version: 66.06
glider: 139
mission: 7
dive: 68
start: 4 19 110 17 40 40
data:
$ID,139
$MISSION,7
$DIVE,68
$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,-2121107.5
$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
$GPS1,173046,2058.322,-15749.229,121,4.3,140,9.8
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-68.3
$GPS2,174022,2058.290,-15749.293,34,4.8,53,9.8
$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,28.5,17762,-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,-58.38,0.000,6,0.000,0.000,426,1880,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,4.0,-7.2,11,99,10.73,2.42,0.00,0.000,4,0.139,0.040,2402,488,3371,0,0,0,0,0,0
$GC,110,-0.26,-77.9,15.8,-35.9,16,117,1.17,2.38,0.00,0.000,6,0.093,0.021,2654,1928,3372,0,0,0,0,0,0
$GC,313,-0.95,-77.9,26.3,-5.4,53,321,0.68,2.53,0.00,0.000,4,0.062,0.043,2499,491,3372,0,0,0,0,0,0
$GC,349,-1.20,-77.9,29.3,-8.9,60,357,0.17,2.30,0.00,0.000,6,0.030,0.021,2440,1899,3372,0,0,0,0,0,0
$GC,555,-1.20,-77.9,57.6,-14.9,80,559,0.00,2.28,0.00,0.000,4,0.000,0.025,2440,3293,3373,0,0,0,0,0,0
$GC,567,-1.20,-77.9,59.6,-14.1,81,574,0.00,2.38,0.00,0.000,6,0.000,0.028,2440,1893,3373,0,0,0,0,0,0
$GC,827,-1.20,-77.9,96.6,-14.9,106,831,0.00,2.40,0.00,0.000,4,0.000,0.044,2440,492,3373,0,0,0,0,0,0
$GC,872,-1.20,-77.9,103.3,-13.9,110,879,0.00,2.28,0.00,0.000,6,0.000,0.021,2440,1889,3373,0,0,0,0,0,0
$GC,1134,-1.20,-77.9,138.7,-14.0,135,1138,0.00,2.33,0.00,0.000,4,0.000,0.028,2440,3300,3374,0,0,0,0,0,0
$GC,1152,-1.27,-77.9,141.4,-12.5,136,1159,0.00,2.38,0.00,0.000,6,0.000,0.030,2440,1896,3374,0,0,0,0,0,0
$GC,1415,-1.34,-77.9,176.1,-14.6,161,1419,0.00,2.40,0.00,0.000,4,0.000,0.045,2440,495,3375,0,0,0,0,0,0
$GC,1505,-1.37,-77.9,191.2,-17.3,170,1513,0.10,2.30,0.00,0.000,6,0.038,0.021,2399,1903,3375,0,0,0,0,0,0
$GC,1770,-1.37,-77.9,227.5,-11.2,186,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1908,3375,0,0,0,0,0,0
$GC,2081,-1.37,-77.9,248.5,-5.6,201,2085,0.00,2.45,0.00,0.000,4,0.000,0.047,2398,488,3375,0,0,0,0,0,0
$GC,2195,-1.37,-77.9,258.4,-10.9,206,2199,0.00,2.30,0.00,0.000,6,0.000,0.023,2398,1902,3375,0,0,0,0,0,0
$GC,2519,-1.40,-77.9,293.0,-12.0,222,2523,0.00,2.30,0.00,0.000,4,0.000,0.033,2398,3294,3376,0,0,0,0,0,0
$GC,2593,-1.48,-77.9,301.0,-10.2,225,2597,0.00,2.35,0.00,0.000,6,0.000,0.035,2398,1894,3375,0,0,0,0,0,0
$GC,2933,-1.52,-77.9,329.3,-7.5,234,2937,0.00,2.40,0.00,0.000,4,0.000,0.051,2397,495,3374,0,0,0,0,0,0
$GC,2955,-1.52,-77.9,330.9,-7.1,234,2959,0.00,2.30,0.00,0.000,6,0.000,0.026,2398,1900,3374,0,0,0,0,0,0
$GC,3295,-1.56,-77.9,353.2,-7.6,243,3300,0.12,2.50,0.00,0.000,4,0.070,0.053,2362,488,3373,0,0,0,0,0,0
$GC,3394,-1.49,-77.9,364.7,-13.0,245,3399,0.12,2.33,0.00,0.000,6,0.109,0.028,2386,1895,3372,0,0,0,0,0,0
$GC,3712,-1.49,-77.9,400.1,-11.1,253,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1899,3370,0,0,0,0,0,0
$GC,4037,-1.52,-77.9,431.3,-9.2,261,4041,0.00,2.47,0.00,0.000,4,0.000,0.058,2386,491,3368,0,0,0,0,0,0
$GC,4064,-1.52,-77.9,434.2,-10.0,261,4068,0.00,2.35,0.00,0.000,6,0.000,0.030,2386,1900,3367,0,0,0,0,0,0
$STATE,4275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4275,begin apogee
$GC,4280,-0.31,0.0,452.4,8.4,267,4349,1.20,0.00,64.88,0.889,6,0.081,0.000,2640,2059,3050,0,0,0,0,0,0
$STATE,4350,end apogee,CONTROL_FINISHED_OK
$STATE,4350,begin climb
$GC,4351,1.40,77.9,453.1,0.0,268,4426,1.65,2.45,64.90,0.865,4,0.037,0.044,3021,3411,2732,0,0,0,0,0,0
