version: 66.06
glider: 139
mission: 7
dive: 66
start: 4 19 110 11 49 23
data:
$ID,139
$MISSION,7
$DIVE,66
$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,-2120972.8
$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
$GPS1,114101,2058.587,-15748.961,110,1.8,110,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-66.4
$GPS2,114904,2058.541,-15749.029,15,1.9,15,9.8
$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,28.3,17116,-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,-55.28,0.000,2,0.000,0.000,427,1912,3267,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.1,-5.4,10,94,10.68,2.35,-2.03,0.000,4,0.137,0.038,2405,3327,3367,0,0,0,0,0,0
$GC,122,-1.22,-77.9,16.8,-25.4,19,129,0.15,2.45,0.00,0.000,6,0.077,0.031,2441,1900,3368,0,0,0,0,0,0
$GC,323,-1.22,-77.9,47.9,-12.9,44,327,0.00,2.42,0.00,0.000,4,0.000,0.047,2441,490,3369,0,0,0,0,0,0
$GC,356,-1.12,-77.9,53.2,-16.1,47,361,0.12,2.33,0.00,0.000,6,0.110,0.021,2464,1932,3369,0,0,0,0,0,0
$GC,620,-1.18,-77.9,84.7,-11.2,71,625,0.00,2.50,0.00,0.000,4,0.000,0.046,2464,495,3370,0,0,0,0,0,0
$GC,653,-1.18,-77.9,89.1,-12.7,74,657,0.00,2.28,0.00,0.000,6,0.000,0.021,2465,1912,3370,0,0,0,0,0,0
$GC,914,-1.24,-77.9,118.2,-10.4,98,919,0.10,2.47,0.00,0.000,4,0.077,0.047,2428,485,3371,0,0,0,0,0,0
$GC,960,-1.24,-77.9,124.6,-14.1,102,966,0.00,2.30,0.00,0.000,6,0.000,0.021,2428,1897,3371,0,0,0,0,0,0
$GC,1222,-1.24,-77.9,156.4,-12.3,127,1226,0.00,2.40,0.00,0.000,4,0.000,0.045,2428,494,3372,0,0,0,0,0,0
$GC,1239,-1.24,-77.9,158.7,-11.6,128,1246,0.00,2.30,0.00,0.000,6,0.000,0.021,2429,1911,3372,0,0,0,0,0,0
$GC,1502,-1.30,-77.9,185.1,-10.4,153,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,1914,3373,0,0,0,0,0,0
$GC,1764,-1.36,-77.9,208.8,-8.4,173,1768,0.00,2.45,0.00,0.000,4,0.000,0.046,2428,494,3373,0,0,0,0,0,0
$GC,1838,-1.39,-77.9,215.3,-8.6,176,1842,0.00,2.25,0.00,0.000,6,0.000,0.022,2429,1902,3373,0,0,0,0,0,0
$GC,2157,-1.47,-77.9,245.1,-10.1,192,2162,0.17,2.45,0.00,0.000,4,0.054,0.049,2377,494,3373,0,0,0,0,0,0
$GC,2178,-1.47,-77.9,247.6,-12.6,193,2182,0.00,2.30,0.00,0.000,6,0.000,0.024,2377,1905,3373,0,0,0,0,0,0
$GC,2508,-1.47,-77.9,290.8,-12.4,209,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1911,3373,0,0,0,0,0,0
$GC,2812,-1.47,-77.9,321.0,-9.2,219,2817,0.00,2.47,0.00,0.000,4,0.000,0.051,2377,491,3372,0,0,0,0,0,0
$GC,2964,-1.43,-77.9,334.7,-9.4,222,2969,0.12,2.30,0.00,0.000,6,0.105,0.026,2402,1894,3372,0,0,0,0,0,0
$GC,3314,-1.49,-77.9,367.7,-10.5,231,3318,0.00,2.45,0.00,0.000,4,0.000,0.054,2402,490,3370,0,0,0,0,0,0
$GC,3360,-1.53,-77.9,373.4,-11.5,232,3364,0.00,2.33,0.00,0.000,6,0.000,0.028,2402,1896,3370,0,0,0,0,0,0
$GC,3682,-1.59,-77.9,403.5,-8.9,240,3684,0.17,0.00,0.00,0.000,6,0.061,0.000,2356,1900,3368,0,0,0,0,0,0
$GC,4007,-1.56,-77.9,436.8,-9.9,248,4008,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,1899,3366,0,0,0,0,0,0
$STATE,4168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4168,begin apogee
$GC,4172,-0.31,0.0,451.5,9.0,252,4241,1.35,0.00,64.62,0.889,6,0.081,0.000,2641,2049,3050,0,0,0,0,0,0
$STATE,4242,end apogee,CONTROL_FINISHED_OK
$STATE,4242,begin climb
$GC,4244,1.40,77.9,452.8,0.0,253,4318,1.65,2.47,65.05,0.866,4,0.035,0.046,3023,3411,2732,0,0,0,0,0,0
$GC,4439,1.21,101.7,448.1,6.4,257,4466,0.25,2.40,21.05,0.832,6,0.114,0.039,2978,2035,2635,0,0,0,0,0,0
$GC,4790,1.09,101.7,420.5,8.4,266,4795,0.15,2.53,0.00,0.000,4,0.123,0.060,2951,629,2630,0,0,0,0,0,0
