version: 66.06
glider: 139
mission: 7
dive: 65
start: 4 19 110 8 58 45
data:
$ID,139
$MISSION,7
$DIVE,65
$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,-2120956.2
$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,0.029999999
$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
$GPS1,085146,2058.274,-15749.306,57,2.1,76,9.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.3
$GPS2,085827,2058.261,-15749.354,58,2.1,77,9.8
$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,28.7,17868,-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,-77.9,0.0,0.0,0,77,0.00,0.00,-58.92,0.000,6,0.000,0.000,430,1899,3368,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.8,-6.7,11,98,10.77,2.42,0.00,0.000,4,0.142,0.031,2403,3316,3370,0,0,0,0,0,0
$GC,134,-1.31,-77.9,19.5,-18.0,22,141,0.08,2.42,0.00,0.000,6,0.088,0.032,2422,1901,3371,0,0,0,0,0,0
$GC,337,-1.24,-77.9,53.0,-16.0,46,341,0.00,2.45,0.00,0.000,4,0.000,0.048,2422,494,3371,0,0,0,0,0,0
$GC,371,-1.11,-77.9,59.1,-18.4,49,376,0.22,2.33,0.00,0.000,6,0.093,0.021,2468,1937,3372,0,0,0,0,0,0
$GC,633,-1.17,-77.9,97.7,-14.8,73,638,0.00,2.50,0.00,0.000,4,0.000,0.048,2468,489,3373,0,0,0,0,0,0
$GC,651,-1.17,-77.9,101.0,-15.2,74,658,0.00,2.30,0.00,0.000,6,0.000,0.021,2468,1909,3373,0,0,0,0,0,0
$GC,914,-1.26,-77.9,131.7,-10.3,99,919,0.15,2.45,0.00,0.000,4,0.059,0.047,2420,495,3374,0,0,0,0,0,0
$GC,1003,-1.26,-77.9,142.0,-11.7,108,1007,0.00,2.22,0.00,0.000,6,0.000,0.021,2421,1884,3374,0,0,0,0,0,0
$GC,1264,-1.30,-77.9,165.2,-8.9,132,1268,0.00,2.40,0.00,0.000,4,0.000,0.046,2420,487,3375,0,0,0,0,0,0
$GC,1341,-1.30,-77.9,173.6,-11.5,140,1345,0.00,2.28,0.00,0.000,6,0.000,0.021,2420,1904,3375,0,0,0,0,0,0
$GC,1603,-1.36,-77.9,202.5,-11.0,163,1607,0.00,2.42,0.00,0.000,4,0.000,0.046,2420,491,3376,0,0,0,0,0,0
$GC,1625,-1.36,-77.9,205.2,-10.2,164,1629,0.00,2.28,0.00,0.000,6,0.000,0.022,2420,1909,3376,0,0,0,0,0,0
$GC,1949,-1.42,-77.9,237.4,-9.9,180,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,1913,3376,0,0,0,0,0,0
$GC,2260,-1.50,-77.9,267.3,-9.5,195,2265,0.17,2.50,0.00,0.000,4,0.056,0.051,2369,489,3376,0,0,0,0,0,0
$GC,2353,-1.43,-77.9,279.3,-12.4,199,2358,0.15,2.28,0.00,0.000,6,0.100,0.025,2400,1897,3376,0,0,0,0,0,0
$GC,2676,-1.47,-77.9,313.1,-10.1,212,2680,0.00,2.47,0.00,0.000,4,0.000,0.053,2400,497,3375,0,0,0,0,0,0
$GC,2764,-1.47,-77.9,322.1,-10.4,214,2768,0.00,2.33,0.00,0.000,6,0.000,0.026,2400,1906,3375,0,0,0,0,0,0
$GC,3091,-1.52,-77.9,355.6,-10.3,222,3095,0.00,2.47,0.00,0.000,4,0.000,0.054,2400,497,3374,0,0,0,0,0,0
$GC,3109,-1.52,-77.9,357.6,-10.5,222,3113,0.00,2.33,0.00,0.000,6,0.000,0.028,2400,1906,3373,0,0,0,0,0,0
$GC,3453,-1.57,-77.9,387.0,-8.1,231,3455,0.15,0.00,0.00,0.000,6,0.066,0.000,2359,1911,3372,0,0,0,0,0,0
$GC,3777,-1.57,-77.9,417.9,-9.4,239,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1911,3370,0,0,0,0,0,0
$STATE,4101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4101,begin apogee
$GC,4106,-0.31,0.0,450.7,10.1,247,4175,1.35,0.00,65.45,0.887,6,0.084,0.000,2642,2049,3050,0,0,0,0,0,0
$STATE,4176,end apogee,CONTROL_FINISHED_OK
$STATE,4176,begin climb
$GC,4178,1.40,77.9,451.6,0.0,248,4252,1.62,2.47,65.30,0.865,4,0.035,0.045,3020,3412,2731,0,0,0,0,0,0
$GC,4406,1.20,95.1,443.5,6.8,253,4427,0.25,2.40,15.62,0.811,6,0.113,0.040,2974,2030,2662,0,0,0,0,0,0
$GC,4769,1.14,136.9,421.6,5.1,262,4811,0.00,2.55,36.28,0.853,4,0.000,0.058,2974,629,2489,0,0,0,0,0,0
