version: 66.06
glider: 139
mission: 7
dive: 69
start: 4 19 110 20 28 21
data:
$ID,139
$MISSION,7
$DIVE,69
$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,-2121139.8
$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
$GPS1,202315,2058.487,-15749.149,55,2.6,74,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-69.3
$GPS2,202804,2058.468,-15749.155,11,3.4,30,9.8
$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,28.6,17356,-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,-55.78,0.000,2,0.000,0.000,427,1943,3262,0,0,0,0,0,0
$GC,75,-1.40,-77.9,3.2,-5.6,10,94,10.70,2.30,-2.10,0.000,4,0.139,0.038,2403,3329,3368,0,0,0,0,0,0
$GC,110,-0.59,-77.9,14.2,-30.1,16,117,0.80,2.45,0.00,0.000,6,0.077,0.033,2582,1907,3369,0,0,0,0,0,0
$GC,312,-0.90,-77.9,27.8,-6.5,53,319,0.28,2.47,0.00,0.000,4,0.043,0.045,2499,495,3370,0,0,0,0,0,0
$GC,398,-1.00,-77.9,37.4,-11.6,65,405,0.00,2.35,0.00,0.000,6,0.000,0.021,2499,1928,3370,0,0,0,0,0,0
$GC,660,-1.14,-77.9,67.4,-10.4,90,665,0.17,2.50,0.00,0.000,4,0.053,0.047,2445,492,3371,0,0,0,0,0,0
$GC,785,-1.14,-77.9,81.0,-10.1,103,789,0.00,2.28,0.00,0.000,6,0.000,0.021,2445,1906,3372,0,0,0,0,0,0
$GC,1048,-1.19,-77.9,101.4,-5.8,127,1052,0.00,2.42,0.00,0.000,4,0.000,0.046,2445,491,3373,0,0,0,0,0,0
$GC,1091,-1.19,-77.9,104.6,-7.4,131,1096,0.00,2.25,0.00,0.000,6,0.000,0.021,2445,1896,3373,0,0,0,0,0,0
$GC,1355,-1.24,-77.9,122.0,-7.5,155,1359,0.00,2.42,0.00,0.000,4,0.000,0.046,2445,491,3373,0,0,0,0,0,0
$GC,1380,-1.24,-77.9,124.3,-9.4,157,1384,0.00,2.28,0.00,0.000,6,0.000,0.021,2446,1905,3374,0,0,0,0,0,0
$GC,1642,-1.30,-77.9,147.1,-9.2,181,1646,0.00,2.45,0.00,0.000,4,0.000,0.047,2445,490,3374,0,0,0,0,0,0
$GC,1722,-1.34,-77.9,155.6,-11.4,189,1727,0.12,2.25,0.00,0.000,6,0.064,0.021,2404,1896,3374,0,0,0,0,0,0
$GC,1984,-1.34,-77.9,188.7,-11.8,213,1988,0.00,2.42,0.00,0.000,4,0.000,0.047,2403,492,3375,0,0,0,0,0,0
$GC,2011,-1.28,-77.9,192.0,-11.2,215,2017,0.12,2.28,0.00,0.000,6,0.101,0.022,2429,1905,3375,0,0,0,0,0,0
$GC,2267,-1.36,-77.9,214.7,-7.8,232,2272,0.00,2.42,0.00,0.000,4,0.000,0.046,2429,490,3376,0,0,0,0,0,0
$GC,2304,-1.36,-77.9,218.3,-9.8,233,2309,0.00,2.30,0.00,0.000,6,0.000,0.022,2429,1914,3376,0,0,0,0,0,0
$GC,2620,-1.45,-77.9,247.5,-8.3,249,2625,0.15,2.47,0.00,0.000,4,0.061,0.049,2383,487,3376,0,0,0,0,0,0
$GC,2703,-1.40,-77.9,256.2,-10.7,252,2711,0.08,2.30,0.00,0.000,6,0.083,0.024,2403,1884,3376,0,0,0,0,0,0
