6.7,12440.8,-29.6
$MHEAD_RNG_PITCHd_Wd,89.5,17885,-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,14,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,77,0.00,0.00,-58.83,0.000,6,0.000,0.000,428,1910,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.6,-6.1,11,98,10.70,2.47,0.00,0.000,4,0.138,0.038,2404,491,3370,0,0,0,0,0,0
$GC,105,-0.16,-77.9,13.5,-30.6,15,113,1.27,2.38,0.00,0.000,6,0.091,0.021,2675,1939,3371,0,0,0,0,0,0
$GC,307,-0.84,-77.9,26.2,-7.9,52,315,0.62,2.50,0.00,0.000,4,0.046,0.041,2524,490,3372,0,0,0,0,0,0
$GC,364,-1.03,-77.9,30.6,-6.8,64,369,0.15,2.28,0.00,0.000,6,0.058,0.020,2475,1908,3372,0,0,0,0,0,0
$GC,627,-1.09,-77.9,59.9,-11.1,88,631,0.00,2.42,0.00,0.000,4,0.000,0.045,2475,494,3373,0,0,0,0,0,0
$GC,651,-1.09,-77.9,63.0,-12.1,90,656,0.00,2.22,0.00,0.000,6,0.000,0.020,2475,1895,3373,0,0,0,0,0,0
$GC,913,-1.17,-77.9,89.2,-9.4,114,917,0.00,2.42,0.00,0.000,4,0.000,0.046,2474,494,3374,0,0,0,0,0,0
$GC,1001,-1.24,-77.9,98.7,-10.1,123,1006,0.15,2.25,0.00,0.000,6,0.057,0.020,2426,1907,3374,0,0,0,0,0,0
$GC,1262,-1.24,-77.9,130.4,-11.6,147,1266,0.00,2.42,0.00,0.000,4,0.000,0.044,2426,486,3375,0,0,0,0,0,0
$GC,1288,-1.20,-77.9,133.2,-12.4,149,1293,0.12,2.28,0.00,0.000,6,0.099,0.020,2452,1898,3375,0,0,0,0,0,0
$GC,1550,-1.28,-77.9,161.3,-10.4,173,1554,0.00,2.40,0.00,0.000,4,0.000,0.044,2452,491,3376,0,0,0,0,0,0
$GC,1612,-1.33,-77.9,167.7,-10.4,179,1616,0.12,2.25,0.00,0.000,6,0.064,0.020,2410,1908,3376,0,0,0,0,0,0
$GC,1873,-1.33,-77.9,195.5,-10.8,203,1877,0.00,2.45,0.00,0.000,4,0.000,0.045,2410,487,3376,0,0,0,0,0,0
$GC,1900,-1.27,-77.9,198.7,-11.7,205,1906,0.12,2.28,0.00,0.000,6,0.100,0.021,2435,1900,3376,0,0,0,0,0,0
$GC,2165,-1.35,-77.9,223.0,-10.1,219,2169,0.00,2.40,0.00,0.000,4,0.000,0.045,2435,494,3376,0,0,0,0,0,0
$GC,2243,-1.40,-77.9,231.5,-11.4,222,2247,0.12,2.28,0.00,0.000,6,0.065,0.021,2393,1904,3376,0,0,0,0,0,0
$GC,2559,-1.40,-77.9,272.6,-12.5,237,2563,0.00,2.42,0.00,0.000,4,0.000,0.046,2393,489,3376,0,0,0,0,0,0
$GC,2582,-1.36,-77.9,275.9,-13.1,238,2587,0.12,2.30,0.00,0.000,6,0.100,0.023,2419,1904,3376,0,0,0,0,0,0
$GC,2928,-1.43,-77.9,307.3,-7.8,253,2932,0.00,2.45,0.00,0.000,4,0.000,0.049,2418,495,3376,0,0,0,0,0,0
$GC,2978,-1.49,-77.9,311.8,-8.7,254,2983,0.12,2.30,0.00,0.000,6,0.065,0.024,2379,1906,3376,0,0,0,0,0,0
$GC,3296,-1.49,-77.9,342.8,-10.4,262,3301,0.00,2.47,0.00,0.000,4,0.000,0.051,2379,490,3374,0,0,0,0,0,0
$GC,3367,-1.45,-77.9,351.1,-11.9,263,3371,0.00,2.30,0.00,0.000,6,0.000,0.025,2379,1897,3373,0,0,0,0,0,0
$GC,3706,-1.45,-77.9,391.4,-11.3,272,3711,0.00,2.45,0.00,0.000,4,0.000,0.053,2379,491,3372,0,0,0,0,0,0
$GC,3771,-1.42,-77.9,398.7,-11.0,273,3776,0.12,2.33,0.00,0.000,6,0.105,0.027,2404,1899,3372,0,0,0,0,0,0
$GC,4117,-1.48,-77.9,424.7,-6.8,282,4121,0.00,2.47,0.00,0.000,4,0.000,0.054,2404,496,3369,0,0,0,0,0,0
$GC,4145,-1.48,-77.9,427.0,-8.0,282,4149,0.00,2.30,0.00,0.000,6,0.000,0.029,2404,1897,3370,0,0,0,0,0,0
$STATE,4478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4478,begin apogee
$GC,4483,-0.31,0.0,451.1,7.4,291,4551,1.12,0.00,64.78,0.881,6,0.075,0.000,2645,2059,3050,0,0,0,0,0,0
$STATE,4552,end apogee,CONTROL_FINISHED_OK
$STATE,4552,begin climb
$GC,4554,1.40,77.9,451.9,0.0,292,4628,1.62,2.45,64.72,0.861,4,0.034,0.048,3023,3402,2732,0,0,0,0,0,0
$GC,4698,1.27,156.3,452.2,2.6,295,4773,0.17,2.35,67.03,0.858,6,0.124,0.038,2992,2032,2412,0,0,0,0,0,0
$GC,5100,1.16,156.3,413.9,10.4,305,5105,0.12,2.50,0.00,0.000,4,0.129,0.058,2970,632,2402,0,0,0,0,0,0
