version: 66.06
glider: 139
mission: 7
dive: 70
start: 4 19 110 23 25 44
data:
$ID,139
$MISSION,7
$DIVE,70
$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,-2121156.2
$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
$GPS1,231949,2058.914,-15748.651,45,1.5,50,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.7
$GPS2,232526,2058.902,-15748.680,14,1.3,14,9.8
$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,28.1,16216,-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,-59.62,0.000,6,0.000,0.000,424,1873,3369,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.7,-6.5,11,98,10.80,2.45,0.00,0.000,4,0.141,0.028,2402,3312,3370,0,0,0,0,0,0
$GC,202,-1.40,-77.9,29.0,-13.8,38,208,0.00,2.42,0.00,0.000,6,0.000,0.034,2402,1904,3371,0,0,0,0,0,0
$GC,400,-1.31,-77.9,61.7,-18.7,57,405,0.12,2.45,0.00,0.000,4,0.110,0.048,2426,492,3372,0,0,0,0,0,0
$GC,443,-1.22,-77.9,68.7,-16.6,61,447,0.00,2.33,0.00,0.000,6,0.000,0.021,2426,1934,3372,0,0,0,0,0,0
$GC,705,-1.22,-77.9,107.2,-14.3,85,709,0.00,2.47,0.00,0.000,4,0.000,0.045,2426,495,3373,0,0,0,0,0,0
$GC,741,-1.15,-77.9,112.9,-15.1,88,748,0.12,2.30,0.00,0.000,6,0.081,0.021,2457,1903,3373,0,0,0,0,0,0
$GC,1004,-1.22,-77.9,135.9,-7.1,113,1009,0.00,2.42,0.00,0.000,4,0.000,0.046,2457,492,3374,0,0,0,0,0,0
$GC,1050,-1.28,-77.9,140.2,-9.3,117,1056,0.10,2.30,0.00,0.000,6,0.076,0.021,2423,1911,3374,0,0,0,0,0,0
$GC,1311,-1.32,-77.9,165.7,-11.3,142,1315,0.00,2.42,0.00,0.000,4,0.000,0.046,2422,495,3375,0,0,0,0,0,0
$GC,1354,-1.32,-77.9,171.2,-13.9,146,1358,0.00,2.25,0.00,0.000,6,0.000,0.021,2423,1902,3375,0,0,0,0,0,0
$GC,1615,-1.36,-77.9,200.5,-11.8,170,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1906,3376,0,0,0,0,0,0
$GC,1925,-1.42,-77.9,232.4,-9.6,185,1929,0.00,2.45,0.00,0.000,4,0.000,0.047,2422,489,3376,0,0,0,0,0,0
$GC,1952,-1.42,-77.9,235.4,-9.7,186,1956,0.00,2.28,0.00,0.000,6,0.000,0.022,2422,1898,3376,0,0,0,0,0,0
$GC,2276,-1.49,-77.9,266.2,-9.4,202,2281,0.17,2.45,0.00,0.000,4,0.058,0.048,2373,487,3376,0,0,0,0,0,0
$GC,2355,-1.41,-77.9,276.7,-15.0,205,2360,0.15,2.30,0.00,0.000,6,0.101,0.024,2403,1896,3376,0,0,0,0,0,0
$GC,2690,-1.45,-77.9,306.3,-7.2,219,2694,0.00,2.42,0.00,0.000,4,0.000,0.051,2403,494,3376,0,0,0,0,0,0
$GC,2779,-1.48,-77.9,313.9,-8.6,221,2784,0.00,2.28,0.00,0.000,6,0.000,0.025,2403,1896,3375,0,0,0,0,0,0
$GC,3106,-1.54,-77.9,340.9,-8.3,229,3111,0.12,2.47,0.00,0.000,4,0.072,0.054,2368,497,3374,0,0,0,0,0,0
$GC,3205,-1.50,-77.9,352.4,-11.6,231,3209,0.00,2.30,0.00,0.000,6,0.000,0.027,2368,1904,3374,0,0,0,0,0,0
$GC,3522,-1.50,-77.9,385.3,-10.1,239,3526,0.00,2.45,0.00,0.000,4,0.000,0.054,2368,497,3372,0,0,0,0,0,0
$GC,3559,-1.44,-77.9,389.0,-10.4,239,3565,0.15,2.30,0.00,0.000,6,0.103,0.028,2398,1903,3372,0,0,0,0,0,0
$GC,3890,-1.50,-77.9,412.6,-6.9,248,3894,0.00,2.47,0.00,0.000,4,0.000,0.058,2398,497,3370,0,0,0,0,0,0
$GC,3945,-1.50,-77.9,417.1,-7.9,249,3949,0.00,2.33,0.00,0.000,6,0.000,0.030,2398,1896,3370,0,0,0,0,0,0
$GC,4258,-1.56,-77.9,438.9,-7.0,257,4263,0.12,2.50,0.00,0.000,4,0.076,0.059,2365,498,3368,0,0,0,0,0,0
$GC,4310,-1.49,-77.9,443.3,-8.6,258,4315,0.10,2.35,0.00,0.000,6,0.123,0.031,2383,1909,3368,0,0,0,0,0,0
$STATE,4423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4423,begin apogee
$GC,4428,-0.31,0.0,451.8,7.3,261,4497,1.23,0.00,65.32,0.895,6,0.081,0.000,2642,2049,3050,0,0,0,0,0,0
$STATE,4497,end apogee,CONTROL_FINISHED_OK
$STATE,4498,begin climb
