version: 66.06
glider: 139
mission: 7
dive: 60
start: 4 18 110 19 6 30
data:
$ID,139
$MISSION,7
$DIVE,60
$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,-2120680.2
$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,2712
$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,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
$GPS1,190106,2056.391,-15750.681,78,1.8,89,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.3
$GPS2,190613,2056.353,-15750.696,16,1.7,32,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$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,27.7,22083,-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,-59.25,0.000,6,0.000,0.000,428,1898,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.7,-5.9,11,99,10.70,2.45,0.00,0.000,4,0.138,0.038,2404,493,3371,0,0,0,0,0,0
$GC,139,-1.40,-77.9,21.8,-21.7,23,146,0.00,2.35,0.00,0.000,6,0.000,0.021,2404,1917,3372,0,0,0,0,0,0
$GC,344,-1.40,-77.9,58.1,-18.3,46,348,0.00,2.45,0.00,0.000,4,0.000,0.042,2404,486,3372,0,0,0,0,0,0
$GC,368,-1.40,-77.9,62.3,-17.8,48,372,0.00,2.28,0.00,0.000,6,0.000,0.021,2404,1904,3372,0,0,0,0,0,0
$GC,634,-1.40,-77.9,107.8,-16.7,73,639,0.00,2.42,0.00,0.000,4,0.000,0.045,2404,494,3374,0,0,0,0,0,0
$GC,659,-1.40,-77.9,112.0,-16.5,75,663,0.00,2.25,0.00,0.000,6,0.000,0.021,2404,1900,3373,0,0,0,0,0,0
$GC,921,-1.40,-77.9,148.5,-11.3,99,925,0.00,2.42,0.00,0.000,4,0.000,0.044,2404,494,3374,0,0,0,0,0,0
$GC,963,-1.40,-77.9,153.6,-12.0,103,968,0.00,2.25,0.00,0.000,6,0.000,0.021,2404,1902,3374,0,0,0,0,0,0
$GC,1226,-1.40,-77.9,186.1,-12.0,127,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1907,3375,0,0,0,0,0,0
$GC,1485,-1.40,-77.9,213.2,-10.4,146,1489,0.00,2.42,0.00,0.000,4,0.000,0.046,2404,488,3376,0,0,0,0,0,0
$GC,1557,-1.40,-77.9,221.1,-10.8,149,1562,0.00,2.28,0.00,0.000,6,0.000,0.022,2404,1898,3376,0,0,0,0,0,0
$GC,1882,-1.40,-77.9,253.1,-9.8,165,1886,0.00,2.45,0.00,0.000,4,0.000,0.048,2404,488,3376,0,0,0,0,0,0
$GC,1987,-1.40,-77.9,264.7,-11.4,169,1993,0.00,2.28,0.00,0.000,6,0.000,0.024,2404,1900,3376,0,0,0,0,0,0
$GC,2303,-1.40,-77.9,297.0,-10.5,185,2307,0.00,2.33,0.00,0.000,4,0.000,0.034,2404,3291,3376,0,0,0,0,0,0
$GC,2335,-1.40,-77.9,300.7,-11.1,186,2339,0.00,2.35,0.00,0.000,6,0.000,0.034,2404,1899,3375,0,0,0,0,0,0
$GC,2665,-1.40,-77.9,331.1,-8.8,194,2669,0.00,2.45,0.00,0.000,4,0.000,0.051,2403,491,3374,0,0,0,0,0,0
$GC,2729,-1.40,-77.9,337.2,-9.1,195,2734,0.00,2.30,0.00,0.000,6,0.000,0.026,2404,1902,3375,0,0,0,0,0,0
$GC,3074,-1.40,-77.9,365.8,-7.9,204,3078,0.00,2.47,0.00,0.000,4,0.000,0.054,2403,496,3374,0,0,0,0,0,0
$GC,3199,-1.40,-77.9,376.2,-8.5,206,3203,0.00,2.33,0.00,0.000,6,0.000,0.028,2404,1900,3373,0,0,0,0,0,0
$GC,3529,-1.40,-77.9,400.2,-7.6,214,3533,0.00,2.47,0.00,0.000,4,0.000,0.055,2404,492,3371,0,0,0,0,0,0
$GC,3565,-1.40,-77.9,403.5,-9.5,214,3571,0.00,2.35,0.00,0.000,6,0.000,0.029,2404,1907,3370,0,0,0,0,0,0
$GC,3896,-1.40,-77.9,432.0,-8.8,223,3900,0.00,2.50,0.00,0.000,4,0.000,0.058,2404,496,3369,0,0,0,0,0,0
$GC,3955,-1.40,-77.9,437.3,-8.7,224,3959,0.00,2.33,0.00,0.000,6,0.000,0.031,2404,1896,3368,0,0,0,0,0,0
$STATE,4144,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4144,begin apogee
$GC,4149,-0.31,0.0,452.9,8.3,229,4217,1.12,0.00,64.95,0.890,6,0.078,0.000,2643,2067,3050,0,0,0,0,0,0
$STATE,4218,end apogee,CONTROL_FINISHED_OK
$STATE,4218,begin climb
