version: 66.06
glider: 139
mission: 7
dive: 63
start: 4 19 110 3 11 28
data:
$ID,139
$MISSION,7
$DIVE,63
$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,-2120799.5
$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,0.029999999
$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
$GPS1,030037,2057.621,-15749.813,92,1.2,97,9.8
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-69.1
$GPS2,031110,2057.571,-15749.862,14,1.2,15,9.8
$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,28.4,19417,-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,-77.9,0.0,0.0,0,73,0.00,0.00,-55.55,0.000,2,0.000,0.000,431,1882,3307,0,0,0,0,0,0
$GC,76,-1.40,-77.9,3.7,-7.1,10,94,10.70,2.38,-1.17,0.000,4,0.138,0.050,2404,491,3369,0,0,0,0,0,0
$GC,178,-1.23,-77.9,28.1,-16.1,32,185,0.15,2.35,0.00,0.000,6,0.084,0.021,2439,1925,3370,0,0,0,0,0,0
$GC,383,-1.23,-77.9,58.0,-14.3,52,387,0.00,2.47,0.00,0.000,4,0.000,0.047,2439,495,3371,0,0,0,0,0,0
$GC,425,-1.16,-77.9,63.7,-13.2,56,429,0.00,2.28,0.00,0.000,6,0.000,0.021,2439,1907,3371,0,0,0,0,0,0
$GC,691,-1.16,-77.9,95.1,-11.1,81,695,0.00,2.45,0.00,0.000,4,0.000,0.046,2439,494,3372,0,0,0,0,0,0
$GC,754,-1.16,-77.9,103.1,-11.5,87,759,0.00,2.28,0.00,0.000,6,0.000,0.021,2439,1900,3372,0,0,0,0,0,0
$GC,1014,-1.16,-77.9,127.6,-9.4,112,1019,0.10,2.45,0.00,0.000,4,0.113,0.046,2459,495,3373,0,0,0,0,0,0
$GC,1104,-1.20,-77.9,137.4,-11.3,121,1108,0.00,2.25,0.00,0.000,6,0.000,0.021,2459,1902,3374,0,0,0,0,0,0
$GC,1367,-1.30,-77.9,168.0,-11.6,145,1369,0.15,0.00,0.00,0.000,6,0.058,0.000,2413,1907,3373,0,0,0,0,0,0
$GC,1620,-1.30,-77.9,195.9,-10.9,169,1624,0.00,2.42,0.00,0.000,4,0.000,0.046,2412,488,3374,0,0,0,0,0,0
$GC,1646,-1.24,-77.9,198.9,-12.2,171,1650,0.15,2.30,0.00,0.000,6,0.094,0.022,2444,1910,3374,0,0,0,0,0,0
$GC,1910,-1.33,-77.9,221.4,-7.8,184,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1913,3374,0,0,0,0,0,0
$GC,2220,-1.42,-77.9,250.5,-9.1,199,2225,0.20,2.47,0.00,0.000,4,0.051,0.046,2387,487,3374,0,0,0,0,0,0
$GC,2299,-1.37,-77.9,260.1,-11.9,202,2304,0.12,2.28,0.00,0.000,6,0.104,0.023,2412,1907,3374,0,0,0,0,0,0
$GC,2616,-1.42,-77.9,283.3,-6.0,217,2621,0.00,2.45,0.00,0.000,4,0.000,0.049,2412,487,3373,0,0,0,0,0,0
$GC,2675,-1.42,-77.9,288.0,-8.2,219,2681,0.00,2.30,0.00,0.000,6,0.000,0.024,2412,1899,3373,0,0,0,0,0,0
$GC,3008,-1.48,-77.9,314.4,-8.5,232,3013,0.10,2.47,0.00,0.000,4,0.081,0.051,2380,495,3373,0,0,0,0,0,0
$GC,3070,-1.45,-77.9,321.7,-12.8,233,3075,0.00,2.28,0.00,0.000,6,0.000,0.025,2380,1897,3373,0,0,0,0,0,0
$GC,3419,-1.45,-77.9,362.7,-11.2,242,3423,0.00,2.47,0.00,0.000,4,0.000,0.054,2380,490,3372,0,0,0,0,0,0
$GC,3447,-1.39,-77.9,366.0,-12.1,242,3452,0.15,2.33,0.00,0.000,6,0.100,0.027,2411,1900,3371,0,0,0,0,0,0
$GC,3783,-1.46,-77.9,392.7,-7.4,251,3787,0.00,2.50,0.00,0.000,4,0.000,0.057,2411,489,3370,0,0,0,0,0,0
$GC,3857,-1.49,-77.9,398.7,-8.6,252,3862,0.12,2.35,0.00,0.000,6,0.070,0.028,2375,1907,3369,0,0,0,0,0,0
$GC,4192,-1.49,-77.9,433.3,-10.7,261,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1911,3366,0,0,0,0,0,0
$STATE,4394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4394,begin apogee
$GC,4398,-0.31,0.0,452.7,9.3,266,4467,1.27,0.00,64.72,0.884,6,0.081,0.000,2644,2050,3050,0,0,0,0,0,0
$STATE,4468,end apogee,CONTROL_FINISHED_OK
$STATE,4468,begin climb
$GC,4470,1.40,77.9,453.5,0.0,267,4544,1.62,2.47,64.97,0.861,4,0.035,0.044,3021,3416,2732,0,0,0,0,0,0