$GC,3019,-1.45,-77.9,280.1,-6.5,268,3023,0.00,2.35,0.00,0.000,4,0.000,0.034,2403,3293,3376,0,0,0,0,0,0
$GC,3061,-1.55,-77.9,283.2,-6.8,270,3066,0.12,2.35,0.00,0.000,6,0.071,0.035,2364,1896,3376,0,0,0,0,0,0
$GC,3408,-1.55,-77.9,315.0,-8.8,283,3413,0.00,2.42,0.00,0.000,4,0.000,0.051,2365,488,3376,0,0,0,0,0,0
$GC,3436,-1.46,-77.9,318.2,-10.7,283,3441,0.12,2.30,0.00,0.000,6,0.110,0.026,2389,1897,3375,0,0,0,0,0,0
$GC,3772,-1.49,-77.9,346.5,-8.2,292,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1902,3374,0,0,0,0,0,0
$GC,4096,-1.49,-77.9,375.1,-8.6,300,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1902,3372,0,0,0,0,0,0
$GC,4422,-1.53,-77.9,403.0,-8.8,308,4426,0.00,2.47,0.00,0.000,4,0.000,0.057,2389,489,3369,0,0,0,0,0,0
$GC,4445,-1.53,-77.9,405.0,-8.4,308,4450,0.00,2.35,0.00,0.000,6,0.000,0.030,2389,1905,3369,0,0,0,0,0,0
$GC,4786,-1.56,-77.9,431.6,-7.1,317,4790,0.00,2.50,0.00,0.000,4,0.000,0.059,2389,496,3367,0,0,0,0,0,0
$GC,4854,-1.56,-77.9,437.3,-8.1,318,4859,0.00,2.33,0.00,0.000,6,0.000,0.031,2389,1900,3367,0,0,0,0,0,0
$STATE,5070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5070,begin apogee
$GC,5075,-0.31,0.0,452.9,7.0,324,5144,1.20,0.00,64.85,0.899,6,0.081,0.000,2643,2053,3050,0,0,0,0,0,0
$STATE,5144,end apogee,CONTROL_FINISHED_OK
$STATE,5145,begin climb
$GC,5146,1.40,77.9,453.4,0.0,325,5220,1.65,2.47,65.30,0.876,4,0.037,0.047,3021,3429,2732,0,0,0,0,0,0
$GC,5484,1.18,81.9,436.0,7.7,332,5496,0.28,2.42,4.28,0.572,6,0.116,0.039,2971,2024,2716,0,0,0,0,0,0
$GC,5833,1.07,85.6,409.3,7.8,341,5845,0.15,2.45,4.80,0.617,4,0.130,0.044,2945,3416,2699,0,0,0,0,0,0
$GC,5864,1.02,91.5,406.7,7.6,341,5878,0.00,2.40,6.70,0.705,6,0.000,0.040,2945,2033,2675,0,0,0,0,0,0
$GC,6203,1.02,136.0,385.0,5.0,350,6248,0.00,2.60,38.45,0.856,4,0.000,0.058,2945,630,2494,0,0,0,0,0,0
$GC,6282,0.95,154.1,380.7,6.8,351,6307,0.15,2.40,17.08,0.808,6,0.127,0.032,2919,2030,2421,0,0,0,0,0,0
$GC,6620,1.06,202.8,364.0,4.7,360,6670,0.10,2.58,43.60,0.844,4,0.097,0.058,2941,623,2222,0,0,0,0,0,0
$GC,6735,1.01,202.8,354.3,10.4,362,6740,0.00,2.40,0.00,0.000,6,0.000,0.032,2941,2032,2216,0,0,0,0,0,0
$GC,7070,1.05,202.8,317.7,12.0,371,7075,0.00,2.53,0.00,0.000,4,0.000,0.058,2941,630,2213,0,0,0,0,0,0
$GC,7167,1.01,202.8,304.5,13.0,373,7172,0.00,2.38,0.00,0.000,6,0.000,0.032,2941,2037,2210,0,0,0,0,0,0
$GC,7492,1.06,214.7,273.9,7.2,387,7508,0.00,2.58,9.65,0.719,4,0.000,0.054,2941,630,2174,0,0,0,0,0,0