$GC,4871,0.99,136.9,414.0,9.8,264,4876,0.22,2.35,0.00,0.000,6,0.117,0.031,2933,2018,2485,0,0,0,0,0,0
$GC,5185,1.01,148.9,391.7,7.2,272,5201,0.00,2.58,10.38,0.769,4,0.000,0.058,2933,628,2443,0,0,0,0,0,0
$GC,5206,1.01,148.9,389.9,8.2,272,5210,0.00,2.42,0.00,0.000,6,0.000,0.031,2932,2044,2441,0,0,0,0,0,0
$GC,5550,1.02,160.3,365.4,7.2,281,5566,0.00,2.42,11.00,0.774,4,0.000,0.043,2933,3429,2396,0,0,0,0,0,0
$GC,5599,1.06,161.1,361.7,8.0,282,5604,0.00,2.42,0.00,0.000,6,0.000,0.041,2933,2032,2396,0,0,0,0,0,0
$GC,5921,1.07,172.2,337.7,7.3,290,5938,0.00,2.47,11.68,0.771,4,0.000,0.042,2933,3437,2347,0,0,0,0,0,0
$GC,5963,1.12,172.2,334.1,9.5,291,5967,0.00,2.45,0.00,0.000,6,0.000,0.039,2933,2036,2347,0,0,0,0,0,0
$GC,6289,1.15,172.2,305.4,8.0,299,6294,0.12,2.50,0.00,0.000,4,0.084,0.056,2961,628,2343,0,0,0,0,0,0
$GC,6355,1.05,172.2,299.0,9.8,300,6359,0.00,2.38,0.00,0.000,6,0.000,0.030,2961,2034,2342,0,0,0,0,0,0
$GC,6683,1.06,181.3,272.8,7.4,316,6699,0.00,2.53,8.57,0.703,4,0.000,0.054,2961,630,2310,0,0,0,0,0,0
$GC,6814,1.00,181.3,260.8,10.0,321,6820,0.17,2.38,0.00,0.000,6,0.117,0.030,2930,2037,2307,0,0,0,0,0,0
$GC,7130,1.07,182.8,236.7,7.9,337,7131,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2043,2306,0,0,0,0,0,0
$GC,7438,1.14,182.8,209.5,8.9,352,7443,0.12,2.50,0.00,0.000,4,0.080,0.052,2960,623,2306,0,0,0,0,0,0
$GC,7571,1.09,182.8,195.9,12.3,360,7576,0.00,2.38,0.00,0.000,6,0.000,0.028,2960,2047,2304,0,0,0,0,0,0
$GC,7832,1.09,182.8,173.5,8.2,384,7836,0.00,2.47,0.00,0.000,4,0.000,0.049,2960,619,2304,0,0,0,0,0,0
$GC,7940,1.05,182.8,163.6,9.0,395,7944,0.00,2.33,0.00,0.000,6,0.000,0.026,2960,2036,2303,0,0,0,0,0,0
$GC,8203,1.12,218.2,145.1,5.6,419,8241,0.00,2.45,32.70,0.674,4,0.000,0.034,2960,3430,2160,0,0,0,0,0,0
$GC,8255,1.20,232.4,141.5,7.1,424,8279,0.00,2.42,13.93,0.624,6,0.000,0.032,2960,2030,2101,0,0,0,0,0,0
$GC,8534,1.32,278.6,120.9,4.8,451,8581,0.17,2.55,40.72,0.643,4,0.061,0.048,3005,629,1914,0,0,0,0,0,0
$GC,8823,1.25,278.6,82.7,14.5,482,8831,0.08,2.35,0.00,0.000,6,0.091,0.022,2988,2043,1906,0,0,0,0,0,0
$GC,9086,1.30,278.6,50.7,12.3,507,9090,0.00,2.45,0.00,0.000,4,0.000,0.045,2987,622,1905,0,0,0,0,0,0
$GC,9189,1.30,278.6,37.4,12.6,518,9193,0.00,2.30,0.00,0.000,6,0.000,0.021,2987,2040,1904,0,0,0,0,0,0
$GC,9450,1.35,278.6,15.6,9.9,557,9457,0.00,2.47,0.00,0.000,4,0.000,0.046,2988,632,1903,0,0,0,0,0,0
$STATE,9542,end climb,SURFACE_DEPTH_REACHED
$STATE,9542,begin surface coast
$FINISH,0.6,1.023850
$STATE,9557,end surface coast,CONTROL_FINISHED_OK
$STATE,9557,begin surface
$SM_CCo,9578,12.65,0.506,0,0,1826,300.00
$SM_GC,0.95,0.00,0.00,12.65,0.000,0.000,0.506,428,1912,1826,-10.51,0.34,300.00
$IRIDIUM_FIX,2050.21,-15750.49,140799,060624
$TT8_MAMPS,0.029146
$HUMID,43.62
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,21.00
$XPDR_PINGS,0
$24V_AH,23.3,7.115
$10V_AH,9.9,6.446
$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,26.850,106.125,311.625,12.650,0.000,24.360,42.067,178.030,0.000,0.000,79.917,1114.366,6332.199,357.972,1806.708,384.225,0.000,1135.321,0.000,1732.924,0.000,0.539,0.000
$DEVICE_MAMPS,141.895,58.292,886.652,506.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,392.898,370.361,810.203,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,31763,581
$CAP_FILE_SIZE,106943,0
$CFSIZE,260165632,254713856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190410,114101,2058.587,-15748.961,110,1.8,110,9.8