$GC,4505,1.22,121.4,451.6,5.0,271,4550,0.22,2.38,37.67,0.852,6,0.120,0.039,2981,2033,2553,0,0,0,0,0,0
$GC,4895,1.12,121.4,418.4,8.6,281,4900,0.15,2.50,0.00,0.000,4,0.129,0.058,2956,630,2546,0,0,0,0,0,0
$GC,5003,1.00,121.4,409.0,8.8,283,5008,0.12,2.33,0.00,0.000,6,0.133,0.031,2933,2014,2544,0,0,0,0,0,0
$GC,5352,1.00,121.4,379.0,9.1,292,5353,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2016,2543,0,0,0,0,0,0
$GC,5678,1.00,121.4,350.1,8.7,300,5682,0.00,2.45,0.00,0.000,4,0.000,0.056,2934,628,2541,0,0,0,0,0,0
$GC,5705,0.93,121.4,347.7,9.5,300,5709,0.00,2.38,0.00,0.000,6,0.000,0.031,2934,2043,2540,0,0,0,0,0,0
$GC,6044,0.95,133.3,321.1,7.2,309,6060,0.00,2.55,8.70,0.726,4,0.000,0.054,2934,628,2505,0,0,0,0,0,0
$GC,6320,0.95,168.1,304.1,5.6,315,6357,0.00,2.38,31.40,0.803,6,0.000,0.031,2934,2039,2363,0,0,0,0,0,0
$GC,6672,0.99,174.3,279.8,7.6,330,6684,0.00,2.55,5.90,0.625,4,0.000,0.054,2934,633,2338,0,0,0,0,0,0
$GC,6803,1.00,177.1,269.4,7.8,335,6809,0.00,2.35,0.00,0.000,6,0.000,0.031,2934,2034,2335,0,0,0,0,0,0
$GC,7120,1.06,186.4,248.1,7.4,351,7137,0.00,2.42,11.85,0.712,4,0.000,0.040,2934,3439,2290,0,0,0,0,0,0
$GC,7186,1.14,189.9,243.2,7.8,353,7198,0.12,2.42,4.93,0.557,6,0.077,0.037,2964,2035,2275,0,0,0,0,0,0
$GC,7520,1.14,189.9,210.9,11.1,369,7524,0.00,2.47,0.00,0.000,4,0.000,0.052,2964,627,2272,0,0,0,0,0,0
$GC,7731,1.10,189.9,186.3,12.1,385,7736,0.00,2.35,0.00,0.000,6,0.000,0.028,2964,2048,2269,0,0,0,0,0,0
$GC,7991,1.10,189.9,158.7,9.6,410,7996,0.00,2.47,0.00,0.000,4,0.000,0.048,2964,623,2269,0,0,0,0,0,0
$GC,8007,1.10,189.9,157.2,9.8,411,8011,0.00,2.35,0.00,0.000,6,0.000,0.027,2964,2040,2268,0,0,0,0,0,0
$GC,8269,1.10,189.9,128.7,10.7,435,8274,0.00,2.47,0.00,0.000,4,0.000,0.048,2965,622,2269,0,0,0,0,0,0
$GC,8412,1.10,189.9,112.7,9.5,450,8416,0.00,2.30,0.00,0.000,6,0.000,0.025,2964,2039,2267,0,0,0,0,0,0
$GC,8673,1.19,223.6,96.4,5.7,474,8710,0.00,2.55,29.70,0.624,4,0.000,0.047,2964,629,2137,0,0,0,0,0,0
$GC,8868,1.19,223.6,76.8,11.9,495,8872,0.00,2.30,0.00,0.000,6,0.000,0.023,2964,2037,2132,0,0,0,0,0,0
$GC,9132,1.26,223.6,48.9,9.9,519,9137,0.10,2.47,0.00,0.000,4,0.084,0.044,2993,621,2131,0,0,0,0,0,0
$GC,9253,1.21,223.6,35.6,9.9,532,9257,0.00,2.30,0.00,0.000,6,0.000,0.021,2993,2038,2131,0,0,0,0,0,0
$GC,9523,1.21,223.6,8.3,11.1,576,9530,0.00,2.47,0.00,0.000,4,0.000,0.044,2993,622,2130,0,0,0,0,0,0
$STATE,9573,end climb,SURFACE_DEPTH_REACHED
$STATE,9573,begin surface coast
$FINISH,1.7,1.023840
$STATE,9583,end surface coast,CONTROL_FINISHED_OK
$STATE,9584,begin surface
$SM_CCo,9604,40.15,0.537,0,0,1826,300.00
$SM_GC,1.56,0.00,0.00,40.15,0.000,0.000,0.537,428,1943,1826,-10.51,1.24,300.00
$IRIDIUM_FIX,2050.21,-15747.49,140799,171702
$TT8_MAMPS,0.029146
$HUMID,43.58
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,20.70
$XPDR_PINGS,0
$24V_AH,23.4,7.362
$10V_AH,10.0,6.690
$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,27.650,110.100,259.925,40.150,0.000,59.283,63.362,254.542,0.000,0.000,54.319,1142.850,6321.549,359.390,1863.613,536.466,0.000,1158.720,0.000,1818.668,0.000,0.539,0.000
$DEVICE_MAMPS,138.827,57.525,888.953,536.900,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.489,376.239,862.744,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355452
$DATA_FILE_SIZE,31729,589
$CAP_FILE_SIZE,112026,0
$CFSIZE,260165632,254537728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190410,202315,2058.487,-15749.149,55,2.6,74,9.8