$GC,5115,1.04,156.3,412.0,10.7,305,5120,0.15,2.33,0.00,0.000,6,0.128,0.030,2943,2016,2401,0,0,0,0,0,0
$GC,5465,1.04,156.3,381.8,8.7,314,5469,0.00,2.47,0.00,0.000,4,0.000,0.055,2944,627,2398,0,0,0,0,0,0
$GC,5538,0.97,156.3,374.8,8.9,315,5542,0.00,2.38,0.00,0.000,6,0.000,0.031,2944,2040,2396,0,0,0,0,0,0
$GC,5877,0.97,156.3,346.8,8.5,324,5882,0.00,2.53,0.00,0.000,4,0.000,0.055,2944,626,2395,0,0,0,0,0,0
$GC,5974,0.90,156.3,337.5,9.9,326,5979,0.17,2.38,0.00,0.000,6,0.120,0.031,2913,2035,2393,0,0,0,0,0,0
$GC,6293,1.00,179.6,314.8,6.4,334,6317,0.00,2.58,18.08,0.786,4,0.000,0.054,2913,634,2316,0,0,0,0,0,0
$GC,6414,1.01,189.5,306.6,7.3,336,6431,0.10,2.35,10.00,0.722,6,0.086,0.030,2939,2037,2276,0,0,0,0,0,0
$GC,6763,1.05,189.5,274.9,9.9,351,6767,0.00,2.47,0.00,0.000,4,0.000,0.053,2939,629,2273,0,0,0,0,0,0
$GC,6967,1.05,189.5,256.3,8.3,360,6971,0.00,2.38,0.00,0.000,6,0.000,0.028,2939,2043,2270,0,0,0,0,0,0
$GC,7296,1.11,189.5,228.8,8.9,376,7300,0.00,2.50,0.00,0.000,4,0.000,0.051,2938,620,2270,0,0,0,0,0,0
$GC,7431,1.11,189.5,216.2,8.4,382,7435,0.00,2.38,0.00,0.000,6,0.000,0.028,2938,2042,2268,0,0,0,0,0,0
$GC,7753,1.20,204.6,192.2,7.0,402,7774,0.17,2.53,13.62,0.674,4,0.064,0.048,2981,625,2214,0,0,0,0,0,0
$GC,7876,1.12,204.6,180.5,9.9,415,7881,0.12,2.33,0.00,0.000,6,0.119,0.025,2960,2039,2211,0,0,0,0,0,0
$GC,8138,1.15,204.6,156.0,10.2,439,8142,0.00,2.47,0.00,0.000,4,0.000,0.048,2959,622,2211,0,0,0,0,0,0
$GC,8225,1.15,204.6,145.4,12.3,448,8229,0.00,2.35,0.00,0.000,6,0.000,0.024,2960,2044,2210,0,0,0,0,0,0
$GC,8487,1.20,204.6,117.0,10.2,472,8491,0.00,2.45,0.00,0.000,4,0.000,0.045,2960,629,2210,0,0,0,0,0,0
$GC,8586,1.20,204.6,106.5,10.5,482,8593,0.00,2.33,0.00,0.000,6,0.000,0.023,2960,2030,2210,0,0,0,0,0,0
$GC,8849,1.28,204.6,85.1,8.4,507,8851,0.15,0.00,0.00,0.000,6,0.064,0.000,3001,2035,2210,0,0,0,0,0,0
$GC,9103,1.29,213.2,62.5,7.4,531,9117,0.00,2.47,8.52,0.519,4,0.000,0.044,3001,612,2180,0,0,0,0,0,0
$GC,9204,1.23,213.2,53.8,9.8,542,9208,0.00,2.33,0.00,0.000,6,0.000,0.021,3001,2042,2178,0,0,0,0,0,0
$GC,9471,1.23,213.2,29.6,8.9,567,9477,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2047,2178,0,0,0,0,0,0
$GC,9672,1.23,216.0,11.5,7.8,604,9685,0.00,2.47,4.00,0.361,4,0.000,0.044,3001,628,2169,0,0,0,0,0,0
$GC,9747,1.16,216.0,4.0,11.0,620,9754,0.15,2.30,0.00,0.000,6,0.085,0.021,2968,2038,2168,0,0,0,0,0,0
$STATE,9759,end climb,SURFACE_DEPTH_REACHED
$STATE,9759,begin surface coast
$FINISH,0.4,1.014667
$STATE,9787,end surface coast,CONTROL_FINISHED_OK
$STATE,9787,begin surface
$SM_CCo,9807,43.60,0.524,0,0,1826,300.00
$SM_GC,1.03,0.00,0.00,43.60,0.000,0.000,0.524,424,1875,1826,-10.53,-0.71,300.00
$IRIDIUM_FIX,2054.83,-15802.06,200799,202016
$TT8_MAMPS,0.029146
$HUMID,44.01
$INTERNAL_PRESSURE,9.67464
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,11.652
$10V_AH,10.0,10.878
$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,28.750,120.000,250.750,43.600,0.000,30.373,26.761,148.975,0.000,0.000,17.783,1219.425,6287.980,359.383,1912.856,377.032,33.358,1180.373,0.000,1910.834,0.000,0.539,0.000
$DEVICE_MAMPS,138.060,57.525,881.283,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.335,408.249,947.449,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,34889,627
$CAP_FILE_SIZE,116162,0
$CFSIZE,260165632,251588608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260410,022627,2102.583,-15758.573,60,2.2,79,9.8