version: 66.06
glider: 139
mission: 7
dive: 67
start: 4 19 110 14 40 41
data:
$ID,139
$MISSION,7
$DIVE,67
$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,-2121052.5
$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
$GPS1,143437,2058.485,-15748.914,42,1.5,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.7
$GPS2,144024,2058.485,-15748.951,61,1.3,78,9.8
$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,27.7,17114,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,78,0.00,0.00,-58.85,0.000,6,0.000,0.000,428,1888,3370,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.9,-7.2,11,99,10.70,2.42,0.00,0.000,4,0.139,0.038,2402,492,3371,0,0,0,0,0,0
$GC,114,-0.49,-77.9,17.3,-37.2,17,121,0.93,2.35,0.00,0.000,6,0.089,0.021,2603,1938,3372,0,0,0,0,0,0
$GC,317,-0.85,-77.9,30.0,-5.2,54,323,0.32,2.50,0.00,0.000,4,0.050,0.044,2516,494,3373,0,0,0,0,0,0
$GC,396,-0.95,-77.9,36.1,-9.3,62,400,0.00,2.25,0.00,0.000,6,0.000,0.021,2516,1902,3373,0,0,0,0,0,0
$GC,659,-1.13,-77.9,58.1,-7.5,86,664,0.22,2.45,0.00,0.000,4,0.045,0.044,2450,494,3374,0,0,0,0,0,0
$GC,713,-1.13,-77.9,64.1,-11.1,91,719,0.00,2.28,0.00,0.000,6,0.000,0.021,2450,1894,3374,0,0,0,0,0,0
$GC,973,-1.13,-77.9,93.4,-10.6,116,977,0.00,2.42,0.00,0.000,4,0.000,0.046,2450,494,3374,0,0,0,0,0,0
$GC,1051,-1.13,-77.9,101.6,-9.7,124,1055,0.00,2.25,0.00,0.000,6,0.000,0.021,2450,1903,3375,0,0,0,0,0,0
$GC,1312,-1.19,-77.9,125.1,-8.8,148,1316,0.00,2.42,0.00,0.000,4,0.000,0.045,2450,488,3375,0,0,0,0,0,0
$GC,1364,-1.24,-77.9,130.1,-9.9,153,1369,0.00,2.28,0.00,0.000,6,0.000,0.021,2450,1902,3376,0,0,0,0,0,0
$GC,1627,-1.32,-77.9,155.5,-10.5,177,1632,0.12,2.42,0.00,0.000,4,0.066,0.046,2410,495,3376,0,0,0,0,0,0
$GC,1642,-1.32,-77.9,157.8,-11.8,178,1646,0.00,2.25,0.00,0.000,6,0.000,0.021,2410,1909,3376,0,0,0,0,0,0
$GC,1903,-1.32,-77.9,190.1,-10.6,202,1907,0.00,2.28,0.00,0.000,4,0.000,0.028,2410,3291,3376,0,0,0,0,0,0
$GC,1938,-1.41,-77.9,194.1,-11.2,205,1944,0.00,2.33,0.00,0.000,6,0.000,0.032,2410,1897,3376,0,0,0,0,0,0
$GC,2204,-1.41,-77.9,224.1,-11.3,221,2208,0.00,2.40,0.00,0.000,4,0.000,0.047,2410,488,3376,0,0,0,0,0,0
$GC,2249,-1.41,-77.9,229.8,-11.7,223,2254,0.00,2.28,0.00,0.000,6,0.000,0.022,2410,1895,3376,0,0,0,0,0,0
$GC,2575,-1.45,-77.9,261.2,-8.8,239,2579,0.00,2.42,0.00,0.000,4,0.000,0.045,2410,491,3377,0,0,0,0,0,0