$GC,4618,1.22,112.1,450.2,5.7,270,4655,0.22,2.40,29.73,0.839,6,0.118,0.039,2981,2029,2592,0,0,0,0,0,0
$GC,4973,1.11,112.1,420.5,9.1,279,4978,0.15,2.50,0.00,0.000,4,0.121,0.058,2954,630,2586,0,0,0,0,0,0
$GC,5131,0.98,112.1,403.0,11.1,282,5136,0.15,2.35,0.00,0.000,6,0.126,0.031,2928,2027,2584,0,0,0,0,0,0
$GC,5476,1.00,125.4,376.0,7.1,291,5492,0.00,2.58,10.93,0.766,4,0.000,0.059,2928,625,2538,0,0,0,0,0,0
$GC,5710,0.99,155.8,360.0,5.9,296,5743,0.00,2.38,27.00,0.821,6,0.000,0.031,2928,2043,2415,0,0,0,0,0,0
$GC,6075,1.02,155.8,330.5,8.8,305,6079,0.00,2.53,0.00,0.000,4,0.000,0.055,2928,629,2409,0,0,0,0,0,0
$GC,6111,1.02,155.8,326.7,10.3,305,6116,0.00,2.35,0.00,0.000,6,0.000,0.031,2928,2030,2407,0,0,0,0,0,0
$GC,6442,1.07,162.4,300.6,7.6,314,6454,0.00,2.55,6.07,0.646,4,0.000,0.054,2928,628,2387,0,0,0,0,0,0
$GC,6563,1.07,162.4,288.6,10.4,318,6568,0.00,2.38,0.00,0.000,6,0.000,0.030,2928,2040,2384,0,0,0,0,0,0
$GC,6883,1.16,185.5,262.5,6.4,334,6910,0.17,2.58,21.33,0.762,4,0.069,0.055,2970,629,2293,0,0,0,0,0,0
$GC,7035,1.09,185.5,246.8,12.4,340,7041,0.00,2.40,0.00,0.000,6,0.000,0.030,2970,2030,2288,0,0,0,0,0,0
$GC,7349,1.09,185.5,214.0,10.7,356,7353,0.00,2.47,0.00,0.000,4,0.000,0.052,2970,629,2287,0,0,0,0,0,0
$GC,7422,1.03,185.5,206.3,9.7,359,7428,0.17,2.38,0.00,0.000,6,0.115,0.028,2938,2053,2285,0,0,0,0,0,0
$GC,7750,1.12,202.0,184.4,6.9,386,7769,0.00,0.00,14.88,0.676,6,0.000,0.000,2938,2058,2225,0,0,0,0,0,0
$GC,8025,1.20,202.0,160.0,8.9,412,8030,0.15,2.53,0.00,0.000,4,0.069,0.049,2976,628,2222,0,0,0,0,0,0
$GC,8104,1.15,202.0,151.7,10.3,420,8109,0.00,2.33,0.00,0.000,6,0.000,0.025,2976,2046,2220,0,0,0,0,0,0
$GC,8365,1.15,202.0,128.2,9.5,444,8369,0.00,2.47,0.00,0.000,4,0.000,0.046,2976,625,2221,0,0,0,0,0,0
$GC,8447,1.11,202.0,119.6,11.1,452,8454,0.08,2.33,0.00,0.000,6,0.101,0.024,2959,2031,2219,0,0,0,0,0,0
$GC,8709,1.18,202.0,95.0,10.2,477,8714,0.00,2.45,0.00,0.000,4,0.000,0.047,2958,623,2220,0,0,0,0,0,0
$GC,8789,1.18,202.0,86.5,10.0,485,8793,0.00,2.30,0.00,0.000,6,0.000,0.023,2958,2045,2220,0,0,0,0,0,0
$GC,9052,1.25,206.5,64.5,7.7,509,9064,0.12,2.47,4.75,0.433,4,0.072,0.043,2993,619,2208,0,0,0,0,0,0
$GC,9269,1.21,206.5,42.4,8.6,533,9273,0.00,2.30,0.00,0.000,6,0.000,0.021,2993,2048,2207,0,0,0,0,0,0
$GC,9533,1.21,206.5,19.0,10.5,567,9539,0.00,2.47,0.00,0.000,4,0.000,0.044,2993,628,2207,0,0,0,0,0,0
$GC,9563,1.16,206.5,15.4,11.6,573,9570,0.12,2.30,0.00,0.000,6,0.090,0.021,2966,2034,2208,0,0,0,0,0,0
$STATE,9705,end climb,SURFACE_DEPTH_REACHED
$STATE,9705,begin surface coast
$FINISH,1.0,1.023847
$STATE,9739,end surface coast,CONTROL_FINISHED_OK
$STATE,9739,begin surface
$SM_CCo,9758,48.88,0.531,0,0,1827,300.00
$SM_GC,0.98,0.00,0.00,48.88,0.000,0.000,0.531,426,1889,1827,-10.52,-0.31,300.00
$IRIDIUM_FIX,2050.21,-15747.49,140799,030345
$TT8_MAMPS,0.029146
$HUMID,43.14
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,6.940
$10V_AH,10.0,6.291
$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,27.075,106.175,244.375,48.875,0.000,79.742,134.906,198.684,0.000,0.000,15.815,1174.306,6509.332,356.513,1841.970,563.703,0.000,1143.856,0.000,1828.695,0.000,0.539,0.000
$DEVICE_MAMPS,138.060,59.059,884.351,530.764,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.585,386.927,872.775,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,34824,605
$CAP_FILE_SIZE,113039,0
$CFSIZE,260165632,254820352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190410,055606,2057.808,-15749.572,36,1.2,36,9.8