$GC,7559,1.06,214.7,268.5,8.4,390,7563,0.00,2.40,0.00,0.000,6,0.000,0.031,2941,2039,2172,0,0,0,0,0,0
$GC,7888,1.11,214.7,240.4,9.6,406,7892,0.00,2.53,0.00,0.000,4,0.000,0.054,2941,619,2171,0,0,0,0,0,0
$GC,8092,1.11,214.7,214.5,14.0,415,8096,0.00,2.38,0.00,0.000,6,0.000,0.029,2941,2046,2168,0,0,0,0,0,0
$GC,8417,1.19,214.7,177.2,11.1,440,8422,0.12,2.53,0.00,0.000,4,0.081,0.051,2972,625,2168,0,0,0,0,0,0
$GC,8544,1.14,214.7,158.2,14.6,453,8550,0.00,2.35,0.00,0.000,6,0.000,0.027,2972,2045,2166,0,0,0,0,0,0
$GC,8806,1.19,214.7,128.2,9.0,478,8810,0.00,2.45,0.00,0.000,4,0.000,0.048,2972,627,2166,0,0,0,0,0,0
$GC,8921,1.19,214.7,118.2,9.2,490,8925,0.00,2.30,0.00,0.000,6,0.000,0.025,2972,2040,2166,0,0,0,0,0,0
$GC,9182,1.24,214.7,97.7,9.5,514,9186,0.00,2.45,0.00,0.000,4,0.000,0.046,2971,626,2166,0,0,0,0,0,0
$GC,9335,1.24,214.7,81.9,11.5,530,9342,0.00,2.33,0.00,0.000,6,0.000,0.023,2971,2037,2166,0,0,0,0,0,0
$GC,9598,1.33,244.3,62.1,6.0,555,9632,0.12,2.55,26.12,0.588,4,0.071,0.044,3006,626,2053,0,0,0,0,0,0
$GC,9709,1.26,244.3,53.4,8.3,567,9713,0.00,2.30,0.00,0.000,6,0.000,0.021,3006,2043,2049,0,0,0,0,0,0
$GC,9972,1.26,244.3,24.9,12.8,594,9979,0.00,2.47,0.00,0.000,4,0.000,0.044,3006,628,2049,0,0,0,0,0,0
$GC,10049,1.18,244.3,14.0,15.2,611,10056,0.15,2.30,0.00,0.000,6,0.087,0.021,2973,2030,2047,0,0,0,0,0,0
$STATE,10130,end climb,SURFACE_DEPTH_REACHED
$STATE,10131,begin surface coast
$FINISH,0.6,1.023830
$STATE,10155,end surface coast,CONTROL_FINISHED_OK
$STATE,10155,begin surface
$SM_CCo,10174,28.80,0.529,0,0,1826,300.00
$SM_GC,1.50,0.00,0.00,28.80,0.000,0.000,0.529,424,1869,1826,-10.52,-0.88,300.00
$IRIDIUM_FIX,2050.21,-15750.49,140799,171738
$TT8_MAMPS,0.029146
$HUMID,43.85
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,20.90
$XPDR_PINGS,1
$24V_AH,23.3,7.442
$10V_AH,10.0,6.772
$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,27.625,120.650,280.825,28.800,0.000,29.465,23.103,128.953,0.250,0.000,31.525,1225.841,6614.450,368.430,1950.984,334.853,0.000,1210.205,0.000,1924.846,0.000,0.537,0.000
$DEVICE_MAMPS,138.827,59.059,898.924,529.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.497,398.845,917.248,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,34909,630
$CAP_FILE_SIZE,117302,0
$CFSIZE,260165632,254472192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190410,231949,2058.914,-15748.651,45,1.5,50,9.8