$GC,4499,1.40,77.9,452.6,0.0,262,4574,1.65,2.50,65.20,0.874,4,0.040,0.047,3018,3420,2731,0,0,0,0,0,0
$GC,4796,1.22,107.3,440.6,6.0,268,4829,0.20,2.42,25.65,0.850,6,0.123,0.041,2983,2034,2611,0,0,0,0,0,0
$GC,5143,1.15,149.5,421.2,5.1,277,5185,0.00,2.58,36.75,0.861,4,0.000,0.058,2983,630,2439,0,0,0,0,0,0
$GC,5214,0.98,149.5,415.9,9.7,278,5219,0.30,2.40,0.00,0.000,6,0.117,0.032,2929,2023,2435,0,0,0,0,0,0
$GC,5555,0.98,149.5,385.2,9.6,287,5559,0.00,2.50,0.00,0.000,4,0.000,0.058,2929,625,2432,0,0,0,0,0,0
$GC,5666,0.93,149.5,373.6,11.1,289,5670,0.00,2.40,0.00,0.000,6,0.000,0.031,2929,2036,2430,0,0,0,0,0,0
$GC,6010,0.94,156.2,345.8,7.6,298,6022,0.00,2.55,5.20,0.628,4,0.000,0.055,2929,624,2412,0,0,0,0,0,0
$GC,6046,0.89,156.2,342.7,8.3,298,6050,0.12,2.40,0.00,0.000,6,0.130,0.032,2908,2041,2411,0,0,0,0,0,0
$GC,6376,0.96,156.2,315.4,9.2,306,6380,0.00,2.53,0.00,0.000,4,0.000,0.056,2907,629,2410,0,0,0,0,0,0
$GC,6556,0.99,177.3,301.9,6.6,310,6581,0.00,2.40,19.33,0.795,6,0.000,0.031,2907,2050,2327,0,0,0,0,0,0
$GC,6910,1.13,212.0,282.0,5.6,326,6948,0.22,2.62,32.05,0.791,4,0.066,0.058,2958,625,2185,0,0,0,0,0,0
$GC,7139,1.08,212.0,255.0,13.0,336,7144,0.00,2.38,0.00,0.000,6,0.000,0.030,2958,2038,2176,0,0,0,0,0,0
$GC,7468,1.08,212.0,220.8,11.2,352,7472,0.00,2.50,0.00,0.000,4,0.000,0.055,2958,624,2175,0,0,0,0,0,0
$GC,7731,1.08,212.0,187.7,12.7,369,7737,0.00,2.35,0.00,0.000,6,0.000,0.028,2958,2040,2172,0,0,0,0,0,0
$GC,7993,1.13,212.0,156.2,11.3,394,7997,0.00,2.50,0.00,0.000,4,0.000,0.051,2958,618,2172,0,0,0,0,0,0
$GC,8081,1.13,212.0,144.9,13.2,403,8085,0.00,2.35,0.00,0.000,6,0.000,0.026,2958,2043,2171,0,0,0,0,0,0
$GC,8344,1.18,212.0,120.5,9.6,427,8348,0.00,2.47,0.00,0.000,4,0.000,0.048,2958,626,2171,0,0,0,0,0,0
$GC,8432,1.18,212.0,110.0,11.3,436,8437,0.00,2.33,0.00,0.000,6,0.000,0.025,2958,2047,2171,0,0,0,0,0,0
$GC,8694,1.25,215.3,86.8,7.8,460,8699,0.12,2.47,0.00,0.000,4,0.075,0.047,2991,619,2171,0,0,0,0,0,0
$GC,8817,1.21,215.3,73.6,11.1,473,8822,0.00,2.30,0.00,0.000,6,0.000,0.023,2991,2038,2171,0,0,0,0,0,0
$GC,9080,1.21,215.3,48.9,9.5,497,9084,0.00,2.42,0.00,0.000,4,0.000,0.044,2991,621,2171,0,0,0,0,0,0
$GC,9178,1.16,215.3,38.9,9.1,507,9185,0.10,2.33,0.00,0.000,6,0.093,0.022,2969,2037,2171,0,0,0,0,0,0
$GC,9442,1.22,215.3,16.5,8.6,546,9448,0.00,2.45,0.00,0.000,4,0.000,0.044,2969,627,2171,0,0,0,0,0,0
$GC,9480,1.22,215.3,12.6,10.3,554,9487,0.00,2.33,0.00,0.000,6,0.000,0.022,2969,2039,2171,0,0,0,0,0,0
$STATE,9584,end climb,SURFACE_DEPTH_REACHED
$STATE,9584,begin surface coast
$FINISH,0.5,1.023830
$STATE,9613,end surface coast,CONTROL_FINISHED_OK
$STATE,9613,begin surface
$SM_CCo,9632,43.80,0.533,0,0,1827,300.00
$SM_GC,1.04,0.00,0.00,43.80,0.000,0.000,0.533,424,1888,1827,-10.52,-0.34,300.00
$IRIDIUM_FIX,2050.21,-15750.49,140799,202026
$TT8_MAMPS,0.029146
$HUMID,42.79
$INTERNAL_PRESSURE,9.65511
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.3,7.523
$10V_AH,10.0,6.849
$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,26.925,116.075,249.500,43.800,0.000,27.395,30.987,185.203,0.000,0.000,15.837,1164.004,6208.267,356.801,1897.749,388.926,0.000,1184.340,0.000,1883.279,0.000,0.537,0.000
$DEVICE_MAMPS,141.128,59.059,895.089,533.065,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,391.516,361.931,829.965,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,31729,578
$CAP_FILE_SIZE,113646,0
$CFSIZE,260165632,254423040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200410,020851,2059.322,-15748.232,56,2.2,75,9.8