$GC,2713,-1.45,-77.9,278.0,-12.7,245,2717,0.00,2.28,0.00,0.000,6,0.000,0.023,2410,1895,3377,0,0,0,0,0,0
$GC,3036,-1.49,-77.9,306.5,-7.8,259,3041,0.10,2.35,0.00,0.000,4,0.078,0.033,2378,3296,3376,0,0,0,0,0,0
$GC,3079,-1.52,-77.9,310.5,-8.7,260,3083,0.00,2.35,0.00,0.000,6,0.000,0.035,2378,1897,3376,0,0,0,0,0,0
$GC,3405,-1.52,-77.9,342.3,-9.9,268,3409,0.00,2.40,0.00,0.000,4,0.000,0.051,2377,496,3375,0,0,0,0,0,0
$GC,3470,-1.47,-77.9,349.1,-9.9,269,3474,0.00,2.28,0.00,0.000,6,0.000,0.025,2378,1898,3375,0,0,0,0,0,0
$GC,3818,-1.47,-77.9,383.6,-9.5,278,3823,0.00,2.45,0.00,0.000,4,0.000,0.053,2377,497,3374,0,0,0,0,0,0
$GC,3892,-1.47,-77.9,391.1,-10.2,279,3896,0.00,2.33,0.00,0.000,6,0.000,0.027,2378,1904,3374,0,0,0,0,0,0
$GC,4226,-1.47,-77.9,421.7,-8.9,288,4231,0.00,2.50,0.00,0.000,4,0.000,0.056,2377,491,3372,0,0,0,0,0,0
$GC,4276,-1.47,-77.9,426.8,-9.6,289,4281,0.00,2.35,0.00,0.000,6,0.000,0.029,2377,1907,3372,0,0,0,0,0,0
$STATE,4592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4592,begin apogee
$GC,4597,-0.31,0.0,453.0,7.8,297,4666,1.25,0.00,65.43,0.885,6,0.080,0.000,2643,2053,3050,0,0,0,0,0,0
$STATE,4667,end apogee,CONTROL_FINISHED_OK
$STATE,4667,begin climb
$GC,4669,1.40,77.9,453.5,0.0,298,4743,1.62,2.45,64.72,0.865,4,0.035,0.044,3021,3411,2731,0,0,0,0,0,0
$GC,4894,1.19,88.2,443.0,7.3,303,4910,0.25,2.40,9.90,0.759,6,0.110,0.039,2975,2035,2689,0,0,0,0,0,0
$GC,5225,1.12,120.7,421.8,5.8,311,5258,0.00,2.45,27.98,0.844,4,0.000,0.040,2975,3414,2556,0,0,0,0,0,0
$GC,5306,1.02,121.9,416.7,7.9,312,5312,0.20,2.40,0.00,0.000,6,0.114,0.038,2939,2036,2555,0,0,0,0,0,0
$GC,5636,1.07,160.8,398.1,5.3,321,5677,0.00,0.00,34.95,0.846,6,0.000,0.000,2939,2035,2394,0,0,0,0,0,0
$GC,6002,1.07,161.8,370.2,8.0,330,6006,0.00,2.53,0.00,0.000,4,0.000,0.057,2938,619,2387,0,0,0,0,0,0
$GC,6114,1.02,161.8,358.5,11.3,332,6118,0.00,2.38,0.00,0.000,6,0.000,0.030,2938,2022,2384,0,0,0,0,0,0
$GC,6458,1.02,161.8,322.8,10.4,341,6462,0.00,2.45,0.00,0.000,4,0.000,0.053,2938,629,2384,0,0,0,0,0,0
$GC,6724,0.99,161.8,293.3,8.7,347,6730,0.00,2.35,0.00,0.000,6,0.000,0.030,2938,2041,2381,0,0,0,0,0,0
$GC,7041,1.07,196.6,274.4,5.6,363,7077,0.00,2.60,30.17,0.782,4,0.000,0.053,2939,630,2248,0,0,0,0,0,0
$GC,7119,1.07,196.6,268.5,8.6,366,7123,0.00,2.38,0.00,0.000,6,0.000,0.029,2938,2044,2243,0,0,0,0,0,0
$GC,7435,1.12,196.6,239.1,10.4,381,7440,0.00,2.50,0.00,0.000,4,0.000,0.051,2938,629,2241,0,0,0,0,0,0