$GC,4220,1.40,77.9,453.6,0.0,230,4295,1.65,2.45,64.85,0.870,4,0.036,0.046,3024,3413,2731,0,0,0,0,0,0
$GC,4336,1.47,141.0,453.4,3.7,232,4397,0.00,2.40,54.20,0.863,6,0.000,0.039,3023,2033,2475,0,0,0,0,0,0
$GC,4719,1.47,141.0,413.6,11.1,242,4723,0.00,2.40,0.00,0.000,4,0.000,0.042,3023,3418,2465,0,0,0,0,0,0
$GC,4737,1.47,141.0,411.4,11.4,242,4741,0.00,2.40,0.00,0.000,6,0.000,0.041,3023,2031,2465,0,0,0,0,0,0
$GC,5081,1.47,141.0,373.1,11.6,251,5085,0.00,2.40,0.00,0.000,4,0.000,0.044,3023,3416,2462,0,0,0,0,0,0
$GC,5177,1.47,141.0,362.0,10.5,253,5182,0.00,2.40,0.00,0.000,6,0.000,0.042,3023,2030,2462,0,0,0,0,0,0
$GC,5495,1.47,141.0,330.2,10.3,261,5499,0.00,2.50,0.00,0.000,4,0.000,0.059,3023,618,2460,0,0,0,0,0,0
$GC,5593,1.47,141.0,317.8,13.5,263,5597,0.00,2.38,0.00,0.000,6,0.000,0.031,3023,2022,2458,0,0,0,0,0,0
$GC,5912,1.47,141.0,283.3,10.3,274,5916,0.00,2.42,0.00,0.000,4,0.000,0.042,3023,3433,2457,0,0,0,0,0,0
$GC,6108,1.47,141.0,265.6,9.0,282,6115,0.00,2.42,0.00,0.000,6,0.000,0.038,3024,2038,2457,0,0,0,0,0,0
$GC,6424,1.49,153.4,242.6,7.2,298,6439,0.00,2.50,8.60,0.678,4,0.000,0.052,3023,621,2423,0,0,0,0,0,0
$GC,6641,1.49,153.4,222.3,9.6,307,6645,0.00,2.38,0.00,0.000,6,0.000,0.028,3023,2039,2420,0,0,0,0,0,0
$GC,6958,1.49,156.0,195.3,7.8,324,6959,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2044,2420,0,0,0,0,0,0
$GC,7212,1.49,156.0,173.2,9.2,348,7213,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2044,2420,0,0,0,0,0,0
$GC,7467,1.51,172.2,154.1,6.9,372,7489,0.00,2.53,16.65,0.660,4,0.000,0.049,3023,626,2348,0,0,0,0,0,0
$GC,7544,1.51,172.2,146.2,11.5,380,7550,0.00,2.38,0.00,0.000,6,0.000,0.025,3023,2040,2345,0,0,0,0,0,0
$GC,7806,1.51,172.2,122.8,9.9,405,7807,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2045,2345,0,0,0,0,0,0
$GC,8060,1.51,173.9,100.1,7.9,429,8064,0.00,2.33,0.00,0.000,4,0.000,0.033,3023,3440,2345,0,0,0,0,0,0
$GC,8158,1.51,173.9,91.7,8.7,439,8162,0.00,2.38,0.00,0.000,6,0.000,0.031,3023,2017,2345,0,0,0,0,0,0
$GC,8420,1.54,191.3,70.9,6.8,463,8444,0.10,2.45,17.45,0.580,4,0.080,0.044,3054,632,2270,0,0,0,0,0,0
$GC,8452,1.56,207.4,68.7,6.9,466,8473,0.00,2.33,15.65,0.563,6,0.000,0.023,3054,2053,2204,0,0,0,0,0,0
$GC,8726,1.56,207.4,41.3,10.7,492,8730,0.00,2.30,0.00,0.000,4,0.000,0.030,3054,3429,2201,0,0,0,0,0,0
$GC,8806,1.56,207.4,31.5,13.3,500,8813,0.00,2.38,0.00,0.000,6,0.000,0.029,3054,2034,2200,0,0,0,0,0,0
$STATE,9051,end climb,SURFACE_DEPTH_REACHED
$STATE,9052,begin surface coast
$FINISH,0.4,1.005239
$STATE,9079,end surface coast,CONTROL_FINISHED_OK
$STATE,9079,begin surface
$SM_CCo,9099,48.33,0.534,0,0,1826,300.00
$SM_GC,1.34,0.00,0.00,48.33,0.000,0.000,0.534,427,1882,1826,-10.52,-0.51,300.00
$IRIDIUM_FIX,2047.91,-15750.49,130799,161643
$TT8_MAMPS,0.029146
$HUMID,43.14
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.3,6.708
$10V_AH,9.9,6.067
$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,25.000,100.725,242.350,48.325,0.000,28.473,43.080,129.466,0.000,0.000,32.614,1053.015,6025.650,341.206,1702.096,337.540,0.000,1083.308,0.000,1681.662,0.000,0.537,0.000
$DEVICE_MAMPS,138.060,59.059,890.487,533.832,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,371.941,351.220,780.227,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355500
$DATA_FILE_SIZE,31770,550
$CAP_FILE_SIZE,95835,0
$CFSIZE,260165632,254988288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180410,214106,2056.886,-15750.416,59,1.2,94,9.8