$GC,4802,0.97,101.7,419.4,8.1,266,4807,0.15,2.35,0.00,0.000,6,0.122,0.031,2925,2021,2629,0,0,0,0,0,0
$GC,5115,1.02,147.3,402.5,4.9,274,5162,0.00,2.55,39.28,0.855,4,0.000,0.057,2925,624,2447,0,0,0,0,0,0
$GC,5180,1.00,168.6,398.6,6.6,275,5205,0.00,2.42,19.73,0.815,6,0.000,0.031,2925,2043,2362,0,0,0,0,0,0
$GC,5530,1.04,168.6,368.9,9.2,284,5535,0.00,2.53,0.00,0.000,4,0.000,0.058,2925,622,2354,0,0,0,0,0,0
$GC,5580,1.04,168.6,363.7,10.0,285,5585,0.00,2.40,0.00,0.000,6,0.000,0.032,2925,2029,2352,0,0,0,0,0,0
$GC,5898,1.08,168.6,335.5,8.9,293,5903,0.10,2.50,0.00,0.000,4,0.092,0.056,2948,623,2350,0,0,0,0,0,0
$GC,6167,1.02,168.6,309.4,10.2,298,6173,0.00,2.40,0.00,0.000,6,0.000,0.031,2949,2039,2348,0,0,0,0,0,0
$GC,6481,1.02,168.6,283.2,8.2,311,6485,0.00,2.50,0.00,0.000,4,0.000,0.054,2948,619,2347,0,0,0,0,0,0
$GC,6675,0.98,168.9,268.9,8.0,319,6680,0.12,2.38,0.00,0.000,6,0.123,0.030,2926,2038,2345,0,0,0,0,0,0
$GC,6990,1.05,168.9,245.5,8.0,334,6991,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2042,2345,0,0,0,0,0,0
$GC,7301,1.14,178.8,222.0,7.3,349,7313,0.15,2.50,7.03,0.630,4,0.072,0.051,2962,620,2320,0,0,0,0,0,0
$GC,7433,1.09,178.8,211.6,8.1,354,7440,0.00,2.38,0.00,0.000,6,0.000,0.028,2962,2034,2318,0,0,0,0,0,0
$GC,7754,1.11,193.2,187.7,7.0,377,7774,0.00,2.50,14.15,0.673,4,0.000,0.048,2962,620,2261,0,0,0,0,0,0
$GC,7933,1.07,193.2,171.2,9.6,396,7940,0.00,2.38,0.00,0.000,6,0.000,0.025,2962,2036,2257,0,0,0,0,0,0
$GC,8195,1.07,193.2,148.5,9.6,421,8199,0.00,2.35,0.00,0.000,4,0.000,0.034,2962,3432,2257,0,0,0,0,0,0
$GC,8293,1.12,193.2,138.8,10.4,431,8297,0.00,2.38,0.00,0.000,6,0.000,0.031,2962,2028,2257,0,0,0,0,0,0
$GC,8556,1.17,199.4,114.6,7.6,455,8569,0.00,2.47,6.62,0.530,4,0.000,0.045,2962,625,2236,0,0,0,0,0,0
$GC,8669,1.17,199.4,104.3,8.6,467,8674,0.00,2.33,0.00,0.000,6,0.000,0.023,2962,2043,2234,0,0,0,0,0,0
$GC,8930,1.26,229.2,87.4,6.0,492,8967,0.10,2.50,27.40,0.604,4,0.081,0.044,2991,624,2113,0,0,0,0,0,0
$GC,9054,1.22,229.2,75.8,11.1,505,9061,0.00,2.35,0.00,0.000,6,0.000,0.022,2991,2035,2109,0,0,0,0,0,0
$GC,9315,1.22,229.2,49.3,9.8,530,9319,0.00,2.42,0.00,0.000,4,0.000,0.044,2991,624,2109,0,0,0,0,0,0
$GC,9368,1.18,229.2,43.5,11.0,535,9376,0.08,2.33,0.00,0.000,6,0.093,0.021,2974,2037,2108,0,0,0,0,0,0
$GC,9631,1.25,229.2,18.1,9.5,571,9637,0.00,2.45,0.00,0.000,4,0.000,0.044,2974,635,2108,0,0,0,0,0,0
$GC,9746,1.21,229.2,5.0,13.5,597,9752,0.00,2.30,0.00,0.000,6,0.000,0.021,2973,2035,2108,0,0,0,0,0,0
$STATE,9759,end climb,SURFACE_DEPTH_REACHED
$STATE,9759,begin surface coast
$FINISH,0.3,1.023851
$STATE,9781,end surface coast,CONTROL_FINISHED_OK
$STATE,9781,begin surface
$SM_CCo,9800,36.12,0.531,0,0,1827,300.00
$SM_GC,1.19,0.00,0.00,36.12,0.000,0.000,0.531,428,1887,1827,-10.51,-0.37,300.00
$IRIDIUM_FIX,2050.21,-15747.49,140799,111113
$TT8_MAMPS,0.029913
$HUMID,43.18
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.30
$XPDR_PINGS,1
$24V_AH,23.4,7.198
$10V_AH,9.9,6.525
$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,26.600,106.275,264.925,36.125,0.000,55.018,64.070,201.659,0.250,0.000,15.839,1165.441,6489.188,370.733,1822.283,477.508,0.000,1159.327,0.000,1812.093,0.000,0.539,0.000
$DEVICE_MAMPS,136.526,59.826,888.953,530.764,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.340,386.245,851.476,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355452
$DATA_FILE_SIZE,34972,603
$CAP_FILE_SIZE,111697,0
$CFSIZE,260165632,254648320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190410,143437,2058.485,-15748.914,42,1.5,42,9.8