$GC,7648,1.12,196.6,214.0,11.4,390,7652,0.00,2.35,0.00,0.000,6,0.000,0.028,2938,2038,2239,0,0,0,0,0,0
$GC,7973,1.18,196.6,184.7,8.4,414,7978,0.15,2.47,0.00,0.000,4,0.074,0.049,2976,623,2238,0,0,0,0,0,0
$GC,8001,1.11,196.6,181.9,9.9,416,8008,0.10,2.38,0.00,0.000,6,0.100,0.027,2955,2040,2237,0,0,0,0,0,0
$GC,8264,1.17,206.0,162.8,7.4,441,8274,0.00,0.00,8.25,0.598,6,0.000,0.000,2955,2045,2209,0,0,0,0,0,0
$GC,8527,1.24,206.8,143.3,8.0,466,8532,0.12,2.50,0.00,0.000,4,0.075,0.048,2987,619,2209,0,0,0,0,0,0
$GC,8652,1.17,206.8,129.6,9.9,479,8657,0.00,2.33,0.00,0.000,6,0.000,0.024,2987,2048,2207,0,0,0,0,0,0
$GC,8914,1.17,206.8,100.4,12.3,503,8915,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2053,2207,0,0,0,0,0,0
$GC,9169,1.17,206.8,73.5,9.7,527,9173,0.00,2.42,0.00,0.000,4,0.000,0.043,2987,626,2207,0,0,0,0,0,0
$GC,9223,1.12,206.8,67.9,10.5,532,9230,0.12,2.33,0.00,0.000,6,0.092,0.022,2960,2040,2207,0,0,0,0,0,0
$GC,9486,1.21,216.9,46.7,7.3,557,9507,0.00,2.47,11.18,0.531,4,0.000,0.042,2960,617,2164,0,0,0,0,0,0
$GC,9553,1.21,216.9,41.1,8.6,564,9557,0.00,2.30,0.00,0.000,6,0.000,0.021,2960,2038,2162,0,0,0,0,0,0
$GC,9816,1.30,216.9,17.6,10.6,600,9823,0.15,2.47,0.00,0.000,4,0.064,0.044,3000,629,2162,0,0,0,0,0,0
$GC,9924,1.21,216.9,5.5,12.5,624,9931,0.10,2.30,0.00,0.000,6,0.087,0.021,2977,2036,2162,0,0,0,0,0,0
$STATE,9942,end climb,SURFACE_DEPTH_REACHED
$STATE,9942,begin surface coast
$FINISH,0.4,1.023865
$STATE,9965,end surface coast,CONTROL_FINISHED_OK
$STATE,9965,begin surface
$SM_CCo,9984,43.88,0.530,0,0,1826,300.00
$SM_GC,1.04,0.00,0.00,43.88,0.000,0.000,0.530,426,1876,1826,-10.52,-0.65,300.00
$IRIDIUM_FIX,2052.52,-15749.62,140799,111136
$TT8_MAMPS,0.029146
$HUMID,43.30
$INTERNAL_PRESSURE,9.66488
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.4,7.275
$10V_AH,10.0,6.608
$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,27.450,114.875,252.575,43.875,0.000,25.414,37.391,127.066,0.000,0.000,79.010,1224.092,6425.411,365.053,2026.231,337.815,0.000,1200.378,0.000,1948.905,0.000,0.538,0.000
$DEVICE_MAMPS,138.827,57.525,885.118,529.997,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.952,405.203,946.841,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,34968,631
$CAP_FILE_SIZE,113986,0
$CFSIZE,260165632,254590976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190410,173046,2058.322,-15749.229,121,4.3,140,9.8